Cotton feeding and packaging control method and system and cotton picking and packaging machine

Abstract

The invention discloses a cotton feeding and packaging control method and system and a cotton picking and packaging machine, which are characterized in that naturally stacked cotton above an auger group is firstly pre-compressed and then compressed into a cotton bale on the basis, so that the uniform compaction degree of the cotton is improved, the cotton storage amount above the auger group is kept at a preset reference stock position in the pre-compaction process, and the cotton bale is prevented from being damaged. And the continuity of the pre-compaction operation is ensured. And the auger group can well support the harvested cotton, so that the condition that the cotton on one side of the bottom of the cotton collecting box is too much is prevented, and special-shaped cotton bales are prevented from occurring during packaging. And then the torque of the auger motor is detected in real time, the start-stop state of the auger motor and the rotating speed of each execution motor in the feeding and packaging system are controlled according to the torque detection result to carry out feeding and packaging operation, the cotton compaction density is conveniently adjusted, and it is ensured that cotton is uniformly compacted during packaging. And when it is detected that the size of the cotton bale reaches a preset value, a packer motor is controlled to operate at the maximum rotating speed, and film wrapping and bale-by-bale operation are completed at the fastest speed.

Description

Technical Field

[0001] The present invention relates to the technical field of cotton harvesting, and in particular to a cotton feeding and baling control method and system, and in addition, in particular to a cotton picking and baling machine using the control system. Background Art

[0002] The cotton picking and baling machine can pick and harvest cotton, compact the harvested loose cotton seeds, and pack them into tons of cotton bales. The whole machine is large in size, heavy in weight, high in energy consumption, strong in continuous operation, and the power demand changes significantly during the operation. Figure 1 As shown, the cotton feeding operation process of the cotton picking baler is as follows: when the equipment is operating, the cotton is thrown into the cotton collecting box through the wind tube and piled up at the rear side. When the cotton pile reaches the full bin detection sensor 100 position of the cotton collecting box, the auger 200 horizontally connected to the left and right sides of the cotton collecting box operates to compact the cotton downward, or the auger 200 always operates at a certain action interval; after a certain delay when the full bin detection signal is triggered, the hydraulic baling pump drives the upper baling motor 300 and the lower baling motor 400 of the baler to drive the baling belt to operate. After the baling belt reaches the preset speed, the conveyor belt 500 starts to operate. The cotton beating roller 600 and the cotton discharging roller 700 are comb-shaped rollers for breaking up and spreading the cotton. After the conveyor belt 500 reaches the preset speed, the cotton beating roller 600 and the cotton discharging roller 700 start to operate again until the air below the cotton collecting box is filled. After a delay is triggered by the signal of the bin detection sensor 800, the above-mentioned actuator stops with a delay in reverse order; the cotton is rolled and pressed into a cylindrical cotton core in the baler, and the baling rocker arm 900 is lifted up as the cotton is continuously fed; when the cotton core reaches a preset size or a baling instruction is manually issued, the upper baling motor 300 and the lower baling motor 400 drive the baling belt to run at a preset speed, and the laminating cylinder 910 rises to press the cotton bale packaging film onto the baling belt. After a certain delay, the laminating cylinder 910 falls, and the electromagnetic clutch 920 is attracted to allow the cotton bale packaging film to enter the baling bin with the baling belt. When the label detection mechanism 930 detects the label at the tail of the cotton bale packaging film, the electromagnetic clutch 920 is disconnected with a delay, and the baling belt stops after a delay of several turns, that is, the baling operation is completed, and the above-mentioned feeding and baling operation is performed again after the cotton bale is expelled.

[0003] Since the entire feeding and baling process is only controlled by signal timing, there is no pressure detection for cotton feeding. The compaction density cannot be adjusted during the operation of the auger to compact the cotton. When the moisture content of the cotton in the cotton collecting box is too high or mixed with drip irrigation tapes and sand in the field, the cotton hitting roller and cotton discharge roller will be stuck and the conveyor belt and baling belt will be blocked due to excessive compaction.

[0004] In addition, since the operation of the auger only affects the cotton density in the cotton collection box, and thus affects the number of cotton feeding actions during the cotton bale forming process, each time the cotton feeding action is performed, the cotton that has been pre-compacted by the auger enters the baler first, and the naturally stacked cotton that has not been compacted by the auger enters later, which is not conducive to uniform compaction of the cotton. In addition, the existing cotton baler uses a single hydraulic pump to simultaneously drive the upper and lower hydraulic motors to drive the baling belt. This solution cannot ensure the speed consistency of the two motors, which inevitably causes friction between the belt roller and the baling belt. Especially after the mass of the cotton core in the baler increases, each start and stop action of the baling belt will cause belt wear.

[0005] In addition, since the feeding width of the conveyor belt during the feeding and baling operation is consistent with the width of the cotton bale in the baler, there are certain requirements for the feeding flatness of the cotton on the conveyor belt, and the wider the harvesting range of the baler, the larger the cotton bale specifications it produces, and the higher the requirements for the flatness of the cotton bales. However, when the cotton picking and baling machine uses a one-side header to harvest, the cotton will be concentrated on the left or right side of the cotton collection box, and the cotton will form a cone-shaped cotton core after being fed into the baler. In addition, in the actual operation process, due to the different yields of field plots, the cotton in the cotton collection box is unevenly distributed, resulting in poor feeding flatness of the cotton on the conveyor belt. The cotton bales obtained are likely to be round drums with concave sides in the middle, waist drums with concave sides in the middle, and concave barrels on one side. A single cotton bale can weigh more than two tons and is stacked during transportation and storage. This is especially true in cotton processing plants, where the bales are stacked more than ten meters high. If the bales are not uniform in shape, there will be a major safety hazard. Moreover, irregular-shaped bales will cause the belt pressure in the baler to not be evenly distributed. The individual belts on both sides will be at risk of breaking due to the greater pressure, which also reduces the success rate of cotton core film packaging. Summary of the invention

[0006] The invention provides a cotton feeding and baling control method and system, and a cotton picking and baling machine, which can realize uniform compaction of cotton, facilitate adjustment of cotton compaction density, and prevent the occurrence of abnormal-shaped cotton bales.

[0007] According to one aspect of the present invention, a cotton feeding and packing control method is provided, comprising the following contents:

[0008] Detecting the amount of cotton stored above the auger group in the cotton collecting box, wherein the auger group includes a plurality of augers arranged at intervals along the left and right directions of the cotton picking and baling machine, and each auger is arranged along the front-back direction;

[0009] When it is detected that the cotton storage position above the auger group is higher than the preset reference storage position, each auger motor is controlled to work to drive the auger group to feed and pre-compact the cotton downward, and keep the cotton storage above the auger group at the preset reference storage position;

[0010] Detect the torque of the auger motor, and control the start and stop status of the auger motor and the speed of each executive motor in the feeding and baling system according to the torque detection result to perform feeding and baling operations to ensure uniform compaction of cotton;

[0011] When it is detected that the cotton bale size reaches the preset value, the baler motor is controlled to run at the maximum speed to complete the film wrapping and bale-by-bale operations.

[0012] Furthermore, the process of controlling the start and stop state of the auger motor and the speed of each execution motor in the feeding and packaging system to perform feeding and packaging operations according to the torque detection result to ensure uniform compaction of cotton includes the following contents:

[0013] When it is detected that the torque of the auger motor is about to reach the preset torque value, the baler is controlled to run in advance. When the preset torque value is reached, the executive motors that control the cotton discharge roller, cotton hitting roller and conveyor belt start to run. The cotton feeding volume is adjusted by controlling the speed of each executive motor. The relationship between the speed of each executive motor and the cotton feeding volume is calibrated in advance, so that the cotton feeding amount and the cotton harvested amount are consistent during the feeding and baling operation. The preset torque value of the auger motor corresponds to the cotton under the auger group being compacted to the set pre-compaction density.

[0014] Further, the cotton feed volume is regulated based on the following formula:

[0015] V t ×ρ c =ΔV u ×ρ i

[0016] Among them, V t represents the cotton feed volume, ρ c Indicates the pre-compacted density of cotton, ΔV u represents the cotton harvest volume, ρ i Indicates the natural stacking density of cotton stored above the auger group.

[0017] Furthermore, the process of controlling the start and stop state of the auger motor and the speed of each execution motor in the feeding and packaging system to perform feeding and packaging operations according to the torque detection result to ensure uniform compaction of cotton includes the following contents:

[0018] When it is detected that the torque of the auger motor is about to reach the preset torque value, the baler is controlled to run in advance. When the preset torque value is reached, the auger motor is controlled to stop, and the actuator motors of the cotton discharge roller, cotton hitting roller and conveyor belt are controlled to start running. The cotton feeding volume is adjusted by controlling the speed of each actuator motor. The relationship between the speed of each actuator motor and the cotton feeding volume is calibrated in advance, and the cotton feeding volume is regulated with the linear increase of the cotton bale diameter as the control target. The preset torque value of the auger motor corresponds to the cotton under the auger group being compacted to the set pre-compaction density.

[0019] Further, the cotton feed volume is regulated based on the following formula:

[0020] V t ×ρ c =(2rΔr+Δr 2 )πlρ p

[0021] Among them, V t represents the cotton feed volume, ρ c represents the pre-compacted density of cotton, r represents the radius of the cotton bale, Δr represents the increase in the radius of the cotton bale, l represents the width of the cotton bale, ρ p Indicates the target compaction density of the bale.

[0022] Furthermore, the feeding and packaging process also includes the following:

[0023] Detect whether the warehouse under the auger group is full. When it is detected that the warehouse under the auger group is not full, each execution motor is controlled to stop after a preset time, and each auger motor is controlled to work at the same time.

[0024] Furthermore, the following contents are also included:

[0025] When emptying and packaging operations are required, first control the operation of each auger motor to drive the auger group to feed the cotton stored above downwards first, and detect whether the warehouse below the auger group is full. When it is detected that the warehouse below the auger group is full, detect the amount of cotton stored above the auger group again, and control the execution motors in the feeding and packaging system to start running to empty the cotton collection box.

[0026] Furthermore, the pre-compacted density of the cotton below the auger group is 70kg / m 3 ~80kg / m 3 .

[0027] In addition, the present invention also provides a cotton feeding and packing control system, which adopts the cotton feeding and packing control method as described above, and comprises:

[0028] A cotton storage amount detection device is used to detect the amount of cotton stored above the auger group in the cotton collecting box, wherein the auger group includes a plurality of augers arranged at intervals along the left and right directions of the cotton picking and baling machine, and each auger is arranged along the front-back direction;

[0029] Motor torque detection device, used to detect the torque of the auger motor;

[0030] A cotton bale size detection device, used for detecting the size of cotton bales;

[0031] The controller is used to control the operation of each auger motor when it is detected that the cotton storage position above the auger group is higher than a preset reference storage position, so as to drive the auger group to feed and pre-compact the cotton, and keep the cotton storage above the auger group at the preset reference storage position; it is also used to control the start and stop state of the auger motor and the speed of each execution motor in the feeding and packaging system according to the torque detection result to perform feeding and packaging operations to ensure that the cotton is evenly compacted; it is also used to control the baler motor to run at the maximum speed when it is detected that the cotton bale size reaches the preset value to complete the film wrapping and bale-by-bale operations.

[0032] In addition, the present invention also provides a cotton picking and baling machine, which adopts the cotton feeding and baling control system as described above.

[0033] The present invention has the following beneficial effects:

[0034] The cotton feeding and packaging control method of the present invention first detects the amount of cotton stored above the auger group in the cotton collecting box in real time. When it is detected that the cotton storage position above the auger group is higher than the preset reference storage position, each auger motor is controlled to work to drive the auger group to feed downward and pre-compact the cotton. By pre-compacting the cotton below the auger group, the naturally stacked cotton with a relatively small initial density above the auger group is first pre-compressed, and then compressed into a cotton bale on this basis, which is beneficial to the balance and stability of the internal stress of the cotton, and is beneficial to the conveying gear roller to spread the cotton evenly on the conveyor belt, thereby improving the uniform compaction of the cotton. Moreover, during the pre-compacting process, the amount of cotton stored above the auger group is kept at the preset reference storage position, thereby ensuring the continuity of the pre-compacting operation. In addition, since the auger group uses multiple augers arranged at intervals along the left and right directions of the cotton picking and baling machine, and each auger is arranged in the front-to-back direction, it can well support the harvested cotton. The harvested cotton can be naturally spread and stacked on each augers, and will not fall directly into the bottom of the cotton collecting box. This can prevent the situation where there is more cotton on one side of the bottom of the cotton collecting box, ensure that the cotton fed to the bottom of the cotton collecting box is uniform, and prevent the appearance of abnormal-shaped cotton bales during baling. Then, the torque of the auger motor is detected in real time, and the start and stop state of the auger motor and the speed of each execution motor in the feeding and baling system are controlled according to the torque detection result to perform feeding and baling operations, which is convenient for adjusting the cotton compaction density, ensuring uniform compaction during cotton baling, and can reduce the crushing rate of cotton seeds during compression, which is conducive to cotton seed recovery and processing. Finally, when it is detected that the cotton bale size reaches the preset value, the baler motor is controlled to run at the maximum speed to complete the film coating and bale-by-bale operations at the fastest speed.

[0035] In addition, the cotton feeding and baling control system and the cotton picking and baling machine of the present invention also have the above advantages.

[0036] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0038] Figure 1 The utility model is a structural diagram of the cotton feeding and baling mechanism of the existing cotton picking and baling machine.

[0039] Figure 2 It is a flow chart of the cotton feeding and packing control method according to the preferred embodiment of the present application.

[0040] Figure 3 It is a schematic diagram of the main layout of the auger group in the cotton collection box of the preferred embodiment of the present application.

[0041] Figure 4 It is a schematic diagram of the top view layout of the auger group in the cotton collection box of the preferred embodiment of the present application.

[0042] Figure 5 It is a schematic diagram of the pressure required for secondary compression of cotton at different initial densities in the preferred embodiment of the present application.

[0043] Figure 6 It is a schematic diagram of the relationship curve between the compression density and the cottonseed breakage rate of the preferred embodiment of the present application.

[0044] Figure 7 It is a schematic diagram of the natural stacking density results of naturally stacked cotton obtained by multiple measurements in the preferred embodiment of the present application.

[0045] Figure 8 It is another flow chart of the cotton feeding and packing control method according to the preferred embodiment of the present application.

[0046] Fig. 9 It is a schematic diagram of the module structure of a cotton feeding and packaging control system according to another embodiment of the present application.

[0047] Description of Reference Numerals

[0048] 100, full bin detection sensor; 200, auger; 300, upper baling motor; 400, lower baling motor; 500, conveyor belt; 600, cotton striking roller; 700, cotton discharge roller; 800, empty bin detection sensor; 900, baling rocker arm; 910, laminating cylinder; 920, electromagnetic clutch; 930, label detection mechanism. DETAILED DESCRIPTION

[0049] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0050] Reference Figure 2 The preferred embodiment of the present application provides a cotton feeding and packing control method, comprising the following contents:

[0051] Step S1: detecting the amount of cotton stored above the auger group in the cotton collecting box, wherein the auger group includes a plurality of augers arranged at intervals along the left and right directions of the cotton picking and baling machine, and each auger is arranged along the front-back direction;

[0052] Step S2: when it is detected that the cotton storage position above the auger group is higher than the preset reference storage position, each auger motor is controlled to work to drive the auger group to feed and pre-compact the cotton downward, and keep the cotton storage above the auger group at the preset reference storage position;

[0053] Step S3: Detect the torque of the auger motor, and control the start and stop state of the auger motor and the speed of each execution motor in the feeding and baling system according to the torque detection result to perform feeding and baling operations to ensure that the cotton is evenly compacted;

[0054] Step S4: When it is detected that the cotton bale size reaches a preset value, the baler motor is controlled to run at a maximum speed to complete the film wrapping and bale-by-bale operation.

[0055] It can be understood that the cotton feeding and packaging control method of this embodiment first detects the amount of cotton stored above the auger group in the cotton collection box in real time. When it is detected that the cotton storage position above the auger group is higher than the preset reference storage position, each auger motor is controlled to work to drive the auger group to feed and pre-compact the cotton downward. By pre-compacting the cotton below the auger group, the naturally stacked cotton with a smaller initial density above the auger group is first pre-compressed, and then compressed into a cotton bale on this basis, which is beneficial to the balance and stability of the internal stress of the cotton, and is beneficial to the conveying gear roller to spread the cotton evenly on the conveyor belt, thereby improving the uniform compaction of the cotton. Moreover, during the pre-compacting process, the amount of cotton stored above the auger group is kept at the preset reference storage position, ensuring the continuity of the pre-compacting operation. In addition, since the auger group uses multiple augers arranged at intervals along the left and right directions of the cotton picking and baling machine, and each auger is arranged in the front-to-back direction, it can well support the harvested cotton. The harvested cotton can be naturally spread and stacked on each augers, and will not fall directly into the bottom of the cotton collecting box. This can prevent the situation where there is more cotton on one side of the bottom of the cotton collecting box, ensure that the cotton fed to the bottom of the cotton collecting box is uniform, and prevent the appearance of abnormal-shaped cotton bales during baling. Then, the torque of the auger motor is detected in real time, and the start and stop state of the auger motor and the speed of each execution motor in the feeding and baling system are controlled according to the torque detection result to perform feeding and baling operations, which is convenient for adjusting the cotton compaction density, ensuring uniform compaction during cotton baling, and can reduce the crushing rate of cotton seeds during compression, which is conducive to cotton seed recovery and processing. Finally, when it is detected that the cotton bale size reaches the preset value, the baler motor is controlled to run at the maximum speed to complete the film coating and bale-by-bale operations at the fastest speed.

[0056] It can be understood that in step S1, after the device is powered on, a self-test is performed, and then the amount of cotton stored above the auger group in the cotton collection box is detected by the laser radar installed on the top of the cotton collection box. Specifically, the point cloud data collected by the laser radar is pre-processed, and then the volume V of the naturally accumulated cotton in the area above the auger group can be obtained by the slicing method after Gaussian filtering, interpolation and filling. u and the change in volume of harvested cotton, ΔV u (i.e. cotton harvest volume), wherein the specific volume measurement principle belongs to the prior art and will not be described in detail here.

[0057] In addition, if Figure 3 and Figure 4As shown, the auger group in the cotton collecting box includes a plurality of augers arranged at intervals along the left and right directions of the cotton picking and baling machine, and each auger is arranged along the front-to-back direction. Specifically, a plurality of compacting augers are arranged side by side at intervals along the front-to-back direction in the middle of the cotton collecting box according to the blowing position of the wind tube, and each auger is driven by an independent auger motor. After the harvested cotton enters the cotton collecting box, it will first be piled above each augers, so that the space above each augers is naturally stacked cotton, and the space below is pre-compacted cotton. The space above the augers is larger, and the cotton can be evenly spread above each augers even when a single-sided cutter is used for harvesting.

[0058] It is understandable that the existing cotton baling machine uses a single auger that passes through the cotton collecting box from left to right, and does not have the ability to support cotton. The harvested cotton falls directly into the bottom of the cotton collecting box. During the cotton feeding process, there will be more cotton on one side, and the cotton will be directly fed into the baler without contacting the auger during the feeding process. After the full-bin cotton collecting box feeds backwards for a period of time, since one side is still in the cotton feeding state, the cotton flow on one side can still block the empty bin detection photoelectric switch, and the empty bin detection photoelectric switch will not be triggered, and the feeding action will not stop. The original uniform feeding on both sides will become uneven feeding, which may lead to the production of special-shaped cotton bales. The present invention adopts multiple augers arranged side by side in front and behind, which have good cotton supporting capacity. The harvested cotton is first piled up naturally and evenly above each augers. Only when the cotton storage position above the auger group is higher than the preset reference storage position, each augers starts to operate, feeding the cotton downward and pre-compacting it, ensuring that each auger feeds cotton evenly, preventing the situation where there is more cotton on one side of the bottom of the cotton collecting box, ensuring that the cotton fed to the bottom of the cotton collecting box is uniform, and preventing the occurrence of abnormal-shaped cotton bales during packaging.

[0059] In addition, in the feeding and packaging system of the present invention, the cotton beating roller, cotton discharge roller and conveyor belt are all controlled by dedicated executive motors, and the existing upper and lower packaging motors are replaced with upper and lower packaging motors to realize the speed control of the packaging belt. The motor is both a driving unit and a speed and torque detection unit.

[0060] It can be understood that in step S2, when it is detected that the cotton storage position above the auger group is higher than the preset reference storage position, each auger motor is controlled to work, and each auger starts to run to drive the auger group to feed and pre-compact the cotton downward, and keep the cotton storage above the auger group at the preset reference storage position to ensure the continuity of the pre-compacting operation. For example, when it is detected that the cotton storage position above the auger group is 5cm to 8cm higher than the preset reference storage position, the pre-compacting operation is started. On the one hand, the cotton of this thickness is light in weight and has little effect on the compacting load of the auger. Under the preset torque value, the compacting effect of the cotton under the auger can be guaranteed. On the other hand, it meets the feeding amount of the auger, which is convenient for feeding regulation. In addition, this value can be specifically defined according to the type of cotton picking baler. For example, for a three-row cotton picking baler, a four-row cotton picking baler, and a six-row cotton picking baler, it can be set according to the collected cotton feeding amount and the processing amount of the baler. Among them, the reference stock position has been calibrated before the equipment leaves the factory to ensure that the newly harvested cotton can still be accommodated when the cotton cannot be transported backwards during the baling and bale-by-bale state of the baler. The reference stock position must also meet the following conditions: when the area under the auger is filled with natural cotton, the cotton stock above each auger must meet the one-time compaction requirement; when the area under the auger is empty, the cotton stock above each auger is sufficient to fill the space below the auger with natural cotton density.

[0061] It can be understood that the present invention starts the pre-compacting operation only after detecting that the cotton storage position above the auger group is higher than the preset reference storage position. By pre-compacting the cotton below the auger group, the naturally stacked cotton with a smaller initial density above the auger group can be pre-compressed first, and then compressed into cotton bales on this basis, which is beneficial to the internal stress balance and stability of the cotton, and is beneficial for the conveying tooth roller to evacuate the cotton evenly on the conveyor belt, thereby improving the uniform compaction of the cotton.

[0062] It is understandable that during the compression process of cotton in the baler, compression and stress relaxation coexist. When the compression speed is high, the compression stress rate is greater than the stress relaxation homogenization rate, and the stress cannot be transmitted in time, which will lead to excessive compression density of the outer cotton layer and low density of the inner cotton layer. The existing fixed-speed feeding method is difficult to ensure compaction uniformity. The average density of cotton bales produced by the current cotton picking and baling harvester is 190kg / m 3 ~240kg / m 3 , and the customer's expected compaction density> 210kg / m 3 Among them, the pressure required for secondary compression of cotton at different initial densities is as follows: Figure 5As shown in the figure, due to the limited stress transmission for the stacked cotton, the cotton on the outermost side is compressed first during compression, and the internal cotton will be compressed only after the stress is transmitted. Moreover, due to the limited stress transmission distance, when the same compression density is reached, the density difference between the outer and inner layers of the machine-picked seed cotton with a lower initial density will be greater. Since cotton has two compression processes, the first pre-compression is completed in the cotton collection box, and the second compression is completed in the baler. The higher the density of the first compression, the lower the pressure required for the second compression operation, and the more uniform the compaction. Therefore, it is necessary to pre-compact the cotton. The stress transmission distance of cotton during the compression process is limited. If the "pre-compression" is completed at a higher initial density and then compressed into a high-density cotton bale, it is beneficial to balance and stabilize the internal stress of the cotton. At the same time, at an appropriate density, it is beneficial for the conveying gear roller to evacuate and spread the cotton evenly. However, if the naturally stacked cotton with a lower initial density is compressed into a high-density cotton bale, the internal stress is not easy to balance. In addition, the constant speed feeding control method makes it impossible to transmit stress in time during the compaction process of cotton. The compression density of the outer cotton layer is too high, which will significantly increase the breakage rate of cotton seeds, which is not conducive to cotton seed recovery and processing. The relationship between compression density and cotton seed breakage rate is as follows: Figure 6 shown.

[0063] Therefore, in step S3, the torque of the auger motor during the pre-compaction process is detected in real time, and the start and stop state of the auger motor and the speed of each execution motor in the feeding and packaging system are controlled according to the torque detection result to perform feeding and packaging operations, so as to adjust the compaction density of the cotton, ensure uniform compaction of the cotton during packaging, and reduce the breakage rate of cotton seeds during the compression process, which is beneficial to the recovery and processing of cotton seeds.

[0064] Among them, the process of controlling the start and stop state of the auger motor and the speed of each execution motor in the feeding and packaging system to perform feeding and packaging operations according to the torque detection result to ensure uniform compaction of cotton includes the following contents:

[0065] When it is detected that the torque of the auger motor is about to reach the preset torque value, the baler is controlled to run in advance. When the preset torque value is reached, the executive motors that control the cotton discharge roller, cotton hitting roller and conveyor belt start to run. The cotton feeding volume is adjusted by controlling the speed of each executive motor. The relationship between the speed of each executive motor and the cotton feeding volume is calibrated in advance, so that the cotton feeding amount and the cotton harvested amount are consistent during the feeding and baling operation. The preset torque value of the auger motor corresponds to the cotton under the auger group being compacted to the set pre-compaction density.

[0066] Specifically, before the equipment leaves the factory, the naturally accumulated cotton in the cotton collection box is calibrated to the reference stock position, and the auger group compacts the pre-compacted cotton below to the set pre-compacted density ρ cWhen it is detected that the torque of the auger motor is about to reach the preset torque value T, the baler is controlled to run in advance, wherein the control point can be set according to actual needs, for example, when it is a certain value less than the preset torque value T, the baler is controlled to run in advance; when it is detected that the torque of the auger motor reaches the preset torque value T, it means that the compaction density of the pre-compacted cotton under the auger has reached the pre-compacted density ρ c , the actuator motors controlling the cotton discharge roller, cotton striking roller and conveyor belt start running, and the pre-compacted cotton at the bottom of the cotton collection box is then transported to the baler for baling. During the feeding and baling process, the cotton feeding volume V can be adjusted by controlling the speed of each actuator motor. t , where the motor speed of each executive motor in the feeding and packaging system is related to the cotton feeding volume V t The relationship curve is calibrated when the equipment leaves the factory. The cotton feed volume is regulated based on the following formula:

[0067] V t ×ρ c =ΔV u ×ρ i

[0068] Among them, V t represents the cotton feed volume, which can be understood as the volume of cotton fed to the baler per unit time, ρ c Indicates the pre-compacted density of cotton, ΔV u represents the harvested cotton volume, which can be understood as the volume of newly harvested cotton naturally stacked above the auger per unit time, ρ i Indicates the natural bulk density of the cotton stored above the auger group. In addition, the inventor of the present application has obtained the natural bulk density of the naturally stacked cotton through multiple measurements. Figure 7 As shown in the figure, after multiple measurements, the natural bulk density of cotton under the influence of different moisture content and impurity content is 37.5kg / m 3 ~46.28kg / m 3 Therefore, a natural stacking density constant ρ can be set according to the recycling index requirements of the cotton ginning field and the actual harvesting conditions of the equipment. i , for example, i Set to 40kg / m 3 In addition, since the cotton feeding amount and cotton harvesting amount are consistent during the feeding and baling operation, the quality of the fed cotton can also be calculated, so as to facilitate the measurement of the quality of the cotton bales and the detection of the change in the yield density of the cotton on the harvesting path, so as to collect more detailed farmland yield information. In addition, the inventor of the present application also conducted a series of laboratory compression tests and obtained that the pre-compacted density of the cotton under the auger group was 70kg / m 3 ~80kg / m 3Within this range, the compression uniformity effect is better. Therefore, the present invention can be used at 70kg / m 3 ~80kg / m 3 Select any value as the pre-compacted density ρ c .

[0069] Optionally, the process of controlling the start and stop state of the auger motor and the rotation speed of each execution motor in the feeding and packaging system to perform feeding and packaging operations according to the torque detection result to ensure uniform compaction of the cotton includes the following:

[0070] When it is detected that the torque of the auger motor is about to reach the preset torque value, the baler is controlled to run in advance. When the preset torque value is reached, the auger motor is controlled to stop, and the actuator motors of the cotton discharge roller, cotton hitting roller and conveyor belt are controlled to start running. The cotton feeding volume is adjusted by controlling the speed of each actuator motor. The relationship between the speed of each actuator motor and the cotton feeding volume is calibrated in advance, and the cotton feeding volume is regulated with the linear increase of the cotton bale diameter as the control target. The preset torque value of the auger motor corresponds to the cotton under the auger group being compacted to the set pre-compaction density.

[0071] Specifically, when it is detected that the torque of the auger motor is about to reach the preset torque value T, the baler is controlled to run in advance. When it is detected that the torque of the auger motor reaches the preset torque value T, it means that the compaction density of the pre-compacted cotton under the auger has reached the pre-compacted density ρ c , at this time, each auger motor is controlled to stop, and at the same time, the execution motors of the cotton discharge roller, cotton striking roller and conveyor belt are controlled to start running. At this time, it can be determined that the warehouse under the auger is full. Of course, the full warehouse status can also be detected by the full warehouse detection photoelectric switch under the auger. When the warehouse under the auger is full, the signal of the full warehouse detection photoelectric switch will be blocked, and no signal is triggered. When the warehouse under the auger is not full, the signal of the full warehouse detection photoelectric switch is not blocked, and a signal is triggered. In addition, since the size of the cotton collection box and the position of the auger group are known, the volume of the space under the auger is known, that is, the volume of the pre-compacted cotton under the auger when the warehouse is full is V d It is known that it is equal to the volume of the space under the auger. Since the auger motors are stopped and the space under the auger is full, the full pre-compacted cotton needs to be fed to the baler. The cotton feeding amount is ρ c ×V d In order to ensure the uniform compaction effect of the cotton bale, the present invention adjusts the cotton feeding volume with the linear increase of the cotton bale diameter as the control target, and specifically adjusts the cotton feeding volume based on the following formula:

[0072] V t ×ρ c =(2rΔr+Δr 2 )πlρ p

[0073] Among them, V t represents the cotton feed volume, that is, the volume of cotton fed into the baler per unit time, ρ c represents the pre-compacted density of cotton, r represents the radius of the cotton bale, Δr represents the increase in the radius of the cotton bale, l represents the width of the cotton bale, ρ p Indicates the target compaction density of the bale.

[0074] In addition, in step S3, the feeding and packaging process also includes the following contents:

[0075] Detect whether the warehouse under the auger group is full. When it is detected that the warehouse under the auger group is not full, each execution motor is controlled to stop after a preset time, and each auger motor is controlled to work at the same time.

[0076] Specifically, during the feeding and baling process, the full bin detection photoelectric switch below the auger group is detected in real time to see if a signal is triggered. When the pre-compacted cotton at the bottom of the cotton collection box begins to be transported to the baler, the height of the pre-compacted cotton below the auger group will drop, and the full bin photoelectric detection switch will no longer be blocked, thereby triggering a signal, and it can be determined that the bin is not full. The signal triggering moment of the full bin photoelectric detection switch can be regarded as the moment when the pre-compacted cotton begins to be fed. Since the diameter of the cotton bale increases linearly, the volume of cotton transported per unit time can be calculated, so it can be calculated when the full bin of pre-compacted cotton will be fully fed to the baler, and then the time can be preset in the device. After the preset time has passed, it can be determined that the pre-compacted cotton at the bottom of the cotton collection box has been fully fed to the baler. At this time, each execution motor is controlled to stop, and each auger motor is controlled to work, driving each auger to rotate again, so as to feed the naturally stacked cotton above downward and pre-compact it.

[0077] In addition, the upper and lower baling motors of the baler are both speed controlled, and the two motors have torque control function to ensure the consistency of action. In addition, when the working torque of each motor in the baling feeding system exceeds the preset limit value, the system determines that the cotton feeding is abnormal and automatically alarms.

[0078] It can be understood that in step S4, when it is detected that the cotton bale size reaches the set value, only the relevant motor of the baler is controlled to run at the maximum speed, so that the film wrapping and bale-by-bale actions can be completed as quickly as possible, and then the above-mentioned feeding and baling process is repeated.

[0079] In addition, if Figure 8 As shown, the cotton feeding and packaging control method also includes the following contents:

[0080] Step S5: When emptying and packaging operations are required, first control the operation of each auger motor to drive the auger group to feed the stored cotton above downwards, and detect whether the warehouse below the auger group is full. When it is detected that the warehouse below the auger group is full, detect the amount of stored cotton above the auger group again, and control each execution motor in the feeding and packaging system to start running to empty the cotton collection box.

[0081] Specifically, after a cotton field is harvested, there is still residual cotton in the equipment. When the manual clearing and packing instruction is issued, the motors of each auger are controlled to work first to feed the naturally stacked cotton above downwards. Then, the full bin detection photoelectric switch below the auger is used to detect whether the bin below the auger is full. When the signal of the full bin detection photoelectric switch is not triggered, it is judged that the bin below the auger group is full, that is, the naturally stacked cotton fills the space below the auger. At this time, the laser radar is used to scan the cotton stored above to obtain the volume V of the naturally stacked cotton. r , and control the subsequent feeding mechanism to start running, feed all the remaining naturally stacked cotton in the cotton collection box to the packer, and complete the cotton collection box emptying operation. At this time, the residual cotton amount can be calculated as: (V r +V d )×ρ i .

[0082] In addition, if Fig. 9 As shown, another embodiment of the present invention further provides a cotton feeding and packing control system, preferably using the cotton feeding and packing control method as described above, including:

[0083] A cotton storage amount detection device is used to detect the amount of cotton stored above the auger group in the cotton collecting box, wherein the auger group includes a plurality of augers arranged at intervals along the left and right directions of the cotton picking and baling machine, and each auger is arranged along the front-back direction;

[0084] Motor torque detection device, used to detect the torque of the auger motor;

[0085] A cotton bale size detection device, used for detecting the size of cotton bales;

[0086] The controller is electrically connected to the cotton storage amount detection device, the motor torque detection device and the cotton bale size detection device, and is used to control the operation of each auger motor when it is detected that the cotton storage position above the auger group is higher than a preset reference storage position, so as to drive the auger group to feed and pre-compact the cotton downward, and keep the cotton storage amount above the auger group at the preset reference storage position; it is also used to control the start and stop state of the auger motor and the speed of each execution motor in the feeding and packaging system according to the torque detection result to perform feeding and packaging operations to ensure that the cotton is evenly compacted; it is also used to control the baler motor to run at the maximum speed when it is detected that the cotton bale size reaches the preset value, so as to complete the film wrapping and bag-by-bag operations.

[0087] It can be understood that the cotton feeding and packaging control system of this embodiment first detects the amount of cotton stored above the auger group in the cotton collection box in real time. When it is detected that the cotton storage position above the auger group is higher than the preset reference storage position, each auger motor is controlled to work to drive the auger group to feed and pre-compact the cotton downward. By pre-compacting the cotton below the auger group, the naturally stacked cotton with a smaller initial density above the auger group is first pre-compressed, and then compressed into a cotton bale on this basis, which is beneficial to the balance and stability of the internal stress of the cotton, and is beneficial to the conveying gear roller to spread the cotton evenly on the conveyor belt, thereby improving the uniform compaction of the cotton. Moreover, during the pre-compacting process, the amount of cotton stored above the auger group is kept at the preset reference storage position, ensuring the continuity of the pre-compacting operation. In addition, since the auger group uses multiple augers arranged at intervals along the left and right directions of the cotton picking and baling machine, and each auger is arranged in the front-to-back direction, it can well support the harvested cotton. The harvested cotton can be naturally spread and stacked on each augers, and will not fall directly into the bottom of the cotton collecting box. This can prevent the situation where there is more cotton on one side of the bottom of the cotton collecting box, ensure that the cotton fed to the bottom of the cotton collecting box is uniform, and prevent the appearance of abnormal-shaped cotton bales during baling. Then, the torque of the auger motor is detected in real time, and the start and stop state of the auger motor and the speed of each execution motor in the feeding and baling system are controlled according to the torque detection result to perform feeding and baling operations, which is convenient for adjusting the cotton compaction density, ensuring uniform compaction during cotton baling, and can reduce the crushing rate of cotton seeds during compression, which is conducive to cotton seed recovery and processing. Finally, when it is detected that the cotton bale size reaches the preset value, the baler motor is controlled to run at the maximum speed to complete the film coating and bale-by-bale operations at the fastest speed.

[0088] In addition, the controller is also used to control the operation of each auger motor after receiving the emptying instruction, drive the auger group to feed the cotton stored above downward first, and when it is detected that the warehouse below the auger group is full, it will detect the amount of cotton stored above the auger group again, and control each execution motor in the feeding and packaging system to start running, so as to empty the cotton collection box.

[0089] In addition, another embodiment of the present invention further provides a cotton picking and baling machine, which preferably adopts the cotton feeding and baling control system as described above.

[0090] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0091] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

[0092] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A cotton feeding and packaging control method, characterized in that: Includes the following: Detecting the amount of cotton stored above the auger group in the cotton collecting box, wherein the auger group includes a plurality of augers arranged at intervals along the left and right directions of the cotton picking and baling machine, and each auger is arranged along the front-back direction; When it is detected that the cotton storage position above the auger group is higher than the preset reference storage position, each auger motor is controlled to work to drive the auger group to feed and pre-compact the cotton downward, and keep the cotton storage above the auger group at the preset reference storage position; Detect the torque of the auger motor, and control the start and stop status of the auger motor and the speed of each executive motor in the feeding and baling system according to the torque detection result to perform feeding and baling operations to ensure uniform compaction of cotton; When it is detected that the cotton bale size reaches the preset value, the baler motor is controlled to run at the maximum speed to complete the film wrapping and bale-by-bale operations.

2. The cotton feeding and baling control method according to claim 1, characterized in that: The process of controlling the start and stop state of the auger motor and the speed of each execution motor in the feeding and packaging system to perform feeding and packaging operations according to the torque detection result to ensure uniform compaction of cotton includes the following contents: When it is detected that the torque of the auger motor is about to reach the preset torque value, the baler is controlled to run in advance. When the preset torque value is reached, the executive motors that control the cotton discharge roller, cotton hitting roller and conveyor belt start to run. The cotton feeding volume is adjusted by controlling the speed of each executive motor. The relationship between the speed of each executive motor and the cotton feeding volume is calibrated in advance, so that the cotton feeding amount and the cotton harvested amount are consistent during the feeding and baling operation. The preset torque value of the auger motor corresponds to the cotton under the auger group being compacted to the set pre-compaction density.

3. The cotton feeding and baling control method according to claim 2, characterized in that: Cotton feed volume is regulated based on the following formula: V t ×ρ c =ΔV u ×ρ i Among them, V t represents the cotton feed volume, ρ c Indicates the pre-compacted density of cotton, ΔV u represents the cotton harvest volume, ρ i Indicates the natural stacking density of cotton stored above the auger group.

4. The cotton feeding and baling control method according to claim 1, characterized in that: The process of controlling the start and stop state of the auger motor and the speed of each execution motor in the feeding and packaging system to perform feeding and packaging operations according to the torque detection result to ensure uniform compaction of cotton includes the following contents: When it is detected that the torque of the auger motor is about to reach the preset torque value, the baler is controlled to run in advance. When the preset torque value is reached, the auger motor is controlled to stop, and the actuator motors of the cotton discharge roller, cotton hitting roller and conveyor belt are controlled to start running. The cotton feeding volume is adjusted by controlling the speed of each actuator motor. The relationship between the speed of each actuator motor and the cotton feeding volume is calibrated in advance, and the cotton feeding volume is regulated with the linear increase of the cotton bale diameter as the control target. The preset torque value of the auger motor corresponds to the cotton under the auger group being compacted to the set pre-compaction density.

5. The cotton feeding and baling control method according to claim 4, characterized in that: Cotton feed volume is regulated based on the following formula: V t ×r c =(2rΔr+Δr 2 )pr p Among them, V t represents the cotton feed volume, ρ c represents the pre-compacted density of cotton, r represents the radius of the cotton bale, Δr represents the increase in the radius of the cotton bale, l represents the width of the cotton bale, ρ p Indicates the target compaction density of the bale.

6. The cotton feeding and baling control method according to claim 4, characterized in that: The feeding and packaging process also includes the following: Detect whether the warehouse under the auger group is full. When it is detected that the warehouse under the auger group is not full, each execution motor is controlled to stop after a preset time, and each auger motor is controlled to work at the same time.

7. The cotton feeding and baling control method according to claim 1, characterized in that: Also included are the following: When emptying and packaging operations are required, first control the operation of each auger motor to drive the auger group to feed the cotton stored above downwards first, and detect whether the warehouse below the auger group is full. When it is detected that the warehouse below the auger group is full, detect the amount of cotton stored above the auger group again, and control the execution motors in the feeding and packaging system to start running to empty the cotton collection box.

8. The cotton feeding and baling control method according to claim 2 or 4, characterized in that: The pre-compacted density of the cotton below the auger group is 70kg / m 3 ~80kg / m 3 .

9. A cotton feeding and baling control system, using the cotton feeding and baling control method according to any one of claims 1 to 8, characterized in that: include: A cotton storage amount detection device is used to detect the amount of cotton stored above the auger group in the cotton collecting box, wherein the auger group includes a plurality of augers arranged at intervals along the left and right directions of the cotton picking and baling machine, and each auger is arranged along the front-back direction; Motor torque detection device, used to detect the torque of the auger motor; A cotton bale size detection device, used for detecting the size of cotton bales; The controller is used to control the operation of each auger motor when it is detected that the cotton storage position above the auger group is higher than a preset reference storage position, so as to drive the auger group to feed and pre-compact the cotton, and keep the cotton storage above the auger group at the preset reference storage position; it is also used to control the start and stop state of the auger motor and the speed of each execution motor in the feeding and packaging system according to the torque detection result to perform feeding and packaging operations to ensure that the cotton is evenly compacted; it is also used to control the baler motor to run at the maximum speed when it is detected that the cotton bale size reaches the preset value to complete the film wrapping and bale-by-bale operations.

10. A cotton picking and baling machine, characterized in that: The cotton feeding and baling control system as claimed in claim 9 is adopted.

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