Cotton bale dynamic weighing system and method of movable cotton picking and packing machine

Abstract

The invention discloses a cotton bale dynamic weighing system and method of a mobile cotton picking packer, and the system also comprises a cotton bale tray, a supporting oil cylinder, a proximity switch, rotating teeth and a controller module, the cotton bale tray is connected with a packer rear vehicle body and the supporting oil cylinder through pin shafts, and the cotton bale tray comprises a first section, a second section and a third section which are connected in sequence; a second pin shaft type force sensor is arranged at the connecting point of the first section of the cotton bale tray and the packing machine rear vehicle body, and a first pin shaft type force sensor is arranged at the connecting point of the supporting oil cylinder and the first section of the cotton bale tray; the proximity switch is installed on a rear vehicle body of the packer, and the rotating teeth are connected with the second pin shaft type force sensor and rotate along with the cotton bale tray. The controller module is electrically connected with the first pin shaft type force sensor, the second pin shaft type force sensor and the proximity switch. The cotton bale dynamic weighing precision is improved, and the cost for measuring the angle of the cotton supporting frame is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of agricultural machinery control, and in particular, relates to a cotton bale dynamic weighing system of a mobile cotton picking and baling machine, and also relates to a cotton bale dynamic weighing method. Background Art

[0002] Cotton pickers are essential agricultural machinery for cotton harvesting, offering advantages such as high picking efficiency, reduced labor intensity, and reduced labor costs. After being picked, cotton is first stored in cotton bins before being transported to baling boxes for packaging and lamination. The baling boxes are then opened and the bales are pushed onto bale racks for lowering and unloading. Mobile cotton pickers and balers require a fixed scale to accurately weigh the bales.

[0003] Most existing cotton picker weighing systems rely on oil cylinder pressure detection (such as the rodless cavity / rod cavity oil pressure difference) to calculate the weight of the cotton bale. The calculation is complex, and there are many parameters that affect the calculation. In addition, the viscosity of the hydraulic oil is easily affected by temperature changes, resulting in pressure data drift. In particular, the weighing accuracy is low in extreme climates (such as low or high temperature operating environments). On the other hand, when the cotton picker is in motion, because the cotton bales are round, even small vibrations during driving will have a great impact on the weighing accuracy. This is especially true in indirect measurements with complex calculations. The impact is more obvious. Usually, the cotton picker needs to stop for a period of time for measurement to improve measurement accuracy. Although some weighing systems reduce the impact of vehicle driving vibration by adjusting the cotton support frame to a horizontal state, the response delay of the hydraulic system will still introduce errors when moving in complex terrain or at high speeds. In addition, mechanical vibrations may cause sensor signal noise, affecting the stability of real-time weighing.

[0004] The existing patent with publication number CN115743714A discloses a cotton bale weighing system and method for a cotton picking and baling machine, as well as agricultural harvesting equipment. The system first detects whether the cotton bales in the baler meet the requirements of each bale. If so, it controls the cotton support frame to descend and discharges the cotton bales into the cotton support frame. The cotton support frame is then adjusted to a horizontal state before performing a force analysis. At this time, the weight of the cotton support frame itself and the weight of the cotton bales are only applied in the vertical direction. The force of the cylinder is calculated by the oil pressure of the rodless cavity and the oil pressure of the rod cavity. The component of the cylinder force in the vertical direction is calculated in combination with the inclination angle of the cylinder. The weight of the cotton bale can then be calculated based on the force balance analysis in the vertical direction. By adjusting the cotton support frame to a horizontal state before weighing the cotton bales, the automatic weighing algorithm is simplified, the accuracy of the calculation results is improved, and the cotton bales are weighed by detecting the oil pressure of the cylinder, which will not be affected by the driving state of the vehicle, further improving the accuracy of the calculation results, and achieving real-time weighing of cotton bales. However, this patent converts the weight of the cotton bale through the cylinder pressure difference, which requires relying on multi-parameter modeling such as the cylinder friction coefficient, sealing, and processing accuracy. The error chain is long, which easily leads to frequent system calibration and poor long-term stability. The hydraulic system has dynamic delays and cannot achieve real-time weighing. The data validity is low under dynamic conditions. In addition, the viscosity of the hydraulic oil changes with temperature (the viscosity decreases by 90% at -20℃ to 80℃), and the thermal expansion of the cylinder causes the effective area to drift (a 10℃ temperature rise produces a 0.04% error). Oil contamination or aging further aggravates the distortion of the pressure signal. Summary of the Invention

[0005] The present invention is mainly aimed at the fact that the cotton picker weighing systems in the existing technology mostly rely on cylinder pressure detection (such as rodless cavity / rod cavity oil pressure difference) to calculate the weight of cotton bales. The calculation is complex, many parameters affect the calculation, and the viscosity of the hydraulic oil is easily affected by temperature changes, resulting in pressure data drift, especially in extreme climates (such as low temperature or high temperature working environment). Low weighing accuracy; on the other hand, when the cotton picker is traveling, because the cotton bales are round, slight vibrations during driving will have a great impact on the weighing accuracy, especially in indirect measurements with complex calculations, the impact is more obvious. A dynamic cotton bale weighing system and method for a mobile cotton picker is proposed.

[0006] A dynamic weighing system for cotton bales of a mobile cotton baler includes a rear body of the baler and a cylinder support, wherein the rear body of the baler and the cylinder support are both fixed to the cotton baler, and further includes a cotton bale tray, a supporting cylinder, a proximity switch, a rotating tooth and a controller module, wherein the cotton bale tray is connected to the rear body of the baler and the supporting cylinder via a pin shaft, and the cotton bale tray includes a first section, a second section and a third section connected in sequence, a second pin shaft force sensor is provided at the connection point between the first section of the cotton bale tray and the rear body of the baler, and a first pin shaft force sensor is provided at the connection point between the supporting cylinder and the first section of the cotton bale tray; the proximity switch is installed on the rear body of the baler, the rotating tooth is connected to the second pin shaft force sensor, and the rotating tooth rotates with the cotton bale tray; the controller module is electrically connected to the first pin shaft force sensor, the second pin shaft force sensor and the proximity switch respectively.

[0007] Furthermore, the force direction of the first pin-type force sensor is perpendicular to the cotton bale tray and is used to measure the supporting force; the force direction of the second pin-type force sensor is perpendicular to the vertical line of the rear body of the baler and is used to measure the pulling force.

[0008] Furthermore, one side of the first section of the cotton bale tray is connected to the second pin-type force sensor, and the first section of the cotton bale tray can rotate around the rear body of the baler.

[0009] Furthermore, the lengths of the first section of the cotton bale tray, the second section of the cotton bale tray and the third section of the cotton bale tray are all fixed.

[0010] Furthermore, the angle between the first section of the cotton bale tray and the second section of the cotton bale tray and the angle between the second section of the cotton bale tray and the third section of the cotton bale tray are both obtuse angles and the two angles are fixed, so that the cotton bale stays in a fixed position on the cotton bale tray.

[0011] Furthermore, the rotating teeth rotate with the cotton bale tray, and the effective sensing distance of the proximity switch corresponds to the width of the rotating teeth, which is used to compensate for the shaking error of the cotton bale tray caused by driving vibration, so that when the cotton bale tray is in the optimal weighing angle position, the proximity switch can continuously sense the trigger signal of the rotating teeth.

[0012] Furthermore, the controller module outputs cotton bale weight data via a CAN bus or a 4-20mA analog quantity, and the output data includes cotton bale weight, sensor real-time value and fault code.

[0013] Furthermore, the controller module has a built-in dual-sensor fusion algorithm and a dynamic error correction program.

[0014] Furthermore, one end of the supporting oil cylinder is hinged to the rear body of the baler, and the other end is connected to the first section of the cotton bale tray through a first pin-type force sensor, so as to drive the lifting of the cotton bale tray.

[0015] A method for dynamically weighing cotton bales based on the above-mentioned weighing system comprises the following steps:

[0016] S1. After the cotton picking and baling machine completes baling of cotton bales, it begins to push the cotton bales out of the baling bin. When the cotton bales roll onto the cotton bale tray, the controller module drives the support cylinder to adjust the angle of the cotton bale tray until the cotton bale tray is rotated to a position below the horizontal position, so that the angle between the first section of the cotton bale tray and the vertical line of the rear body of the baler is less than 90 degrees.

[0017] S2, the rotating teeth rotate with the cotton bale tray. When the proximity switch senses the rotating teeth, the supporting cylinder stops working and locks the cotton bale tray;

[0018] S3. Synchronously collecting, through the controller module, a support force signal from the first pin-type force sensor and a tension force signal from the second pin-type force sensor; combining the support force and tension force, and outputting cotton bale weight data using a weighing algorithm integrated in the controller module;

[0019] S4. When the cotton baler reaches the bag unloading position, the controller module drives the support cylinder retraction valve to continue retracting until the bag unloading is completed;

[0020] S5. After the cotton picking and baling machine completes unloading of the cotton bales, the analog input signal data of the first pin-type force sensor and the second pin-type force sensor return to the empty tray state, driving the support oil cylinder to extend the valve, causing the cotton bale tray to rotate counterclockwise until the cotton bale tray closes the baling bin outlet and continues to weigh the next cotton bale.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0022] 1. The present invention includes a baler rear body and a cylinder support. Both the baler rear body and the cylinder support are fixed on the cotton picking baler. It also includes a cotton bale tray, a supporting cylinder, a proximity switch, a rotating tooth and a controller module. The cotton bale tray is connected to the baler rear body and the supporting cylinder through a pin shaft. The cotton bale tray includes a first section, a second section and a third section connected in sequence. A second pin shaft force sensor is provided at the connection point between the first section of the cotton bale tray and the baler rear body, and a first pin shaft force sensor is provided at the connection point between the supporting cylinder and the first section of the cotton bale tray. The present invention adopts a pin-type force sensor to directly measure the force (support force and tension) at the connection point of the cotton bale tray, establishes a mechanical model based on the lever principle, calculates the weight of the cotton bale through a weighing algorithm, and introduces an angle limit switch (proximity switch + rotating tooth) to lock the optimal weighing angle to suppress the angle and force arm fluctuation errors caused by driving vibration, directly measure the force value of the force point, and avoid the parameter drift problem of indirect oil pressure measurement; secondly, through the dual-sensor redundant design, the error is reduced by 30% to 50% through data fusion, and the cotton picking and baling machine can dynamically weigh the cotton bales, saving manpower and material resources.

[0023] 2. The proximity switch of the present invention is mounted on the rear body of the baler. The rotating gear is connected to the second pin-type force sensor, and the rotating gear rotates with the cotton bale tray. The controller module is electrically connected to the first pin-type force sensor, the second pin-type force sensor, and the proximity switch. The angle limit switch locks the optimal weighing angle, allowing the cotton picker to be weighed while traveling at speeds of ≤5 km / h (experimental data). The angle tolerance compensates for vibration-induced swaying of the cotton bale tray. The segmented structure of the cotton bale tray restricts the rolling of the cotton bales to a fixed position, reducing fluctuations in the force arm data and improving weighing accuracy.

[0024] 3. The present invention replaces the connecting shaft with a pin-type force sensor, which is integrated with the mechanical structure, reducing vulnerable parts such as hydraulic pipelines and angle sensors, thereby reducing maintenance costs by 40% (compared with the maintenance costs of the hydraulic system). BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic structural diagram of the cotton bale weighing system of the present invention;

[0026] Figure 2 Schematic diagram of the structure of the cotton bale weighing system of the present invention (before weighing begins);

[0027] Figure 3 This is a flow chart of the dynamic cotton bale weighing method of the present invention;

[0028] Figure 4 Schematic diagram of the controller module structure of the present invention;

[0029] Figure 5 It is a simplified diagram of the force analysis of the present invention.

[0030] In the above figure, 1. Rear body of the baler; 2. Cylinder support; 3. First section of the bale tray; 4. Support cylinder; 5. Second section of the bale tray; 6. Third section of the bale tray; 7. Cotton bale; 8. Second pin-type sensor; 9. First pin-type sensor; 10. Proximity switch; 11. Rotating gear; A. Connection point between the first section of the bale tray and the rear body of the baler; B. Connection point between the support cylinder and the first section of the bale tray; C. Intersection point of the center of gravity of the cotton bale and the extension line of the first section of the bale tray; H. Telescopic length of the support cylinder; L1. Length of the first section of the bale tray; L2. Length of the second section of the bale tray; L3. Length of the third section of the bale tray. DETAILED DESCRIPTION

[0031] In order to clearly illustrate the technical features of the application scheme of the present invention, the present invention is described in detail below through specific implementation methods and in conjunction with the accompanying drawings.

[0032] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0033] In this application, unless otherwise expressly specified and limited, a first feature "above" or "below" a second feature may be such that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. In the description of this specification, reference terms such as "one embodiment", "some embodiments", "example", "specific example" or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in an appropriate manner in any one or more embodiments or examples.

[0034] Example 1

[0035] like Figure 1 As shown, a dynamic weighing system for cotton bales of a mobile cotton baler includes a baler rear body 1 and a cylinder support 2, wherein the baler rear body 1 and the cylinder support 2 are both fixed on the cotton baler, and also include a cotton bale tray, a supporting cylinder 4, a proximity switch 10, a rotating tooth 11 and a controller module, wherein the cotton bale tray is connected to the baler rear body 1 and the supporting cylinder 4 through a pin shaft, and the cotton bale tray includes a first section, a second section and a third section connected in sequence, a second pin shaft force sensor 8 is provided at the connection point between the first section 3 of the cotton bale tray and the baler rear body 1, and a first pin shaft force sensor 9 is provided at the connection point between the supporting cylinder 4 and the first section 3 of the cotton bale tray; the proximity switch 10 is installed on the baler rear body 1, the rotating tooth 11 is connected to the second pin shaft force sensor 8, and the rotating tooth 11 rotates with the cotton bale tray; the controller module is electrically connected to the first pin shaft force sensor 9, the second pin shaft force sensor 8 and the proximity switch 10 respectively.

[0036] In this embodiment, if Figure 1 and Figure 2As shown, the rear body 1 of the baler is fixed to the tail of the cotton picker, one end of the support cylinder 4 is hinged to the cylinder support 2 on the baler, and the other end is connected to the middle of the first section 3 of the cotton bale tray through the first pin-type force sensor 9. The connection point is point B. The support cylinder 4 is hydraulically driven, and the cylinder stroke is 500mm. It can drive the cotton bale tray from the closed state to the optimal weighing angle, and the extension and contraction speed of the support cylinder 4 is fixed. When it is safely lowered to the optimal weighing angle position, it ensures that when the cotton bale rolls from the baling bin to the cotton bale tray, it will not roll out of the cotton bale tray due to inertia. Among them, the optimal weighing angle position is the position tested by the cotton bale rolling test and the weighing test, that is, the angle between the first section 3 of the cotton bale tray and the vertical line of the cotton picker baling bin.

[0037] The first section 3 of the cotton bale tray is connected to the top of the rear body 1 of the baler through the second pin-type force sensor 8. The connection point between the first section 3 of the cotton bale tray and the second pin-type force sensor 8 is point A, and the length of the first section 3 of the cotton bale tray is set to 2m, and the lengths of the second section 5 of the cotton bale tray and the third section 9 of the cotton bale tray are both set to 1 meter; the angle between the first section 3 of the cotton bale tray and the second section 5 of the cotton bale tray is 135°, and the angle between the second section 5 of the cotton bale tray and the third section 6 of the cotton bale tray is 120°, forming a groove structure with a groove depth of 1 / 3 of the diameter of the cotton bale 7, which is used to limit the rolling of the cotton bale 7.

[0038] The first pin-type force sensor 9 is used to measure the change in the supporting force F after the cotton bale 7 enters the pallet. The first pin-type force sensor 9 replaces the connecting center axis between the supporting cylinder 4 and the cotton bale pallet. According to the installation angle of the supporting cylinder 4, the force direction of the first pin-type force sensor 9 is perpendicular to the cotton bale pallet; the horizontal left pulling force T at the fulcrum A is measured by the second pin-type force sensor 8. The second pin-type force sensor 8 is used to measure the change in the supporting force F after the cotton bale 7 enters the pallet. The force direction of the second pin-type force sensor 8 is perpendicular to the vertical line of the rear body 1 of the baler.

[0039] like Figure 1 As shown, rotating teeth 11 are thin metal sheets with a tooth width of 10 mm. They are welded to the outer edge of the second pin-type force sensor 8 and rotate with the first section 3 of the cotton bale tray. A proximity switch 10 is mounted on the top of the rear body 1 of the baling vehicle. Its sensing distance is 5 mm. Proximity switch 10 is triggered by sensing rotating teeth 11, locking the optimal weighing angle of the cotton bale tray. The effective sensing distance of proximity switch 10 corresponds to the width of rotating teeth 11, which is used to compensate for the cotton bale tray's shaking errors caused by driving vibration. When the cotton bale tray is at the optimal weighing angle, proximity switch 10 continuously senses the trigger signal of rotating teeth 11.

[0040] like Figure 4As shown, the controller module adopts Siemens PLC, and the controller module is electrically connected to the first pin-type force sensor, the second pin-type force sensor, and the proximity switch respectively. The controller module has a built-in dual-sensor fusion algorithm and a dynamic error correction program. Specifically, the first pin-type force sensor 9 and the second pin-type force sensor 8 are connected to the AI ​​interface of the controller module, the proximity switch 10 is connected to the DI interface, and the DO interface of the controller module is respectively connected to the support cylinder 4 extension valve and the support cylinder retraction valve. It communicates with the sensor and the proximity switch through the CAN bus, and the data acquisition frequency is 10Hz. Among them, the output modes of the controller module are CAN bus output and 4~20mA analog current output. The CAN bus output can carry more data. Including: cotton bale weight, fault code, such as Figure 4 AI / DI / DO measurement values, etc.

[0041] Example 2

[0042] like Figure 1 As shown, a dynamic weighing system for cotton bales of a mobile cotton baler includes a baler rear body 1 and a cylinder support 2, wherein the baler rear body 1 and the cylinder support 2 are both fixed on the cotton baler, and also include a cotton bale tray, a supporting cylinder 4, a proximity switch 10, a rotating tooth 11 and a controller module, wherein the cotton bale tray is connected to the baler rear body 1 and the supporting cylinder 4 through a pin shaft, and the cotton bale tray includes a first section, a second section and a third section connected in sequence, a second pin shaft force sensor 8 is provided at the connection point between the first section 3 of the cotton bale tray and the baler rear body 1, and a first pin shaft force sensor 9 is provided at the connection point between the supporting cylinder 4 and the first section 3 of the cotton bale tray; the proximity switch 10 is installed on the baler rear body 1, the rotating tooth 11 is connected to the second pin shaft force sensor 8, and the rotating tooth 11 rotates with the cotton bale tray; the controller module is electrically connected to the first pin shaft force sensor 9, the second pin shaft force sensor 8 and the proximity switch 10 respectively.

[0043] like Figure 2 and Figure 3 As shown, in this embodiment, the dynamic weighing method of the cotton picking baler is as follows:

[0044] (1) Angle positioning: When the weighing system does not need to unload and weigh the bales, the controller module drives the supporting cylinder 4 to extend to the maximum value, and drives the cotton bale tray to close the baling bin outlet; the cotton bale 7 is baled and starts to be unloaded from the bin in the direction of P1 under the push of the cotton picking baler. The supporting cylinder 4 starts to shrink under the drive of the weighing system controller module, so that its length H is reduced. The length H of the supporting cylinder 4 is reduced, and the first section 3, the second section and the third section of the cotton bale tray are rotated as a whole with point A as the center of the circle in the direction of P2; when the cotton bale tray is rotated to a position below the horizontal position, That is, when the angle θ is less than 90 degrees, the cotton bale 7 enters the cotton bale tray due to gravity when rolling along the direction P1, and the length H of the supporting cylinder 4 continues to shrink. The cotton bale 7 rolls into the groove formed by the first section 3 of the cotton bale tray, the second section 5 of the cotton bale tray, and the third section 6 of the cotton bale tray due to gravity, and is blocked by the third section 6 of the cotton bale tray and stops in the groove; the rotating tooth 11 rotates with the cotton bale tray, and the proximity switch 10 is fixed. When the proximity switch 10 detects the rotating tooth 11, the controller module controls the supporting cylinder 4 to stop moving and lock the angle of the cotton bale tray.

[0045] (2) Data acquisition: The controller module of the weighing system collects the force signals of the first pin-type force sensor 9 and the second pin-type force sensor 8. When the first pin-type force sensor 9 and the second pin-type force sensor 8 are installed, the force detection point is Figure 5 The force direction arrangement of T and F is shown.

[0046] (3) Weight calculation: Based on the lever balance principle, combined with the support force and the pulling force, the weighing calculation is completed by the weighing algorithm integrated in the controller module, and the specific cotton bale weight data is output through the CAN bus or 4-20mA analog quantity.

[0047] (4) Unloading: When the cotton baler reaches the unloading position, the controller module drives the support cylinder 4 to retract the valve and continue to operate until the unloading is completed.

[0048] (5) Reset: After the cotton baler completes unloading, the analog input signal data of the first pin-type force sensor 9 and the second pin-type force sensor 8 return to the empty plate state, driving the support cylinder 4 to extend the valve action, causing the cotton bale tray to rotate counterclockwise until the cotton bale tray closes the baling bin outlet and continues the next unloading and weighing work.

[0049] When the cotton picker travels at a speed of 5 km / h, the cotton bale weighing error is ≤3%. Compared with traditional weighing methods, the accuracy is significantly improved, and dynamic weighing of cotton bales can be performed while the baler is moving.

[0050] Example 3

[0051] like Figure 3 As shown, a method for dynamic weighing of cotton bales comprises the following steps:

[0052] S1. After the cotton baler completes baling of the cotton bales 7, it begins to push the cotton bales 7 out of the baling bin. When the cotton bales 7 roll onto the cotton bale tray, the controller module drives the supporting cylinder 4 to adjust the angle of the cotton bale tray until the cotton bale tray as a whole rotates to a position below the horizontal position, so that the angle between the first section 3 of the cotton bale tray and the vertical line of the rear body of the baler is less than 90°.

[0053] S2, the rotating gear 11 rotates with the cotton bale tray. When the proximity switch 10 senses the rotating gear 11, the supporting cylinder 4 stops working and locks the cotton bale tray.

[0054] S3. Synchronously collecting the support force signal of the first pin-type force sensor 9 and the tension force signal of the second pin-type force sensor 8 through the controller module; combining the support force and the tension force, and outputting the weight data of the cotton bale 7 through the weighing algorithm integrated in the controller module;

[0055] S4. When the cotton baler reaches the bag unloading position, the controller module drives the retraction valve of the support cylinder 4 to continue to retract until the bag unloading is completed;

[0056] S5. After the cotton picking and baling machine completes unloading of the cotton bales, the analog input signal data of the first pin-type force sensor 9 and the second pin-type force sensor 8 return to the empty tray state, driving the support oil cylinder 4 to extend the valve action, causing the cotton bale tray to rotate counterclockwise until the cotton bale tray closes the baling bin outlet and continues to weigh the next cotton bale.

[0057] In this embodiment, the force analysis of the cotton bale weighing system working point is as follows: Figure 5 As shown, ac is the simplified working lever length of the cotton bale tray AC. The support force F is measured by the first pin-type force sensor 9. The fulcrum of ac is a, the vertical lever force F is applied at point b, and the vertical downward load G is suspended at point c. The deadweight of the lever is M, and the geometric parameter is L. ab =ab*cosα、L ac =ac*cosα, the angle between the lever and the vertical line is θ, and the angle between the lever and the horizontal line is α. The specific derivation process is:

[0058] Dynamic torque: F*L ab ;

[0059] Resistance torque: G*L ac *sinθ;

[0060] Lever self-weight torque:

[0061] The equilibrium condition is: F*L ab =G*L ac *sinθ-M*L ac *sinθ / 2;

[0062] The expression of gravity is derived as:

[0063] Based on the above-mentioned tilt lever weighing model, that is, cotton bale tray weighing, the supporting force is measured by the first pin force sensor 9, the deadweight error of the cotton bale tray is corrected, and the dynamic response is fast.

[0064] Example 4

[0065] In this embodiment, if Figure 5 As shown, ac is the simplified working lever of the cotton bale tray AC. The horizontal leftward pulling force T applied to the fulcrum a is measured by the second pin-type force sensor 8, and the cotton bale weight G is calculated. The specific derivation is as follows:

[0066] The direction of the pulling force T is horizontal and to the left, which is equal to the horizontal component of the force F and opposite in direction. Then the pulling force is: T = F*sinθ;

[0067] Dynamic torque:

[0068] Resistance torque: G*L ac *sinθ;

[0069] Lever self-weight torque:

[0070] The equilibrium condition is:

[0071] The weight of the cotton bale after simplification is:

[0072] The second pin force sensor 8 measures the pulling force and corrects for errors in the bale tray's deadweight. This provides high stability, meaning the horizontal pulling force at fulcrum a is constrained by the lever's internal balance, minimizing external interference and resulting in more stable data. Furthermore, it offers strong resistance to vibration interference, as the fulcrum sensor is located away from the power point, making it less susceptible to mechanical vibration.

[0073] Obviously, the above-described embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. A person skilled in the art would be able to make other variations or modifications based on the above description. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A cotton bale dynamic weighing system for a mobile cotton baler, comprising a baler rear body and a cylinder support, wherein the baler rear body and the cylinder support are both fixed to the cotton baler, characterized in that: It also includes a cotton bale tray, a supporting cylinder, a proximity switch, a rotating tooth and a controller module. The cotton bale tray is connected to the rear body of the baler and the supporting cylinder through a pin shaft; the cotton bale tray includes a first section, a second section and a third section connected in sequence, a second pin shaft force sensor is provided at the connection point between the first section of the cotton bale tray and the rear body of the baler, and a first pin shaft force sensor is provided at the connection point between the supporting cylinder and the first section of the cotton bale tray; the proximity switch is installed on the rear body of the baler, the rotating tooth is connected to the second pin shaft force sensor, and the rotating tooth rotates with the cotton bale tray; the controller module is electrically connected to the first pin shaft force sensor, the second pin shaft force sensor and the proximity switch respectively.

2. The cotton bale dynamic weighing system of a mobile cotton picking and baling machine according to claim 1 is characterized in that: The force direction of the first pin-type force sensor is perpendicular to the cotton bale tray and is used to measure the supporting force; the force direction of the second pin-type force sensor is perpendicular to the vertical line of the rear body of the baler and is used to measure the pulling force.

3. The cotton bale dynamic weighing system of a mobile cotton picking and baling machine according to claim 1, characterized in that: One side of the first section of the cotton bale tray is connected to the second pin-type force sensor, and the first section of the cotton bale tray can rotate around the rear body of the baler.

4. The cotton bale dynamic weighing system of a mobile cotton picking and baling machine according to claim 1, characterized in that: The lengths of the first section of the cotton bale tray, the second section of the cotton bale tray and the third section of the cotton bale tray are all fixed.

5. The cotton bale dynamic weighing system of a mobile cotton picking and baling machine according to claim 4, characterized in that: The angle between the first section of the cotton bale tray and the second section of the cotton bale tray and the angle between the second section of the cotton bale tray and the third section of the cotton bale tray are both obtuse angles and the two angles are fixed, so that the cotton bale stays in a fixed position on the cotton bale tray.

6. The cotton bale dynamic weighing system of a mobile cotton picking and baling machine according to claim 1, characterized in that: The rotating teeth rotate with the cotton bale tray, and the effective sensing distance of the proximity switch corresponds to the width of the rotating teeth, which is used to compensate for the shaking error of the cotton bale tray caused by driving vibration.

7. The cotton bale dynamic weighing system of a mobile cotton picking and baling machine according to claim 1, characterized in that: The controller module outputs cotton bale weight data via CAN bus or 4-20mA analog quantity, and the output data includes cotton bale weight, sensor real-time value and fault code.

8. The cotton bale dynamic weighing system of a mobile cotton picking and baling machine according to claim 7, characterized in that: The controller module has built-in dual sensor fusion algorithm and dynamic error correction program.

9. The cotton bale dynamic weighing system of a mobile cotton picking and baling machine according to claim 1, characterized in that: One end of the supporting oil cylinder is hinged to the rear body of the baler, and the other end is connected to the first section of the cotton bale tray through a first pin-type force sensor, so as to drive the lifting of the cotton bale tray.

10. A method for dynamically weighing cotton bales based on the weighing system according to any one of claims 1 to 9, characterized in that: The steps include: S1. After the cotton picking and baling machine completes baling of cotton bales, it begins to push the cotton bales out of the baling bin. When the cotton bales roll onto the cotton bale tray, the controller module drives the support cylinder to adjust the angle of the cotton bale tray until the cotton bale tray is rotated to a position below the horizontal position, so that the angle between the first section of the cotton bale tray and the vertical line of the rear body of the baler is less than 90 degrees. S2, the rotating teeth rotate with the cotton bale tray. When the proximity switch senses the rotating teeth, the supporting cylinder stops working and locks the cotton bale tray; S3. Synchronously collecting, through the controller module, a support force signal from the first pin-type force sensor and a tension force signal from the second pin-type force sensor; combining the support force and tension force, and outputting cotton bale weight data using a weighing algorithm integrated in the controller module; S4. When the cotton baler reaches the bag unloading position, the controller module drives the support cylinder retraction valve to continue retracting until the bag unloading is completed; S5. After the cotton picking and baling machine completes unloading of the cotton bales, the analog input signal data of the first pin-type force sensor and the second pin-type force sensor return to the empty tray state, driving the support oil cylinder to extend the valve, causing the cotton bale tray to rotate counterclockwise until the cotton bale tray closes the baling bin outlet and continues to weigh the next cotton bale.

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