Round bundle bundling machine control system and method capable of continuously operating

Abstract

The invention relates to a round baler control system capable of continuous operation, and the system comprises a controller which is provided with a man-machine interaction assembly; the sensor assembly is connected with the controller and comprises a front bin door sensor, a bundle position sensor, a rear bin door sensor, a lower bin door sensor, a net inlet sensor, a net cutter sensor and a bundle placing sensor. The electromagnetic valve assembly is connected with the controller and comprises an electromagnetic valve I used for controlling the front bin door to open and close an oil cylinder, an electromagnetic valve II used for controlling the rear bin door to open and close an oil cylinder and an electromagnetic valve III used for controlling the lower bin door to open and close an oil cylinder. And the net winding electromagnetic clutch is connected with the controller and is used for controlling the power of the net winding assembly. Through the arrangement, automatic control of the whole process is realized. Compared with the prior art, the labor intensity of workers is reduced, the bundling efficiency is improved, and meanwhile abrasion to a clutch of a matched tractor is reduced. The invention further relates to a control method of the round bundle bundling machine capable of operating continuously.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural baling equipment, and in particular to a control system and method for a round bale baler capable of continuous operation. Background Art

[0002] Round baler is an agricultural machine used to bundle crops such as grass and straw into round bales. When working, the grass on the ground is picked up by the grass picker at the front, and the grass is evenly sent to the forming chamber through the transport mechanism. The grass entering the forming chamber is clamped and compressed by multiple rollers. The rollers are arranged around the forming chamber to form a closed space. Under the compression of the rollers, the grass is continuously compacted, and the diameter of the bale gradually increases. When the bale reaches the set diameter and density, the bale is wrapped with a net and released.

[0003] In the prior art, when performing the operation, the operator needs to stop each time a bale is tied to wait for the net to be wrapped and the bale to be released. The operator needs to first stop the tractor, wrap the net automatically or manually control the net to be wrapped, open the rear compartment to release the bale through the tractor hydraulic system, and then close the rear compartment door and start the vehicle to continue the operation.

[0004] However, the above operation method requires manual repetition to stop the tractor, wind the net and release the bale, and start the vehicle to continue the operation, which increases the labor intensity of the operator. At the same time, frequent starts and stops can easily lead to excessive wear of the tractor's travel clutch. Summary of the invention

[0005] The invention provides a control system and method for a round bale baler capable of continuous operation, so as to solve the problem that the frequent starting and stopping of the tractor of the existing round baler not only increases the labor intensity of the operator but also easily causes accelerated wear of the clutch.

[0006] The present invention discloses a control system for a round bale baler capable of continuous operation, comprising: a controller, on which a human-machine interaction component is installed;

[0007] A sensor assembly connected to the controller, including a front door sensor, a bundle position sensor, a rear door sensor, a lower door sensor, a net entry sensor, a net cutter sensor, and a bundle placement sensor;

[0008] The solenoid valve assembly is connected to the controller, and includes a solenoid valve I for controlling the opening and closing cylinder of the front door, a solenoid valve II for controlling the opening and closing cylinder of the rear door, and a solenoid valve III for controlling the opening and closing cylinder of the lower door;

[0009] The web-winding electromagnetic clutch is connected to the controller and is used to control the power of the web-winding assembly.

[0010] Furthermore, the front door sensor is arranged at the door of the front warehouse. When the door of the front warehouse is opened and exceeds the detection distance of the front door sensor, the front door sensor outputs a low level to the controller, and the controller displays the information on the human-computer interaction component and issues an alarm.

[0011] Further, when the front door sensor outputs a low level to the controller, the controller controls the solenoid valve I to open the front door, and controls the solenoid valve III to open the lower door.

[0012] Furthermore, the opening time of the lower door is less than or equal to half of the opening time of the front door.

[0013] Furthermore, the bale position sensor is arranged between the front bin and the rear bin. After the front bin door is opened, the straw bale is pushed to the rear bin and the bale position sensor is triggered. The bale position sensor is a proximity switch. When the bale position sensor detects a high-level signal once or multiple times, it is determined that the bin change is completed.

[0014] Furthermore, when the bundling position sensor detects that the bunk change is completed, the controller controls the solenoid valve I to close the front bunk door.

[0015] Furthermore, after the rear door sensor is triggered, the controller controls the solenoid valve III to close the lower door.

[0016] Furthermore, after the lower door sensor is triggered, the controller controls the web winding electromagnetic clutch to engage, so that the web winding assembly starts working. When the web entry sensor does not detect a level signal of the natural frequency, the controller controls the interactive component to display that the web is used up.

[0017] Further, when the grass bale is wrapped around the net, the net cutter falls down, and the net cutter sensor is triggered, the controller controls the solenoid valve II to open the rear door;

[0018] After the bundle placing sensor is triggered, the controller controls the solenoid valve II to close the rear door.

[0019] The present invention also discloses a control method for a round baler capable of continuous operation, which is applied to the control system of the round baler capable of continuous operation, and comprises the following steps:

[0020] Detecting the opening of the front door, and when detecting that the front door is opened, opening the front door and the lower door;

[0021] Detect the passing of the bale. When the bale is detected, the front door is closed, so that the material is continuously transported from the open lower door to the rear door.

[0022] Detect the expansion and opening of the rear door. When the expansion and opening of the rear door is detected, the lower door is closed and the electromagnetic clutch of the web winding is controlled to engage, so that the web winding assembly starts to work;

[0023] Detecting the net cutting knife signal, when detecting that the net cutting knife falls, controlling the net winding electromagnetic clutch to cut off, so that the net winding assembly stops working, and opening the rear door to make the grass bale fall;

[0024] The bale release signal is detected, and when the falling of the straw bale is detected, the rear door is controlled to be closed.

[0025] The control system and method of the round bale baler capable of continuous operation provided by the present invention can achieve the following technical effects:

[0026] Through the connection between the human-machine interaction component and the controller, the staff can also set up the system through the human-machine interaction interface, and control each solenoid valve according to the set logic through the controller to control each working cylinder. During operation, each sensor monitors the working condition of each working component in real time and feeds the signal back to the controller. The controller judges the working condition and working logic based on the signal, and sends a signal to the solenoid valve and the web-wrapping electromagnetic clutch according to the judgment result, and controls each working component to work according to the logic through the solenoid valve and the electromagnetic clutch, thereby realizing automatic control of the whole process. Compared with the existing technology, it reduces the labor intensity of manual labor, improves the baling efficiency, and also reduces the wear on the clutch.

[0027] The foregoing general description and the following description are exemplary and explanatory only and are not intended to limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] One or more embodiments are exemplarily described by corresponding drawings, and these exemplary descriptions and drawings do not limit the embodiments. Elements with the same reference numerals in the drawings are regarded as similar elements, and wherein:

[0029] Figure 1 is a baling flow chart of a round baler capable of continuous operation in an embodiment of the present invention;

[0030] Figure 2 is a framework diagram of a control system of a round bale baler capable of continuous operation according to an embodiment of the present invention;

[0031] Figure 3 is a control flow chart of front bin straw bale forming in an embodiment of the present invention;

[0032] Figure 4 is a control flow chart when the straw bale is transferred to the rear bin in an embodiment of the present invention;

[0033] Figure 5is a control flow chart of rear bin straw bale forming in an embodiment of the present invention;

[0034] Figure 6 This is a control flow chart of wrapping the bale with a net and placing the bale in an embodiment of the present invention;

[0035] Figure 7 The present invention is a flowchart of the steps of a method for controlling a round baler capable of continuous operation according to an embodiment of the present invention. DETAILED DESCRIPTION

[0036] In order to be able to understand the features and technical contents of the embodiments of the present invention in more detail, the implementation of the embodiments of the present invention is described in detail below in conjunction with the accompanying drawings. The attached drawings are for reference only and are not used to limit the embodiments of the present invention. In the following technical description, for the convenience of explanation, a full understanding of the disclosed embodiments is provided through multiple details. However, one or more embodiments can still be implemented without these details. In other cases, to simplify the drawings, well-known structures and devices can be simplified for display.

[0037] The terms "first", "second", etc. in the description and claims of the embodiments of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate, so that the embodiments of the embodiments of the present invention described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0038] In the embodiments of the present invention, the terms "upper", "lower", "inside", "middle", "outside", "front", "back" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. These terms are mainly used to better describe the embodiments of the present invention and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific direction, or to be constructed and operated in a specific direction. Moreover, in addition to being used to indicate directions or positional relationships, some of the above terms may also be used to indicate other meanings. For example, the term "upper" may also be used to indicate a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in the embodiments of the present invention can be understood according to the specific circumstances.

[0039] In addition, the terms "disposed", "connected", and "fixed" should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0040] Unless otherwise specified, the term "plurality" means two or more and "plurality" means two or more.

[0041] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present invention may be combined with each other.

[0042] like Figure 1 As shown in the figure, the present invention discloses a control system for a round baler capable of continuous operation, in which the entire operation of the round baler capable of continuous operation is divided into four stages, and the working sequence is bale forming in the front bin, bale transfer to the rear bin, bale forming in the rear bin, net wrapping and bale placing. Figure 2 As shown in , the system includes:

[0043] A controller, on which a human-machine interaction component is installed;

[0044] A sensor assembly connected to the controller includes a front door sensor, a bundle position sensor, a rear door sensor, a lower door sensor, a net entry sensor, a net cutter sensor, and a bundle placement sensor;

[0045] The solenoid valve assembly is connected to the controller, and includes a solenoid valve I for controlling the opening and closing cylinder of the front door, a solenoid valve II for controlling the opening and closing cylinder of the rear door, and a solenoid valve III for controlling the opening and closing cylinder of the lower door;

[0046] The web winding electromagnetic clutch is connected to the controller and is used to control the power of the web winding assembly.

[0047] In the embodiment of the present invention, the entire control system consists of: a human-machine interface, a controller, a front door sensor, a bundle position sensor, a rear door sensor, a lower door sensor, a net cutter sensor, a net entry sensor, a bundle placement sensor, a feeding floor sensor, and corresponding cylinders and control solenoid valves for each working component. The human-machine interface and the controller use a CAN bus for information transmission, and each sensor, solenoid valve, and electromagnetic clutch are connected to the controller through a wiring harness.

[0048] The human-machine interface is responsible for displaying various working condition information. The operator can also set the system through the human-machine interface, and can also control each solenoid valve to control each working cylinder. During operation, each sensor monitors the working condition of each working component in real time and feeds the signal back to the controller. The controller judges the working condition and working logic based on the signal, and sends a signal to the solenoid valve and the web-wrapping electromagnetic clutch based on the judgment result, and controls each working component to work according to the logic through the solenoid valve and the electromagnetic clutch, thereby realizing automatic control of the whole process. Compared with the existing technology, it reduces the labor intensity of manual labor, improves the baling efficiency, and also reduces the wear on the clutch. Of course, it should be pointed out here that those skilled in the art can increase or decrease the number of sensors, solenoid valves and working parts of the system as needed; the structural requirements of the working parts and the form of the cylinder can be adjusted; in the embodiment of the present invention, the interactive interface in the human-computer interaction component can interact through multiple forms of expression such as text, graphics, animation, sound, warning lights, etc.; it can also increase or reduce control links in the control method and logic according to different structures and functions; in addition, the signal transmission method can adopt different methods, for example, it can be transmitted by line or by wireless transmission.

[0049] Specific as Figure 3 As shown in , the front door sensor is set at the door of the front warehouse. When the door of the front warehouse is opened and exceeds the detection distance of the front door sensor, the front door sensor outputs a low level to the controller, and the controller displays the information on the human-computer interaction component and issues an alarm. When the work starts, the material enters the front warehouse first. When the current warehouse reaches the set density, the door is opened and exceeds the detection distance of the door sensor. At this time, the front door sensor outputs a low level to the controller, and the controller displays the information on the human-computer interaction interface through the CAN bus and issues an alarm. Specifically, the display can show that the front warehouse is full in the form of graphics and text, and an alarm sound is emitted at the same time.

[0050] Alternatively, if Figure 3 As shown in , when the front door sensor outputs a low level to the controller, the controller controls the solenoid valve I to open the front door, and controls the solenoid valve III to open the lower door. At the same time, it outputs a high level to the front door cylinder solenoid valve and the lower door cylinder solenoid valve. At this time, the front door and the lower door are opened at the same time, and the opening time of the lower door is less than or equal to half of the opening time of the front door. The front door pushes the bale to the rear door during the opening process.

[0051] Alternatively, if Figure 4As shown in , the bale position sensor is set between the front bin and the rear bin. After the front bin door is opened, the bale is pushed to the rear bin and the bale position sensor is triggered. The bale position sensor is a proximity switch. When the bale position sensor detects one or more high-level signals, it is determined that the bin change is completed. During the opening process of the front bin, the bale is pushed to the rear bin and the bale position sensor is triggered. The bale position sensor is a proximity switch, and the normal position is a low-level output state. After the bale is transferred, the bale position sensor will sense one or more high-level signals. At this time, it is determined that the bale bin change is completed and a high-level signal is output to the controller. If no high-level signal is transmitted during the bin change process, it is determined that the bin change is not completed. At this time, a low level will be output to the controller, and the information will be displayed on the human-computer interaction interface through the controller, and a reminder will be made for manual processing. After processing, the controller will display the information on the human-computer interaction interface through the CAN bus, prompting that the bale has arrived at the rear bin, and can also assist with sound reminders. For example, when the bale is not detected passing, the display can show the bale's position between the front and rear bins in the form of graphics and text, and at the same time, a rapid beep, beep, beep alarm is sounded, and a text prompt "please handle manually" is given; at this time, the vehicle function needs to be manually switched to manual mode, and after the problem is solved, it is manually switched to automatic mode; and when the bale is detected passing, the display can show that the bale has arrived at the rear bin in the form of graphics and text, and a "ding" alarm is sounded;

[0052] Alternatively, if Figure 4 As shown in , when the bunker position sensor detects that the bunker change is completed, the controller controls the solenoid valve I to close the front bunker door. At the same time, the controller will output a high level to the front bunker oil cylinder solenoid valve, and control the front bunker oil cylinder to close the front bunker. When closing, the front bunker door sensor will be triggered. The front bunker door sensor outputs a high level to the controller. The controller displays the information that the front bunker door has been closed through the human-computer interaction interface through the CAN bus, and at the same time outputs a high level to the front bunker door solenoid valve, closes the oil circuit, and stops the front bunker door oil cylinder from moving. The specific display information can be a graphic plus text to show that the front bunker has been closed.

[0053] Alternatively, if Figure 5 As shown in , after the rear door sensor is triggered, the controller controls the solenoid valve III to close the lower door. After the front door is closed, the material will be continuously transported to the rear warehouse through the open lower door until the material in the rear warehouse reaches the set density. At this time, the rear warehouse is opened, causing the rear door sensor to fail to sense the signal and output a low level to the controller. On the one hand, the controller displays the information on the human-computer interaction interface through the CAN bus, and can also assist with sound reminders. On the other hand, it outputs a high level to the lower door cylinder solenoid valve, and the lower door is closed. The specific display information can be a graphic plus text display that the rear warehouse is full, and a "clang, clang, clang" sound alarm until the lower door is completely closed and the alarm sound stops; synchronously display the lower door is closing or has been closed in the form of graphics and text.

[0054] Alternatively, if Figure 6 As shown in , after the lower door sensor is triggered, the controller controls the web winding electromagnetic clutch to engage, so that the web winding assembly starts working, and at the same time, the display shows that the web is being wound in the form of graphics and text. When the web entry sensor does not detect the level signal of the natural frequency, the controller controls the interactive component to display that the web has been used up. For example, it can be displayed in the form of graphics and text that the web has been used up, please replace it. At this time, it is necessary to manually cut off the power and install the web. When the lower door is closed, the lower door sensor is triggered. The lower door sensor outputs a high level to the controller, and the information is displayed on the human-computer interaction interface through the controller. At the same time, a high level is output to the lower door cylinder solenoid valve and the web winding electromagnetic clutch, and the action of the lower door cylinder is stopped through the solenoid valve. The electromagnetic clutch is energized after receiving the electrical signal, thereby combining the power of the web winding assembly and starting to work. While working, the web entry sensor senses a frequency level signal and inputs the signal to the controller, and the information of the web winding is displayed on the human-computer interaction interface through the controller. If the web entry sensor does not sense a frequency level signal, the controller will display and remind the user that the web is used up through the human-computer interaction interface. When the web is manually installed, the controller returns to the energized position of the web winding electromagnetic clutch and performs the next step according to the process.

[0055] Alternatively, if Figure 6 As shown in , when the bale is wrapped with nets, the net cutter falls down, and the net cutter sensor is triggered, the controller controls the solenoid valve II to open the rear door; after the bale release sensor is triggered, the controller controls the solenoid valve II to close the rear door. When the bale is wrapped with nets, the net cutter falls down, cuts the net rope, and triggers the net cutter sensor, which outputs a high level to the controller. In the process from the closing of the lower door to the input of the low level to the controller by the net cutter sensor, if the net cutter inputs a low level to the controller in advance or the net entry sensor senses a level signal with a frequency, the controller will prompt "the net is rolled into the bale" on the human-computer interaction interface through the CAN bus, and prompt for manual cleaning. After manual cleaning, the program will return to the starting position. Exemplarily, you can click on the manual mode at this time to perform manual troubleshooting and reinstall the net. After troubleshooting, you need to manually click to enter the automatic mode.

[0056] When the net cutting knife sensor inputs a high-level signal to the controller, the controller will output level signals to the net winding electromagnetic clutch and the rear warehouse oil cylinder solenoid valve respectively, and display the net winding stop and rear warehouse opening on the human-computer interaction interface. Exemplarily, the signs of net winding stop and rear warehouse opening can be displayed on the display in the form of graphics and text. After receiving the low-level signal, the net winding electromagnetic clutch will cut off the net winding electromagnetic clutch, and the net winding assembly will stop working. After receiving the signal, the rear warehouse oil cylinder solenoid valve will connect the rear warehouse door oil cylinder, so that the oil cylinder pushes open the rear warehouse door, and the grass bale will roll to the ground. During the rolling process, the bale release sensor will be triggered. The bale release sensor will transmit a high-level signal to the controller. When the controller receives the signal, it will display the information that the bale has been released on the human-computer interaction interface, and output a high level to the rear warehouse oil cylinder solenoid valve, and control the oil cylinder to close the rear warehouse. When the rear warehouse is closed, the rear warehouse sensor will be triggered, and the high-level signal after the triggering will be transmitted to the controller. The controller will display that the rear warehouse has been closed on the human-computer interaction interface, and increase the number of bales counted on the day by 1. Exemplarily, it can be displayed on the display in the form of graphics and text that the rear bin is closed, and the current number of operating bundles and the total number of operating bundles are increased by 1.

[0057] like Figure 7 As shown in , in an embodiment of the invention, a control method for a round baler capable of continuous operation is also provided, which is applied to the control system of the round baler capable of continuous operation. The control method has been described in detail in the control system above, and those skilled in the art can understand it according to the context, and includes the following steps:

[0058] S10: Detecting the opening of the front door. When it is detected that the front door is opened, the front door and the lower door are opened;

[0059] S20: Detecting the passing of the hay bale. When the passing of the hay bale is detected, the front bin door is closed, so that the material is continuously transported from the opened lower bin door to the rear bin;

[0060] S30: Detecting the expansion and opening of the rear door. When it is detected that the rear door is expanded and opened, the lower door is closed and the electromagnetic clutch of the web winding is controlled to engage, so that the web winding assembly starts to work;

[0061] S40: Detecting the net cutting knife signal. When it is detected that the net cutting knife falls, the net winding electromagnetic clutch is controlled to be cut off, so that the net winding assembly stops working, and the rear door is opened to make the straw bale fall;

[0062] S50: Detecting the bale release signal, when it is detected that the bale has fallen, controlling the rear door to close, and repeating the above baler control steps.

[0063] The above description and the accompanying drawings fully illustrate the embodiments of the present invention so that those skilled in the art can practice them. Other embodiments may include structural and other changes. The embodiments represent only possible variations. Unless explicitly required, individual components and functions are optional, and the order of operations may vary. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. The embodiments of the present invention are not limited to the structures described above and shown in the accompanying drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A round baler control system capable of continuous operation, characterized in that: include: A controller, wherein a human-machine interaction component is installed on the controller; A sensor assembly connected to the controller, including a front door sensor, a bundle position sensor, a rear door sensor, a lower door sensor, a net entry sensor, a net cutter sensor, and a bundle placement sensor; The solenoid valve assembly is connected to the controller, and includes a solenoid valve I for controlling the opening and closing cylinder of the front door, a solenoid valve II for controlling the opening and closing cylinder of the rear door, and a solenoid valve III for controlling the opening and closing cylinder of the lower door; The web-winding electromagnetic clutch is connected to the controller and is used to control the power of the web-winding assembly.

2. The control system of the round baler capable of continuous operation according to claim 1, characterized in that: The front door sensor is arranged at the door of the front warehouse. When the door of the front warehouse is opened and exceeds the detection distance of the front door sensor, the front door sensor outputs a low level to the controller, and the controller displays the information on the human-computer interaction component and issues an alarm.

3. The control system of the round baler capable of continuous operation according to claim 2, characterized in that: When the front door sensor outputs a low level to the controller, the controller controls the solenoid valve I to open the front door, and controls the solenoid valve III to open the lower door.

4. The control system of the round baler capable of continuous operation according to claim 3, characterized in that: The opening time of the lower door is less than or equal to half of the opening time of the front door.

5. The control system of the round baler capable of continuous operation according to claim 4, characterized in that: The bale position sensor is arranged between the front bin and the rear bin. When the front bin door is opened, the straw bale is pushed to the rear bin and the bale position sensor is triggered. The bale position sensor is a proximity switch. When the bale position sensor detects a high level signal once or multiple times, it is determined that the bin change is completed.

6. The control system of the round baler capable of continuous operation according to claim 5, characterized in that: When the bundling position sensor detects that the bunk change is completed, the controller controls the solenoid valve I to close the front bunk door.

7. The control system of the round baler capable of continuous operation according to claim 6, characterized in that: After the rear door sensor is triggered, the controller controls the solenoid valve III to close the lower door.

8. The control system of the round baler capable of continuous operation according to claim 7, characterized in that: After the lower door sensor is triggered, the controller controls the web winding electromagnetic clutch to engage, so that the web winding assembly starts working. When the web entry sensor does not detect a level signal of the natural frequency, the controller controls the interactive component to display that the web is used up.

9. The control system of the round baler capable of continuous operation according to claim 8, characterized in that: When the bale is wrapped with nets, the net cutter falls down, and the net cutter sensor is triggered, the controller controls the solenoid valve II to open the rear door; After the bundle placing sensor is triggered, the controller controls the solenoid valve II to close the rear door.

10. A method for controlling a round baler capable of continuous operation, applied to a control system of a round baler capable of continuous operation as claimed in any one of claims 1 to 9, characterized in that: The following steps are involved: Detecting the opening of the front door, and when detecting that the front door is opened, opening the front door and the lower door; Detect the passing of the bale. When the bale is detected, the front door is closed, so that the material is continuously transported from the open lower door to the rear door. Detect the expansion and opening of the rear door. When the expansion and opening of the rear door is detected, the lower door is closed and the electromagnetic clutch of the web winding is controlled to engage, so that the web winding assembly starts to work; Detecting the net cutting knife signal, when detecting that the net cutting knife falls, controlling the net winding electromagnetic clutch to cut off, so that the net winding assembly stops working, and opening the rear door to make the grass bale fall; The bale release signal is detected, and when the falling of the straw bale is detected, the rear door is controlled to be closed.

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