Bundling control method and system of circumferential bundling machine
By detecting the saddle position range and automatically correcting the strapping control program, the problem of circular balers stopping due to saddle collision is solved, and efficient and accurate automatic strapping is achieved.
Patent Information
- Application Number
- CN202511000650.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-21
- Publication Date
- 2025-09-16
AI Technical Summary
Existing circular balers do not consider the saddle position when automatically generating the strapping control program, resulting in collisions between the moving approach bridge and the saddle, causing equipment downtime, low efficiency and poor strapping position accuracy.
By detecting the position interval information of the saddle in the lateral moving direction of the moving approach bridge, the moving trajectory of the moving approach bridge in the tying control program is automatically corrected to avoid the saddle position, thereby realizing automatic tying.
It avoids the position conflict between the moving approach bridge and the saddle, improves the bundling efficiency and accuracy, reduces manual intervention, and meets the standard requirements for the bundling position.
Smart Images
Figure CN120646334A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of steel coil bundling, and in particular to a bundling control method and system for a circumferential bundling machine. Background Art
[0002] Circumferential baling machines are key equipment in the post-processing process of steel enterprises. They are mainly used to bundle steel coils in the circumferential direction (i.e., the outer surface) to ensure that the steel coils maintain a stable shape during lifting, storage and transportation, prevent loosening, protect the edges of the steel coils, and ensure safe operation.
[0003] In practice, a walking beam transports steel coils to the circular strapping station, where multiple symmetrical saddles are installed to support the coils. The circular strapping machine detects the coils and automatically generates and executes the strapping control program. The approach bridges of the circular strapping machine are divided into fixed approach bridges and movable approach bridges. Both the fixed approach bridge and the movable approach bridge are connected to the strapping machine base. The movable approach bridge is driven by a pneumatic cylinder. During the automatic strapping control program, the movable approach bridge determines the strapping position. The movable approach bridge passes through the gap between the saddles and docks with the fixed approach bridge to receive the strapping tape passed through the fixed approach bridge. The fixed approach bridge and the movable approach bridge work together to pull the strapping tape to complete the strapping of the steel coils.
[0004] Because the circular baler's factory-installed control program doesn't consider the saddle's position when automatically generating the strapping control program, the moving approach bridge can easily clash with the saddle's position when docking with the fixed approach bridge, causing the two to collide. When the moving approach bridge collides with the saddle, the circular baler automatically stops due to a shutdown protection mechanism. This necessitates manual on-site movement of the base approach bridge to avoid the conflicting position before manually strapping. This method causes the circular baler to stop, resulting in lower strapping efficiency. Furthermore, manual strapping results in significant deviations in strapping position and poor accuracy. Summary of the Invention
[0005] The present invention aims to solve the problem of low bundling efficiency and accuracy in existing bundling control methods, and proposes a bundling control method and system for a circular baler.
[0006] The technical solution adopted by the present invention to solve the above technical problems is: In a first aspect, the present invention provides a strapping control method for a circumferential baler, the method comprising: The steel coils are placed horizontally on multiple sets of saddles. The circular strapping machine detects the size of the steel coils and generates a strapping control program based on the size of the steel coils. The strapping control program includes a movement trajectory of the moving approach bridge, and the movement trajectory corresponds to the strapping position. Detecting the position interval information of each group of saddles in the lateral movement direction of the moving approach bridge, and automatically correcting the movement trajectory of the moving approach bridge in the bundling control program according to the position interval information so that the corresponding bundling position avoids the saddles; The circular baler controls the movement of the movable approach bridge according to the revised strapping control program, and the movable approach bridge and the fixed approach bridge cooperate to pull the strapping belt to strap the steel coil.
[0007] Furthermore, the moving trajectory of the movable approach bridge in the bundling control program is automatically corrected according to the position interval information, including: Assume that the position interval of the nth group of saddles is (An, Bn), and the tying position corresponding to the moving trajectory of the moving approach bridge is X; When the bundling position X falls within the position interval (An, Bn), if An<X<(An+Bn) / 2, the bundling position X is automatically corrected to An; if (An+Bn) / 2≤X<Bn, the bundling position X is automatically corrected to Bn; After the bundling position X is automatically corrected, the moving trajectory of the moving approach bridge is automatically corrected accordingly.
[0008] In a second aspect, the present invention provides a strapping control system for a circumferential baler, for implementing the strapping control method for the circumferential baler according to the first aspect, the system comprising: Multiple sets of saddles for horizontally placing steel coils so that the circular strapping machine can detect the size of the steel coils and generate a strapping control program based on the size of the steel coils. The strapping control program includes a movement trajectory of the moving approach bridge, and the movement trajectory corresponds to the strapping position; The correction module is used to detect the position interval information of each group of saddles in the lateral movement direction of the moving approach bridge, and automatically correct the movement trajectory of the moving approach bridge in the bundling control program according to the position interval information, so that the corresponding bundling position avoids the saddle, so that the circular baler controls the movement of the moving approach bridge according to the corrected bundling control program, and the moving approach bridge and the fixed approach bridge cooperate to pull the strapping belt to bundle the steel coils.
[0009] Furthermore, the correction module is specifically used to: Assume that the position interval of the nth group of saddles is (An, Bn), and the tying position corresponding to the moving trajectory of the moving approach bridge is X; When the bundling position X falls within the position interval (An, Bn), if An<X<(An+Bn) / 2, the bundling position X is automatically corrected to An; if (An+Bn) / 2≤X<Bn, the bundling position X is automatically corrected to Bn; After the bundling position X is automatically corrected, the moving trajectory of the moving approach bridge is automatically corrected accordingly.
[0010] The beneficial effects of the present invention are as follows: the bundling control method and system of the circular baler provided by the present invention detects the position interval information of the saddle in the lateral movement direction of the moving approach bridge, and automatically corrects the bundling control program according to the position interval information, and uses the corrected bundling control program to bundle the steel coils, thereby avoiding bundling interruptions caused by position conflicts, and eliminating the need for manual bundling operation, thereby improving the bundling efficiency and the accuracy of the bundling position. BRIEF DESCRIPTION OF THE DRAWINGS
[0011] Figure 1 A schematic flow chart of a strapping control method for a circular strapping machine provided in an embodiment; Figure 2 A schematic diagram of the structure of a circular baler for bundling provided in an embodiment; Description of reference numerals: 11, 12, 13, 14 - tying positions; 21, 22, 23, 24 - saddles. DETAILED DESCRIPTION
[0012] The technical solution of the present invention is suitable for application scenarios where a circular baler is required to automatically bundle steel coils, especially overweight and oversized diameter steel coils.
[0013] Because the current circular baler does not consider the impact of the saddle position on the movement of the moving approach bridge when automatically generating the strapping control program, the moving approach bridge is prone to position conflict with the saddle and collision. After the collision, the circular baler automatically stops, and manual strapping is required after the stop, resulting in low strapping efficiency and low accuracy of the strapping position.
[0014] Based on this, the technical solution of the present invention is proposed. In the present invention, steel coils are placed horizontally on multiple groups of saddles. After the circular baler detects the steel coils and automatically generates a bundling control program, it detects the position interval information of each group of saddles in the lateral movement direction of the moving approach bridge. Based on the position interval information of each group of saddles, the movement trajectory of the moving approach bridge in the bundling control program is automatically corrected so that the corresponding bundling position avoids the saddle. Finally, the steel coils are automatically bundled according to the corrected bundling control program. Because the bundling control program is automatically corrected according to the position of the saddles, during the bundling process, the moving approach bridge will not conflict with the saddles and collide. The circular baler can automatically bundle according to the corrected bundling control program, eliminating the need for manual bundling operation, thereby improving bundling efficiency and the accuracy of bundling positions.
[0015] The technical solution of this embodiment will be clearly and completely described below in conjunction with the drawings in this embodiment. Obviously, the described embodiment is only a part of the embodiments of the present invention, rather than all the embodiments.
[0016] Figure 1 A schematic diagram showing a flow chart of a circumferential baler strapping control method is shown. Figure 1 , the method comprises the following steps: Step 1: Place the steel coils horizontally on multiple sets of saddles. The circular baler detects the size of the steel coils and generates a bundling control program based on the size of the steel coils. The bundling control program includes a moving trajectory of the moving approach bridge, and the moving trajectory corresponds to the bundling position.
[0017] The approach bridge of the circular baler includes a fixed approach bridge and a movable approach bridge. Both the fixed approach bridge and the movable approach bridge are connected to the base of the baler. The movable approach bridge is driven by a cylinder. When the movable approach bridge moves, it passes through the gap between the saddles and docks with the fixed approach bridge to receive the strapping tape passed through the fixed approach bridge. The fixed approach bridge and the movable approach bridge work together to pull the strapping tape to complete the bundling of the steel coils.
[0018] See also Figure 2 In practice, a walking beam transports steel coils to multiple sets of saddles at the circular bundling station. The coils are placed horizontally, with their axes parallel to the ground. After the coils are placed horizontally on the saddles, the circular bundling machine uses a laser rangefinder to detect the coil's outer diameter, width, and bottom height, automatically calculating the bundling position. This automatically generates a bundling control program based on the bundling position. The bundling control program primarily includes the movement trajectory of the moving approach bridge. When the bundling control program is executed, the moving approach bridge is controlled according to the movement trajectory, and then, in conjunction with the fixed approach bridge, the bundling strap is pulled to automatically bundle the coils.
[0019] Step 2: Detect the position interval information of each group of saddles in the lateral movement direction of the moving approach bridge, and automatically correct the movement trajectory of the moving approach bridge in the bundling control program according to the position interval information so that the corresponding bundling position avoids the saddles.
[0020] It is understood that after the automatic generation of the bundling control program, the position of each group of saddles is detected. Specifically, the position range of each group of saddles in the lateral movement direction of the movable bridge is detected. The lateral movement direction of the movable bridge is parallel to the axis of the steel coil. The movement trajectory of the movable bridge in the bundling control program is corrected so that the movement trajectory of the movable bridge avoids the position range of the saddles.
[0021] In this embodiment, the position interval of the nth group of saddles is assumed to be (An, Bn), and the tying position corresponding to the moving trajectory of the movable approach bridge is X. When the tying position X falls within the position interval (An, Bn), if An<X<(An+Bn) / 2, the tying position X is automatically corrected to An; if (An+Bn) / 2≤X<Bn, the tying position X is automatically corrected to Bn. After the tying position X is automatically corrected, the moving trajectory of the movable approach bridge is automatically corrected accordingly.
[0022] See also Figure 2The steel coil usually includes four bundling positions on both sides, namely 11, 12, 13, and 14. The saddles also usually include four groups, namely 21, 22, 23, and 24. Saddle 21 generally does not conflict with the moving approach bridge. The saddles 22 and 23 have the greatest probability of conflict, followed by saddle 24.
[0023] For example, assuming that the position range of the saddle 22 is (360mm, 490mm), when the bundling position 12, i.e., the second bundling position X ≤ 360mm, it indicates that the moving approach bridge will not collide with the saddle 22, and no correction is required at this time. When 360mm < X < 425mm, it indicates that the moving approach bridge will collide with the left side of the saddle 22. At this time, the second bundling position X is automatically corrected to 360mm, and the moving trajectory of the moving approach bridge is automatically corrected accordingly. When 425mm ≤ X < 490mm, it indicates that the moving approach bridge will collide with the right side of the saddle 22. At this time, the second bundling position X is automatically corrected to 490mm, and the moving trajectory of the moving approach bridge is automatically corrected accordingly.
[0024] For another example, assuming that the position range of the saddle 23 is (640mm, 760mm), when the bundling position 13, that is, the third bundling position X ≤ 640mm, it indicates that the moving approach bridge will not collide with the saddle 23, and no correction is required at this time. When 640mm < X < 700mm, it indicates that the moving approach bridge will collide with the left side of the saddle 23. At this time, the third bundling position X is automatically corrected to 640mm, and the moving trajectory of the moving approach bridge is automatically corrected accordingly. When 700mm ≤ X < 760mm, it indicates that the moving approach bridge will collide with the right side of the saddle 23. At this time, the third bundling position X is automatically corrected to 760mm, and the moving trajectory of the moving approach bridge is automatically corrected accordingly.
[0025] For another example, assuming that the position range of the saddle 24 is (1128mm, 1190mm), when the bundling position 14, that is, the fourth bundling position X ≤ 1128mm, it indicates that the moving approach bridge will not collide with the saddle 24, and no correction is required at this time. When 1128mm < X < 1159mm, it indicates that the moving approach bridge will collide with the left side of the saddle 24. At this time, the third bundling position X is automatically corrected to 1128mm, and the moving trajectory of the moving approach bridge is automatically corrected accordingly. When 1159mm ≤ X < 1190mm, it indicates that the moving approach bridge will collide with the right side of the saddle 24. At this time, the fourth bundling position X is automatically corrected to 1190mm, and the moving trajectory of the moving approach bridge is automatically corrected accordingly.
[0026] Step 3: The circular baler controls the movement of the movable approach bridge according to the revised strapping control program, and the movable approach bridge and the fixed approach bridge cooperate to pull the strapping belt to strap the steel coil.
[0027] After the bundling control program is automatically corrected, the corrected bundling control program is automatically executed. The bundling control program controls the movement of the movable approach bridge, which passes through the gap between the saddles and docks with the fixed approach bridge to receive the bundling straps passed through the fixed approach bridge. The fixed approach bridge and the movable approach bridge cooperate to pull the bundling straps to complete the automatic bundling of the steel coils.
[0028] The above process detects the saddle's position range and determines whether the strapping position in the initially generated strapping control program falls within the saddle's position range. If so, the strapping position is automatically corrected, along with the corresponding moving bridge's trajectory, completing the automatic correction of the strapping control program. This automatically corrected strapping control program avoids automatic interruptions and scratches caused by positional conflicts between the circular strapping moving bridge and the saddle, enabling automatic strapping and improving strapping efficiency and accuracy. Furthermore, during the correction process, the corrected strapping position is kept as close to the saddle as possible, minimizing the extent of any changes to the strapping position and maximizing compliance with standard strapping position requirements.
[0029] Based on the above technical solution, this embodiment further proposes a strapping control system for a circular baler, which is used to implement the strapping control method for the circular baler as described in the embodiment. The system includes: Multiple sets of saddles for horizontally placing steel coils so that the circular strapping machine can detect the size of the steel coils and generate a strapping control program based on the size of the steel coils. The strapping control program includes a movement trajectory of the moving approach bridge, and the movement trajectory corresponds to the strapping position; The correction module is used to detect the position interval information of each group of saddles in the lateral movement direction of the moving approach bridge, and automatically correct the movement trajectory of the moving approach bridge in the bundling control program according to the position interval information, so that the corresponding bundling position avoids the saddle, so that the circular baler controls the movement of the moving approach bridge according to the corrected bundling control program, and the moving approach bridge and the fixed approach bridge cooperate to pull the strapping belt to bundle the steel coils.
[0030] It can be understood that since the strapping control system of the circular baler described in this embodiment is a system for implementing the strapping control method of the circular baler described in the embodiment, for the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple. For relevant points, please refer to the partial description of the method, which will not be repeated here.
Claims
1. A strapping control method for a circular strapping machine, characterized in that: The method comprises: The steel coils are placed horizontally on multiple sets of saddles. The circular strapping machine detects the size of the steel coils and generates a strapping control program based on the size of the steel coils. The strapping control program includes a movement trajectory of the moving approach bridge, and the movement trajectory corresponds to the strapping position. Detecting the position interval information of each group of saddles in the lateral movement direction of the moving approach bridge, and automatically correcting the movement trajectory of the moving approach bridge in the bundling control program according to the position interval information so that the corresponding bundling position avoids the saddles; The circular baler controls the movement of the movable approach bridge according to the revised strapping control program, and the movable approach bridge and the fixed approach bridge cooperate to pull the strapping belt to strap the steel coil.
2. The strapping control method of a circular strapping machine according to claim 1, characterized in that: Automatically correcting the moving trajectory of the movable approach bridge in the bundling control program according to the position interval information includes: Assume that the position interval of the nth group of saddles is (An, Bn), and the tying position corresponding to the moving trajectory of the moving approach bridge is X; When the bundling position X falls within the position interval (An, Bn), if An<X<(An+Bn) / 2, the bundling position X is automatically corrected to An; if (An+Bn) / 2≤X<Bn, the bundling position X is automatically corrected to Bn; After the bundling position X is automatically corrected, the moving trajectory of the moving approach bridge is automatically corrected accordingly.
3. A strapping control system for a circular strapping machine, characterized in that: For implementing the strapping control method of the circular baler according to claim 1 or 2, the system comprises: Multiple sets of saddles for horizontally placing steel coils so that the circular strapping machine can detect the size of the steel coils and generate a strapping control program based on the size of the steel coils. The strapping control program includes a movement trajectory of the moving approach bridge, and the movement trajectory corresponds to the strapping position; The correction module is used to detect the position interval information of each group of saddles in the lateral movement direction of the moving approach bridge, and automatically correct the movement trajectory of the moving approach bridge in the bundling control program according to the position interval information, so that the corresponding bundling position avoids the saddle, so that the circular baler controls the movement of the moving approach bridge according to the corrected bundling control program, and the moving approach bridge and the fixed approach bridge cooperate to pull the strapping belt to bundle the steel coils.
4. The strapping control system of the circular baler according to claim 3, characterized in that: The correction module is specifically used for: Assume that the position interval of the nth group of saddles is (An, Bn), and the tying position corresponding to the moving trajectory of the moving approach bridge is X; When the bundling position X falls within the position interval (An, Bn), if An<X<(An+Bn) / 2, the bundling position X is automatically corrected to An; if (An+Bn) / 2≤X<Bn, the bundling position X is automatically corrected to Bn; After the bundling position X is automatically corrected, the moving trajectory of the moving approach bridge is automatically corrected accordingly.