A cotton picker and its parallel control method and system for circular die forming and film winding

Abstract

A cotton picker and its parallel control method and system for round mold forming and film winding. The cotton picker includes a cotton collecting box, a round mold forming device, a round mold film winding device, and a parallel control system for round mold forming and film winding. The packing method is as follows: When the full box sensor detects that the cotton height in the cotton collecting box reaches the set position, it sends a signal to the controller to start the packing process, and conveys the cotton in the cotton collecting box into the round mold forming device; As the diameter of the packed cotton mold increases, when the swing arm swings upward to the position of the swing arm middle position sensor, the half-box packing mode is executed; As the diameter of the cotton mold continues to increase, when the swing arm swings to trigger the swing arm high position sensor, the round mold film winding process is started, and the packing film enters the round mold forming chamber through the film feeding rack and winds around the cotton mold; Until the conveying distance of the packing film reaches the set value and adjacent two packing films are separated, the film winding ends; The packed round mold cotton bale is released, and the cotton picker returns to the initial state; The above steps are repeated until the cotton picker finishes working.

Description

Technical Field

[0001] The present invention relates to agricultural machinery control technology, in particular to a cotton picker and a parallel control method and system for circular die forming and film winding applicable to a circular bale cotton picker. Background Art

[0002] The circular bale cotton picker has the advantages of high operation efficiency and reduced cotton transportation cost, and has become the mainstream product. The existing circular bale cotton pickers all monitor the bale diameter through the signal of an angle sensor installed at one end of the swing arm rotating shaft. When it is detected that the bale diameter reaches the set value, the film winding process is started. However, the angle sensor is easily affected by environmental factors, and the collected data has a large error, resulting in inconsistent bale diameters. In addition, the separation of the packing film of the existing circular bale cotton pickers all uses a photoelectric sensor, and the signal of the photoelectric sensor is used as the signal for the separation of the packing film. However, the photoelectric sensor has high requirements for the working environment and is easily affected by impurities, and there is a problem of incorrect separation position of the packing film. Therefore, providing a control method that can make the bale diameter size consistent and the packing film separation stable is an urgent problem 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 its parallel control method and system for circular die forming and film winding in view of the above-mentioned defects of the prior art.

[0004] To achieve the above object, the present invention provides a parallel control method for circular die forming and film winding, applicable to a circular bale cotton picker. The circular bale cotton picker includes a cotton collecting box, a circular die forming device, and a circular die film winding device. The method includes the following steps:

[0005] S100. When the full box sensor detects that the cotton height in the cotton collecting box reaches the set position, a signal is sent to the control module to start the packing process. The packing roller of the circular die forming device, the feeding roller, the cotton conveying roller, and the discharging roller of the cotton collecting box are started in sequence to convey the cotton in the cotton collecting box into the circular die forming device for circular bale forming and packing;

[0006] S200. As the diameter of the packed cotton die increases, the swing arm of the circular die forming device swings upward. When it reaches the position of the swing arm middle position sensor, the half-box packing mode is executed;

[0007] S300. As the diameter of the cotton die continues to increase, the swing arm continues to swing upward until the swing arm high position sensor is triggered, and the circular die film winding process is started. The packing film enters the circular die forming chamber through the film feeding frame of the circular die film winding device and winds around the cotton die; until the conveying distance of the packing film reaches the set value, adjacent two packing films are separated in the adhesive area, and the film winding ends;

[0008] S400. Release the round mold cotton bale that has been packed from the round mold forming device, and the round bale cotton picker returns to its initial state; and

[0009] S500. Repeat steps S100 - S400 until the operation of the round bale cotton picker ends.

[0010] In the above - mentioned parallel control method for round mold forming and film winding, the half - box packing mode includes: when the height of the cotton in the cotton collecting box drops to the position of the half - box sensor, automatically stop the round bale forming and packing with a time delay. After feeding the remaining cotton in the cotton collecting box into the round bale forming chamber of the round mold forming device, the cotton discharging roller, cotton conveying roller, cotton feeding roller, and packing roller stop in sequence until the time delay ends.

[0011] In the above - mentioned parallel control method for round mold forming and film winding, the round mold film - winding process includes: the film feeding frame oil cylinder retracts, and the film feeding frame descends; when the rotation speed of the packing roller reaches the set value, the film feeding frame oil cylinder extends, and the film feeding frame swings upward. The film feeding belt and the packing belt clamp the packing film and keep it flat for the first set time; the film feeding roller rotates, and the packing film enters the round mold forming chamber through the film feeding frame, winds around the cotton mold, and controls the length of the packing film wound around the cotton mold through the second set time; the film feeding frame oil cylinder retracts, and the film feeding frame swings downward, triggering the film label sensor. Through the film - winding speed sensor, detect the number of turns of the film feeding roller rotation, and calculate the forward conveying distance of the packing film. When it reaches the set value, the electromagnetic clutch disengages and brakes, and the film feeding roller stops rotating. Adjacent two packing films are separated in the adhesive area; keep the packing roller rotating for the third set time and then stop rotating. The film supporting oil cylinder extends, and the film feeding frame rises, and the film winding ends.

[0012] In the above - mentioned parallel control method for round mold forming and film winding, the first set time is 2 - 5 s; the third set time is 1 - 4 s.

[0013] In the above - mentioned parallel control method for round mold forming and film winding, the film label sensor is a Hall sensor, and the separation label of the packing film is a magnetic label.

[0014] In the above - mentioned parallel control method for round mold forming and film winding, the swing arm middle - position sensor is installed in the round 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.

[0015] The above-mentioned parallel control method for circular die forming and film winding, wherein the swing arm high-position sensor is installed in the circular die forming chamber and at the position where the swing arm reaches when the diameter of the cotton die 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 die film winding controller to start the circular die film winding process.

[0016] The above-mentioned parallel control method for circular die forming and film winding, wherein a swing arm angle sensor, the swing arm middle-position sensor and the swing arm high-position sensor are used together to monitor the diameter of the cotton die. The swing arm angle sensor detects the size of the cotton die diameter through the change of the angle signal and online displays the circular bale diameter through a column display. When the diameter of the cotton die reaches the preset value, the circular die film winding process is started.

[0017] To better achieve the above object, the present invention also provides a parallel control system for circular die forming and film winding. The parallel control system for circular die forming and film winding is used to implement the above-mentioned parallel control method for circular die forming and film winding. The parallel control system for circular die forming and film winding 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 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 film winding controller and a column display. The half-box sensor and the full-box sensor are arranged in the cotton collecting box. The plurality of 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 chamber and adjacent to the swing arm angle sensor. The film label sensor is located at the lower rear side of one side of the circular die forming device. The circular die film winding controller and the circular die forming controller are installed in the control box. The column display is located in the cab. Each sensor of the information acquisition module is respectively connected to the circular die film winding controller and the circular die forming controller, and the circular die film winding controller and the circular die forming controller are connected to the column display.

[0018] To better achieve the above object, the present invention also provides a cotton picker, which includes the above-mentioned parallel control system for circular die forming and film winding and uses the above-mentioned parallel control method for circular die forming and film winding to perform cotton die packing operations.

[0019] The technical effect of the present invention is as follows:

[0020] The present invention uses a Hall sensor to sense the diameter of the cotton mold as a signal for starting the film winding process, which can improve the consistency of the round bale diameter; an angle sensor is used to display the diameter of the cotton mold online and can also be used as a signal for starting film winding; the signal of the Hall sensor is used as a signal for separating two adjacent packing films, which can reduce the influence of impurities on the film label sensor and effectively improve the reliability and stability of the separation of the packing films; the angle sensor and the Hall sensor are integrated into a parallel film winding control module to further improve the reliability of the round mold forming; a semi-box packing control mode is adopted, and the cotton in the cotton collecting box is emptied before performing the film winding process to ensure a high operating speed and improve the operating efficiency.

[0021] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments, but it is not limited to the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 Schematic structural diagram of a cotton picker according to an embodiment of the present invention;

[0023] Figure 2 Schematic structural diagram of a cotton collecting box according to an embodiment of the present invention;

[0024] Figure 3 Schematic structural diagram of a round mold forming device according to an embodiment of the present invention;

[0025] Figure 4 Schematic structural diagram of a round mold film winding device according to an embodiment of the present invention;

[0026] Figure 5 Block diagram of a parallel control device for round mold forming and film winding according to an embodiment of the present invention.

[0027] Wherein, the reference numerals

[0028] 1 Frame

[0029] 2 Cotton collecting box

[0030] 21 Cotton discharging roller

[0031] 22 Cotton conveying roller

[0032] 23 Cotton feeding roller

[0033] 3 Round mold forming device

[0034] 31 Packing roller

[0035] 32 Swing arm

[0036] 4 Round mold film winding device

[0037] 41 Film feeding frame

[0038] 42 Film feeding roller

[0039] 43 Electromagnetic clutch

[0040] 5 Information acquisition module

[0041] 51 Half-box sensor

[0042] 52 Full-box sensor

[0043] 53 Swing arm angle sensor

[0044] 54 Hall sensor

[0045] 541 Feeding cotton rotation speed sensor

[0046] 542 Discharging cotton rotation speed sensor

[0047] 543 Shredding cotton rotation speed sensor

[0048] 544 Packing rotation speed sensor

[0049] 545 Swing arm high position sensor

[0050] 546 Swing arm middle position sensor

[0051] 547 Film label sensor

[0052] 548 Winding film rotation speed sensor

[0053] 6 Control module

[0054] 61 Circular die winding film controller

[0055] 62 Circular die forming controller

[0056] 63 Column type display instrument

[0057] 7 Cab Specific implementation mode

[0058] The structural principle and working principle of the present invention will be specifically described below with reference to the accompanying drawings:

[0059] See Figures 1-4 , Figure 1 which is a schematic structural diagram of a cotton picker according to an embodiment of the present invention, Figure 2 which is a schematic structural diagram of the cotton collecting box 2 according to an embodiment of the present invention, Figure 3 which is a schematic structural diagram of the circular die forming device 3 according to an embodiment of the present invention, Figure 4Schematic diagram of the circular mold film wrapping device 4 according to an embodiment of the present invention. The cotton picker of the present invention is a circular bale cotton picker, which includes a frame 1, a cotton collecting box 2, a circular mold forming device 3, a circular mold film wrapping device 4, and a parallel control system for circular mold forming and film wrapping installed on the frame 1. The cotton collecting box 2 includes a cotton discharging roller 21, a cotton conveying roller 22, and a cotton feeding roller 23; the circular mold forming device 3 includes a packing roller 31 and a swing arm 32; the circular mold film wrapping device 4 includes a film feeding frame 41, a film feeding roller 42, an electromagnetic clutch 43, etc. The structures, connection relationships, positional relationships, and functions of its components can all adopt relatively mature existing technologies. Since the compositions, structures, mutual positional relationships, connection relationships, and functions of other parts of the cotton picker are all relatively mature existing technologies, they will not be elaborated here. Only the parallel control system for circular mold forming and film wrapping and the parallel control method for circular mold forming and film wrapping of the present invention will be described in detail below.

[0060] See Figure 5 , Figure 5 Block diagram of the parallel control device for circular mold forming and film wrapping according to an embodiment of the present invention. The parallel control system for circular mold forming and film wrapping of the present invention includes an information acquisition module 5 and a control module 6. The information acquisition module 5 includes a half-box sensor 51, a full-box sensor 52, multiple rotational 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 label sensor 547; the control module 6 includes a circular mold forming controller 62, a circular mold 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 multiple rotational speed sensors are respectively arranged beside the corresponding driving components; the swing arm angle sensor 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 forming chamber and are adjacent to the swing arm angle sensor 53; the film label sensor 547 is located at the lower rear side of one side of the circular mold forming device 3; the circular mold film wrapping controller 61 and the circular mold forming controller 62 are installed in the control box; the column display 63 is located in the cab 7; each sensor of the information acquisition module 5 is respectively connected to the circular mold film wrapping controller 61 and the circular mold forming controller 62, and the circular mold film wrapping controller 61 and the circular mold forming controller 62 are connected to the column display 63.

[0061] In this embodiment, a plurality of rotational speed sensors and film label sensors 547 are preferably Hall sensors 54. The plurality of rotational speed sensors may include a feeding rotational speed sensor 541, a discharging rotational speed sensor 542, a cotton shredding rotational speed sensor 543, a packing rotational speed sensor 544, and a film winding rotational speed sensor 548. The half-box sensor 51 is located at the middle position of the cotton collecting box 2, and three pairs of half-box sensors 51 are evenly distributed horizontally in the front and back. The feeding rotational speed sensor 541 is located beside the feeding motor at the lower left rear 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 corresponding to the left and right. The discharging rotational speed sensor 542 is located beside the discharging motor at the lower left rear of the cotton collecting box 2 and is above the feeding rotational speed sensor 541. The cotton shredding rotational speed sensor 543 is located beside the cotton shredding motor at the lower left rear of the cotton collecting box 2 and is above the discharging sensor. The packing rotational speed sensor 544 is located beside the packing motor at the lower left front of the round die forming device 3. The swing arm angle sensor 53 is located at 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 at 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 label sensor 547 is located at the lower left rear of the round die forming device 3. The film winding rotational speed sensor 548 is located at the lower right of the round die film winding device 4 and is adjacent to the electromagnetic clutch 43. The round die film winding controller 61 and the round die forming controller 62 are located at the middle position on the left side of the frame 1 of the cotton picker and are installed in the control box. The control box is fixedly connected to the frame 1. The column type display 63 is located at the upper right corner inside the cab 7 and is fixedly connected to the cab 7. Each sensor is associated with the round die film winding controller 61 and the round die forming controller 62 through signal lines, and the round die film winding controller 61 and the round die forming controller 62 are associated with the column type 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 from the full box sensor 52, and then starts the packing process. As the diameter of the cotton mold increases, the swing arm 32 swings upward. When it reaches the position of the swing arm middle position sensor 546, the control module 6 executes the half box packing 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 packing process is started. As the diameter of the cotton mold continues to increase, the swing arm 32 continues to swing upward. When the swing arm high position sensor 545 is triggered, the round mold film winding controller 61 receives the signal from the swing arm high position sensor 545, and then starts the round mold film winding process, that is, the oil cylinder of the film feeding rack 41 retracts, the film feeding rack 41 descends, the packing roller 31 rotates. When the rotation speed of the packing roller 31 reaches the set value, the oil cylinder of the film feeding rack 41 extends, the film feeding rack 41 swings upward, the film feeding belt and the packing belt clamp the packing film, keep the first set time to flatten the packing film, then the electromagnetic clutch 43 engages, the film feeding roller 42 rotates, the packing film enters the round mold forming chamber through the film feeding rack 41 and winds around the round mold. Through the second set time, the length of the packing film wound around the cotton mold is controlled. The oil cylinder of the film feeding rack 41 retracts, the film feeding rack 41 swings downward. The film label sensor 547 is triggered, the number of rotations of the film feeding roller 42 is detected by the film winding rotation speed sensor 548, the forward conveying distance of the packing film is calculated, when it reaches the set value, the electromagnetic clutch 43 disengages and brakes, the film feeding roller 42 stops rotating, and two adjacent packing films are separated in the adhesive area. After keeping the packing roller 31 rotating for the third set time, it stops rotating, the film supporting oil cylinder extends, the film feeding rack 41 rises, and the film winding ends. After the round mold film winding ends, the cotton bale is released from the round mold forming device 3, the cotton picker returns to the initial state, and the above steps are executed again until the work ends.

[0063] The parallel control method for round mold forming and film winding of the present invention includes the following steps:

[0064] Step S100: When the full box sensor 52 detects that the cotton height in the cotton collecting box 2 reaches the set position, it sends a signal to the round mold forming controller 62 to start the packing process. The packing roller 31 of the round mold forming device 3, the feeding roller 23, the cotton conveying roller 22 and the cotton discharging roller 21 of the cotton collecting box 2 are started in sequence, and the cotton in the cotton collecting box 2 is conveyed into the round mold forming device 3 for round bale forming and packing.

[0065] Step S200: As the diameter of the packed cotton mold increases, the swing arm 32 of the round mold forming device 3 swings upward. When it reaches the position of the swing arm middle position sensor 546, the half box packing mode is executed, which can prevent the working motor of the cotton collecting box 2 from being blocked due to cotton accumulation and ensure smooth cotton conveying. Preferably, the swing arm middle position sensor 546 is installed in the round mold forming chamber and 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, when the swing arm 32 continues to swing upward until it triggers the swing arm high-position sensor 545, the circular mold film-wrapping process is started. The packing film enters the circular mold forming chamber through the film-feeding rack 41 of the circular mold film-wrapping device 4 and is wound around the cotton mold. Until the conveying distance of the packing film reaches the set value, adjacent two packing films are separated in the gluing area, and the film-wrapping ends. The swing arm high-position sensor 545 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 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 circular mold film-wrapping controller 61 to start the circular mold film-wrapping process.

[0067] Step S400: Release the circular mold cotton bale that has been packed from the circular mold forming device 3, and the circular bale cotton picker returns to the initial state; and

[0068] Step S500: Repeat steps S100 - S400 until the circular bale cotton picker finishes working.

[0069] Among them, the half-box packing mode includes: when the height of the cotton in the cotton collecting box 2 drops to the position of the half-box sensor 51, the circular bale forming and packing is automatically stopped after a delay. After the remaining cotton in the cotton collecting box 2 is continuously fed into the circular bale forming chamber of the circular mold forming device 3, the cotton discharging roller 21, the cotton conveying roller 22, the cotton feeding roller 23, and the packing roller 31 stop in sequence until the delay ends.

[0070] In step S100 of this embodiment, after starting the packing process, first, the solenoid valve of the packing roller 31 is energized, and the packing roller 31 rotates. The rotational speed sensor of the packing roller 31 collects the rotational speed signal of the packing roller 31 and transmits it to the controller. When the rotational 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 valves of the cotton conveying roller 22 and the cotton discharging roller 21 are energized in sequence, and the cotton conveying roller 22 and the cotton discharging roller 21 rotate in sequence. When the height of the cotton in the cotton collecting box 2 drops to the position of the half-box sensor 51, the circular bale forming working process is automatically stopped after a delay. During the delay period, after the remaining cotton is fed into the circular bale forming chamber, the solenoid valves of the cotton discharging roller 21, the cotton conveying roller 22, the cotton feeding roller 23, and the packing roller 31 are de-energized in sequence, and the cotton discharging roller 21, the cotton conveying roller 22, the cotton feeding roller 23, and the packing roller 31 stop rotating in sequence. During the packing process, the controller will process the signals of the rotational speed of the cotton discharging roller 21, the rotational speed of the cotton conveying roller 22, the rotational speed of the cotton feeding roller 23, the rotational speed of the packing roller 31, and the swing arm angle sensor 53 collected by the rotational speed sensor of the cotton discharging roller 21, the rotational speed sensor of the cotton conveying roller 22, the rotational speed sensor of the cotton feeding roller 23, the rotational speed sensor of the packing roller 31, and the swing arm angle sensor 53, and transmit them to the column type display instrument 63 through CAN communication. The parameters and states of the working components and the diameter of the cotton bale are displayed on the column type display instrument 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 packing mode, that is, when the height of the cotton in the cotton collecting box 2 reaches the position of the half-box sensor 51, the half-box packing process is started. The installation position of the swing arm middle position sensor 546 is the position of the swing arm 32 when the diameter of the cotton mold 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 round mold film winding controller 61 receives the middle position sensor signal, and the control module 6 executes the half-box packing mode to ensure that the cotton in the cotton collecting box 2 is emptied when starting the film winding process, achieving a higher working speed and improving work efficiency. As the diameter of the cotton mold increases, the swing arm 32 continues to swing upward. The installation position of the swing arm high position sensor 545 is the position of the swing arm 32 when the diameter of the cotton mold reaches the preset diameter. When the position of the swing arm 32 reaches the high position sensor, the round mold film winding controller 61 receives the high position sensor signal, and the round mold film winding process is started, which can improve the consistency of the round bale diameter.

[0072] The round mold film winding process of this embodiment includes: the oil cylinder of the film feeding frame 41 retracts, and the film feeding frame 41 descends; when the packing roller 31 rotates to a set speed, the oil cylinder of the film feeding frame 41 extends, and the film feeding frame 41 swings upward, the film feeding belt and the packing belt clamp the packing film, and keep the first set time to flatten the packing film; the film feeding roller 42 rotates, the packing film enters the round mold forming chamber through the film feeding frame 41, winds around the cotton mold, and controls the length of the packing film wound around the cotton mold through the second set time; the oil cylinder of the film feeding frame 41 retracts, the film feeding frame 41 swings downward, triggers the film label sensor 547, detects the number of turns of the film feeding roller 42 through the film winding speed sensor 548, and calculates the forward conveying distance of the packing film. When it reaches the set value, the electromagnetic clutch 43 disengages and brakes, the film feeding roller 42 stops rotating, and adjacent two packing films are separated in the adhesive area; after keeping the packing roller 31 rotating for the third set time, it stops rotating, the film supporting oil cylinder extends, the film feeding frame 41 rises, and the film winding ends.

[0073] Among them, the packing film separation label is a label containing magnetism. The film label sensor 547 adopts the Hall sensor 54, which can reduce the influence of impurities on the film label sensor 547, and effectively improves the reliability and stability of the packing film separation. In order to flatten the packing film, the first set time for the film feeding belt and the packing belt to clamp the packing film before the electromagnetic clutch 43 engages is preferably 2 - 5 s; after adjacent two packing films are separated, in order to ensure that the adhesive area of the packing film is fully pasted, the third set time for the packing roller 31 to continue rotating is preferably 1 - 4 s.

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

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

[0076] In step S300 of this embodiment, before starting the circular die film winding process, the film supporting oil cylinder is in the extended state, the film feeding rack 41 is in the highest position, the film feeding belt and the packing belt clamp the packing film to prevent the wind from blowing the packing film out of the effective film feeding area, resulting in abnormal film feeding. After starting the film winding process, the solenoid valve of the film supporting oil cylinder retraction is energized, the oil cylinder of the film feeding rack 41 retracts, the film feeding rack 41 descends, the solenoid valve of the packing roller 31 motor is energized, the packing roller 31 rotates. When the rotation speed of the packing roller 31 reaches the set value, the solenoid valve of the film feeding rack 41 cylinder extension is energized, the film feeding rack 41 swings upward, the film feeding belt and the packing belt clamp the packing film, and after a delay of 2 s, the packing film is smoothed by the packing belt. Then the solenoid valve of the electromagnetic clutch 43 is energized, the electromagnetic clutch 43 engages, the film feeding roller 42 rotates, and the packing film enters the circular die forming chamber and winds around the circular die; after a delay of 3 s, the length of the packing film wound around the cotton die is controlled; the solenoid valve of the film feeding rack 41 cylinder retraction is energized, and the film feeding rack 41 swings downward; when the film label sensor 547 detects the separation label of the packing film, after a delay of 10 ms, it is confirmed that the film label sensor 547 is normally triggered to prevent signal false alarms. After the film label sensor 547 is confirmed to be triggered, the number of rotations of the film feeding roller 42 is detected by the film winding speed sensor 548, and the forward conveying distance of the packing film is calculated. After reaching the set position, the solenoid valve of the electromagnetic clutch 43 is de-energized, the electromagnetic clutch 43 disengages and brakes, and the film feeding roller 42 stops rotating, and two adjacent packing films are separated in the gluing area; after a delay of 2 s, the packing roller 31 stops rotating, the solenoid valve of the film supporting oil cylinder extension is energized, the oil cylinder of the film feeding rack 41 extends, the film feeding rack 41 rises, and the film winding ends.

[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 then starts the packing process, that is, the packing roller 31, the feeding roller 23, the cotton conveying roller 22 and the cotton discharging 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 circular die forming work will automatically stop after a delay. During the delay period, all the remaining cotton is fed into the circular die forming chamber, and then the cotton discharging roller 21, the cotton conveying roller 22, the feeding roller 23 and the packing roller 31 stop in sequence, and the packing process ends. As the swing arm 32 swings up and down, the angle signal of the angle sensor installed at one end of the rotating shaft of the swing arm 32 changes. The angle signal is converted into the circular bale diameter by the controller and transmitted to the column type display instrument 63. As the diameter of the cotton die increases, the swing arm 32 swings upward. When it reaches the position of the middle swing arm sensor 546, the control module 6 executes the half box packing mode, that is, when the cotton height in the cotton collecting box 2 reaches the position of the half box sensor 51, the packing process is started. As the diameter of the cotton die continues to increase, the swing arm 32 continues to swing upward. When the high swing arm sensor 545 is triggered, the circular die film winding controller 61 receives the signal of the high swing arm sensor 545 and then starts the circular die film winding process, that is, the oil cylinder of the film feeding rack 41 retracts, the film feeding rack 41 descends, the packing roller 31 rotates. When the rotation speed of the packing roller 31 reaches the set value, the oil cylinder of the film feeding rack 41 extends, the film feeding rack 41 swings upward, the film feeding belt and the packing belt clamp the packing film, and the packing film is flattened for a certain time. Then the electromagnetic clutch 43 is engaged, the film feeding roller 42 rotates, and the packing film enters the circular die forming chamber through the film feeding rack 41 and winds around the circular die. By controlling the time, the length of the packing film wound on the cotton die is controlled. The oil cylinder of the film feeding rack 41 retracts, and the film feeding rack 41 swings downward. The film label sensor 547 is triggered, and the number of turns of the film feeding roller 42 is detected through the film winding rotation speed sensor 548, and the forward conveying distance of the packing film is calculated. When it reaches the set value, the electromagnetic clutch 43 is disengaged and braked, and the film feeding roller 42 stops rotating, and the adjacent two packing films are separated at the adhesive area. After the packing roller 31 rotates for a certain time, it stops rotating, the film supporting oil cylinder extends, and the film feeding rack 41 rises, and the film winding ends. After the circular die film winding process ends, the cotton bale is released from the circular die forming device 3, and the cotton picker returns to the initial state and repeats the above steps. Through this method, the efficient operation of the cotton picker can be realized, and the consistency of the circular bale diameter and the reliability of the separation of adjacent two packing films are also improved.

[0078] The present invention can perform circular die forming and film winding operations on objects such as cotton, effectively improving the operation efficiency, enabling the efficient operation of cotton pickers, and also improving the consistency of the round bale diameter and the reliability and stability of the separation of adjacent two packing films, reducing the influence of impurities on the film label 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 die diameter. Through the change of the angle signal of the swing arm angle sensor 53, the size of the cotton die diameter is reflected. After the signal is processed, it is transmitted to the column display 63 through CAN communication to display the round bale diameter online. When the cotton die diameter reaches the preset value, the film winding process can also be started. In addition, the high position sensor signal can also be used as the signal to start the film winding process. The parallel control system with multi-sensor fusion further improves the reliability, stability, and accuracy of the film winding 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 can make various corresponding changes and deformations according to the present invention. However, these corresponding changes and deformations should all fall within the protection scope of the appended claims of 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 packaged 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 packaging mode is executed to ensure that the cotton in the cotton collecting box is emptied when the film wrapping process is started; The half-box baling mode includes: when the height of the cotton in the cotton collecting box drops to the half-box sensor position, the round bale forming and baling is automatically stopped after a delay, and the remaining cotton in the cotton collecting box is continuously fed into the round bale forming chamber of the round mold forming device, and then the cotton discharge roller, cotton delivery roller, cotton feeding roller and baling roller are stopped in sequence until the delay ends; 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; and S500, repeating steps S100-S400 until the round bale cotton picker finishes working; Among them, the parallel control of the swing arm angle sensor, the swing arm middle position sensor and the swing arm high position sensor multi-sensor fusion is used to jointly monitor the cotton mold diameter, including two conditions for starting the film wrapping process that are parallel and can run independently. One is that the swing arm high position sensor is installed in the round mold molding chamber and is located at the position where the swing arm reaches when the cotton mold diameter reaches a preset value. When the swing arm high position sensor detects that the swing arm reaches the preset value position, it sends a signal to the round mold wrapping controller to start the round mold wrapping process; the other is that the swing arm angle sensor detects the size of the cotton mold diameter through the change of the angle signal, and displays the round bag diameter online through a column display. When the cotton mold diameter reaches the preset value, the round mold wrapping process is started.

2. 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.

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

4. The method for controlling circular die forming and film wrapping in parallel as claimed in claim 2, characterized in that: The film label sensor is a Hall sensor, and the separation label of the packaging film is a magnetic label.

5. 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 molding 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.

6. 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 5, 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 mid-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 next to 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 mid-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.

7. A cotton picker, characterized in that: It comprises the circular die forming and film wrapping parallel control system as described in claim 6, and adopts the circular die forming and film wrapping parallel control method as described in any one of claims 1-5 to carry out cotton die packaging operations.

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