CN108207350A - A kind of round bale baler control system and method - Google Patents
A kind of round bale baler control system and method Download PDFInfo
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- CN108207350A CN108207350A CN201711266834.7A CN201711266834A CN108207350A CN 108207350 A CN108207350 A CN 108207350A CN 201711266834 A CN201711266834 A CN 201711266834A CN 108207350 A CN108207350 A CN 108207350A
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- 238000004804 winding Methods 0.000 claims description 112
- 239000010720 hydraulic oil Substances 0.000 claims description 17
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- 230000009471 action Effects 0.000 claims description 9
- 230000003993 interaction Effects 0.000 claims description 8
- 230000006698 induction Effects 0.000 claims description 6
- 239000003921 oil Substances 0.000 claims description 5
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01F—PROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
- A01F15/00—Baling presses for straw, hay or the like
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Abstract
The present invention provides a kind of round bale baler control system and method, and system includes sensor group, electromagnetic clutch, solenoid valve block, controller and graphic software platform and adjusts terminal；Sensor group includes system pressure sensor, net knife sensor and rear door sensor；Solenoid valve block includes back door solenoid valve；Electromagnetic clutch includes twining net clutch；System pressure sensor is used to monitor the pressure of the hydraulic cylinder rod chamber of round bale bin；Net clutch is twined for carrying out twining net；Net knife sensor twines the location status of net cutter for monitoring；What door sensor was used to monitoring back door afterwards is turned on and off state；Back door electromagnetism valve regulation back door is turned on and off；For judging whether to need to twine net, control when needed carries out twining net controller, judges that cut-out twining whether net is completed, and control back door is turned on and off when twining net cut-out.The present invention realizes pickup, baling, the whole-course automation for twining net, switch gate；The working efficiency of baler is improved, enhances the automatization level of baler.
Description
Technical Field
The invention relates to the technical field of agriculture, in particular to a round bale bundling machine control system and a round bale bundling machine control method.
Background
In the technical field of agriculture at present, a round bundle bundling machine mainly comprises a transmission system, a pickup, a feeding mechanism, a bundling chamber, a bundling rope mechanism, a hydraulic system and a bundle unloading device. The round bundle bundling machine mainly comprises a transmission system, a pickup, a feeding mechanism, a bundling chamber, a bundling rope mechanism, a hydraulic system and a bundle unloading device. Fig. 1a is a state view of a prior art round baler forming a core. Fig. 1b is a state view of a round baler of the prior art forming a round bale. Fig. 1c is a state diagram of a round bale forming of a round bale baler of the prior art. Fig. 1d is a state diagram of a round baler in the prior art for unloading a bale. The operation of the round baler can be seen with reference to fig. 1a, 1b, 1c and 1 d.
Round bundle bundling machine's power transmits each work component through the back power output shaft who connects the tractor, at field operation in-process, along with the operation of machine with move ahead, the bullet tooth of pickup picks up the swath on ground, send into through feeding mechanism and bundle the room, under the effect of rotatory cylinder, the material is rotatory to become the grass core, continuous pickup, more and more material gets into and bundles the room and constantly rotates and form the round bundle of outer tight interior pine gradually, trigger the net winding mechanism after the bundle and to bale the net, the cutter that triggers the net winding after reaching the bundle number of turns of net of settlement cuts off the bundle rope, open the hatch door afterwards and release the bale, accomplish the operation of tying of a bale.
At present, a system for controlling the operation of the round bale bundling machine is mostly in a mechanical hydraulic structure and is controlled by an operating handle. The trigger net winding, the opening of the rear cabin door and the closing of the rear cabin door in the bundling operation flow are all independently and manually controlled, and the action of entering the next operation flow cannot be automatically judged and triggered, so that the working efficiency is low. And the manipulator does not know the state of the internal components of the round baler, so that the manipulator is inconvenient to operate and has poor man-machine interaction performance.
Disclosure of Invention
The invention provides a round bale bundling machine control system and a round bale bundling machine control method, which solve the problems of low working efficiency, inconvenient operation of a manipulator and poor man-machine interaction performance of the round bale bundling machine control system.
According to one aspect of the invention, a round baler control system is provided, which comprises a sensor group, an electromagnetic valve group, an electromagnetic clutch, a controller and a graphical display adjusting terminal; the sensor group, the electromagnetic valve group, the electromagnetic clutch and the graphical display adjusting terminal are all connected with the controller; the sensor group includes: a system pressure sensor, a net knife sensor and a back door sensor; the electromagnetic valve group comprises a rear door electromagnetic valve; the electromagnetic clutch comprises a net winding clutch; the system pressure sensor is positioned on a valve block of the electromagnetic valve group and used for monitoring the pressure of a rod cavity of a hydraulic oil cylinder of the round bale chamber and sending the pressure to the controller; the net winding clutch is used for triggering the net winding movable net roller to rotate for net winding; the net knife sensor is fixed on the body of the round bundle bundling machine and used for monitoring the position state of the net winding cutter and sending the position state of the net winding cutter to the controller; the rear door sensor is fixed on the body at the position of the rear door and used for monitoring the opening or closing state of the rear door and sending the opening or closing state of the rear door to the controller; the rear door electromagnetic valve adjusts the opening or closing of the rear door by controlling a double-acting hydraulic oil cylinder; the graphical display adjusting terminal is connected with the controller and comprises a first window and a second window; the first window is used for displaying the action state of the round bale bundling machine, the bundling quantity, the bundling compactness, the position state of the net winding cutter and the opening or closing state of the bottom door; the second window comprises a pickup adjusting key, a bottom door adjusting key, a rear door adjusting key and a net winding control key; the controller is used for judging whether net winding is needed according to the pressure, controlling the net winding clutch to wind the net when the net winding is needed, controlling the net winding cutter to cut off the net winding after the net winding is completed, judging whether the net winding is completed through the position state of the net winding cutter, controlling the back door to open or close through the back door solenoid valve when the net winding is completed, and simultaneously finishing information interaction with the graphical display adjusting terminal in real time when the round bundle bundling machine control system works.
Preferably, the sensor group further comprises a bottom door sensor; the electromagnetic valve group also comprises a bottom door electromagnetic valve; the bottom door sensor is fixed on the machine body at the position of the bottom door and used for monitoring the opening or closing state of the bottom door and sending the opening or closing state of the bottom door to the controller; the bottom door electromagnetic valve adjusts the opening or closing of the bottom door by controlling a double-acting hydraulic oil cylinder.
Preferably, the solenoid valve block further comprises a picker solenoid valve which adjusts the lifting and floating state of the picker by controlling a single acting hydraulic cylinder.
Preferably, the solenoid valve group package also comprises a system loading valve, and the system loading valve regulates oil supply of all hydraulic oil cylinders of the control system to provide power for the control system.
According to another aspect of the present invention, there is provided a round baler control method including: receiving pressure sent by a system pressure sensor, judging whether the pressure exceeds a preset pressure value or not, and starting a first alarm when the pressure exceeds the preset pressure value so that a tractor connected with the round bale bundling machine is adjusted to stop running by a tractor driver end according to the first alarm prompt; waiting for a first preset time after the tractor stops running, controlling a net winding clutch to wind a net, and controlling a net winding cutter to cut off the net after the net winding is finished; receiving position state induction of a net knife sensor when the net winding cutter moves to the lower part of the inner part of the round bundle bundling machine, and giving an alarm for the second time; and waiting for a second preset time after the second alarm, controlling a rear door electromagnetic valve to adjust the opening of the rear door based on the opening or closing state of the rear door sent by a rear door sensor, and controlling the rear door electromagnetic valve to adjust the closing of the rear door after waiting for a third preset time.
Preferably, the receiving the pressure sent by the system pressure sensor further comprises: detecting a state of a picker, and controlling a picker solenoid valve to adjust the picker to a floating state when the picker is in a lifted state.
Preferably, the receiving the pressure sent by the system pressure sensor further comprises: and receiving the opening or closing state of the bottom door sent by the bottom door sensor, and controlling a bottom door electromagnetic valve to regulate the bottom door to be closed when the bottom door is in the opening state.
According to still another aspect of the present invention, there is provided a round baler control method including: receiving pressure sent by a system pressure sensor, judging whether the pressure exceeds a preset pressure value or not, and starting a first alarm when the pressure exceeds the preset pressure value so that a tractor connected with the round bale bundling machine is adjusted to stop running by a tractor driver end according to the first alarm prompt; after the tractor stops running, responding to a first request sent by the tractor hand end to generate a first instruction, and sending the first instruction to a net winding clutch so that the net winding clutch winds the net and controls a net winding cutter to cut off the net after the net winding is finished; receiving position state induction of a net knife sensor when the net winding cutter moves to the lower part of the inner part of the round bundle bundling machine, and giving an alarm for the second time so that the machine hand end sends a second request according to the second alarm; generating a second instruction in response to the second request sent by the handpiece end, and sending the second instruction to the winding clutch so that the winding clutch stops winding; after the net winding clutch stops net winding, receiving the opening or closing state of the rear door sent by a rear door sensor, and sending the opening or closing state of the rear door to the manipulator end; responding to a third request sent by the machine hand end to generate a third instruction, and sending the third instruction to a back door electromagnetic valve so that the back door electromagnetic valve adjusts the back door to be opened; and generating a fourth instruction in response to a fourth request sent by the machine hand end, and sending the fourth instruction to a rear door electromagnetic valve so that the rear door electromagnetic valve adjusts the closing of the rear door.
Preferably, the receiving the pressure sent by the system pressure sensor further comprises: detecting the state of a pickup, and sending the state of the pickup to the handpiece end; and responding to a fifth request sent by the machine hand end to generate a fifth instruction, and sending the fifth instruction to a pickup solenoid valve so that the pickup solenoid valve adjusts the pickup to be in a floating state.
Preferably, the receiving the pressure sent by the system pressure sensor further comprises: receiving the opening or closing state of the bottom door sent by a bottom door sensor, and sending the opening or closing state of the bottom door to the manipulator end; and generating a sixth instruction in response to a sixth request sent by the manipulator end, and sending the sixth instruction to a bottom door electromagnetic valve so that the bottom door electromagnetic valve adjusts the bottom door to be closed.
According to the round bale bundling machine control system and method provided by the invention, the sensor group is arranged to be matched with the controller, so that the action of the control system can be automatically judged, and the round bale bundling machine control system has good human-computer interaction capacity; the full automation of picking, baling, net winding, door opening and door closing is realized through the mutual matching of the electromagnetic valve groups; the working efficiency of the bundling machine is improved, and the automation level of the bundling machine is enhanced. By arranging the graphical display adjusting terminal, a manipulator can know the state of the round bale bundling machine, and the reliability and stability of the control system are greatly improved; the intelligent level of the system is further improved, the operation of a manipulator is facilitated, and the man-machine interaction is enhanced.
Drawings
FIG. 1a is a state view of a prior art round baler forming a core;
FIG. 1b is a state view of a prior art round baler forming a round bale;
FIG. 1c is a prior art round bale forming state diagram of a round bale baler;
FIG. 1d is a prior art round baler in a bale unloading state;
FIG. 2 is a schematic structural view of a round baler control system according to an embodiment of the present invention;
FIG. 3 is a schematic interface diagram of a graphical display adjustment terminal according to an embodiment of the present disclosure;
FIG. 4 is a flow chart of a round baler control method according to an embodiment of the present invention;
FIG. 5 is a flow chart of yet another round baler control method in an embodiment of the present invention;
fig. 6 is a flowchart of another round baler control method according to an embodiment of the present invention;
wherein,
1-a transmission system; 2-swath; 3-a pickup;
4-a feeding mechanism; 5-a bundling chamber; 6-a hydraulic oil cylinder;
7-grass unloading device; 8, a roller; 9-action state;
10-bundling number; 11-compactness of bundling; 12-position state of the winding cutter;
13-open or closed state of the bottom door; 14-pickup adjustment key; 15-bottom door adjusting button;
16-rear door adjusting button; 17-winding network control key; 18-set key.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Fig. 2 is a schematic structural diagram of a round baler control system according to an embodiment of the present invention, as shown in fig. 2, including a sensor set, an electromagnetic valve set, an electromagnetic clutch, a controller, and a graphical display adjustment terminal; the sensor group, the electromagnetic clutch, the electromagnetic valve group and the graphical display adjusting terminal are all connected with the controller; the sensor group includes: a system pressure sensor, a net knife sensor and a back door sensor; the electromagnetic valve group comprises a rear door electromagnetic valve; the electromagnetic clutch comprises a net winding clutch; the system pressure sensor is positioned on a valve block of the electromagnetic valve group and used for monitoring the pressure of a rod cavity of a hydraulic oil cylinder of the round bale chamber and sending the pressure to the controller; the net winding clutch is used for triggering the net winding movable net roller to rotate for net winding; the net knife sensor is fixed on the body of the round bundle bundling machine and used for monitoring the position state of the net winding cutter and sending the position state of the net winding cutter to the controller; the rear door sensor is fixed on the body at the position of the rear door and used for monitoring the opening or closing state of the rear door and sending the opening or closing state of the rear door to the controller; the rear door electromagnetic valve adjusts the opening or closing of the rear door by controlling a double-acting hydraulic oil cylinder; the graphical display adjusting terminal is connected with the controller and comprises a first window and a second window; the first window is used for displaying the action state 9 of the round bale bundling machine, the bundling quantity 10, the bundling compactness 11, the position state 12 of the net winding cutter and the opening or closing state 13 of the bottom door; the second window comprises a pickup adjusting key 14, a bottom door adjusting key 15, a rear door adjusting key 16 and a net winding control key 17; the controller is used for judging whether net winding is needed according to the pressure, controlling the net winding clutch to wind the net when the net winding is needed, controlling the net winding cutter to cut off the net winding after the net winding is completed, judging whether the net winding is completed through the position state of the net winding cutter, controlling the back door to open or close through the back door solenoid valve when the net winding is completed, and simultaneously finishing information interaction with the graphical display adjusting terminal in real time when the round bundle bundling machine control system works.
The following explains proper nouns in the present embodiment.
A round bundle bundling machine is a practical and efficient agricultural bundling device. The hydraulic oil cylinder is a hydraulic actuating element which converts hydraulic energy into mechanical energy and makes linear reciprocating motion or swinging motion. It has simple structure and reliable operation. When it is used to implement reciprocating motion, it can omit speed-reducing device, and has no transmission gap, and its motion is stable, so that it can be extensively used in various mechanical hydraulic systems. The single-acting hydraulic cylinder has only one effective acting area, and according to the technical structure, the single-acting hydraulic cylinder can only generate thrust. The double-acting hydraulic oil cylinder is a hydraulic cylinder capable of inputting pressure oil from two sides of a piston.
Specifically, the net knife sensor is preferably a hall proximity sensor, and the specific arrangement mode is as follows: a magnet with holes is fixed on a rack at the edge of a net winding cutter through a mounting bracket, a net cutter sensor is fixed on the body of the round bundle bundling machine, and when the net winding cutter is lifted, the magnet with holes is opposite to the net cutter sensor.
Specifically, the back door sensor is preferably an inductive micro-displacement sensor, and the specific arrangement manner is as follows: the back door sensor is fixed on the machine body at the position of the back door, an iron plate is fixed on the edge of the back door, and when the back door is closed, the iron plate is opposite to the back door sensor.
The winding clutch is an electromagnetic clutch. When the net winding clutch is closed, the net roller can be driven to rotate to send the net rope into the bin, then the net winding clutch is powered off, and the net rope extrudes the grass bales along with the rotation of the roller to enter the bin to complete net winding.
In the embodiment of the invention, the double-acting hydraulic oil cylinder is two hydraulic oil cylinders which are symmetrical at the left side and the right side. The controller selects the PLC controller to carry out electro-hydraulic control, and compared with a common single chip microcomputer, the controller has the advantages of strong output current capability, good anti-interference performance and higher protection level, and is suitable for the operation working condition of agricultural machinery.
Further, the controller in this embodiment is a central processing unit of the control system, and is used for transmitting instructions between the devices and making judgment responses.
Further, the work flow of the control system provided by the present embodiment is as follows.
The system pressure sensor monitors the pressure of a rod cavity of a hydraulic oil cylinder at the center of the round bundle and sends the pressure to the controller. The processor judges whether net winding is needed according to the pressure, and controls the net winding clutch to wind the net when the net winding is needed. The controller judges whether the cutting and the winding of the net are finished according to the position state of the net winding cutter sent by the net cutter sensor, and when the cutting of the net is finished, the opening of the back door is controlled through the back door electromagnetic valve to release the bales.
Fig. 3 is a schematic interface diagram of a graphical display adjustment terminal according to an embodiment of the present invention, and please refer to fig. 3 in this embodiment.
Specifically, the aircraft driver adjusts the electromagnetic valve group through a key. Preferably, the device also comprises a setting button 18, the setting button can set the compactness of the bundling, so that a manipulator can obtain the bales with different compactedness according to the requirement, and the settable compactness range is preferably 0-100.
Further, the controller and the display control terminal preferably communicate via a CAN interface,
according to the round bale bundling machine control system provided by the invention, the sensor groups are arranged to be matched with each other through the controller, so that the action of the control system can be automatically judged; the full automation of picking, baling, net winding, door opening and door closing is realized through the mutual matching of the electromagnetic valve groups; the working efficiency of the bundling machine is improved, and the automation level of the bundling machine is enhanced. By arranging the graphical display adjusting terminal, a manipulator can know the state of the round bale bundling machine, and the reliability and stability of the control system are greatly improved; the intelligent level of the system is further improved, the operation of a manipulator is facilitated, and the man-machine interaction is enhanced.
Based on the above embodiment, the sensor group further comprises a bottom door sensor; the electromagnetic valve group also comprises a bottom door electromagnetic valve; the bottom door sensor is fixed on the machine body at the position of the bottom door and used for monitoring the opening or closing state of the bottom door and sending the opening or closing state of the bottom door to the controller; the bottom door electromagnetic valve adjusts the opening or closing of the bottom door by controlling a double-acting hydraulic oil cylinder.
Specifically, the bottom door sensor is preferably a hall proximity sensor, and the specific arrangement is as follows: a magnet with holes is fixed on a rack at the edge of a bottom door through a mounting bracket, a bottom door sensor is fixed on a machine body at the position of the bottom door, and when the bottom door is closed, the magnet with holes is opposite to the bottom door.
Further, when the round baler is in the working state, the bottom door is in the closed state. When the inside of the round bale bundling machine is blocked, the PTO is rotated to adjust the opening of the bottom door so as to release the blocked swath.
Based on the above embodiment, the solenoid valve group further comprises a pickup solenoid valve, and the pickup solenoid valve adjusts the lifting and floating states of the pickup by controlling one single-acting hydraulic cylinder.
Further, when the round baler is in the working state, the pickup is in the floating state. The pickup is in a raised state when a tractor to which the round baler is attached is transferred between the plots.
Based on the above embodiment, the solenoid valve group package further comprises a system loading valve, and the system loading valve regulates oil supply of all hydraulic oil cylinders of the control system to provide power for the control system.
Accordingly, the system loading valve is also used to stop the supply of oil in case of an emergency to terminate the operation of the control system.
Based on the above embodiment, fig. 4 is a flowchart of a control method of a round baler according to an embodiment of the present invention, as shown in fig. 4, including: receiving pressure sent by a system pressure sensor, judging whether the pressure exceeds a preset pressure value or not, and starting a first alarm when the pressure exceeds the preset pressure value so that a tractor connected with the round bale bundling machine is adjusted to stop running by a tractor driver end according to the first alarm prompt; waiting for a first preset time after the tractor stops running, controlling a net winding clutch to wind a net, and controlling a net winding cutter to cut off the net after the net winding is finished; receiving position state induction of a net knife sensor when the net winding cutter moves to the lower part of the inner part of the round bundle bundling machine, and giving an alarm for the second time; and waiting for a second preset time after the second alarm, controlling a rear door electromagnetic valve to adjust the opening of the rear door based on the opening or closing state of the rear door sent by a rear door sensor, and controlling the rear door electromagnetic valve to adjust the closing of the rear door after waiting for a third preset time.
Fig. 5 is a flowchart of a round baler control method according to another embodiment of the present invention, and the embodiment also refers to fig. 5.
The execution subject of the present embodiment is a controller.
It should be noted that, at the beginning of the control method steps, the handset is provided with the selection conditions of the automatic control mode and the manual control mode, and the receiver handset transmits the selection conditions and executes the operation of the present embodiment, in which the selection conditions are the automatic control mode.
Specifically, the first alarm and the second alarm are both image and sound alarms, and the image alarm refers to popping up a third window on the graphical display adjusting terminal in the embodiment to display alarm information; the sound alarm is that a sound alarm is arranged at the hand end, and the sound alarm is preferably a buzzer.
Further, in the present embodiment, the first preset time and the second preset time are preferably set to 5 seconds.
Further, after waiting for a third preset time, controlling the rear door electromagnetic valve to adjust the rear door to close, recording the times of straw bundle operation in the controller, sending information such as compactness, operation time and operation position to the cloud platform, starting a third alarm, and prompting the tractor hand end to adjust the tractor connected with the round bundle bundling machine to start to operate.
According to the round bale bundling machine control method provided by the invention, the linkage of each part is avoided by controlling the operation of each part, and the reliability of a control system is improved; by recording the times of bale operation and sending information such as compactness, operation time, operation position and the like to the cloud platform, a basis can be provided for the labor result of a manipulator. By performing the operation of the present embodiment in the automatic control mode, the bundling efficiency is improved, the net will be triggered, and the time to trigger the opening and closing of the door is shortened by 20s per bundle.
Based on the above embodiment, before receiving the pressure sent by the system pressure sensor, the method further includes: detecting a state of a picker, and controlling a picker solenoid valve to adjust the picker to a floating state when the picker is in a lifted state.
It should be noted that, in the present embodiment, the pickup is adjusted to be in the floating state, so that the control system completes the control of the bundling operation.
Based on the above embodiment, before receiving the pressure sent by the system pressure sensor, the method further includes: and receiving the opening or closing state of the bottom door sent by the bottom door sensor, and controlling a bottom door electromagnetic valve to regulate the bottom door to be closed when the bottom door is in the opening state.
In the present embodiment, the bottom door is adjusted to the closed state, so that the control system completes the control of the bundling operation.
Based on the above embodiment, fig. 6 is a flowchart of another round baler control method according to an embodiment of the present invention, as shown in fig. 6, including: receiving pressure sent by a system pressure sensor, judging whether the pressure exceeds a preset pressure value or not, and starting a first alarm when the pressure exceeds the preset pressure value so that a tractor connected with the round bale bundling machine is adjusted to stop running by a tractor driver end according to the first alarm prompt; after the tractor stops running, responding to a first request sent by the tractor hand end to generate a first instruction, and sending the first instruction to a net winding clutch so that the net winding clutch winds the net and controls a net winding cutter to cut off the net after the net winding is finished; receiving position state induction of a net knife sensor when the net winding cutter moves to the lower part of the inner part of the round bundle bundling machine, and giving an alarm for the second time so that the machine hand end sends a second request according to the second alarm; generating a second instruction in response to the second request sent by the handpiece end, and sending the second instruction to the winding clutch so that the winding clutch stops winding; after the net winding clutch stops net winding, receiving the opening or closing state of the rear door sent by a rear door sensor, and sending the opening or closing state of the rear door to the manipulator end; responding to a third request sent by the machine hand end to generate a third instruction, and sending the third instruction to a back door electromagnetic valve so that the back door electromagnetic valve adjusts the back door to be opened; and generating a fourth instruction in response to a fourth request sent by the machine hand end, and sending the fourth instruction to a rear door electromagnetic valve so that the rear door electromagnetic valve adjusts the closing of the rear door.
The execution subject of the present embodiment is a controller.
It should be noted that, at the beginning of the control method steps, the handset is provided with the selection conditions of the automatic control mode and the manual control mode, and the receiver handset transmits the selection conditions and performs the operation of the present embodiment, in the present embodiment, the selection conditions are the manual control mode.
Specifically, the first alarm and the second alarm are both image and sound alarms, and the image alarm refers to popping up a third window on the graphical display adjusting terminal in the embodiment to display alarm information; the sound alarm is that a sound alarm is arranged at the hand end, and the sound alarm is preferably a buzzer.
Further, after the rear door electromagnetic valve adjusts the closing of the rear door, the control method further comprises the steps of recording the times of the straw bundle operation in the controller, starting a third alarm and prompting the tractor connected with the round bundle bundling machine to start to operate by adjusting the hand end of the tractor.
It should be noted that the preset pressure value in the present embodiment is adjusted according to the kind of grass.
According to the control method of the round bale bundling machine, the operation of the embodiment is carried out in the manual control mode, so that a manipulator can automatically control the action of each part, and manual operation, debugging or fault treatment is facilitated.
Based on the above embodiment, before receiving the pressure sent by the system pressure sensor, the method further includes: detecting the state of a pickup, and sending the state of the pickup to the handpiece end; and responding to a fifth request sent by the machine hand end to generate a fifth instruction, and sending the fifth instruction to a pickup solenoid valve so that the pickup solenoid valve adjusts the pickup to be in a floating state.
Based on the above embodiment, before receiving the pressure sent by the system pressure sensor, the method further includes: receiving the opening or closing state of the bottom door sent by a bottom door sensor, and sending the opening or closing state of the bottom door to the manipulator end; and generating a sixth instruction in response to a sixth request sent by the manipulator end, and sending the sixth instruction to a bottom door electromagnetic valve so that the bottom door electromagnetic valve adjusts the bottom door to be closed.
It should be noted that in the embodiment of the present invention, the transmission power during the binding operation of the round baler is provided by the rear power output of the tractor.
According to the round bale bundling machine control system and method provided by the invention, the sensor group is arranged to be matched with the controller, so that the action of the control system can be automatically judged; the full automation of picking, baling, net winding, door opening and door closing is realized through the mutual matching of the electromagnetic valve groups; the working efficiency of the bundling machine is improved, and the automation level of the bundling machine is enhanced. By arranging the graphical display adjusting terminal, a manipulator can know the state of the round bale bundling machine, and the reliability and stability of the control system are greatly improved; the intelligent level of the intelligent robot is further improved, and the operation of a manipulator is facilitated. By controlling the operation of each part, the linkage of each part is avoided, and the reliability of the control system is improved; by recording the times of bale operation and sending information such as compactness, operation time, operation position and the like to the cloud platform, a basis can be provided for the labor result of a manipulator. By operating the present embodiment in the manual control mode, the robot can control the actions of the components by itself, so as to facilitate manual operation, debugging or fault handling. By performing the operation of the present embodiment in the automatic control mode, the bundling efficiency is improved, the net will be triggered, and the time to trigger the opening and closing of the door is shortened by 20s per bundle. The state of the internal components of the control system is monitored through the sensor, and the stability of the control system is enhanced. The invention can facilitate the operation settlement of the agricultural machinery owner, the aircraft driver and the farmer.
Finally, the method of the present invention is only a preferred embodiment and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A round bundle bundling machine control system is characterized by comprising a sensor group, an electromagnetic valve group, an electromagnetic clutch, a controller and a graphical display adjusting terminal; the sensor group, the electromagnetic clutch, the electromagnetic valve group and the graphical display adjusting terminal are all connected with the controller;
the sensor group includes: a system pressure sensor, a net knife sensor and a back door sensor; the electromagnetic valve group comprises a rear door electromagnetic valve; the electromagnetic clutch comprises a net winding clutch;
the system pressure sensor is positioned on a valve block of the electromagnetic valve group and used for monitoring the pressure of a rod cavity of a hydraulic oil cylinder of the round bale chamber and sending the pressure to the controller;
the net winding clutch is used for triggering the net winding movable net roller to rotate for net winding;
the net knife sensor is fixed on the body of the round bundle bundling machine and used for monitoring the position state of the net winding cutter and sending the position state of the net winding cutter to the controller;
the rear door sensor is fixed on the body at the position of the rear door and used for monitoring the opening or closing state of the rear door and sending the opening or closing state of the rear door to the controller;
the rear door electromagnetic valve adjusts the opening or closing of the rear door by controlling a double-acting hydraulic oil cylinder;
the graphical display adjusting terminal is connected with the controller and comprises a first window and a second window; the first window is used for displaying the action state of the round bale bundling machine, the bundling quantity, the bundling compactness, the position state of the net winding cutter and the opening or closing state of the bottom door; the second window comprises a pickup adjusting key, a bottom door adjusting key, a rear door adjusting key and a net winding control key;
the controller is used for judging whether net winding is needed according to the pressure, controlling the net winding clutch to wind the net when the net winding is needed, controlling the net winding cutter to cut off the net winding after the net winding is completed, judging whether the net winding is completed through the position state of the net winding cutter, controlling the back door to open or close through the back door solenoid valve when the net winding is completed, and simultaneously finishing information interaction with the graphical display adjusting terminal in real time when the round bundle bundling machine control system works.
2. The control system of claim 1, wherein the sensor set further comprises a bottom door sensor; the electromagnetic valve group also comprises a bottom door electromagnetic valve;
the bottom door sensor is fixed on the machine body at the position of the bottom door and used for monitoring the opening or closing state of the bottom door; sending the opening or closing state of the bottom door to the controller;
the bottom door electromagnetic valve adjusts the opening or closing of the bottom door by controlling a double-acting hydraulic oil cylinder.
3. The control system of claim 1, wherein the solenoid valve bank further comprises a pickup solenoid valve that regulates the lift and float of the pickup by controlling a single acting hydraulic ram.
4. The control system of claim 1, wherein the solenoid valve block further comprises a system loading valve that regulates oil supply to all hydraulic rams of the control system to power the control system.
5. A control method of a round baler by the round baler control system of any one of claims 1 to 4, characterized by comprising:
receiving pressure sent by a system pressure sensor, judging whether the pressure exceeds a preset pressure value or not, and starting a first alarm when the pressure exceeds the preset pressure value so that a tractor connected with the round bale bundling machine is adjusted to stop running by a tractor driver end according to the first alarm prompt;
waiting for a first preset time after the tractor stops running, controlling a net winding clutch to wind a net, and controlling a net winding cutter to cut off the net after the net winding is finished;
receiving position state induction of a net knife sensor when the net winding cutter moves to the lower part of the inner part of the round bundle bundling machine, and giving an alarm for the second time;
and waiting for a second preset time after the second alarm, controlling a rear door electromagnetic valve to adjust the opening of the rear door based on the opening or closing state of the rear door sent by a rear door sensor, and controlling the rear door electromagnetic valve to adjust the closing of the rear door after waiting for a third preset time.
6. The control method of claim 5, wherein the receiving the pressure sent by the system pressure sensor further comprises:
detecting a state of a picker, and controlling a picker solenoid valve to adjust the picker to a floating state when the picker is in a lifted state.
7. The control method of claim 5, wherein the receiving the pressure sent by the system pressure sensor further comprises:
and receiving the opening or closing state of the bottom door sent by the bottom door sensor, and controlling a bottom door electromagnetic valve to regulate the bottom door to be closed when the bottom door is in the opening state.
8. A control method of a round baler by the round baler control system of any one of claims 1 to 4, characterized by comprising:
receiving pressure sent by a system pressure sensor, judging whether the pressure exceeds a preset pressure value or not, and starting a first alarm when the pressure exceeds the preset pressure value so that a tractor connected with the round bale bundling machine is adjusted to stop running by a tractor driver end according to the first alarm prompt;
after the tractor stops running, responding to a first request sent by the tractor hand end to generate a first instruction, and sending the first instruction to a net winding clutch so that the net winding clutch winds the net and controls a net winding cutter to cut off the net after the net winding is finished;
receiving position state induction of a net knife sensor when the net winding cutter moves to the lower part of the inner part of the round bundle bundling machine, and giving an alarm for the second time so that the machine hand end sends a second request according to the second alarm;
generating a second instruction in response to the second request sent by the handpiece end, and sending the second instruction to the winding clutch so that the winding clutch stops winding;
after the net winding clutch stops net winding, receiving the opening or closing state of the rear door sent by a rear door sensor, and sending the opening or closing state of the rear door to the manipulator end;
responding to a third request sent by the machine hand end to generate a third instruction, and sending the third instruction to a back door electromagnetic valve so that the back door electromagnetic valve adjusts the back door to be opened;
and generating a fourth instruction in response to a fourth request sent by the machine hand end, and sending the fourth instruction to a rear door electromagnetic valve so that the rear door electromagnetic valve adjusts the closing of the rear door.
9. The control method of claim 8, wherein the receiving the pressure sent by the system pressure sensor further comprises:
detecting the state of a pickup, and sending the state of the pickup to the handpiece end;
and responding to a fifth request sent by the machine hand end to generate a fifth instruction, and sending the fifth instruction to a pickup solenoid valve so that the pickup solenoid valve adjusts the pickup to be in a floating state.
10. The control method of claim 8, wherein the receiving the pressure sent by the system pressure sensor further comprises:
receiving the opening or closing state of the bottom door sent by a bottom door sensor, and sending the opening or closing state of the bottom door to the manipulator end;
and generating a sixth instruction in response to a sixth request sent by the manipulator end, and sending the sixth instruction to a bottom door electromagnetic valve so that the bottom door electromagnetic valve adjusts the bottom door to be closed.
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| CN109168656A (en) * | 2018-10-16 | 2019-01-11 | 呼伦贝尔市蒙拓农机科技股份有限公司 | A kind of stalk circle bale bundle net equipment |
| CN109258131A (en) * | 2018-10-10 | 2019-01-25 | 芜湖苜邦智能装备有限公司 | A kind of round bale baler twines net binding apparatus automatically |
| CN110419335A (en) * | 2019-07-25 | 2019-11-08 | 四平市龙业机械制造有限公司 | Automatic net winding and packaging device and method for grass bales |
| CN110515330A (en) * | 2019-08-15 | 2019-11-29 | 安徽科技学院 | A kind of baler based on Internet of Things tidies up action monitoring device and monitoring method |
| CN110786153A (en) * | 2019-01-07 | 2020-02-14 | 吉林农业大学 | Intelligence bundling machine operation data monitoring devices |
| CN110972729A (en) * | 2019-05-22 | 2020-04-10 | 菏泽市天艺农业机械制造有限公司 | Full-automatic round bundle bundling machine |
| CN111352373A (en) * | 2020-03-26 | 2020-06-30 | 吉林省远航农业机械有限公司 | Automatic control system of bundling machine |
| CN112673821A (en) * | 2020-12-09 | 2021-04-20 | 北京农业智能装备技术研究中心 | Full-automatic operating system of bundling machine |
| CN112703899A (en) * | 2020-12-09 | 2021-04-27 | 北京农业智能装备技术研究中心 | Self-adaptive system for operation speed of bundling machine |
| CN114074771A (en) * | 2021-11-11 | 2022-02-22 | 内蒙古包氏机械研发有限公司 | Bundling control method |
| CN114945270A (en) * | 2020-01-20 | 2022-08-26 | 阿瑟琳红土地汽车制造私人有限公司 | Continuous bundling machine |
| CN115119633A (en) * | 2022-07-07 | 2022-09-30 | 广东技术师范大学 | Control system of corn straw round bundle bundling machine |
| CN116267248A (en) * | 2023-03-20 | 2023-06-23 | 四平市麦威克智能农机装备有限公司 | Automatic dust removal bundling round baler |
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| CN112673821A (en) * | 2020-12-09 | 2021-04-20 | 北京农业智能装备技术研究中心 | Full-automatic operating system of bundling machine |
| CN114074771A (en) * | 2021-11-11 | 2022-02-22 | 内蒙古包氏机械研发有限公司 | Bundling control method |
| CN115119633A (en) * | 2022-07-07 | 2022-09-30 | 广东技术师范大学 | Control system of corn straw round bundle bundling machine |
| CN116267248A (en) * | 2023-03-20 | 2023-06-23 | 四平市麦威克智能农机装备有限公司 | Automatic dust removal bundling round baler |
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