Cotton picker and round die forming and film winding parallel control method and system thereof

Abstract

The invention relates to a cotton picker and a round mold forming and film winding parallel control method and system.The cotton picker comprises a cotton collecting box, a round mold forming device, a round mold film winding device and the round mold forming and film winding parallel control system.The packaging method of the cotton picker comprises the following steps that when a full box sensor detects that the height of cotton in the cotton collecting box reaches a set position, a signal is sent to a controller, and the controller controls the round mold forming device and the round mold film winding device; starting a packaging procedure, and conveying the cotton in the cotton collecting box into a round die forming device; along with the increase of the diameter of the packaged cotton mold, when the swing arm upwards swings to the position of the swing arm neutral position sensor, a half-box packaging mode is executed; along with continuous increase of the diameter of the cotton mold, when the swing arm swings to trigger a swing arm high-position sensor, a round mold film winding procedure is started, and a packaging film enters a round mold forming chamber through a film feeding frame and is wound on the cotton mold; the two adjacent packaging films are separated until the conveying distance of the packaging films reaches a set value, and film winding is finished; releasing the packaged round mold cotton bale, and recovering the cotton picker to an initial state; and repeating the steps until the cotton picker finishes working.

Description

Technical Field

[0001] The invention relates to agricultural machinery control technology, in particular to a cotton picker and a round mold forming and film wrapping parallel control method and system suitable for a round bale type cotton picker. Background Art

[0002] Round bale cotton pickers have the advantages of high operating efficiency and reduced cotton transportation costs, and have become mainstream products. The round bale cotton pickers in the prior art all monitor the diameter of the round bales through the signal of an angle sensor installed at one end of the swing arm's rotating shaft. When it is detected that the diameter of the cotton bale reaches the set value, the film wrapping process is started. However, the angle sensor is easily affected by environmental factors, and the error in the collected data is large, resulting in inconsistent round bale diameters. In addition, the existing round bale cotton pickers all use photoelectric sensors for baling film separation, and use the signal of the photoelectric sensor as the signal for baling film separation. However, the photoelectric sensor has high requirements for the working environment and is easily affected by impurities, which can easily cause the problem of incorrect baling film separation position. Therefore, providing a control method that can make the diameter of the round bales consistent and the baling film separation stable is a problem that needs to be solved in the art. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a cotton picker and a method and system for parallel control of circular mold forming and film wrapping thereof in view of the above-mentioned defects of the prior art.

[0004] In order to achieve the above object, the present invention provides a method for controlling circular mold forming and film wrapping in parallel, which is applicable to a round-bale cotton picker, wherein the round-bale cotton picker comprises a cotton collecting box, a circular mold forming device and a circular mold film wrapping device, wherein the method comprises the following steps:

[0005] S100, when the full box sensor detects that the height of the cotton in the cotton collecting box reaches the set position, a signal is sent to the control module to start the packaging process, and the packaging roller of the circular mold forming device and the cotton feeding roller, cotton conveying roller and cotton discharging roller of the cotton collecting box are started in sequence to transport the cotton in the cotton collecting box into the circular mold forming device for round bag forming and packaging;

[0006] S200, as the diameter of the cotton mold to be packed increases, the swing arm of the circular mold forming device swings upward, and when it reaches the position of the swing arm mid-position sensor, the half-box packing mode is executed;

[0007] S300, as the diameter of the cotton mold continues to increase, the swing arm continues to swing upward until the swing arm high position sensor is triggered, and the round mold wrapping process is started, and the packaging film enters the round mold molding chamber through the film feeding frame of the round mold wrapping device and is wrapped around the cotton mold; until the conveying distance of the packaging film reaches the set value, two adjacent packaging films are separated in the adhesive area, and the film wrapping is completed;

[0008] S400, releasing the completed round mold cotton bale from the round mold forming device, and the round bale type cotton picker returns to an initial state; and

[0009] S500, repeating steps S100-S400 until the round bale cotton picker finishes working.

[0010] The above-mentioned round mold forming and film wrapping parallel control method, wherein the half-box baling mode includes: when the cotton height in the cotton collecting box drops to the half-box sensor position, the round bale forming and baling are automatically stopped with a delay, and the remaining cotton in the cotton collecting box continues to be fed into the round bale forming chamber of the round mold forming device, and then the cotton discharge roller, cotton transport roller, cotton feeding roller and baling roller are stopped in sequence until the delay ends.

[0011] The above-mentioned circular die forming and film wrapping parallel control method, wherein the circular die film wrapping process comprises: the film feeding frame oil cylinder retracts, and the film feeding frame is lowered; when the packing roller rotates to a set speed, the film feeding frame oil cylinder extends, the film feeding frame swings upward, the film feeding belt and the packing belt clamp the packing film, and the first set time is maintained to flatten the packing film; the film feeding roller rotates, and the packing film enters the circular die forming chamber through the film feeding frame, is wound on the cotton mold, and the length of the packing film wound on the cotton mold is controlled by the second set time; the film feeding frame oil cylinder retracts, and the film feeding frame swings downward, triggering the film tag sensor, and the number of revolutions of the film feeding roller is detected by the film wrapping speed sensor, and the distance the packing film is transported forward is calculated, and the set value is reached, the electromagnetic clutch is separated and braked, the film feeding roller stops rotating, and two adjacent packing films are separated in the adhesive area; the packing roller stops rotating after the third set time, the film supporting oil cylinder extends, the film feeding frame rises, and the film wrapping ends.

[0012] In the above-mentioned method for controlling circular mold forming and film wrapping in parallel, the first setting time is 2 to 5 seconds; and the third setting time is 1 to 4 seconds.

[0013] In the above-mentioned method for controlling circular mold forming and film wrapping in parallel, the film label sensor is a Hall sensor, and the separation label of the packaging film is a magnetic label.

[0014] In the above-mentioned circular mold forming and film wrapping parallel control method, the swing arm mid-position sensor is installed in the circular mold forming chamber and is located at the position where the swing arm reaches when the cotton mold diameter reaches 80% of the preset cotton mold diameter.

[0015] In the above-mentioned circular mold forming and film wrapping parallel control method, the swing arm high-position sensor is installed in the circular mold forming chamber and is located at the position where the swing arm reaches when the diameter of the cotton mold reaches a preset value. When the high-position sensor detects that the swing arm reaches the preset value position, it sends a signal to the circular mold wrapping controller to start the circular mold wrapping process.

[0016] In the above-mentioned method for parallel control of round mold forming and film wrapping, a swing arm angle sensor is used together with the swing arm middle position sensor and the swing arm high position sensor to monitor the diameter of the cotton mold. The swing arm angle sensor detects the diameter of the cotton mold by the change of the angle signal, and displays the round bag diameter online through a column display. When the diameter of the cotton mold reaches the preset value, the round mold wrapping process is started.

[0017] In order to better achieve the above-mentioned purpose, the present invention also provides a circular die forming and film wrapping parallel control system, wherein, for realizing the above-mentioned circular die forming and film wrapping parallel control method, the circular die forming and film wrapping parallel control system includes an information acquisition module and a control module, the information acquisition module includes a half-box sensor, a full-box sensor, a plurality of rotation speed sensors, a swing arm middle position sensor, a swing arm high position sensor, a swing arm angle sensor and a film label sensor; the control module includes a circular die forming controller, a circular die wrapping controller and a column display; the half-box sensor and the full-box sensor are arranged in a cotton collection box; the Multiple speed sensors are respectively arranged beside the corresponding driving components; the swing arm angle sensor is connected to the swing arm roller; the swing arm high position sensor and the swing arm middle position sensor are located in the circular mold forming chamber and are adjacent to the swing arm angle sensor; the film label sensor is located at the rear and lower side of one side of the circular mold forming device; the circular mold wrapping controller and the circular mold forming controller are installed in the control box; the column display is located in the cab; the sensors of the information acquisition module are respectively connected to the circular mold wrapping controller and the circular mold forming controller, and the circular mold wrapping controller and the circular mold forming controller are connected to the column display.

[0018] In order to better achieve the above-mentioned purpose, the present invention also provides a cotton picker, which includes the above-mentioned circular mold forming and film wrapping parallel control system, and adopts the above-mentioned circular mold forming and film wrapping parallel control method to perform cotton mold packaging operations.

[0019] The technical effects of the present invention are:

[0020] The present invention adopts Hall sensor to sense the cotton mold diameter as the signal for starting the film wrapping process, which can improve the consistency of round bale diameter; adopts angle sensor to display the cotton mold diameter online, and can also be used as the film wrapping start signal; adopts Hall sensor signal as the signal for separating two adjacent packaging films, which can reduce the influence of impurities on the film tag sensor, and effectively improves the reliability and stability of packaging film separation; integrates the angle sensor and the Hall sensor into a parallel film wrapping control module, which further improves the reliability of round mold forming; adopts half-box packaging control mode, and empties the cotton in the cotton collection box before executing the film wrapping process, thereby ensuring a high operating speed and improving operating efficiency.

[0021] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments, but is not intended to limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the structure of a cotton picker according to an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of the structure of a cotton collecting box according to an embodiment of the present invention;

[0024] Figure 3 A schematic diagram of the structure of a circular mold forming device according to an embodiment of the present invention;

[0025] Figure 4 This is a schematic structural diagram of a circular die wrapping device according to an embodiment of the present invention;

[0026] Figure 5 This is a block diagram of a device for concurrently controlling circular die forming and film wrapping according to an embodiment of the present invention.

[0027] Among them, the reference numerals

[0028] 1 rack

[0029] 2 cotton collection boxes

[0030] 21 rows of cotton rollers

[0031] 22 Cotton conveyor roller

[0032] 23 Cotton feeding roller

[0033] 3. Round mold forming device

[0034] 31 Baling Roller

[0035] 32 swing arm

[0036] 4 round die wrapping device

[0037] 41 film feeding rack

[0038] 42 film feeding roller

[0039] 43 Electromagnetic clutch

[0040] 5Information Collection Module

[0041] 51 half box sensor

[0042] 52 Full box sensor

[0043] 53 swing arm angle sensor

[0044] 54 Hall sensor

[0045] 541 Cotton feeding speed sensor

[0046] 542 cotton discharge speed sensor

[0047] 543 Cotton shred speed sensor

[0048] 544 package speed sensor

[0049] 545 swing arm high position sensor

[0050] 546 swing arm mid-position sensor

[0051] 547 membrane sensor

[0052] 548 Wrap Speed ​​Sensor

[0053] 6. Control Module

[0054] 61 round mold wrapping controller

[0055] 62 round die forming controller

[0056] 63 column display

[0057] 7 Cab DETAILED DESCRIPTION

[0058] The structural principle and working principle of the present invention are described in detail below in conjunction with the accompanying drawings:

[0059] See also Figure 1-Figure 4 , Figure 1 This is a schematic diagram of the structure of a cotton picker according to an embodiment of the present invention. Figure 2 This is a schematic structural diagram of a cotton collecting box 2 according to an embodiment of the present invention. Figure 3 This is a schematic structural diagram of a circular mold forming device 3 according to an embodiment of the present invention. Figure 4The structure diagram of the round die film wrapping device 4 of one embodiment of the present invention. The cotton picker of the present invention is a round bale type cotton picker, comprising a frame 1 and a cotton collecting box 2 installed on the frame 1, a round die forming device 3, a round die film wrapping device 4 and a round die forming and film wrapping parallel control system, the cotton collecting box 2 comprises a cotton discharge roller 21, a cotton delivery roller 22 and a cotton feeding roller 23; the round die forming device 3 comprises a packing roller 31 and a swing arm 32; the round die film wrapping device 4 comprises a film feeding frame 41, a film feeding roller 42 and an electromagnetic clutch 43, etc., and the structure, connection relationship, position relationship and function of its components can all adopt relatively mature existing technologies. Since the composition, structure, mutual position relationship, connection relationship and function of other parts of the cotton picker are relatively mature existing technologies, they will not be described here in detail. The round die forming and film wrapping parallel control system and the round die forming and film wrapping parallel control method of the present invention are only described in detail below.

[0060] See also Figure 5 , Figure 5 The block diagram of the circular die forming and film wrapping parallel control device of one embodiment of the present invention. The circular die forming and film wrapping parallel control system of the present invention comprises an information acquisition module 5 and a control module 6, wherein the information acquisition module 5 comprises a half-box sensor 51, a full-box sensor 52, a plurality of rotation speed sensors, a swing arm middle position sensor 546, a swing arm high position sensor 545, a swing arm angle sensor 53 and a film tag sensor 547; the control module 6 comprises a circular die forming controller 62, a circular die film wrapping controller 61 and a column display 63; the half-box sensor 51 and the full-box sensor 52 are arranged in the cotton collecting box 2; the plurality of rotation speed sensors are respectively arranged beside the corresponding driving components; the swing arm angle sensor The device 53 is connected to the swing arm roller; the swing arm high position sensor 545 and the swing arm middle position sensor 546 are located in the circular mold molding chamber and are adjacent to the swing arm angle sensor 53; the film tag sensor 547 is located at the rear and lower side of the circular mold molding device 3; the circular mold wrapping controller 61 and the circular mold molding controller 62 are installed in the control box; the column display 63 is located in the cab 7; the sensors of the information acquisition module 5 are respectively connected to the circular mold wrapping controller 61 and the circular mold molding controller 62, and the circular mold wrapping controller 61 and the circular mold molding controller 62 are connected to the column display 63.

[0061] In this embodiment, multiple speed sensors and film tag sensors 547 are preferably Hall sensors 54. The multiple speed sensors may include a cotton feeding speed sensor 541, a cotton discharging speed sensor 542, a cotton chopped speed sensor 543, a baling speed sensor 544 and a film wrapping speed sensor 548. The half-box sensor 51 is located in the middle of the cotton collecting box 2, and three pairs of half-box sensors 51 are evenly distributed horizontally in the front and rear correspondingly; the cotton feeding speed sensor 541 is located next to the cotton feeding motor at the lower rear left side of the cotton collecting box 2; the full box sensor 52 is located above the left side of the cotton collecting box 2, and is installed on the cotton collecting box 2 correspondingly on the left and right sides; the cotton discharging speed sensor 542 is located next to the cotton discharging motor at the lower rear left side of the cotton collecting box 2, and is located above the cotton feeding speed sensor 541; the cotton chopped speed sensor 543 is located next to the cotton chopped motor at the lower rear left side of the cotton collecting box 2, and is located The cotton discharge sensor is located above the cotton discharge sensor; the baling speed sensor 544 is located next to the baling motor at the lower front left side of the round die forming device 3; the swing arm angle sensor 53 is located in the middle position on the left side of the round die forming device 3 and is connected to the swing arm 32 roller; the swing arm high position sensor 545 and the swing arm middle position sensor 546 are located in the middle position on the left side of the round die forming device 3 and are adjacent to the swing arm angle sensor 53; the film tag sensor 547 is located at the lower rear left side of the round die forming device 3; the film wrapping speed sensor 548 is located at the lower right side of the round die wrapping device 4 and is adjacent to the electromagnetic clutch 43; the round die wrapping controller 61 and the round die forming controller 62 are located in the middle position on the left side of the frame 1 of the cotton picker and are installed in the control box, which is fixedly connected to the frame 1; the column display 63 is located in the upper right corner of the cab 7 and is fixedly connected to the cab 7. Each sensor is associated with the round die wrapping controller 61 and the round die forming controller 62 through a signal line, and the round die wrapping controller 61 and the round die forming controller 62 are associated with the column display 63 through CAN communication.

[0062] During operation, when the cotton height in the cotton collecting box 2 reaches the position of the full box sensor 52, the control module 6 receives the signal of the full box sensor 52, and starts the packaging process; as the diameter of the cotton mold increases, the swing arm 32 swings upward, and when it reaches the position of the swing arm middle position sensor 546, the control module 6 executes the half-box packaging mode, that is, when the cotton height in the cotton collecting box 2 reaches the position of the half-box sensor 51, the half-box packaging process is started; as the diameter of the cotton mold continues to increase, the swing arm 32 continues to swing upward, and when the swing arm high position sensor 545 is triggered, the round mold film wrapping controller 61 receives the signal of the swing arm high position sensor 545, and starts the round mold film wrapping process, that is, the oil cylinder of the film feeding frame 41 retracts, the film feeding frame 41 descends, and the packaging roller 31 rotates. When the speed of the packaging roller 31 reaches the set value, the oil cylinder of the film feeding frame 41 extends The film feeding frame 41 swings upward, the film feeding belt and the packing belt clamp the packing film, and the first set time is maintained to flatten the packing film, and then the electromagnetic clutch 43 is engaged, the film feeding roller 42 rotates, and the packing film enters the round mold forming chamber through the film feeding frame 41 and is wound on the round mold; through the second set time, the length of the packing film wound on the cotton mold is controlled; the film feeding frame 41 oil cylinder retracts, and the film feeding frame 41 swings downward; the film tag sensor 547 is triggered, and the film wrapping speed sensor 548 detects the number of revolutions of the film feeding roller 42, calculates the distance the packing film is transported forward, reaches the set value, and the electromagnetic clutch 43 is separated and braked, the film feeding roller 42 stops rotating, and the adjacent two packing films are separated in the adhesive area; the packing roller 31 stops rotating after the third set time, the film supporting cylinder extends, and the film feeding frame 41 rises, and the film wrapping is completed. After the round mold wrapping is completed, the cotton bale is released from the round mold forming device 3, and the cotton picker returns to the initial state, and the above steps are re-executed until the work is completed.

[0063] The circular die forming and film wrapping parallel control method of the present invention comprises the following steps:

[0064] Step S100, when the full box sensor 52 detects that the height of the cotton in the cotton collecting box 2 reaches the set position, a signal is sent to the round mold forming controller 62 to start the packaging process, and the packaging roller 31 of the round mold forming device 3 and the cotton feeding roller 23, the cotton conveying roller 22 and the cotton discharging roller 21 of the cotton collecting box 2 are started in sequence to transport the cotton in the cotton collecting box 2 into the round mold forming device 3 for round bag forming and packaging;

[0065] Step S200, as the diameter of the packaged cotton mold increases, the swing arm 32 of the circular mold forming device 3 swings upward, and when it reaches the position of the swing arm middle position sensor 546, the half-box packaging mode is executed to prevent the cotton from accumulating and blocking the working motor of the cotton collecting box 2, thereby achieving smooth cotton transportation; preferably, the swing arm middle position sensor 546 is installed in the circular mold forming chamber and is located at the position where the swing arm 32 reaches when the diameter of the cotton mold reaches 80% of the preset cotton mold diameter;

[0066] Step S300, as the diameter of the cotton mold continues to increase, the swing arm 32 continues to swing upward until the swing arm high position sensor 545 is triggered, and the round mold wrapping process is started. The packaging film enters the round mold molding chamber through the film feeding frame 41 of the round mold wrapping device 4 and is wrapped around the cotton mold; until the conveying distance of the packaging film reaches the set value, the two adjacent packaging films are separated in the adhesive area, and the wrapping is completed; the swing arm high position sensor 545 is installed in the round mold molding chamber and is located at the position where the swing arm 32 reaches when the diameter of the cotton mold reaches the preset value. When the high position sensor detects that the swing arm 32 reaches the preset value position, it sends a signal to the round mold wrapping controller 61 to start the round mold wrapping process;

[0067] Step S400, releasing the packaged round mold cotton bale from the round mold forming device 3, and the round bale type cotton picker returns to the initial state; and

[0068] Step S500, repeating steps S100-S400 until the round bale cotton picker finishes working.

[0069] Among them, the half-box packaging mode includes: when the cotton height in the cotton collecting box 2 drops to the position of the half-box sensor 51, the round bale forming and packaging is automatically stopped with a delay, and the remaining cotton in the cotton collecting box 2 continues to be fed into the round bale forming chamber of the round mold forming device 3, and then the cotton discharge roller 21, cotton delivery roller 22, cotton feeding roller 23 and packaging roller 31 stop in sequence until the delay ends.

[0070] In step S100 of this embodiment, after the packing process is started, first, the solenoid valve of the packing roller 31 is energized, the packing roller 31 rotates, and the speed sensor of the packing roller 31 collects the speed signal of the packing roller 31 and transmits it to the controller. When the speed of the packing roller 31 reaches the set value, the solenoid valve of the cotton feeding roller 23 is energized, and the cotton feeding roller 23 rotates. Similarly, the solenoid valve of the cotton delivery roller 22 and the solenoid valve of the cotton discharge roller 21 are energized in turn, and the cotton delivery roller 22 and the cotton discharge roller 21 rotate in turn. When the cotton height in the cotton collecting box 2 drops to the position of the half-box sensor 51, the round bale forming process is automatically stopped with a delay. After the remaining cotton is fed into the round bale forming chamber during the delay period, the solenoid valve of the cotton discharge roller 21, the solenoid valve of the cotton delivery roller 22, the solenoid valve of the cotton feeding roller 23 and the solenoid valve of the packing roller 31 are de-energized in turn, and the cotton discharge roller 21, the cotton delivery roller 22, the cotton feeding roller 23 and the packing roller 31 stop rotating in turn. During the baling process, the controller collects the signals of the speed of the cotton discharge roller 21, the speed of the cotton delivery roller 22, the speed of the cotton feeding roller 23, the speed of the baling roller 31 and the swing arm angle sensor 53 through the speed sensor of the cotton discharge roller 21, the speed sensor of the cotton delivery roller 22, the speed sensor of the cotton feeding roller 23, the speed of the baling roller 31 and the swing arm angle sensor 53, and transmits them to the column display 63 through CAN communication after processing. The parameters and status of the working parts and the diameter of the cotton bale are displayed on the column display 63.

[0071] In step S200, as the diameter of the cotton mold increases, the swing arm 32 swings upward. When the swing arm 32 reaches the position of the swing arm middle position sensor 546, the control module 6 executes the half-box packaging mode, that is, when the cotton height in the cotton collecting box 2 reaches the position of the half-box sensor 51, the half-box packaging process is started. The installation position of the swing arm middle position sensor 546 is the position of the swing arm 32 when the cotton mold diameter reaches 80% of the preset cotton mold diameter; when the swing arm 32 reaches the position of the swing arm middle position sensor 546, the circular mold wrapping controller 61 receives the middle position sensor signal, and the control module 6 executes the half-box packaging mode to ensure that the cotton in the cotton collecting box 2 is emptied when the wrapping process is started, so as to achieve a higher operating speed and improve operating efficiency. As the diameter of the cotton mold increases, the swing arm 32 continues to swing upward, and the installation position of the swing arm high position sensor 545 is the position of the swing arm 32 when the cotton mold diameter reaches the preset diameter. When the position of the swing arm 32 reaches the high position sensor, the round die wrapping controller 61 receives the high position sensor signal and starts the round die wrapping process, which can improve the consistency of the round bag diameter.

[0072] The film wrapping process of the round die in this embodiment includes: the oil cylinder of the film feeding frame 41 is retracted, and the film feeding frame 41 is lowered; when the packing roller 31 rotates to a set speed, the oil cylinder of the film feeding frame 41 is extended, and the film feeding frame 41 swings upward, and the film feeding belt and the packing belt clamp the packing film, and keep the packing film flat for a first set time; the film feeding roller 42 rotates, and the packing film enters the round die molding chamber through the film feeding frame 41, is wrapped around the cotton mold, and the packing film is wrapped around the cotton mold by controlling the second set time. length; the film feeding frame 41 cylinder retracts, and the film feeding frame 41 swings downward, triggering the film tag sensor 547, and detecting the number of rotations of the film feeding roller 42 through the film wrapping speed sensor 548, and calculating the distance the packaging film is conveyed forward, reaching the set value, the electromagnetic clutch 43 disengages and brakes, the film feeding roller 42 stops rotating, and the two adjacent packaging films are separated in the adhesive area; the packaging roller 31 keeps rotating for the third set time and then stops rotating, the film supporting cylinder extends, the film feeding frame 41 rises, and the film wrapping is completed.

[0073] Among them, the packaging film separation label is a label containing magnetism, and the film label sensor 547 adopts a Hall sensor 54, which can reduce the influence of impurities on the film label sensor 547, and effectively improve the reliability and stability of packaging film separation. In order to flatten the packaging film, before the electromagnetic clutch 43 is engaged, the first setting time for the film feeding belt and the packaging belt to clamp the packaging film is preferably 2 to 5 seconds; after the two adjacent packaging films are separated, in order to ensure that the adhesive area of ​​the packaging film is fully adhered, the third setting time for the packaging roller 31 to continue to rotate is preferably 1 to 4 seconds.

[0074] The present invention can use the swing arm angle sensor 53 together with the swing arm middle position sensor 546 and the swing arm high position sensor 545 to monitor the diameter of the cotton mold. The swing arm angle sensor 53 detects the diameter of the cotton mold through the change of the angle signal, and displays the round bag diameter online through the column display 63. When the diameter of the cotton mold reaches the preset value, the round mold wrapping process is started. That is, in the round die wrapping control, there are two conditions for starting the wrapping process. One is to output the angle change of the swing arm angle sensor 53 as the diameter of the round die through the controller, and display the cotton die diameter in real time on the column display 63. When the cotton die diameter reaches the set value, the round die wrapping controller 61 starts the wrapping process; the other is to use the swing arm high position sensor 545 signal as the condition for starting the wrapping process. As the cotton die diameter increases, when the swing arm 32 reaches the position of the swing arm high position sensor 545, the round die wrapping controller 61 collects the swing arm high position sensor 545 signal and starts the wrapping process; the two controls are parallel and can run independently, realizing the online display of the cotton bale diameter and improving the consistency of the cotton bale diameter.

[0075] The left side of the round mold forming device 3 of this embodiment is equipped with a swing arm angle sensor 53, a swing arm middle position sensor 546 and a swing arm high position sensor 545, which can display the round bale diameter in real time on the column display 63. In step S300, as the cotton mold diameter increases, when the swing arm 32 reaches the high position sensor, the round mold film wrapping controller 61 receives the high position sensor signal, and then starts the round mold film wrapping process; the change of the angle signal of the swing arm angle sensor 53 reflects the size of the cotton mold diameter, and the signal is transmitted to the column display 63 through CAN communication after processing, and the round bale diameter is displayed online. When the cotton mold diameter reaches the preset value, the film wrapping process can be started. The two starting film wrapping control methods are parallel and independent of each other, and each can make the system work independently. The film wrapping process is controlled by the position sensor to improve the consistency of the cotton bale diameter. The film wrapping process is controlled by the angle sensor, and the round mold forming and film wrapping control can also be independently realized, and the cotton bale diameter can be displayed online at the same time. The two round mold forming and film wrapping control methods are parallel, which improves the fault tolerance of the control system.

[0076] In step S300 of this embodiment, before starting the round die wrapping process, the film supporting cylinder is in an extended state, the film feeding rack 41 is at the highest position, and the film feeding belt and the strapping belt clamp the packaging film to prevent the wind from blowing the packaging film away from the effective film feeding area, resulting in abnormal film feeding. After starting the film wrapping process, the film supporting cylinder retraction solenoid valve is energized, the film feeding rack 41 cylinder retracts, the film feeding rack 41 is lowered, the packaging roller 31 motor solenoid valve is energized, and the packaging roller 31 rotates. When the speed of the packaging roller 31 reaches the set value, the film feeding rack 41 cylinder extension solenoid valve is energized, the film feeding rack 41 swings upward, and the film feeding belt and the strapping belt clamp the packaging film. After a delay of 2s, the packaging film is flattened by the strapping belt, and then the electromagnetic clutch 43 solenoid valve is energized, the electromagnetic clutch 43 is engaged, the film feeding roller 42 rotates, and the packaging film enters the round die molding chamber and is wrapped around the round die; by delaying 3s, the length of the packaging film wrapped around the cotton mold is controlled; the film feeding rack 41 cylinder retraction solenoid valve is energized, and the film feeding rack 41 swings downward; the film label sensor 547 detects the separation label of the packaging film, delays for 10ms, confirms that the film label sensor 547 is normally triggered, and prevents false signal alarms. After the film label sensor 547 confirms the trigger, the film wrapping speed sensor 548 detects the number of revolutions of the film feeding roller 42, calculates the distance the packaging film is conveyed forward, and after reaching the set position, the electromagnetic clutch 43 solenoid valve is powered off, the electromagnetic clutch 43 is separated and braked, the film feeding roller 42 stops rotating, and the two adjacent packaging films are separated in the adhesive area; after a delay of 2s, the packaging roller 31 stops rotating, the film supporting cylinder extension solenoid valve is energized, the film feeding frame 41 cylinder is extended, the film feeding frame 41 rises, and the film wrapping is completed.

[0077] In this embodiment, when the cotton height in the cotton collecting box 2 reaches the position of the full box sensor 52, the controller receives the signal of the full box sensor 52 and starts the packing process, that is, the packing roller 31, the cotton feeding roller 23, the cotton delivery roller 22 and the cotton discharge roller 21 are started in sequence. When the cotton height in the cotton collecting box 2 drops to the position of the half box sensor 51, the round mold forming work is automatically stopped after a delay. After the remaining cotton is all fed into the round mold forming chamber during the delay period, the cotton discharge roller 21, the cotton delivery roller 22, the cotton feeding roller 23 and the packing roller 31 are stopped in sequence, and the packing process ends. As the swing arm 32 swings up and down, the cotton discharge roller 21, the cotton delivery roller 22, the cotton feeding roller 23 and the packing roller 31 stop in sequence, and the packing process ends. As the cotton mold diameter increases, the swing arm 32 swings upward, and when it reaches the position of the swing arm middle position sensor 546, the control module 6 executes the half-box packaging mode, that is, when the cotton height in the cotton collecting box 2 reaches the position of the half-box sensor 51, the packaging process is started; as the cotton mold diameter continues to increase, the swing arm 32 continues to swing upward, and when the swing arm high position sensor 545 is triggered, the round mold wrapping controller 61 receives When the swing arm high position sensor 545 signals, the round die wrapping process is started, that is, the film feeding frame 41 oil cylinder retracts, the film feeding frame 41 is lowered, and the packing roller 31 rotates. When the speed of the packing roller 31 reaches the set value, the film feeding frame 41 oil cylinder extends, the film feeding frame 41 swings upward, the film feeding belt and the packing belt clamp the packing film, and keep it for a certain time to flatten the packing film, then the electromagnetic clutch 43 is engaged, the film feeding roller 42 rotates, and the packing film enters the round die molding chamber through the film feeding frame 41 and is wound on the round die; by controlling the time, the length of the packing film wound on the cotton mold is controlled; the film feeding frame 41 oil cylinder retracts, the film feeding frame 41 is lowered, and the packing roller 31 rotates. The film frame 41 swings downward; the film tag sensor 547 is triggered, and the film wrapping speed sensor 548 detects the number of revolutions of the film feed roller 42, calculates the distance the packaging film is transported forward, and reaches the set value, the electromagnetic clutch 43 is separated and braked, the film feed roller 42 stops rotating, and the two adjacent packaging films are separated in the adhesive area; the packaging roller 31 keeps rotating for a certain period of time and then stops rotating, the film supporting cylinder extends, the film feed frame 41 rises, and the film wrapping is completed; after the round die wrapping process is completed, the cotton bale is released from the round die forming device 3, the cotton picker returns to the initial state, and the above steps are re-executed. Through this method, the efficient operation of the cotton picker can be achieved, and the consistency of the diameter of the round bale and the reliability of the separation of the two adjacent packaging films can be improved.

[0078] The present invention can perform round mold forming and film wrapping operations on objects such as cotton, effectively improve the operating efficiency, realize the efficient operation of the cotton picker, and also improve the consistency of the diameter of the round bale and the reliability and stability of the separation of two adjacent packaging films, and reduce the influence of impurities on the film tag sensor 547. The swing arm angle sensor 53, the swing arm middle position sensor 546 and the swing arm high position sensor 545 are combined to monitor the cotton mold diameter. The change of the angle signal of the swing arm angle sensor 53 reflects the size of the cotton mold diameter. After processing, the signal is transmitted to the column display 63 through CAN communication to display the round bale diameter online. When the cotton mold diameter reaches the preset value, the film wrapping process can also be started. In addition, the high-position sensor signal can also be used as a signal to start the film wrapping process. The parallel control system with multi-sensor fusion further improves the reliability, stability and accuracy of the film wrapping system.

[0079] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art may make various corresponding changes and modifications based on the present invention, but these corresponding changes and modifications should all fall within the scope of protection of the claims attached to the present invention.

Claims

1. A method for controlling circular die forming and film wrapping in parallel, which is applicable to a round-bale cotton picker, wherein the round-bale cotton picker comprises a cotton collecting box, a circular die forming device and a circular die film wrapping device, and is characterized in that: The steps include: S100, when the full box sensor detects that the height of the cotton in the cotton collecting box reaches the set position, a signal is sent to the control module to start the packaging process, and the packaging roller of the circular mold forming device and the cotton feeding roller, cotton conveying roller and cotton discharging roller of the cotton collecting box are started in sequence to transport the cotton in the cotton collecting box into the circular mold forming device for round bag forming and packaging; S200, as the diameter of the cotton mold to be packed increases, the swing arm of the circular mold forming device swings upward, and when it reaches the position of the swing arm mid-position sensor, the half-box packing mode is executed; S300, as the diameter of the cotton mold continues to increase, the swing arm continues to swing upward until the swing arm high position sensor is triggered, and the round mold wrapping process is started, and the packaging film enters the round mold molding chamber through the film feeding frame of the round mold wrapping device and is wrapped around the cotton mold; until the conveying distance of the packaging film reaches the set value, two adjacent packaging films are separated in the adhesive area, and the film wrapping is completed; S400, releasing the completed round mold cotton bale from the round mold forming device, and the round bale type cotton picker returns to an initial state; as well as S500, repeating steps S100-S400 until the round bale cotton picker finishes working.

2. The method for controlling circular die forming and film wrapping in parallel as claimed in claim 1, characterized in that: The half-box baling mode includes: when the cotton height in the cotton collecting box drops to the half-box sensor position, the round bale forming and baling is automatically stopped with a delay, and the remaining cotton in the cotton collecting box continues to be fed into the round bale forming chamber of the round mold forming device, and then the cotton discharge roller, cotton transport roller, cotton feeding roller and baling roller stop in sequence until the delay ends.

3. The method for controlling circular die forming and film wrapping in parallel as claimed in claim 1, characterized in that: The round die film wrapping process comprises: the film feeding frame oil cylinder retracts and the film feeding frame is lowered; when the packing roller rotates to a set speed, the film feeding frame oil cylinder extends, the film feeding frame swings upward, the film feeding belt and the packing belt clamp the packing film, and the first set time is maintained to flatten the packing film; the film feeding roller rotates, the packing film enters the round die molding chamber through the film feeding frame, is wound around the cotton mold, and the length of the packing film wound around the cotton mold is controlled by the second set time; the film feeding frame oil cylinder retracts and the film feeding frame swings downward, triggering the film tag sensor, detecting the number of rotations of the film feeding roller through the film wrapping speed sensor, and calculating the distance the packing film is transported forward, reaching the set value, the electromagnetic clutch is separated and braked, the film feeding roller stops rotating, and two adjacent packing films are separated in the adhesive area; the packing roller stops rotating after the third set time, the film supporting cylinder extends, the film feeding frame rises, and the film wrapping ends.

4. The method for controlling circular die forming and film wrapping in parallel as claimed in claim 3, characterized in that: The first setting time is 2 to 5 seconds; the third setting time is 1 to 4 seconds.

5. The method for controlling circular die forming and film wrapping in parallel as claimed in claim 3, characterized in that: The film label sensor is a Hall sensor, and the separation label of the packaging film is a magnetic label.

6. The method for controlling circular die forming and film wrapping in parallel as claimed in claim 1, characterized in that: The swing arm mid-position sensor is installed in the circular mold forming chamber and is located at the position where the swing arm reaches when the diameter of the cotton mold reaches 80% of the preset cotton mold diameter.

7. The method for controlling circular die forming and film wrapping in parallel as claimed in claim 1, characterized in that: The swing arm high-position sensor is installed in the circular mold molding chamber and is located at the position where the swing arm reaches when the diameter of the cotton mold reaches a preset value. When the high-position sensor detects that the swing arm reaches the preset value position, it sends a signal to the circular mold wrapping controller to start the circular mold wrapping process.

8. The method for controlling circular die forming and film wrapping in parallel as claimed in claim 1, characterized in that: A swing arm angle sensor is used together with the swing arm middle position sensor and the swing arm high position sensor to monitor the diameter of the cotton mold. The swing arm angle sensor detects the diameter of the cotton mold by the change of the angle signal, and displays the round bag diameter online through a column display. When the diameter of the cotton mold reaches the preset value, the round mold wrapping process is started.

9. A circular die forming and film wrapping parallel control system, characterized in that: Used to implement the circular die forming and film wrapping parallel control method described in any one of claims 1 to 8, the circular die forming and film wrapping parallel control system includes an information acquisition module and a control module, the information acquisition module includes a half-box sensor, a full-box sensor, multiple speed sensors, a swing arm middle position sensor, a swing arm high position sensor, a swing arm angle sensor and a film tag sensor; the control module includes a circular die forming controller, a circular die wrapping controller and a column display; the half-box sensor and the full-box sensor are arranged in a cotton collection box; the multiple speed sensors are respectively arranged beside the corresponding driving components; the swing arm angle sensor is connected to the swing arm roller; the swing arm high position sensor and the swing arm middle position sensor are located in the circular die forming room and are adjacent to the swing arm angle sensor; the film tag sensor is located at the rear and lower side of one side of the circular die forming device; the circular die wrapping controller and the circular die forming controller are installed in the control box; the column display is located in the cab; the sensors of the information acquisition module are respectively connected to the circular die wrapping controller and the circular die forming controller, and the circular die wrapping controller and the circular die forming controller are connected to the column display.

10. A cotton picker, characterized in that: It comprises the circular die forming and film wrapping parallel control system as described in claim 9, and adopts the circular die forming and film wrapping parallel control method as described in any one of claims 1-8 to carry out cotton die packaging operations.

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