Electric control system of square bale collecting and bundling machine and control method of electric control system

Abstract

The invention relates to the technical field of square bale collecting and bundling machines, in particular to a square bale collecting and bundling machine electrical control system and a control method thereof.The square bale collecting and bundling machine electrical control system comprises a square bale collecting and bundling machine, a sensor detection unit, a remote control unit, a logic control unit and an execution output unit; the sensor unit and the execution output unit are connected with an IO port of the logic control unit, the square bale collecting and bundling machine comprises a chassis assembly and walking wheels installed on the chassis assembly, and the square bale collecting and bundling machine is dragged by a tractor; the inclined angle pickup device, the horizontal transmission device, the straw bale leading-in device, the straw bale lifting mechanism, the needle threading device assembly, the knotter assembly, the straw bale leading-out device and the bale collecting bin are installed on the chassis assembly. Small square bales are automatically picked up, extruded and bundled into large square bales, the labor and equipment cost is reduced, non-intermittent and full-automatic picking is achieved, the working efficiency is improved, operation is easy and convenient, and the workload of operators is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of square bale balers, and in particular to an electrical control system and a control method for a square bale baler. Background Art

[0002] Pastoral areas in China are vast and grassland resources are abundant. The system of the present invention relates to the field of automatic control of forage processing machinery. Square bale balers are for the field of collecting grass bales in pastures: Currently, there are various forms of grass bales, such as small square bales, large square bales, and large round bales. Small square bales are suitable for small plots, and large square bales are suitable for large areas, which is convenient for users to collect and transport. Large round bales are restricted in transportation and not suitable for long-distance transportation. Currently, large square bales in the market mainly rely on imports from abroad and are expensive. The price of the current market AGCO 2270XD series is between 1.1 million and 1.58 million, and the transaction price is generally between 1.38 million and 1.58 million. In addition, an AGCO tractor needs to be purchased, and the price is also 1 million. The total purchase cost is too high at 2.38 million to 2.58 million, which is too high for the vast majority of domestic farmers. The subsequent maintenance cost is not low either. For the vast majority of farmers, the investment is high and the payback period is too long, which is not suitable for popularization in China. In China, small square bales are generally tied, picked up manually, stacked and loaded onto vehicles. However, with the increasing labor cost year by year, the shortage of labor, and the aging of the people willing to engage in this industry, there is an urgent need for mechanical picking to replace manual labor to improve efficiency and save costs.

[0003] With the rapid development of automation technology, complex mechanical structures of machines cannot be manually controlled by operators, which greatly increases the threshold and difficulty for operators. Summary of the Invention

[0004] The present invention provides an electrical control system and a control method for a square bale baler, which realizes non-destructive picking of grass bales by a fully automatic tilting picker, compresses and ties small square bale grass bales into large square bales, reduces labor and equipment costs, realizes non-stop and fully automatic picking, improves work efficiency, and is simple and convenient to operate, reducing the workload of operators.

[0005] To achieve the above object, the present invention is implemented by adopting the following technical solutions:

[0006] An electrical control system for a square bale baler includes a square bale baler, a sensor detection unit, a remote control unit, a logic control unit, and an execution output unit. The remote control unit is connected to the logic control unit by wire, and the sensor unit and the execution output unit are connected to the IO ports of the logic control unit;

[0007] The square bale baler includes a chassis assembly and traveling wheels installed on the chassis assembly, and the square bale baler is towed by a tractor; it also includes an inclined picker, a horizontal transmission device, a bale guiding device, a bale lifting mechanism, a needle threading device assembly, a knotting device assembly, a bale discharging device and a bale storage bin installed on the chassis assembly; the inclined picker picks up small square bales on the ground and sends them to the horizontal transmission device, the horizontal transmission device sends the small square bales to the entrance of the bale storage bin, the bale guiding device pushes the small square bales into the bale storage bin, and the bale lifting mechanism lifts the small square bales to the upper part of the bale storage bin; when the number of small square bales in the bale storage bin reaches the set value, the needle threading device assembly and the knotting device assembly work simultaneously to tie multiple small square bales into a large square bale, and the bale discharging device pushes the large square bale out of the bale storage bin, and the large square bale falls to the ground.

[0008] The inclined picker includes a corner chain assembly, a picking chain assembly and a horizontal chain assembly; the machine body is provided with an inclined panel slanting downwards, and the picking chain assembly is installed at the inclined panel; a horizontal panel is provided at the top of the inclined panel, and the corner chain and the horizontal chain are sequentially installed at the horizontal panel; hay carriers are provided on the corner chain, the picking chain and the horizontal chain; the picking chain assembly lifts the bale from the ground to the inclined panel, the corner chain moves the bale up to the horizontal panel, and the horizontal chain conveys the bale to the horizontal transmission device.

[0009] Further, the bale discharging device includes a lower rear bin door assembly, an upper rear bin door assembly and a pushing device; the lower rear bin door assembly includes a lower rear bin door oil cylinder and a lower rear bin door, the bottom of the lower rear bin door is hinged to the bottom of the rear side of the lower bale storage box, the cylinder barrel of the lower rear bin door oil cylinder is fixedly connected to the chassis of the chassis assembly, and the head of the piston rod of the lower rear bin door oil cylinder is hinged to the top of the lower rear bin door; the upper rear bin door assembly includes an upper rear bin door oil cylinder and an upper rear bin door, the top of the upper rear bin door is hinged to the top of the rear side of the bale storage bin, the cylinder barrel of the lower rear bin door oil cylinder is fixedly connected to the bale storage bin, and the head of the piston rod of the upper rear bin door oil cylinder is hinged to the bottom of the upper rear bin door;

[0010] The pushing device includes a hay pushing frame and a hay pushing oil cylinder, the hay pushing frame is hinged to the front side of the bale storage bin, the cylinder barrel of the hay pushing oil cylinder is fixedly connected to the bale storage bin, and the head of the piston rod of the hay pushing oil cylinder is hinged to the hay pushing frame; the lower rear bin door oil cylinder drives the lower rear bin door to turn downwards to open, the upper rear bin door oil cylinder drives the upper rear bin door to turn upwards to open, and the hay pushing oil cylinder drives the hay pushing frame to push backwards, so as to push the large square bale out of the bale storage bin;

[0011] A bale pressing frame is hinged to the lower rear bin door, the cylinder barrel of the bale pressing oil cylinder is fixedly connected to the lower rear bin door, and the head of the piston rod of the bale pressing oil cylinder is connected to the bale pressing frame. The bale pressing oil cylinder pushes the bale pressing frame forward to fix the bale.

[0012] Furthermore, the bale introduction device includes an introduction frame, an introduction cylinder and a bale introduction device bracket; the bale introduction device bracket is fixedly connected to the chassis assembly, and the top of the introduction frame is hinged to the bale introduction device bracket; the cylinder barrel of the introduction cylinder is hinged to the bale introduction device bracket, and the piston rod head of the introduction cylinder is hinged to the middle of the introduction frame.

[0013] Furthermore, the bale lifting mechanism includes a lifting cylinder, a bottom bracket, a vertical beam and a vertical slide; the vertical slide is fixedly connected to the chassis assembly, the vertical beam is fixedly connected to both sides of the bottom bracket, a pulley is provided on the vertical beam, and the pulley is installed on the vertical slide; the lifting cylinder is vertically arranged, and the piston rod head at its top is connected to the bottom bracket or the vertical beam, and the lifting cylinder is extended and retracted to drive the bottom bracket and the vertical beam to rise and fall along the vertical slide.

[0014] Furthermore, the knotter assembly includes a knotter, a transmission assembly and a baling cylinder, and the knotter shaft is hinged on the chassis assembly; the needle threader assembly includes a needle threader and a needle threader frame, multiple needle threaders are installed on the needle threader frame, and the needle threader frame is hinged on the chassis; the baling cylinder is a double-piston rod cylinder, one piston rod head is connected to the transmission assembly, and the knotter shaft is driven to rotate through the transmission assembly, and the other piston rod head is connected to the needle threader frame, driving the needle threader frame to swing.

[0015] Furthermore, the detection unit includes a horizontal chain bale sensor, an introduction device extension limit sensor, an introduction device retraction limit sensor, a lifting mechanism layer full load sensor, a lifting mechanism pressure sensor, a complete bag full load sensor, a needle motor starting position sensor, a large bale discharge sensor, a lifting mechanism low position sensor, a pushing device initial position sensor, a corner chain grass sensor and a picking chain grass sensor. The horizontal chain bale sensor is arranged at the horizontal chain, the introduction device extension limit sensor is arranged at the introduction device extension limit position on the square bale baler, and the introduction device retraction limit sensor is arranged at the introduction device retraction limit position on the square bale baler. The lifting mechanism layer full load sensor is arranged on the lifting mechanism layer full position, the lifting mechanism pressure sensor is arranged on the lifting mechanism cylinder pipeline, the complete bale full load sensor is arranged on the top of the bale collecting bin, the needle motor starting position sensor is arranged at the lowest point of the knotter, the large bale discharge sensor is arranged on the bale exporting device to detect the bale exporting position, the lifting mechanism low position sensor is arranged at the lifting mechanism low limit position, the pushing device initial position sensor is arranged at the retracted initial position of the pushing device of the bale exporting device, the corner chain grass sensor is arranged between the corner chain and the horizontal chain to detect the grass position, and the picking chain grass sensor is arranged on the side of the inclination panel.

[0016] Further, the execution output unit includes a forward rotation solenoid valve for the pickup motor, a reverse rotation solenoid valve for the pickup motor, a solenoid valve for opening the rear box door, a solenoid valve for closing the rear box door, a forward rotation solenoid valve for the knotter, a reverse rotation solenoid valve for the knotter, a solenoid valve for clamping the baling cylinder, a solenoid valve for releasing the baling cylinder, a solenoid valve for raising the lifting mechanism, a solenoid valve for lowering the lifting mechanism, a solenoid valve for extending the guiding device, a solenoid valve for retracting the guiding device, a bypass solenoid valve for the lifting motor a, a bypass solenoid valve for the lifting motor b, and a bypass solenoid valve for the conveying motor. The output ends of the forward rotation solenoid valve for the pickup motor and the reverse rotation solenoid valve for the pickup motor are connected to the pickup motor. The output ends of the solenoid valve for opening the rear box door and the solenoid valve for closing the rear box door are connected to the upper rear bin cylinder and the lower rear bin cylinder of the bale bin. The forward rotation solenoid valve for the knotter and the reverse rotation solenoid valve for the knotter are connected to the baling cylinder. The solenoid valve for clamping the baling cylinder and the solenoid valve for releasing the baling cylinder are connected to the baling cylinder. The solenoid valve for raising the lifting mechanism and the solenoid valve for lowering the lifting mechanism are connected to the lifting cylinder of the bale lifting mechanism. The solenoid valve for extending the guiding device and the solenoid valve for retracting the guiding device are connected to the guiding cylinder of the bale guiding device. The bypass solenoid valve for the lifting motor a, the bypass solenoid valve for the lifting motor b, and the bypass solenoid valve for the conveying motor are respectively connected to the lifting motor a, the lifting motor b, and the conveying motor.

[0017] Further, the forward rotation solenoid valve for the pickup motor, the reverse rotation solenoid valve for the pickup motor, the solenoid valve for opening the rear box door, the solenoid valve for closing the rear box door, the forward rotation solenoid valve for the knotter, the reverse rotation solenoid valve for the knotter, the solenoid valve for clamping the baling cylinder, the solenoid valve for releasing the baling cylinder, the solenoid valve for raising the lifting mechanism, the solenoid valve for lowering the lifting mechanism, the solenoid valve for extending the guiding device, and the solenoid valve for retracting the guiding device are proportional solenoid valves. The bypass solenoid valve for the lifting motor a, the bypass solenoid valve for the lifting motor b, and the bypass solenoid valve for the conveying motor are on-off solenoid valves.

[0018] A control method for the electrical control system of a square bale baler includes an automatic mode and a manual mode. The automatic mode includes the following steps:

[0019] S1. Reset operation: When the remote control unit selects the AUTO mode, the logic control unit detects the initial position states of each mechanism to determine whether the initial conditions for full-automatic operation can be met. If the initial position requirements are not met, an alarm is given, and the automatic control mechanism stops after returning to the initial position. The knotter and the rear bin door are manually operated by the operator to return to the initial position after ensuring safety. After all actions return to the initial position, the automatic pickup mode is entered.

[0020] S2. Small bale picking operation: The picker motor starts to rotate forward to collect the bales scattered on the ground. The bales are lifted by the picking chain into the head of the picker, conveyed and passed over the picking chain into the corner chain, which rotates the bales by 90°, and then sends them into the horizontal chain channel. They are conveyed by the horizontal chain to the position where there is a bale sensor on the horizontal chain. The quantity of the small bale counter is incremented by 1, and then they are introduced under the guiding oil cylinder. The horizontal chain stops rotating, and the bales are pushed into the bale lifting mechanism by the guiding oil cylinder;

[0021] S3. Picking and sorting operation: During the picking process, there may be situations where bales are continuously picked up. Sorting management is carried out after two sensors, namely the grass sensor on the corner chain and the grass sensor on the picking chain, detect the bales. When there is a bale in the horizontal chain and the bale is pushed by the guiding oil cylinder, after the bale sent by the picker is detected by the grass sensor on the corner chain at the corner, the corner chain stops and waits for the guiding oil cylinder at the horizontal chain to retract. After confirming the retraction, the corner chain resumes transmission and sends the bale into the horizontal chain. When the grass sensor on the corner chain detects a bale and the grass sensor on the picking chain also detects a bale, the picking chain stops and waits until there is no obstacle at both the horizontal chain and the corner chain, and then resumes transmission;

[0022] S4. Guiding operation: After the first small bale is guided into the lifting mechanism, the guiding oil cylinder extends to the extreme limit position, triggering the extended limit sensor of the guiding device. Then the guiding oil cylinder retracts and stops after triggering the retracted limit sensor of the guiding device. For the second bale, the same actions are performed, but before triggering the extended limit sensor of the guiding device, the full-load sensor of the lifting mechanism layer is triggered in advance, and at this time, the lifting operation is triggered. After completing the guiding operation, the lifting operation is executed. When the guiding operation is triggered, the horizontal chain stops rotating to ensure that the bales are not damaged;

[0023] S5. Lifting operation: When there are two bales in the lifting mechanism, the full-load sensor of the lifting mechanism layer is triggered. After detecting that the low-position sensor of the lifting mechanism is triggered at the low position, the lifting mechanism rises. When it rises halfway, the baling oil cylinder loosens to enable the bales to rise smoothly, and at the same time, the bales in the previous lifting mechanism also fall onto the bales at the lowest layer. The lifting mechanism rises to the extreme limit position. Due to the overflow effect of the extreme limit oil cylinder, the pressure sensor of the lifting mechanism reaches the set pressure value. At this time, the baling oil cylinder clamps, clamping the bales at the lowest layer in the bale collecting bin. After a set delay time, the lifting mechanism descends to the low position, and the low-position sensor of the lifting mechanism is triggered. The bales at the lowest layer are lifted and clamped at the baling oil cylinder. The lifting mechanism vacates space to wait for the next round of bale guiding. When the complete bale full-load sensor is triggered when lifting to the sixth layer of bales, the knotter does not operate and waits for the entry of the seventh layer of bales. When there are seven layers of bales and the small bale counter reaches 14, the lifting mechanism rises and stops rising according to the set pressure of the pressure sensor of the lifting mechanism, triggering the tying operation. After the tying operation is completed, the lifting and lowering mechanism descends to the low position and stops after triggering the low-position sensor of the lifting mechanism;

[0024] S6. Binding rope operation: The needle threader, knotter, and baling oil cylinder work simultaneously. After entering the binding rope program, the motor of the knotter rotates forward. The motor drives the chain, causing the chain to rotate 360°. When the sensor of the needle threader motor rotates from the starting position to the starting position of the sensor of the needle threader motor, the knotter completes the knotting work. Due to the inertia of the motor, when the motor reaches the position of the sensor of the needle threader motor, it will exceed the starting position of the sensor of the needle threader motor. At this time, the reverse reset action is started and stops when reset to the starting position of the sensor of the needle threader motor. The binding rope operation ends, the lifting mechanism descends, and the large square bale discharging operation is started;

[0025] S7. Large square bale discharging operation: After knotting is completed, after the lifting mechanism triggers the low position sensor of the lifting mechanism, the rear door executes the opening action, the bale counter number +1, and the small bale counter is cleared. After opening, the buzzer intermittently sounds to remind the operator that the large square bale has been completed and is being discharged. The pushing oil cylinder of the pushing device pushes the large bale of grass out of the equipment until it breaks away from the rear door. After the large bale discharging sensor detects that there is no bale, the rear door is closed. The pushing oil cylinder and the rear door are linked and reset at the same time. The large bale discharging sensor is provided with a trigger plate at the door, and when retracted, it also detects whether the door is closed at the same time. The initial position sensor of the pushing device detects the initial position of the pushing oil cylinder of the pushing device. After confirming that the large bale discharging sensor and the initial position sensor of the pushing device are activated at the same time, an alarm is prompted. The large square bale discharging operation ends, and the equipment enters the next working polling, or ends the bale gathering operation;

[0026] In the manual mode, the remote control unit selects the manual mode, and the action sequence is the same as that in the automatic mode. Among them, the lifting of the lifting mechanism, the lowering of the lifting mechanism, the forward rotation of the chain motor, the reverse rotation of the chain motor, the clamping of the baling device, and the loosening of the baling device are operated by button point - motion. They stop after the hand is released, and the corresponding indicator lights are on;

[0027] Each time the needle threader motor rises or the needle threader motor descends is pressed, each time it is point - motioned, the corresponding instantaneous action occurs once, and the time is adjusted as needed to prevent the knotter from being damaged by excessive rotation or the rope knot from being overly wound, resulting in the knotter being stuck with the rope;

[0028] When the switches for the extension of the guiding device, the retraction of the guiding device, the opening of the rear door, and the closing of the rear door are toggled, the actions and the buttons move in point - motion and stop after the hand is released.

[0029] Compared with the prior art, the beneficial effects of the present invention are:

[0030] 1) The bale wrapper of the present invention can collect, extrude and bale small square bales, turning them into large square bales. Cooperating with a claw machine, the large square bales can be directly loaded onto a flatbed truck for convenient transportation. Only one person is required to complete the picking and baling operation, and the cost is much lower than that of a large square bale baler. At present, two-string balers in China have formed large-scale production. After enjoying agricultural subsidies, they are generally around 100,000 yuan, occupying a large market share. Only one bale wrapper is needed to pick up, extrude and bale small square bale straw bales into large square bales. There is no need to purchase a large-horsepower tractor separately, and a two-string tractor can be used, saving the cost of purchasing a tractor, saving the manual picking time and improving efficiency. The combination of the bale wrapper and the small square bale baler can meet the broad needs of farmers and truly serve the people;

[0031] 2) Through the full-automatic control technology of the present invention, which is used to control the square bale wrapper, the operation concept of one person and one machine can be easily realized, and the operation is easy and the entry is simple. The technical fields involved in the present invention include: automation technical fields such as sensor detection technology, field bus communication technology, programmable logic controller technology, closed-loop PWM space pulse modulation speed regulation technology, electro-hydraulic control technology, etc. It has a high degree of integration and is widely used in control fields such as construction machinery and agricultural machinery;

[0032] 3) The inclination picker of the present invention drives the bale to move up along the inclination panel through the picking chain, corner chain and horizontal chain respectively. When the bale reaches the top, the horizontal chain drives the bale to move horizontally along the horizontal panel to the collection platform. The hay carrier plate on the chain of the present invention pushes the bale to move along the inclination panel and the horizontal panel. The bale moves on the panel instead of on the chain, avoiding the phenomenon of grass leaves falling and rope cutting and bale unpacking, and the bale loss rate is low. The present invention can not only pick up traditional bales (two-string bales, three-string bales), but also pick up net bag bales without damage, truly realizing mechanical replacement of manual picking, which not only saves time and effort, but also improves the operation quality and efficiency;

[0033] 4) Adopting the remote control unit control mode, the operator can complete all remote operations of the equipment in the cab; the remote control unit is connected to the logic control unit through the CAN bus communication mode, saving the input channels of the control unit, having low cost, strong anti-interference ability and high real-time performance; the start and stop of the equipment are operated on the operation panel of the remote control unit, which is convenient to operate; the running state of the equipment can be viewed in real time through the remote control unit; the remote control unit is an integrated operator, suitable for harsh environments and having low failures. Description of the Drawings

[0034] Figure 1 It is a schematic structural diagram of the electrical control system of the square bale wrapper of the present invention.

[0035] Figure 2 It is a schematic three-dimensional structural diagram of the square bale wrapper of the present invention.

[0036] Figure 3This is the schematic front view of the structure of the square bale baler according to the present invention.

[0037] Figure 4 This is the schematic left view of the structure of the square bale baler according to the present invention.

[0038] Figure 5 This is the schematic right view of the structure of the square bale baler according to the present invention.

[0039] Figure 6 This is the schematic diagram of the open state of the inclined picker and the position of the sensor detection unit according to the present invention.

[0040] Figure 7 This is the schematic diagram of the position of the sensor detection unit according to the present invention.

[0041] Figure 8 This is the schematic diagram of the structure of the bale introduction device according to the present invention.

[0042] Figure 9 This is the schematic diagram of the structure of the bale lifting mechanism according to the present invention.

[0043] Figure 10 This is the three-dimensional structure schematic diagram of the knotter assembly and the needle threading device assembly according to the present invention.

[0044] Figure 11 This is the wiring harness schematic diagram of the sensor detection unit according to the present invention.

[0045] Figure 12 This is the schematic diagram of the structure of the remote control unit according to the present invention.

[0046] Figure 13 This is the PLC wiring principle according to the present invention Figure 1 。

[0047] Figure 14 This is the PLC wiring principle according to the present invention Figure 2 。

[0048] Figure 15 This is the wiring harness schematic diagram of the execution output unit according to the present invention.

[0049] Figure 16 This is the schematic diagram of the PWM-i output circuit with current feedback according to the present invention.

[0050] Figure 17 This is the schematic diagram of the DOH output circuit according to the present invention.

[0051] Figure 18 This is the automatic mode process according to the present invention Figure 1 。

[0052] Figure 19 This is the automatic mode process according to the present invention Figure 2 。

[0053] Figure 20 Schematic diagram of the small bale of the present invention entering the pick-up through the pick-up chain.

[0054] Figure 21 Schematic diagram of the small bale of the present invention transporting the small bale through the corner chain.

[0055] Figure 22 Schematic diagram of the bale picking and sorting operation of the present invention.

[0056] Figure 23 Schematic diagram of the manual mode process of the present invention.

[0057] In the figure: 1. Chassis assembly; 2. Traveling wheels; 3. Inclined pick-up; 4. Horizontal transmission device; 5. Bale guiding device; 6. Bale lifting mechanism; 7. Needle-piercing device assembly; 8. Knotter assembly; 9. Bale discharging device; 10. Bale collecting bin; 11. Chassis; 12. Pick-up chain; 13. Corner chain; 14. Horizontal chain; 51. Guiding frame; 52. Guiding oil cylinder; 53. Support bracket of bale guiding device; 61. Jacking oil cylinder; 62. Bottom bracket; 63. Vertical beam; 64. Vertical slideway; 65. Pulley; 71. Needle-piercing device; 72. Needle-piercing device frame; 81. Knotter; 82. Transmission assembly. Specific embodiments

[0058] The following further describes the specific embodiments of the present invention with reference to the accompanying drawings:

[0059] See Figure 1 , which is a schematic diagram of the structure of the present invention. An electrical control system for a square bale baler of the present invention includes a square bale baler, a sensor detection unit, a remote control unit, a logic control unit, and an execution output unit. The remote control unit is wired to the logic control unit, and the sensor unit and the execution output unit are connected to the IO ports of the logic control unit; the system power supply is a vehicle-mounted battery with a rated voltage of DC12V (±20%), and the maximum power of the system is less than 200W.

[0060] See Figures 2 - 5, the square bale baler includes a chassis assembly 1 and traveling wheels 2 installed on the chassis assembly 1, and the square bale baler is towed by a tractor; it also includes an inclined pick-up 3, a horizontal transmission device 4, a bale guiding device 5, a bale lifting mechanism 6, a needle threading device assembly 7, a knotting device assembly 8, a bale discharging device 9 and a bale storage bin 10 installed on the chassis assembly 1; the inclined pick-up 3 picks up small square bales on the ground and sends them to the horizontal transmission device 4, the horizontal transmission device 4 sends the small square bales to the entrance of the bale storage bin 10, the bale guiding device 5 pushes the small square bales into the bale storage bin 10, and the bale lifting mechanism 6 lifts the small square bales to the upper part of the bale storage bin 10; when the number of small square bales in the bale storage bin 10 reaches the set value, the needle threading device assembly 7 and the knotting device assembly 8 work simultaneously to tie multiple small square bales into a large square bale, and the bale discharging device 9 pushes the large square bale out of the bale storage bin 10, and the large square bale falls to the ground; Figure 2 It is the retracted state of the inclined pick-up 3.

[0061] See Figure 6 , the inclined pick-up 3 includes a corner chain assembly, a pick-up chain assembly and a horizontal chain assembly; the machine body is provided with an inclined panel slanting downward, and the pick-up chain assembly is installed at the inclined panel; a horizontal panel is provided at the top of the inclined panel, and the corner chain 13 and the horizontal chain 14 are sequentially installed at the horizontal panel; hay carriers are provided on the corner chain 13, the pick-up chain 12 and the horizontal chain 14; the pick-up chain assembly lifts the bale from the ground to the inclined panel, the corner chain 13 moves the bale up to the horizontal panel, and the horizontal chain 14 conveys the bale to the horizontal transmission device 4.

[0062] The bale discharging device 9 includes a lower rear door assembly, an upper rear door assembly and a pushing device; the lower rear door assembly includes a lower rear door oil cylinder and a lower rear door, the bottom of the lower rear door is hinged to the bottom of the rear side of the lower bale bin, the cylinder barrel of the lower rear door oil cylinder is fixedly connected to the chassis 11, and the head of the piston rod of the lower rear door oil cylinder is hinged to the top of the lower rear door; the upper rear door assembly includes an upper rear door oil cylinder and an upper rear door, the top of the upper rear door is hinged to the top of the rear side of the bale storage bin 10, the cylinder barrel of the lower rear door oil cylinder is fixedly connected to the bale storage bin 10, and the head of the piston rod of the upper rear door oil cylinder is hinged to the bottom of the upper rear door;

[0063] The pushing device includes a hay pushing frame and a hay pushing oil cylinder, the hay pushing frame is hinged to the front side of the bale storage bin 10, the cylinder barrel of the hay pushing oil cylinder is fixedly connected to the bale storage bin 10, and the head of the piston rod of the hay pushing oil cylinder is hinged to the hay pushing frame; the lower rear door oil cylinder drives the lower rear door to turn downward to open, the upper rear door oil cylinder drives the upper rear door to turn upward to open, and the hay pushing oil cylinder drives the hay pushing frame to push backward, thereby pushing the large square bale out of the bale storage bin 10;

[0064] The bale pressing frame is hinged to the lower rear door. The cylinder barrel of the bale pressing oil cylinder is fixedly connected to the lower rear door, and the head of the piston rod of the bale pressing oil cylinder is connected to the bale pressing frame. The bale pressing oil cylinder pushes the bale pressing frame forward to fix the hay bale.

[0065] See Figure 8 , the hay bale guiding device 5 includes a guiding frame 51, a guiding oil cylinder 52 and a hay bale guiding device support 53; the hay bale guiding device support 53 is fixedly connected to the chassis assembly 1, and the top of the guiding frame 51 is hinged to the hay bale guiding device support 53; the cylinder barrel of the guiding oil cylinder 52 is hinged to the hay bale guiding device support 53, and the head of the piston rod of the guiding oil cylinder 52 is hinged to the middle of the guiding frame 51.

[0066] See Figure 9 , the hay bale lifting mechanism 6 includes a jacking oil cylinder 61, a bottom bracket 62, a vertical beam 63 and a vertical slideway 64; the vertical slideway is fixedly connected to the chassis assembly 1, the vertical beam 6 is fixedly connected to both sides of the bottom bracket 62, a pulley 65 is provided on the vertical beam 63, and the pulley 65 is installed on the vertical slideway 64; the jacking oil cylinder 61 is arranged vertically, and the head of the piston rod at its top is connected to the bottom bracket 62 or the vertical beam 63. The telescopic movement of the jacking oil cylinder 61 drives the bottom bracket 62 and the vertical beam 63 to move up and down along the vertical slideway 64.

[0067] See Figure 10 , the knotter assembly 8 includes a knotter 81, a transmission assembly 82 and a bale tying oil cylinder. The rotating shaft of the knotter 81 is hinged to the chassis assembly 1; the needle threading device assembly 7 includes a needle threading device 71 and a needle threading device frame 72. A plurality of needle threading devices 71 are installed on the needle threading device frame 72, and the needle threading device frame 72 is hinged to the chassis 11 of the chassis assembly 1; the bale tying oil cylinder is a double piston rod oil cylinder. The head of one piston rod is connected to the transmission assembly 82, and drives the rotating shaft of the knotter 81 to rotate through the transmission assembly 82. The head of the other piston rod is connected to the needle threading device frame 72 to drive the needle threading device frame 72 to swing.

[0068] See Figures 6 - 7The sensor detection unit includes a horizontal chain bale sensor D1, an import device extension limit sensor D2, an import device retraction limit sensor D3, a lifting mechanism layer full load sensor D4, a lifting mechanism pressure sensor P5, a complete bale full load sensor D6, a needle threading motor starting position sensor D7, a large bale discharge sensor D8, a lifting mechanism low position sensor D9, a pushing device initial position sensor D10, a corner chain bale sensor D11, and a pickup chain bale sensor D12. The horizontal chain bale sensor D1 is arranged at the horizontal chain 14. The import device extension limit sensor D2 is arranged at the extreme extension position of the import device on the square bale baler. The import device retraction limit sensor D3 is arranged at the extreme retraction position of the import device on the square bale baler. The lifting mechanism layer full load sensor D4 is arranged at the full position of the lifting mechanism layer. The lifting mechanism pressure sensor P5 is arranged on the oil cylinder pipeline of the lifting mechanism. The complete bale full load sensor D6 is arranged at the top of the bale bin 10. The needle threading motor starting position sensor D7 is arranged at the lowest position of the knotter 81. The large bale discharge sensor D8 is arranged on the bale export device 9 to detect the bale export position. The lifting mechanism low position sensor D9 is arranged at the low extreme limit of the lifting mechanism. The pushing device initial position sensor D10 is arranged at the retraction initial position of the pushing device of the bale export device 9. The corner chain bale sensor D11 is arranged between the corner chain 13 and the horizontal chain to detect the position with bales. The pickup chain bale sensor D12 is arranged on the side of the inclination panel;

[0069] The horizontal chain bale sensor D1, the import device extension limit sensor D2, the import device retraction limit sensor D3, the lifting mechanism layer full load sensor D4, the complete bale full load sensor D6, the needle threading motor starting position sensor D7, the large bale discharge sensor D8, the lifting mechanism low position sensor D9, and the pushing device initial position sensor D10 all adopt inductive proximity switches. The inductive proximity switches with flush M30 metal housings have a detection distance of 15 mm, model: Pepperl+Fuchs NBB15-30GM50-E2-V1, PNP type normally open, voltage input type 5 - 36 VDC, and are mainly used to detect the initial position and extreme limit position of the oil cylinder's movement and collect position signals;

[0070] The corner chain bale sensor D11 and the pickup chain bale sensor D12 adopt diffuse reflection photoelectric switches. The single diffuse reflection photoelectric switch has a detection distance of 0 - 1000 mm, model: Balluff BOS R090K-PU-IDLE-S75, PNP type normally open, voltage input type 10 - 30 VDC, and are mainly used for detecting the presence of bales;

[0071] The lifting mechanism pressure sensor P5 uses a pressure sensor, an analog pressure sensor with a range of 0 to 400 bar and an output signal of 0 to 10 V. It mainly detects the rising pressure of the lifting mechanism. Setting this pressure value affects the final tightness of the baling rope knot.

[0072] D1: <Proximity switch> There is a bale on the horizontal chain; when the D1 sensor is activated, it means there is a small bale on the horizontal chain 14 and it cannot continue to run, otherwise the bale will be damaged. In automatic mode, when D1 is activated, it will trigger the import action to push the small bale into the lifting mechanism. When the device retracts, the bale import device 5 extends. When it extends to the limit, it returns to the retracted position.

[0073] D2: <Proximity switch> Extended limit of the import device; detects that the bale import device 5 extends to the extreme limit and returns after reaching the position.

[0074] D3: <Proximity switch> Retracted limit of the import device; detects the retracted position of the bale import device 5. When it is not in the retracted position, the corner chain 13 and the horizontal chain motor do not operate and are not allowed to transfer to the horizontal chain 14. When triggered, the corner chain 13 and the horizontal chain 14 can operate.

[0075] D4: <Proximity switch> The bale lifting mechanism layer is full (two bales); when triggered, the lifting mechanism rises.

[0076] P5: <Pressure sensor> Bale lifting mechanism pressure sensor (analog 0 to 400 bar); can be set on the operation panel, used to set the compaction degree between seven layers of bales. The factory recommended setting value is 100 to 150 (optimal) bar, which is effective when full.

[0077] D6: <Proximity switch> Full load detection of the complete bale; when triggered, it means it has been lifted to the second-to-last layer (the sixth layer). When the next layer of bale is lifted in place and when P5 reaches the correct pressure and is activated, the entire bale is tied.

[0078] D7: <Proximity switch> Detect the starting position of the needle-passing motor (knotter 81); this will control the entire cycle of the tying mechanism and stop it when it returns to the initial position.

[0079] D8: <Photoelectric switch> Detect the discharge of the large bale; after unloading, it issues a command to close the unloading gate and return it to its initial position (returns after detecting no material; detects both bale discharge and the initial position).

[0080] D9: Proximity switch - Lifting mechanism in low position; ensure that the bale does not enter the lower part of the lifting mechanism. When the lifting mechanism is fully loaded, first release the clamping mechanism, the upper layer of bales will fall onto the first layer of bales, then the lifting mechanism moves upward. When it reaches the top, the clamping mechanism performs the clamping action. After the clamping is completed, the lifting mechanism descends to the low position. When it is not in the low position, the action of the guiding device is not triggered;

[0081] D10: Proximity switch - Pushing device in initial position; when this device is triggered, the lifting mechanism will not rise. This device only operates in the automatic mode and has no manual mode. An alarm will be given when it is not in the correct position;

[0082] D11: Photoelectric switch - Sensor for hay on the corner chain; for the first batch of chains, when it detects a bale, if the guiding device is not in position or a bale is activating D1. Control and adjust the operation of the picking chain according to the position of the bale in the picker;

[0083] D12: Photoelectric switch - Sensor for hay on the pickup chain. Control and determine the operation of the picking chain. Allow detection and stop of the bale at the pickup entrance to prevent collision. Together with D1 and D11, it acts as a sorter to prevent bale collision and optimize the loading cycle.

[0084] See Figure 11 , the simple sensor element is connected to the PLC through a wire harness and a connector SP2, and a multi-core connector is used for physical connection. Through the wire harness, it is distributed to various parts of the machine.

[0085] See Figure 12 , the remote control unit is the control component of the system, responsible for functions such as controlling the system power supply of the equipment, manual / automatic operation, parameter setting, and monitoring the working quantity. It uses CAN bus communication, the shell is made of aluminum alloy, and is equipped with indicator lights, buttons, emergency stop switches, rocker switches, liquid crystal displays, relays, PCB control boards, etc. Externally, there are power input cables, power outputs, and communication cables (SP3). All controls are by bus digital communication, responsible for sending or receiving instructions to / from the PLC, without hard-wired connections, with an IP65 protection level, an applicable temperature range of -25 to 60 °C, and a rated voltage of DC12V.

[0086] The remote control unit contains the following components:

[0087] 1. On the left, D1 - D10 are sensor status indicator lights. When the light is off, it means that the action has not reached the specified position or is in the initial position. When the light is on, it indicates that in the automatic mode, the action has reached this step and the automatic control program can continue to execute downward. In the automatic mode, the order of the lights being on also follows the steps of D1 - D10;

[0088] 2. The middle square icon and the circular button are manual operation buttons, with action operation indicator lights on them. When the action is run manually or automatically, the indicator lights up. From top to bottom, the button functions represent: "lifting mechanism up", "lifting mechanism down", "needle-piercing motor up", "needle-piercing motor down", "chain motor forward rotation", "chain motor reverse rotation", "baling device clamping", "baling device releasing".

[0089] 3. It is equipped with a liquid crystal display screen. The first page respectively displays the total number of large square bales worked, the number of large square bales worked per single time, the number of small square bales collected, the set pressure of the lifting mechanism, the feedback pressure of the lifting mechanism, and the communication signal indication. The second page displays the delay time to be set for each action and other set parameters in the automatic program. Below the screen are setting buttons, defined as: "PROG." setting button, "CE" clear current count button, and "+", "-" are set parameter increase and decrease function buttons. The combination of buttons can be used for parameter setting and Chinese-English interface switching.

[0090] 4. The emergency stop switch in the lower left corner is the total control switch. Two RVV cables are externally set. After the input cable is connected to the battery power supply, when the emergency stop switch is pressed, the internal power relay coil is de-energized, the system stops power supply, and at the same time stops working. When the switch is rotated to the floating state to the right, the system is powered by the output cable through the connector, and the remote control unit, central processing unit, sensor, execution output unit, etc. are powered on, and the system runs normally.

[0091] 5. There are three rocker switches below the remote control unit, which are respectively "import device extend", "import device retract", "rear compartment door open", "rear compartment door close", "AUTO automatic mode", and "manual mode".

[0092] Specific functions of the sensor indicator lights:

[0093] 1. In the automatic mode, when the D1 indicator light is on, it means that the bale has hit the D1 trigger plate through the picker and conveyor chain. After triggering, the chain motor stops rotating (to prevent damage to the bale). When D1 is triggered, the import device oil cylinder moves from the retracted position to the extended position, pushing the bale into the lifting mechanism. The D1 indicator light goes out, and the number of bales on the display screen increases by 1. After reaching the extreme limit position, the D2 sensor will be triggered. After the D2 sensor is triggered, the D2 indicator light is on, the D3 sensor is out of the initial position, and the D3 indicator light is on. The import device oil cylinder moves to the retracted position, and the D2 indicator light goes out. After retracting to the initial position, it means that the channel is clear at this time, and the bale can be continuously conveyed. The D3 indicator light goes out, and the chain motor resumes rotation. Through the above steps, when the second bale enters the lifting mechanism, the import device will push the two horizontally placed bales to hit and trigger the D4 trigger plate. At this time, the D4 indicator light is on. Figure 7As shown, after D4 lights up, the lifting mechanism will rise, the D4 trigger will be reset, the D4 indicator light will go out, and at the same time the D9 indicator light will come on, and the bale will be translated upward, the baling mechanism will be released, and when it rises to the P5 pressure setting value, the P5 indicator light will come on, the baling mechanism will clamp the bale, the lifting mechanism will descend, and when the pressure is lower than the set pressure, the P5 indicator light will go out. When moving to the twelfth small square bale (a total of fourteen bales) and the number of layers reaches the sixth layer (a total of seven layers), the D6 trigger mechanism will be triggered and the D6 indicator light will come on. When the lifting mechanism has fourteen bales and the number of bales displayed on the display screen is "14" and the number of layers reaches the seventh layer, the lifting mechanism will compact all the bales according to the pressure set in the display screen by P5. This set value affects the tightness of the knot. When the pressure on the display screen reaches the set pressure value, the lifting oil cylinder stops, the threading motor runs forward, the driving threading motor starts to tie the knot, and finally stops when it reaches the D7 position. When it leaves the initial position, the D7 indicator light comes on. After the knotting is completed, the threading motor returns to the initial position and the D7 indicator light goes out. The lifting mechanism descends, the lifting mechanism returns to the low position, the D9 indicator light goes out, the rear door opens, the pushing device extends, and in the display screen, the total number and the single quantity +1, and the number of small bales returns to zero. At this time, the D10 pushing device leaves the initial position and the D10 indicator light comes on, and the bale formed into a large bale is discharged outside the machine. After the D8 photoelectric detector detects that the bale has left the machine, the indicator light comes on, and the rear door and the pushing device are retracted. D8 also detects whether the rear door has returned to the initial position. After returning to the initial position, the D8 indicator light goes out, the pushing device returns to the initial position, and the D10 indicator light goes out, and a single operation is completed.

[0094] The remote control unit and the PLC use the CAN bus communication method, CAN 2.0A, ISO 11898-1 standard, and the baud rate is 250Kbps.

[0095] Display screen parameter setting process:

[0096] 1. Chinese-English switching: On the first page state, long-press the combination keys of "PROG." and "+" for 3 seconds to switch to the English page; long-press the combination keys of "PROG." and "-" for 3 seconds to switch to the Chinese page;

[0097] 2. Parameter setting: ⑴ Pressure value setting: In the first page state, press the "+" or "-" button to make the setting cursor blink. Within 10 seconds, press the "+" or "-" button again to adjust to the appropriate set value. Each press adds or subtracts in multiples of 5. After the setting is completed, press the "PROG." button, or if there is no operation and wait for 10 seconds, the parameter will be automatically stored in the PLC and the value will be displayed on the display screen;

[0098] ⑵ T1~TF Setting: In the first page state, long-press the "PROG." button for 3 seconds to enter the second page, where the values of T1~TF are displayed. By pressing the "PROG." button intermittently, move the cursor blinking block to the position that needs to be set. Adjust the set value with the "+" and "-" buttons, adding or subtracting in multiples of 10 each time. After the setting is completed, long-press the "PROG." button for 3 seconds to return to the first page. The function of this parameter is that in the automatic program, some actions require changing the delay parameter;

[0099] 2. Clear the current working count: In the first page state, when long-pressing the "CE" button for the first time for 3 seconds, the current value of the bundle count will be cleared. When long-pressing the "CE" button again for 3 seconds, the quantity of a single large bundle will be cleared.

[0100] The logic control unit uses a PLC with the model number SPC-CFMC-D20N24A2. The total number of I / O is 44 channels, including 24 configurable input DIs (DIH or DIL), 4 AIs (0 - 32V), 6 AIs (0 - 10V), 6 PIs (PI, AB), 6 AIs (0 - 20mA), 2 resistors (6~10kΩ), 16 configurable output PWMi-H, PWM high-side outputs, with current feedback 3A, 4 PWM-H, PWM-L, or 2 PWM H-bridges 3A, 24 digital DOH outputs 3A, the working voltage is 8~32VDC, communication ports: CAN*2 2.0A / B 10kbits / s...1Mbits / CANopen / SAE J 1939 / custom, RS-232*1 serial port with a maximum of 115200bits / s (default setting 19200bits / s) point-to-point, the processor is an Infineon 32-bit high-performance MCU, the memory is SRAM 1MByte Flash 768kByte FRAM 7kByte, and the programming software is CodesysV2.3.9.40, based on the IEC61131-3 programming standard.

[0101] See Figures 13 - 14, the wiring principle of the main control PLC is as follows: The power supply is introduced through the SP2 socket. The UBB, UEE, and D+ of the PLC are the control power supply and key ignition terminals, which are connected to the positive terminal of the power supply; X19 is the analog input for detecting the power supply voltage and is connected to the positive terminal of the power supply. GND is the negative terminal of the controller power supply and is connected to the negative terminal of the power supply; C1H and C1L are the CAN bus ports for downloading programs and are connected to the DB9 download socket. C2H and C2L are the CAN bus communication ports of the remote control unit and are connected to the SP2 socket; X01 to X04, X06 to X12 are configured as DIH inputs, corresponding to the DI input signals of the sensors D1 to D4, D6 to D12 respectively; X16 is configured as an AI input and is connected to the P5 sensor; Q01 to Q12 are configured as PWM-i outputs to control the proportional solenoid valves YX1 to YX6; Q13, Q14, and Q15 are configured as DOH outputs to control the solenoid valves Y1, Y2, and Y3 respectively. Q20 is configured as DOH and is responsible for supplying power to the sensor. After being detected by the X16 power supply, it outputs within the rated input voltage value range to avoid voltage fluctuations.

[0102] The execution output unit includes the forward rotation solenoid valve a1 of the pickup motor, the reverse rotation solenoid valve b1 of the pickup motor, the opening solenoid valve a2 of the rear box door, the closing solenoid valve b2 of the rear box door, the forward rotation solenoid valve a3 of the knotter, the reverse rotation solenoid valve b3 of the knotter, the clamping solenoid valve b4 of the baling oil cylinder, the releasing solenoid valve a4 of the baling oil cylinder, the ascending solenoid valve a5 of the lifting mechanism, the descending solenoid valve b5 of the lifting mechanism, the extending solenoid valve b6 of the guiding device, the retracting solenoid valve a6 of the guiding device, the bypass solenoid valve Y1 of the lifting motor a, the bypass solenoid valve Y2 of the lifting motor b, and the bypass solenoid valve Y3 of the conveying motor. The output terminals of the forward rotation solenoid valve a1 and the reverse rotation solenoid valve b1 of the pickup motor are connected to the pickup motor. The output terminals of the opening solenoid valve a2 and the closing solenoid valve b2 of the rear box door are connected to the upper rear box door oil cylinder and the lower rear box door oil cylinder of the bale bin 10. The forward rotation solenoid valve a3 and the reverse rotation solenoid valve b3 of the knotter are connected to the baling oil cylinder. The clamping solenoid valve b4 and the releasing solenoid valve a4 of the baling oil cylinder are connected to the baling oil cylinder. The ascending solenoid valve a5 and the descending solenoid valve b5 of the lifting mechanism are connected to the jacking oil cylinder 61 of the bale lifting mechanism 6. The extending solenoid valve b6 and the retracting solenoid valve a6 of the guiding device are connected to the guiding oil cylinder 52 of the bale guiding device 5. The bypass solenoid valve Y1 of the lifting motor a, the bypass solenoid valve Y2 of the lifting motor b, and the bypass solenoid valve Y3 of the conveying motor are respectively connected to the lifting motor a, the lifting motor b, and the conveying motor.

[0103] The pick-up motor forward solenoid valve a1, pick-up motor reverse solenoid valve b1, rear box door open solenoid valve a2, rear box door close solenoid valve b2, knotter forward solenoid valve a3, knotter reverse solenoid valve b3, baling cylinder clamping solenoid valve b4, baling cylinder releasing solenoid valve a4, lifting mechanism ascending solenoid valve a5, lifting mechanism descending solenoid valve b5, guiding device extending solenoid valve b6, and guiding device retracting solenoid valve a5 are proportional solenoid valves. The lifting motor a bypass solenoid valve Y1, lifting motor b bypass solenoid valve Y2, and conveyor motor bypass solenoid valve Y3 are on-off solenoid valves, with a rated voltage of DC12V. The proportional solenoid valves achieve hydraulic speed regulation by controlling the current of the solenoid valve coil, and the on-off solenoid valves are bypass valves for controlling the motor, thereby controlling the start and stop of the motor. The hydraulic system of this machine is output from the tractor traction PTO drive shaft to the hydraulic oil pump and is electronically controlled, output from the PLC output port, as shown in Figure 15 , and realizes remote manual and automatic control through connectors, wire harnesses, and solenoid valve plugs to the solenoid coil.

[0104] The proportional solenoid valve does not require a proportional amplifier. Using the PWM-i configured in the PLC output port, it can directly drive the proportional solenoid valve. By forming a current feedback loop with the sampling resistor built into the PLC, it can achieve current feedback to drive and control the current of the proportional solenoid valve. When the solenoid valve starts and stops, a control ramp is implemented using the software program, enabling uniform slow acceleration and uniform slow deceleration of the action, reducing the impact caused by too fast startup of the hydraulic system. It integrates a freewheeling diode internally to remove the back electromotive force when the electromagnet loses power, and has built-in short-circuit protection. The drive current of the adjustable proportional valve control system can range from 0.2A to 3A, as shown in Figure 16 .

[0105] The on-off solenoid valve does not require an intermediate relay. Using the PLC output port and with a high-power MOS tube built in, it can directly drive the electromagnet, and has a built-in freewheeling diode and short-circuit protection to remove the back electromotive force of the electromagnet, as shown in Figure 17 .

[0106] A control method for the electrical control system of a square bale baler includes a manual mode and an automatic mode. The automatic mode is shown in Figures 18 - 19 , and includes the following steps:

[0107] S1. Reset operation: When the remote control unit selects the AUTO mode, the logic control unit detects the initial position status of each mechanism to determine whether the initial conditions for fully automatic operation can be met. If the initial position requirements are not met, the buzzer will give an alarm. When the bale introduction device 5 and the bale lifting mechanism 6 are not in the initial position, they will be automatically controlled to return to the initial position and then stop. For safety reasons, the knotter 81 and the rear compartment door are manually operated to return to the initial position. After the operator determines safety, they can operate to return to the initial position. After all actions return to the initial position, it enters the automatic picking-up mode;

[0108] S2. Picking up small bales operation: See Figures 20 - 21 , at this time, the motor starts to rotate forward, and small bales scattered on the ground can be collected. The bales are lifted by the picking-up chain 12 <lifting motor a> into the head of the picker, conveyed and passed over the picking-up chain 12 into the corner chain 13 <lifting motor b>. Due to the action of the longitudinal corner chain 13, the bales are rotated 90°, sent into the horizontal chain channel, and conveyed by the horizontal chain 14 <horizontal motor> to the D1 trigger plate. The number of the small bale counter increases by 1, that is, it is placed under the guiding oil cylinder 52, and the <horizontal motor> stops rotating. Then it is pushed into the lifting mechanism by the guiding oil cylinder 52;

[0109] S3. Picking-up sorting operation: See Figure 22 , there may be situations where bales are continuously picked up during the picking-up process. Sorting management is carried out after detecting the bales through the two photoelectric switches D11 and D12. When there is a bale in the horizontal chain 14 and the bale is pushed by the guiding oil cylinder 52, after the bale sent by the picker is detected by D11 at the corner, the <lifting motor b> will stop and wait for the guiding oil cylinder 52 at the horizontal chain 14 to retract. After confirming the retraction, the <lifting motor b> resumes transmission and sends it into the horizontal chain 14. When D11 detects a bale and D12 detects a bale, the <lifting motor a> will also stop and wait. It will resume transmission until there is no obstacle at both the horizontal chain 14 and the corner chain 13 at the same time. The above sorting function can achieve buffering during the picking-up process, eliminating the need for the operator to wait for the operation to stop due to factors in the subsequent actions, thus improving the operation efficiency;

[0110] S4. Guiding operation: After the first small bale is guided into the lifting mechanism, the guiding oil cylinder 52 extends to the extreme limit position, triggering the limit sensor for the extension of the guiding device. The guiding oil cylinder 52 retracts and stops after triggering D3. The second bale performs the same action, but before triggering D2, it triggers the full-load sensor of the lifting mechanism layer in advance. At this time, the lifting operation is triggered. After the guiding operation is completed, the lifting operation is performed. When the guiding operation is triggered, the horizontal chain 14 stops rotating to ensure that the bales are not damaged;

[0111] S5. Lifting operation: When there are two bales of hay in the lifting mechanism, the D4 sensor is triggered. After detecting the low position of the D9 sensor, the lifting mechanism rises. When it rises halfway, the baling cylinder loosens to allow the bales to rise smoothly. At the same time, the bales in the previous lifting mechanism will fall onto the bales in the lowest layer. When the lifting mechanism reaches the extreme limit position, due to the overflow of the extreme limit cylinder, the pressure sensor P5 will reach the set pressure value. At this time, the baling cylinder clamps, clamping the bales in the lowest layer in the bale collecting bin 10. After a certain delay, the lifting mechanism descends to the low position, and the D9 sensor is triggered. The bales in the lowest layer are lifted and clamped at the baling cylinder. The lifting mechanism creates space to wait for the next round of bale introduction. When lifting to the sixth layer of bales, the D6 sensor will be triggered. At this time, the knotter 81 will not operate and will wait for the entry of the seventh layer of bales. This design is to improve the loading capacity of the equipment. Therefore, the program will make a judgment at the sixth layer. If it reaches the sixth layer, it will continue to execute the import operation and wait for the seventh layer of bales. When reaching the seventh layer of bales (the small bale counter reaches 14), the lifting mechanism rises and stops rising according to the pressure set by P5, triggering the tying operation. After the tying operation is completed, the lifting and lowering mechanism descends to the low position and stops after triggering D9;

[0112] S6. Tying operation: The needle threader 71, the knotter 81, and the baling cylinder work simultaneously. The motor of the knotter 81 rotates forward. The motor drives the chain, causing the chain to rotate 360°. The detection sensor D7 rotates from the initial position to the D7 sensor. At this time, the knotter 81 completes the knotting work. Due to the inertia of the motor, when the motor reaches the D7 position, it will exceed the D7 position. At this time, the reverse reset action will be started. The reverse reset action uses the principle of adjusting the speed of the proportional valve and adopts slow reset. It stops when resetting to D7. Due to the slow rotation, the motor will not have an overshoot condition. At this time, the tying operation is completed, and the lifting mechanism descends, starting the large square bale discharging operation;

[0113] S7. Large square bale discharging operation: After knotting is completed, after the lifting mechanism triggers D9, the rear door executes the opening action. The bale counting number +1, and the small bale counter is cleared. After opening, the buzzer sounds, and the pushing cylinder of the pushing device pushes the large bale out of the equipment until it detaches from the rear door. After the D8 sensor detects that there is no bale, the rear door is closed. The pushing cylinder is linked with the rear door and retracts and resets at the same time. A trigger plate is set at the rear door for D8. When retracting, it also detects whether the rear door is closed at the same time. D10 detects the initial position of the pushing cylinder of the pushing device. After confirming that D8 and D10 are both activated, an alarm is prompted. The large square bale discharging operation is completed, and the equipment enters the next working poll or ends the bale collecting operation;

[0114] See Figure 23 , the manual mode control logic is as follows:

[0115] In the manual mode, the remote control unit selects the manual mode, and the action sequence is the same as that in the automatic mode. Among them, the lifting mechanism rises, the lifting mechanism descends, the chain motor rotates forward, the chain motor rotates backward, the baling device clamps, and the baling device releases. The actions are run by button jogging and stop after the hand is released, and the corresponding indicator lights are on.

[0116] Each time the threading motor rises or the threading motor descends is pressed, each jogging causes an instantaneous action once, and the time is adjusted as needed to prevent the knotter from being damaged by excessive rotation or the rope knot from being overly wound, resulting in the knotter being stuck with the rope.

[0117] Toggle the switches for the feeding device to extend, the feeding device to retract, the rear compartment door to open, and the rear compartment door to close. The actions are run by button jogging along with the button and stop after the hand is released.

[0118] The above embodiments are implemented on the premise of the technical solution of the present invention, and the detailed implementation manners and specific operation processes are given. However, the protection scope of the present invention is not limited to the above embodiments. The methods used in the above embodiments are all conventional methods unless otherwise specified.

Claims

1. An electrical control system for a square grass bale baler, characterized in that: It comprises a square grass bale baler, a sensor detection unit, a remote control unit, a logic control unit and an execution output unit, wherein the remote control unit is connected to the logic control unit by wire, and the sensor unit and the execution output unit are connected to an IO port of the logic control unit; The square grass bale baler comprises a chassis assembly and running wheels installed on the chassis assembly, and the square grass bale baler is towed by a tractor; it also comprises an inclination picker, a horizontal transmission device, a bale introduction device, a bale lifting mechanism, a needle threader assembly, a knotter assembly, a bale export device and a bale bin installed on the chassis assembly; the inclination picker picks up small square grass bales on the ground and sends them to the horizontal transmission device, the horizontal transmission device sends the small square grass bales to the entrance of the bale bin, the bale introduction device pushes the small square grass bales into the bale bin, and the bale lifting mechanism lifts the small square grass bales to the upper part of the bale bin; when the number of small square grass bales in the bale bin reaches a set value, the needle threader assembly and the knotter assembly work simultaneously to bundle multiple small square grass bales into a large square grass bale, the bale export device pushes the large square grass bale out of the bale bin, and the large square grass bale falls to the ground; The angle pickup device includes an angle chain assembly, a picking chain assembly and a horizontal chain assembly; the machine body is provided with an angle panel inclined downward, and the picking chain assembly is installed on the angle panel; a horizontal panel is provided on the top of the angle panel, and the angle chain and the horizontal chain are installed on the horizontal panel in sequence; the angle chain, the picking chain and the horizontal chain are all provided with grass transport boards; the picking chain assembly lifts the grass bale from the ground to the angle panel, the angle chain moves the grass bale up to the horizontal panel, and the horizontal chain transmits the grass bale to the horizontal transmission device.

2. The electrical control system of the square grass bale baler according to claim 1, characterized in that: The bale guide device includes a lower rear door assembly, an upper rear door assembly and a push-down device; the lower rear door assembly includes a lower rear door cylinder and a lower rear door, the bottom of the lower rear door is hinged to the bottom of the rear side of the lower bale box, the cylinder barrel of the lower rear door cylinder is fixedly connected to the chassis, and the piston rod head of the lower rear door cylinder is hinged to the top of the lower rear door; the upper rear door assembly includes an upper rear door cylinder and an upper rear door, the top of the upper rear door is hinged to the top of the rear side of the bale bin, the cylinder barrel of the lower rear door cylinder is fixedly connected to the bale bin, and the piston rod head of the upper rear door cylinder is hinged to the bottom of the upper rear door; The pushing device comprises a grass pushing frame and a grass pushing cylinder. The grass pushing frame is hinged on the front side of the bale bin. The cylinder barrel of the grass pushing cylinder is fixed on the bale bin. The piston rod head of the grass pushing cylinder is hinged to the grass pushing frame. The lower rear bin door cylinder drives the lower rear bin door to flip downward and open. The upper rear bin door cylinder drives the upper rear bin door to flip upward and open. The grass pushing cylinder drives the grass pushing frame to push backward, thereby pushing the large square grass bale out of the bale bin. A baling frame is hinged on the lower rear bin door, a cylinder barrel of a baling oil cylinder is fixedly connected to the lower rear bin door, a piston rod head of the baling oil cylinder is connected to the baling frame, and the baling oil cylinder pushes the baling frame forward to fix the straw bale.

3. The electrical control system of the square grass bale baler according to claim 1, characterized in that: The bale introduction device comprises an introduction frame, an introduction cylinder and a bale introduction device bracket; the bale introduction device bracket is fixedly connected to the chassis assembly, and the top end of the introduction frame is hinged to the bale introduction device bracket; the cylinder barrel of the introduction cylinder is hinged to the bale introduction device bracket, and the piston rod head of the introduction cylinder is hinged to the middle part of the introduction frame.

4. The electrical control system of the square grass bale baler according to claim 1, characterized in that: The straw bale lifting mechanism comprises a lifting cylinder, a bottom bracket, a vertical beam and a vertical slide; the vertical slide is fixedly connected to the chassis assembly, the vertical beam is fixedly connected to both sides of the bottom bracket, a pulley is provided on the vertical beam, and the pulley is installed on the vertical slide; the lifting cylinder is vertically arranged, and the piston rod head at the top is connected to the bottom bracket or the vertical beam, and the lifting cylinder is extended and retracted to drive the bottom bracket and the vertical beam to rise and fall along the vertical slide.

5. The electrical control system of the square grass bale baler according to claim 1, characterized in that: The knotter assembly includes a knotter, a transmission assembly and a baling cylinder, and the knotter shaft is hinged on the chassis assembly; the needle threader assembly includes a needle threader and a needle threader frame, and multiple needle threaders are installed on the needle threader frame, and the needle threader frame is hinged on the chassis of the chassis assembly; the baling cylinder is a double-piston rod cylinder, one piston rod head is connected to the transmission assembly, and the knotter shaft is driven to rotate through the transmission assembly, and the other piston rod head is connected to the needle threader frame, driving the needle threader frame to swing.

6. The electrical control system of the square grass bale baler according to claim 1, characterized in that: The detection unit includes a horizontal chain straw bale sensor, an introduction device extension limit sensor, an introduction device retraction limit sensor, a lifting mechanism layer full load sensor, a lifting mechanism pressure sensor, a complete bag full load sensor, a needle motor starting position sensor, a large bale discharge sensor, a lifting mechanism low position sensor, a push-down device initial position sensor, a corner chain grass sensor and a picking chain grass sensor. The horizontal chain straw bale sensor is arranged at the horizontal chain, the introduction device extension limit sensor is arranged at the introduction device extension limit position on the square straw bale baler, and the introduction device retraction limit sensor is arranged at the introduction device retraction limit position on the square straw bale baler. The lifting mechanism layer full load sensor is set at the lifting mechanism layer full position, the lifting mechanism pressure sensor is set on the lifting mechanism cylinder pipeline, the complete bale full load sensor is set on the top of the bale bin, the needle motor starting position sensor is set at the lowest point of the knotter, the large bale discharge sensor is set on the bale export device to detect the bale export position, the lifting mechanism low position sensor is set at the lifting mechanism low limit position, the pushing device initial position sensor is set at the retracted initial position of the pushing device of the bale export device, the corner chain grass sensor is set between the corner chain and the horizontal chain to detect the grass position, and the picking chain grass sensor is set on the side of the tilt panel.

7. The electrical control system of the square grass bale baler according to claim 1, characterized in that: The execution output unit includes a forward solenoid valve for a picking motor, a reverse solenoid valve for a picking motor, a rear box door opening solenoid valve, a rear box door closing solenoid valve, a forward solenoid valve for a knotter, a reverse solenoid valve for a knotter, a clamping solenoid valve for a baling cylinder, a releasing solenoid valve for a baling cylinder, a lifting mechanism ascending solenoid valve, a lifting mechanism descending solenoid valve, an introduction device extending solenoid valve, an introduction device retracting solenoid valve, a lifting motor a bypass solenoid valve, a lifting motor b bypass solenoid valve and a conveying motor bypass solenoid valve. The output ends of the forward solenoid valve for the picking motor and the reverse solenoid valve for the picking motor are connected to the picking motor. The rear box door opening solenoid valve and the rear box door closing solenoid valve are connected to the output ends of the picking motor. The output end of the magnetic valve is connected to the upper rear door cylinder and the lower rear door cylinder of the bale bin, the knotter forward solenoid valve and the knotter reverse solenoid valve are connected to the baling cylinder, the baling cylinder clamping solenoid valve and the baling cylinder release solenoid valve are connected to the baling cylinder, the lifting mechanism rising solenoid valve and the lifting mechanism descending solenoid valve are connected to the lifting cylinder of the bale lifting mechanism, the introduction device extending solenoid valve and the introduction device retracting solenoid valve are connected to the introduction cylinder of the bale introduction device, and the lifting motor a bypass solenoid valve, the lifting motor b bypass solenoid valve and the conveying motor bypass solenoid valve are respectively connected to the lifting motor a, the lifting motor b and the conveying motor.

8. The electrical control system of the square grass bale baler according to claim 7, characterized in that: The forward solenoid valve of the picking motor, the reverse solenoid valve of the picking motor, the opening solenoid valve of the rear box door, the closing solenoid valve of the rear box door, the forward solenoid valve of the knotter, the reverse solenoid valve of the knotter, the clamping solenoid valve of the baling cylinder, the releasing solenoid valve of the baling cylinder, the rising solenoid valve of the lifting mechanism, the descending solenoid valve of the lifting mechanism, the extending solenoid valve of the introduction device and the retracting solenoid valve of the introduction device are proportional solenoid valves, and the bypass solenoid valve of the lifting motor a, the bypass solenoid valve of the lifting motor b and the conveying motor bypass solenoid valve are switch solenoid valves.

9. A control method for an electrical control system of a square grass bale baler according to any one of claims 1 to 8, characterized in that: It includes automatic mode and manual mode, and the automatic mode includes the following steps: S1. Reset operation: When the remote control unit selects the AUTO mode, the logic control unit detects the initial position state of each mechanism to determine whether the initial conditions for full automatic operation can be met. If the initial position requirements are not met, an alarm will be given, and the automatic control mechanism will stop after returning to the initial position. The knotter and the rear door will be manually returned to the initial position after the operator determines that they are safe. After all actions return to the initial position, the automatic picking mode will be entered; S2, operation of picking up small bales: the pickup motor starts to run forward, collects the bales scattered on the ground, and the bales are lifted by the pickup chain into the pickup head, transported and passed over the pickup chain into the corner chain, rotated 90 degrees, and sent into the horizontal chain channel, and transported by the horizontal chain to the bale sensor on the horizontal chain, the small bale counter number +1, that is, under the introduction cylinder, the horizontal chain stops rotating, and is pushed into the inside of the bale lifting mechanism by the introduction cylinder; S3, picking and sorting operation: In the picking process, there are cases where bales are picked up continuously. The bales are detected by the corner chain grass sensor and the picking chain grass sensor for sorting management. When there is a bale in the horizontal chain and the bale is pushed in by the introduction cylinder, the bale sent in by the picker is detected by the corner chain grass sensor at the corner, and the corner chain is stopped to wait for the horizontal chain introduction cylinder to be retracted. After confirmation of the retraction, the corner chain resumes transmission and is sent into the horizontal chain. When the corner chain grass sensor detects that there is a bale, the picking chain grass sensor detects that there is a bale, and the picking chain stops and waits until there are no obstacles at the horizontal chain and the corner chain at the same time, and then resumes transmission; S4, import operation: After the first small grass bale is imported into the lifting mechanism, the import oil cylinder extends to the limit position, triggering the import device extension limit sensor, and the import oil cylinder retracts until the import device retracts and stops after the limit sensor is triggered. The second grass bale performs the same action, but the lifting mechanism layer full load sensor is triggered in advance before the import device extension limit sensor is triggered. At this time, the lifting operation is triggered. After the import operation is completed, the lifting operation is performed. When the import operation is triggered, the horizontal chain stops rotating to ensure that the grass bale is not damaged; S5, lifting operation: when there are two bales of grass in the lifting mechanism, the lifting mechanism layer full load sensor is triggered, and the lifting mechanism low position sensor is detected and triggered, and the lifting mechanism rises. When it rises to the middle, the baling cylinder is released, so that the grass bales rise smoothly, and at the same time, the grass bales in the lifting mechanism fall on the grass bales at the lowest layer. The lifting mechanism rises to the limit position. Due to the overflow of the limit position cylinder, the lifting mechanism pressure sensor reaches the set pressure value. At this time, the baling cylinder is clamped, so that the grass bales at the lowest layer are clamped in the bale collection bin. After the delay setting time, the lifting mechanism The lifting mechanism descends to the low position, and the lifting mechanism low position sensor is triggered. The lowest layer of bales is lifted and clamped at the baling cylinder. The lifting mechanism makes room to wait for the next round of bales to be introduced. When it is lifted to the sixth layer of bales, the full bale sensor is triggered. At this time, the knotter will not move, waiting for the seventh layer of bales to enter. When the seventh layer of bales is reached and the small bale counter reaches 14, the lifting mechanism rises and stops rising according to the set pressure of the lifting mechanism pressure sensor, triggering the tying rope operation. After the tying rope operation is completed, the lifting mechanism descends to the low position, triggers the lifting mechanism low position sensor and stops; S6, rope tying operation: the needle threader, knotter, and baling cylinder work simultaneously. After entering the rope tying program, the motor of the knotter is in forward rotation. The motor drives the chain to rotate 360°. The needle threading motor sensor is detected to rotate from the starting position to the starting position of the needle threading motor sensor. The knotter completes the knotting work. Due to the inertia of the motor, the motor exceeds the starting position of the needle threading motor sensor when it reaches the needle threading motor sensor. At this time, the reverse reset action is started. It stops when it resets to the starting position of the needle threading motor sensor. The rope tying operation ends, the lifting mechanism descends, and the large square bale discharge operation is started; S7, large square bale discharge operation: after knotting is completed, the lifting mechanism triggers the lifting mechanism low position sensor, the rear door is opened, the baling counter is increased by 1, and the small bale counter is reset. After opening, the buzzer sounds intermittently to remind the operator that the large square bale has been completed and is being discharged. The large bale is pushed out of the equipment by the push-down cylinder of the push-down device until it is separated from the rear door. After the large bale discharge sensor detects that the bale does not exist, the rear door is closed, and the push cylinder is linked to the rear door, and the bale is retracted and reset at the same time. The large bale discharge sensor is also provided with a trigger plate at the door. When retracting, it detects whether the door is closed. The push-down device initial position sensor detects the initial position of the push-down cylinder of the push-down device. After confirming that the large bale discharge sensor and the push-down device initial position sensor are activated at the same time, an alarm is issued, and the large square bale discharge operation is completed. The equipment enters the next work polling or ends the baling operation. In the manual mode, the remote control unit selects the manual mode, and the action sequence is the same as the automatic mode, wherein the lifting mechanism rises, the lifting mechanism falls, the chain motor rotates forward, the chain motor rotates reversely, the baling device clamps, and the baling device releases actions and the button is operated by jogging, and stops after releasing the button, and the corresponding indicator light is on; Each time the needle motor is pressed, it will rise and fall. Each time it is pressed, it will act instantly. The time can be adjusted as needed to prevent the knotter from over-rotating and damaging it or over-entering the knot, causing the knotter and the rope to get stuck. Toggle the switch of extending the induction device, retracting the induction device, opening the rear door, and closing the rear door, and the action and buttons will run in steps and stop when you release them.

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