Multi-connecting-rod device for profiling vibration reduction of seeder and adjusting method

Abstract

The invention discloses a multi-connecting-rod device for profiling vibration reduction of a seeder and an adjusting method. The multi-connecting-rod device comprises seeding monomers, a profiling four-connecting-rod device, an active adjusting device and a traction frame, the system is further provided with an active vibration reduction detection and control unit, and the active vibration reduction detection and control unit comprises a vehicle-mounted upper computer, an inclination angle sensor, a motion state sensor and a ground distance ultrasonic sensor. An active and passive combined mode is adopted, and when facing multiple sections of small-fluctuation ground, the dynamic adjusting capacity is improved through passive damping formed by the multi-connecting-rod device, the upper swing arm and the lower swing arm; for a large fluctuation ground, an upper computer can select an active adjustment mode, an amplitude value is detected through a motion state sensor, the angle of the sensor and ground distance information are integrated, and pre-adjustment and compensation adjustment are adopted, so that a seeding monomer can realize high-precision synchronous profiling under the condition that the ground surface is uneven. The profiling effect of the seeder and the seeding operation quality can be improved to the maximum extent.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural automation machinery and equipment, and in particular relates to a multi-link device and an adjustment method for contour vibration reduction of a seeder. Background Art

[0002] The profiling mechanism is a key component of the corn planter. The furrowing depth can be stabilized by adjusting the profiling mechanism, thereby improving the consistency of the sowing depth. At present, mechanical profiling is widely used in China. This passive profiling method is simple in composition and convenient to install and adjust, but the profiling accuracy is poor. Mechanical profiling is mainly based on spring profiling, which generally has multiple installation gears. The gears can be adjusted according to the working terrain to change the spring stretching length to control the downforce of the sowing unit, and the adaptability to the working environment is good. With the development of modern agriculture, passive profiling is difficult to ensure the adjustment accuracy when dealing with large-scale and high-frequency ground undulations in high-speed working environments. Especially since the development of conservation tillage technology, the amount of straw stubble coverage in the field has greatly increased, and the sowing unit cannot obtain sufficient downforce by relying on passive profiling. Active profiling can control the sowing depth in real time while supplementing the downforce of the sowing unit, so it has gradually become the focus of current profiling mechanism research. However, with the continuous improvement of the requirements for sowing operation speed and accuracy, active profiling research still has problems such as adjustment lag and poor adaptability to the working environment.

[0003] In order to solve the above problems, the patent application with publication number CN 112219510 A discloses a four-bar linkage for a seed drill, the main mechanism of which is mainly composed of two first links, two second links, two third links and related connecting parts. In order to keep the four-bar linkage in a taut state and avoid shaking during operation, two tensioning mechanisms are designed in the mechanism. Under the action of the two tensioning mechanisms, the spacing between the second link and the third link will change. The second link is provided with a plurality of rectangular grooves, which can be adjusted according to the different soils to move the cross plate in the corresponding grooves, and the position is fixed by the clamping column and the clamping groove. By lifting and pulling the pressure rod, the lock of the clamping column can be released, thereby adjusting the position of the cross plate, and then changing the shape of the four-bar linkage. Such a design can adjust the four-bar linkage according to the different soil qualities of the sowing soil, can be applied to soils of different soil qualities, and the connection relationship between the components is tight, ensuring that the components will not shake during use. However, the overall design focuses on stability and adjustability, and lacks the ability to automatically adapt to soil changes. Moreover, the mechanical structure of the four-bar linkage is complex and the adjustment method is cumbersome. When facing different sowing depths in the same plot of land, the four-bar linkage needs to be adjusted according to the different sowing soil qualities. This complex contour adjustment method takes a long time and is not adaptable to continuously uneven sowing ground.

[0004] The patent application with the publication number of CN 116491266 A discloses a sowing profiling four-link vibration reduction device and method, a sowing profiling four-link vibration reduction device and method, which reduces the vibration of the profiling four-link device by setting a lever vibration reduction device, absorbs part of the vibration force of the four-link when the sowing unit is working through the damper, absorbs part of the vibration force through the damper through the joint action of the lever and the damper, and suppresses the vibration of the other part by changing the direction of the lever, so as to achieve the vibration resistance doubling effect. At the same time, the motion state of the four-link is detected by the sensor, and the upper and lower vibration resistance of the profiling four-link is adjusted in real time by changing the length of the lever force arm, thereby reducing its vibration amplitude, and achieving a better vibration reduction effect by active adjustment, so as to achieve a better vibration reduction effect under different working conditions. Although the lever vibration reduction device can reduce vibration to a certain extent, its adjustment range and accuracy cannot fully adapt to all types of ground undulations and soil conditions. Especially in the working environment of the Huanghuaihai Plain, facing a large area of ​​small undulating ground, the profiling effect and vibration reduction performance of the system are restricted.

[0005] The existing traditional profiling four-bar linkage mainly reduces the vibration during seeding operation by adding springs, thereby improving the seeding machine's profiling effect on the ground. Since the elastic coefficient of the spring is fixed during actual operation, it cannot be actively adjusted in real time. The adjustment range and accuracy of active profiling technology cannot fully adapt to all types of ground undulations and soil conditions, especially when facing continuous small undulations on the ground, the adjustment accuracy of the active profiling structure is not as good as that of the ordinary four-bar linkage. Summary of the invention

[0006] In view of the above problems, the present invention proposes a multi-link device and adjustment method for seed drill profiling vibration reduction, which adopts a profiling four-link device combining active and passive, and uses a damping spring for passive vibration reduction when facing multiple sections of small undulating ground. The multi-link system formed by the multi-link device and the upper and lower swing arms can increase the stroke of the damping spring. By changing the rotation path of the connecting rod and the swing arm, the impact force caused by vibration can be better absorbed and dispersed, the shock absorption frequency of the seed drill unit can be optimized, and the dynamic adjustment ability can be improved. Such a design is conducive to reducing the energy required for the shock absorption of the unit, so that even small vibrations can be shock-absorbing and energy-absorbing through the damping spring. At the same time, in the face of large undulating ground, the upper machine will select the active adjustment mode, detect the amplitude value through the motion state sensor, integrate the sensor angle and ground distance information, and adopt pre-adjustment and compensation adjustment, so that the seed drill unit can achieve high-precision synchronous profiling under uneven ground conditions. The present invention can make the seed drill unit adapt to the stable operation requirements under different surface undulation environments, and maximize the profiling effect of the seed drill and the quality of seeding operations.

[0007] The above purpose is achieved through the following technical solutions:

[0008] The present invention first provides a multi-link device and an adjustment method for the contour vibration reduction of a seed drill, wherein the multi-link device comprises a seed drill unit, a contour four-link device connected to the seed drill unit, an active adjustment device connected to the contour four-link device, and a traction frame connected to the active adjustment device. The traction frame is arranged at the outer end of the active adjustment device, one end of the contour four-link device is hinged to the seed drill unit, and the other end is connected to the traction frame; the active adjustment device is fixed to the traction frame through a groove;

[0009] The multi-link device is also provided with an active vibration reduction detection and control unit, which includes a vehicle-mounted host computer, a tilt angle sensor, a motion state sensor, and a ground distance ultrasonic sensor; the tilt angle sensor is arranged on the front end of the traction frame for real-time monitoring of the traction tilt angle α, the motion state sensor is placed on the active adjustment device for detecting the vibration amplitude, the ground distance ultrasonic sensor is placed on the contour-profiling four-link device for measuring the ground distance change ΔH of the sowing unit, and the vehicle-mounted host computer is arranged on the sowing unit.

[0010] Furthermore, the contoured four-link device includes a frame-shaped rear connecting frame, and the upper connecting rod and the lower connecting rod are hinged on both sides of the rear connecting frame; the front end of the upper connecting rod and the lower connecting rod on each side is hinged to a fixed connecting rod, and the two fixed connecting rods are fixed on the two pin holes of the sowing unit; the length of the lower connecting rod is greater than that of the upper connecting rod; the ground distance ultrasonic sensor is placed on the lower rotation connection point between the rear connecting frame and the fixed connecting rod.

[0011] Furthermore, the active adjustment device includes two upper triangular swing arms hinged on the left and right sides of the rear connecting frame, and two lower triangular swing arms on the left and right sides of the lower frame, and a shock-absorbing spring is connected between the tail ends of the upper triangular swing arms and the lower triangular swing arms on the same side; a stepper motor is installed on the triangular top end of each of the upper triangular swing arms and the lower triangular swing arms, and the output shaft of the stepper motor is configured to have a key slot and an electromagnetic clutch in one direction, and the electromagnetic clutch end is fixedly installed on the upper triangular swing arm / lower triangular swing arm, and a motion state sensor is placed on the rear turning point of one of the lower triangular swing arms to detect the vibration amplitude of the lower triangular swing arm.

[0012] Furthermore, a large groove and two small grooves are respectively provided on the left and right sides of the traction frame, and the small groove is a double-layer design with a countersunk groove and a bolt groove; four stepper motors are all fixed on the large groove of the traction frame, fixedly connected by bolts in the small grooves on the traction frame and can be moved up and down through the small grooves next to them to adjust the height; each of the upper triangular swing arms is set with the long side at the bottom, and each of the lower triangular swing arms is set with the long side at the top.

[0013] Furthermore, the shock-absorbing spring is installed on a spring fixing rod, and there are two spring fixing rods, which respectively pass through two upper triangular swing arms and a lower triangular swing arm. When vibrated, the upper triangular swing arm and the lower triangular swing arm rotate to drive the spring fixing rod to move. At this time, due to the difference in swinging angles of the upper triangular swing arm and the lower triangular swing arm, the spring will stretch or compress to reduce vibration.

[0014] The present invention also provides a vibration reduction adjustment method for the multi-link device for seed drill contour vibration reduction, the method comprising the following steps:

[0015] S101: When the sowing unit is operating in the field, the vehicle-mounted host computer monitors the vibration amplitude in real time through the motion state sensor on the lower triangular swing arm, and sets the vibration amplitude threshold. If the vibration amplitude of the lower triangular swing arm remains within the set threshold range, the passive vibration reduction mode is adopted;

[0016] S102: When the vibration amplitude of the lower triangular swing arm exceeds the vibration amplitude set by the motion state sensor, the host computer switches to the active vibration reduction mode:

[0017] S103: In the active vibration reduction mode, the angle sensor at the front end of the traction frame detects the inclination angle of the traction frame in real time, and the host computer obtains the inclination angle α of the traction frame and preliminarily calculates the ground undulation h0 by combining the traction frame length spacing K:

[0018] h0=K×α

[0019] The upper machine will determine the angle difference of the upper and lower triangular swing arms according to the preliminary calculation of the ground undulation h0, and quickly stretch / compress the damping spring and raise / lower the rear connecting frame to make the monomer rise / fall to complete the preliminary upward / downward profiling;

[0020] S104: Due to the flexible connection between the rear connecting frame and the triangular swing arm, there is a difference in the undulation angle between the sowing unit and the lower connecting rod, so secondary fine adjustment is required. When the sowing unit depth limiting wheel reaches the undulation point, the furrowing depth of the furrowing disc becomes shallower / deeper, and the upper connecting rod and the lower connecting rod will tilt downward counterclockwise / upward clockwise around the hinge point of the sowing unit. The ground distance ultrasonic sensor located on the lower connecting rod will collect the distance from the sowing unit to the ground. The on-board host computer combines the predetermined sowing depth H to accurately measure the sowing unit ground distance change ΔH. The on-board host computer ΔH is transmitted to the stepper motor to control the stepper motor to rotate quickly and at a small angle, driving the triangular swing arm to swing to complete the precise adjustment.

[0021] Furthermore, the working process of the passive vibration reduction mode is as follows:

[0022] One end of the upper connecting rod is rotatably connected to the upper turning point of the fixed connecting rod to form a first turning point A, and the other end is hinged on the rear connecting hole of the upper triangular swing arm to form a second turning point B; one end of the lower connecting rod is rotatably connected to the upper turning point of the fixed connecting rod to form a third turning point C, and the other end is hinged on the rear connecting hole of the lower triangular swing arm to form a fourth turning point D; the rear connecting frame is hinged on the second turning point B and the fourth turning point D, and is connected to the rear turning points of the upper and lower triangular swing arms;

[0023] The length of the lower connecting rod is greater than that of the upper connecting rod, and the line connecting the first turning point A and the second turning point B is defined as the first connecting line L1, the line connecting the third rotation C and the fourth rotation D is defined as the second connecting line L2, and the intersection of the first connecting line and the extension line of the second connecting line is the first virtual turning point P; the virtual turning point P maintains a tendency to move in the opposite direction when the planter unit vibrates; that is, when the planter unit 100 moves upward due to the impact of the road surface, the virtual turning point P moves downward accordingly;

[0024] During passive vibration reduction, the sowing unit moves up and down during field operations. When the contoured four-link device follows the sowing unit to rise, the upper and lower links rotate clockwise to drive the rear connecting frame to move upward toward the sowing unit. At this time, the triangular swing arm will swing downward counterclockwise, causing the vibration reduction spring to produce an oblique downward displacement to absorb vibration. Similarly, when the sowing unit falls back due to its own weight, the triangular swing arm rotates and compresses the vibration reduction spring, driving the rear connecting frame to move downward away from the sowing machine unit, thereby reducing the vibration impact; at the same time, during the vibration reduction process, since the length of the lower link is greater than that of the upper link, the rotation angle of the lower triangular swing arm will always be smaller than the rotation angle of the upper triangular swing arm, thereby driving the extension and compression of the vibration reduction spring.

[0025] Furthermore, the working process of the active vibration reduction mode is as follows:

[0026] When the vehicle-mounted host computer issues an active vibration reduction command, the stepper motor rotates, and the electromagnetic clutch is energized to drive the electromagnetic clutch end to squeeze the triangular swing arm. At this time, the triangular swing arm rotates with the stepper motor and then drives the rear connecting frame and the vibration reduction spring to operate. Specifically, the upper triangular swing arm is rotationally connected to the spring fixing rod to form a fifth turning point E, and the lower triangular swing arm is rotationally connected to the spring fixing rod to form a sixth turning point F; the line connecting the third turning point C and the fifth turning point E is defined as the third line L3, the line connecting the fourth rotation D and the sixth rotation F is defined as the fourth line L4, and the intersection of the third line and the extension line of the fourth line is the second virtual turning point N; the virtual turning point N maintains a tendency to move in the opposite direction when the spring is stretched or compressed; the design of the virtual turning point N is to use the upper and lower triangular swing arms to make the vibration reduction spring also move along an arc trajectory, and the tension of the vibration reduction spring will tend to pull the rear connecting frame to this point.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. The present invention increases the travel of the damping spring through the multi-link system formed by the multi-link device and the upper and lower swing arms, which can extend the spring travel and reduce the vibration of the unit in real time. The vibration amplitude is determined by the motion state sensor, and the angle and height information of the unit are calculated, so that the seed drill can be actively adjusted to achieve high-precision synchronous profiling of the seeding unit under uneven ground conditions.

[0029] 2. In addition to meeting the needs of passive vibration reduction, the motor active profiling function is added to meet the vibration reduction needs of continuous flat ground and different ground undulations. At the same time, a triangular swing arm device is used to construct a virtual turning point, which is conducive to reducing the energy required for frame shock absorption, so that even small vibrations can be shock-absorbing and energy-absorbing through the shock absorber. At the same time, the adjustable active profiling technology is used, and pre-adjustment and compensation adjustment are adopted through the sensor angle and ground distance information, so that the sowing unit can achieve high-precision synchronous profiling under uneven surface conditions. The present invention can make the sowing unit adapt to the stable operation requirements under different surface undulation environments, and maximize the sowing machine profiling effect and sowing operation quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 1. is a front view of a multi-link device for contour vibration reduction of a seed drill provided by the present invention;

[0031] Figure 2 It is a stereoscopic diagram of the multi-link device for contour vibration reduction of a seed drill provided by the present invention;

[0032] Figure 3 This is the working diagram of the multi-link device for contour vibration reduction of the seed drill. Figure 3 In the figure, (a) shows the normal working state of the device, (b) shows the lifting state of the device, and (c) shows the lowering state of the device;

[0033] Figure 4 It is a structural diagram of the motor swing arm structure provided by the present invention;

[0034] Figure 5 It is a schematic diagram of the virtual turning point of the profiling structure of the present invention;

[0035] Figure 6 It is a vibration reduction flow chart of the contour vibration reduction multi-link device provided by the present invention;

[0036] Figure 7 It is a flow chart of distinguishing and switching the contour vibration reduction mode;

[0037] The reference numerals in the figure are as follows: 100: sowing unit; 200: contoured four-bar linkage; 300: traction frame device; 400: active adjustment device; 201: lower link; 202: fixed link; 203: upper link; 204: rear connecting frame; 300: traction frame; 401: stepping motor; 402: upper triangular swing arm; 403: damping spring; 404: lower triangular swing arm; 405: electromagnetic clutch; 406: electromagnetic clutch terminal; 501: angle sensor; 502: motion state sensor; 503: ground distance ultrasonic sensor. DETAILED DESCRIPTION

[0038] like Figure 1-7 As shown, in an embodiment of the present invention, a multi-link device for contour vibration reduction of a seed drill includes a seed drill unit 100 , a traction frame 300 , a contour four-link device 200 and an active adjustment device 400 .

[0039] The bottom of the sowing unit 100 is provided with a moving mechanism and a furrow opener. The sowing unit is a conventional sowing machine structure, and the furrow opener is also a conventional existing structure.

[0040] like Figure 3 As shown, the traction frame 300 is disposed at the outer end of the active adjustment device 400, and is used to connect the sowing unit 100 with an external traction device to drive the sowing unit to move forward.

[0041] One end of the contoured four-link device 200 is connected to the traction frame 300, and the other end is hinged on the sowing unit 100, so as to extend the spring travel and reduce the vibration of the unit in real time.

[0042] The contour-matching four-link device 200 assembly includes a lower link 201 , a fixed link 202 , an upper link 203 , and a rear connecting frame 204 .

[0043] The active adjustment device 400 comprises a stepping motor 401 , an upper triangular swing arm 402 , a damping spring 403 , a lower triangular swing arm 404 , an electromagnetic clutch 405 and an electromagnetic clutch terminal 406 .

[0044] Specifically, Figure 5 As shown, the fixed link 202 is fixed on the two pin holes of the sowing unit 100, one end of the upper link 203 is rotatably connected to the upper turning point of the fixed link 202 to form a first turning point A, and the other end is hinged to the rear connecting hole of the upper triangular swing arm 402 to form a second turning point B; one end of the lower link 201 is rotatably connected to the upper turning point of the fixed link 202 to form a third turning point C, and the other end is hinged to the rear connecting hole of the lower triangular swing arm 405 to form a fourth turning point D.

[0045] The rear connecting frame 204 is hinged on the second turning point B and the fourth turning point D, and is connected to the rear turning points of the upper and lower triangular swing arms 402 and 404, and can swing in a biased manner to ensure that the upper and lower connecting rods and triangular swing arms on both sides operate in unison.

[0046] The above-mentioned four-link setting can achieve the following technical effects: 1. It plays the role of connecting the sowing unit 100 and the traction frame 300; 2. During vibration, the sowing unit promotes the rotation of the rear connecting frame 204 by means of the upper connecting rod 203 and the lower connecting rod 201, thereby moving forward or backward, so that the left and right triangular swing arms and the upper and lower connecting rods can maintain the same horizontal movement as a whole, which helps to avoid shock.

[0047] The line connecting the first turning point A and the second turning point B is defined as the first line L1, the line connecting the third rotation C and the fourth rotation D is defined as the second line L2, and the intersection of the extended lines of the first line and the second line is defined as the first virtual turning point P; the virtual turning point P maintains a tendency to move in the opposite direction when the planter unit vibrates.

[0048] That is, when the sowing unit 100 moves upward due to the impact of the road surface, the virtual pivot point P moves downward accordingly, which is a key feature of the normal operation of the contoured vibration reduction device. This process shows that the virtual pivot point P is not static, but dynamically adjusted with the shock absorption stroke to optimize the vibration reduction performance. The virtual pivot point design of the present invention allows the pivot point to move with the change of the shock absorption stroke, thereby more effectively absorbing the impact of the road surface. Compared with the fixed pivot point design of the traditional parallel four-link, this design can provide better vibration reduction performance.

[0049] The central pivot points of the upper triangular swing arm 402 and the lower triangular swing arm 404 are fixed to the driving shaft end of the stepper motor 401 and positioned by keys and bolts. The four stepper motors are all fixed to the large groove of the traction frame 300 and fixedly connected by bolts in the small grooves on the traction frame 300; one end of the triangular swing arm 402, 404 is equipped with a spring fixing rod for installing the damping spring 403.

[0050] Specifically, the output shaft of the stepper motor 401 is provided with a keyway, and an electromagnetic clutch 405 is provided in one direction, and the electromagnetic clutch end 406 is fixedly installed with the triangular swing arms 402 and 404. In the case of passive vibration reduction, the stepper motor 401 and the electromagnetic clutch 405 are powered off, and a small gap is left between the electromagnetic clutch end 406 and the middle electromagnetic clutch 405. At this time, the triangular swing arm can be rotated under the drive of the lower connecting rod 201, the upper connecting rod 203, the rear connecting frame 204 and the vibration reduction spring 403. In the case of active vibration reduction, the stepper motor 401 rotates, and the electromagnetic clutch 405 is powered on to drive the electromagnetic clutch end 406 to squeeze the triangular swing arm. At this time, the triangular swing arm can rotate with the stepper motor and drive the rear connecting frame and the vibration reduction spring to operate.

[0051] Specifically, the upper triangular swing arm 402 is arranged in a direction with the long side at the bottom, and the lower triangular swing arm 404 is arranged in a direction with the long side at the top. The output shaft of the stepper motor 401 can pass through the groove of the traction frame 300, and can be moved up and down through the small groove next to it to adjust the height. The mounting holes on one side of the long side of the triangular swing arms 402 and 404 are used for hinged connection with the rear connecting frame 204, and can be rotated. The small mounting hole on one side of the long side is used to install the spring fixing rod, and the spring fixing rod does not rotate.

[0052] Specifically, there are two spring fixing rods, which respectively penetrate the two upper triangular swing arms 402 and the lower triangular swing arm 404. When vibrated, the triangular swing arm rotates to drive the spring fixing rod to move. For example, when the sowing unit 100 contacts the continuous small undulating ground, the up and down displacement of the sowing unit 100 will drive the upper connecting rod 203 and the lower connecting rod 201 to rotate. At this time, the rear connecting frame 204 will move to drive the triangular swing arms 402 and 404 to swing. At this time, due to the difference in the swing angles of the upper and lower triangular swing arms, the spring will stretch or compress to reduce vibration.

[0053] It should be noted that the damping spring here is only an example of passive damping, including but not limited to damping springs, hydraulic dampers, pneumatic dampers, etc.; the triangular swing arm may also be a V-shaped structure, and the opening layout of the V-shaped structure is arranged like a triangular swing arm;

[0054] Specifically, the triangular swing arms 402 and 404 adjust their relative heights by moving up and down in the grooves of the traction frame, thereby changing the spacing between the spring fixing rods and compressing or stretching the damping spring 403 to change its preload force.

[0055] In the upper triangular swing arm 402 and the lower triangular swing arm 404 fixed on the same side of the traction frame, the four rotation points connecting the rear connecting frame 204 and the spring fixing rod will form a virtual rotation point.

[0056] Specifically, Figure 5 As shown, the upper triangular swing arm 402 is rotatably connected to the spring fixing rod to form a fifth turning point E, and the lower triangular swing arm 404 is rotatably connected to the spring fixing rod to form a sixth turning point F. The line connecting the third turning point C and the fifth turning point E is defined as the third connecting line L3, the line connecting the fourth rotation D and the sixth rotation F is defined as the fourth connecting line L4, and the intersection of the third connecting line and the extended line of the fourth connecting line is the second virtual turning point N; the virtual turning point N maintains a tendency to move in the opposite direction when the spring is stretched or compressed.

[0057] Specifically, when the sowing unit 100 is in operation, its vibration trajectory is an arc curve. Specifically, the design of the virtual turning point N uses two upper and lower triangular swing arms to make the damping spring 403 also move along the arc trajectory. The initial position of the trajectory is as follows Figure 3At the position of the natural preload value, the tension of the damping spring 403 tends to pull the rear connecting frame 204 to this point. This improves the stability of the sowing unit 100 and maintains a high-efficiency response even in multiple continuous small vibrations.

[0058] During passive vibration reduction, the sowing unit 100 moves up and down during field operations. When the contoured four-link device 200 follows the sowing unit 100 to rise, the upper connecting rod 203 and the lower connecting rod 201 rotate clockwise to drive the rear connecting frame 204 to move upward toward the sowing unit 100. At this time, the triangular swing arms 402 and 404 will swing downward counterclockwise, so that the vibration reduction spring 403 will produce an oblique downward displacement to absorb vibration. Similarly, when the sowing unit 100 falls back due to its own weight, the triangular swing arms 402 and 404 rotate to compress the vibration reduction spring 403, driving the rear connecting frame 204 to move downward away from the sowing machine unit 100, thereby reducing vibration impact.

[0059] It should be noted that during the vibration reduction process, since the length of the lower connecting rod 201 is greater than that of the upper connecting rod 203, the rotation angle of the lower triangular swing arm 404 will always be smaller than the rotation angle of the upper triangular swing arm 402, thereby driving the extension and compression of the vibration reduction spring.

[0060] The adjustment method of the multi-link device for seed drill contour vibration reduction is divided into passive vibration reduction and active vibration reduction. During passive vibration reduction, the stepper motor 401 and the electromagnetic clutch 405 are both powered off, and only the vibration reduction spring 403 is stretched and compressed to reduce the vibration of the seeding unit 100.

[0061] When the amount of straw residues covering the field where the sowing unit 100 operates is large or the ground is undulating, the stepper motor 401 and the electromagnetic clutch 405 are energized to drive the triangular swing arms 402 and 404 to rotate for active vibration reduction.

[0062] The active vibration reduction detection and control unit includes a vehicle-mounted host computer, a tilt angle sensor 501, a motion state sensor 502, and a ground distance ultrasonic sensor 503. The tilt angle sensor 501 is arranged on the front end of the traction frame for real-time monitoring of the traction tilt angle α, the motion state sensor 502 is placed on the rear turning point of the lower swing arm 404 for detecting the vibration amplitude of the triangular swing arm, and the ground distance ultrasonic sensor 503 is placed on the lower rotation connection point of the rear connecting frame 204 and the fixed connecting rod 202 for accurately measuring the ground distance change ΔH of the sowing unit 100. The vehicle-mounted host computer is arranged on the sowing unit 100.

[0063] When the planter encounters a raised ground during operation: the traction frame 300 connected to the tractor is affected by the terrain and tilts upward counterclockwise. The angle sensor 501 located on the traction frame will collect the tilt angle α, and combined with the traction frame length spacing K, the ground undulation h0 can be preliminarily calculated. The formula is further,

[0064] h0=K×α

[0065] At this time, the stepper motor 401 is powered on, and the electromagnetic clutch 405 is powered on to rotate and compress the electromagnetic clutch end 406, thereby driving the upper triangular swing arm 402 and the lower triangular swing arm 404 to rotate counterclockwise. Since the length of the lower connecting rod 201 is greater than that of the upper connecting rod 203, the rotation angle of the lower triangular swing arm 404 will be greater than that of the upper triangular swing arm 402. At this time, the upper machine will determine the angle difference of the upper and lower triangular swing arms according to the preliminary calculation of the ground undulation h0, and quickly stretch the damping spring 403 and raise the rear connecting frame 204 to make the monomer rise to complete the preliminary upward profiling. Due to the characteristics of the flexible connection between the rear connecting frame 204 and the triangular swing arms 402 and 404, there is a difference in the undulation angle between the sowing monomer 100 and the lower connecting rod, so a secondary fine adjustment is required.

[0066] Specifically, when the depth limiting wheel of the sowing unit 100 reaches the undulating point, the furrowing depth of the furrowing disc becomes shallower, the upper connecting rod 203 and the lower connecting rod 201 will tilt downward counterclockwise around the hinge point of the sowing unit, and the ground distance ultrasonic sensor 502 located on the lower connecting rod will collect the distance between the sowing unit 100 and the ground. The vehicle-mounted host computer will accurately measure the ground distance change ΔH of the sowing unit 100 in combination with the predetermined sowing depth H. The vehicle-mounted host computer will calculate the actual ground distance change ΔH and transmit it to the stepper motor 401, control the stepper motor 401 to rotate quickly and at a small angle, and drive the triangular swing arms 402 and 404 to swing to complete the precise adjustment.

[0067] Similarly, when the planter encounters a sunken ground during operation, the traction frame 300 connected to the tractor is affected by the terrain and tilts clockwise downward. The angle sensor 501 located on the traction frame will collect the tilt angle α, and combined with the traction frame length spacing K, the ground undulation h0 can be preliminarily calculated. The formula is further,

[0068] h0=K×α

[0069] At this time, the stepper motor 401 is powered on, and the electromagnetic clutch 405 is powered on to rotate and compress the electromagnetic clutch end 406, thereby driving the upper triangular swing arm 402 and the lower triangular swing arm 404 to rotate clockwise. Since the length of the lower connecting rod 201 is greater than that of the upper connecting rod 203, the rotation angle of the lower triangular swing arm 404 will be greater than that of the upper triangular swing arm 402. At this time, the upper host machine will determine the angle difference of the upper and lower triangular swing arms according to the preliminary calculation of the ground undulation h0, and quickly stretch the damping spring 403 upward and press down the rear connecting frame 204 to make the monomer rise to complete the preliminary downward profiling. Due to the characteristics of the flexible connection between the rear connecting frame 204 and the triangular swing arms 402 and 404, there is a difference in the undulation angle between the sowing monomer 100 and the lower connecting rod, so a secondary fine adjustment is required.

[0070] Specifically, when the depth limiting wheel of the sowing unit 100 reaches the undulating point, the furrowing depth of the furrowing disc becomes deeper, the upper connecting rod 203 and the lower connecting rod 201 will tilt upward clockwise around the hinge point of the sowing unit, and the ground distance ultrasonic sensor 502 located on the lower connecting rod will collect the distance from the sowing unit 100 to the ground. The on-board host computer combines the predetermined sowing depth H to accurately measure the ground distance change ΔH of the sowing unit 100.

[0071] The vehicle-mounted host computer calculates the actual ground distance change ΔH and transmits it to the stepper motor 401, controls the stepper motor 401 to rotate quickly and at a small angle, and drives the triangular swing arms 402 and 404 to swing to complete the precise adjustment.

[0072] The triangular swing arm is used to change the working stroke of the profiling mechanism to improve the applicability of the seeder in different working environments; the distance between the angle change points of the traction frame and the rear connecting frame is used to compensate for the delay time to avoid the adjustment lag of the seeder in a high-speed working environment; through the segmented adjustment method, the motor rotation is compensated after the pre-adjustment is completed to avoid the seeder's insufficient adjustment accuracy in a working environment with large fluctuations. The combination of the three can enable the sowing unit to achieve high-precision synchronous profiling under high-speed operation.

[0073] The following combination Figure 6 As shown, in an embodiment of the present invention, a multi-link device and an adjustment method for contour vibration reduction of a seed drill are characterized by comprising a seed drill unit 100; a contour four-link device 200; a traction frame 300; and an active adjustment device 400, and specifically comprising the following steps:

[0074] 101: The motion state sensor monitors the vibration amplitude in real time, and the host computer determines whether to select active vibration reduction;

[0075] 102: The upper computer calculates the initial lifting height, and the motor and clutch are energized for initial lifting.

[0076] 103: The host computer performs secondary calculation based on the ground distance information and the angle sensor;

[0077] 104: The motor rotates at a small angle for fine adjustment to achieve precise profiling.

[0078] Specifically, when the sowing unit 100 is working in the field, the motion state sensor 502 monitors the vibration amplitude in real time. When the vibration amplitude exceeds the set value and reaches the limit, it issues an early warning to the upper computer. At this time, the angle sensor 501 detects the tilt angle of the traction frame 300 in real time to feedback the ground unevenness. The upper computer receives the information and selects the active vibration reduction mode; it commands the stepper motor 401 and the electromagnetic clutch 405 to energize and squeeze the electromagnetic clutch end 406, driving the triangular swing arms 402 and 404 to rotate and stretch the vibration reduction spring 403; the upper computer preliminarily calculates the ground fluctuation h0 based on the tilt angle and length information of the traction frame, and performs initial sowing depth adjustment. When the sowing unit 100 reaches the fluctuation point, the ground distance ultrasonic sensor 502 located on the lower connecting rod will collect the distance between the sowing unit 100 and the ground. The on-board upper computer combines the predetermined sowing depth H to accurately measure the ground distance change ΔH of the sowing unit 100. The upper computer performs secondary calculations based on the ground distance sensor and angle sensor information. At this time, the stepper motor 401 performs fine adjustment at a small angle to drive the sowing unit to complete secondary precise profiling.

[0079] The following combination Figure 7 Detailed description of the multi-link device and adjustment method for seed drill profiling vibration reduction provided by the embodiment of the present invention

[0080] S101: When the sowing unit 100 is operating in the field, the upper computer monitors the vibration amplitude in real time through the motion state sensor 502 on the lower triangular swing arm 404, and sets the vibration amplitude threshold. If the vibration value of the triangular swing arm remains within the limit range, the passive vibration reduction mode is used to work normally. When the swing angle of the triangular swing arm is too large, it exceeds the vibration amplitude set by the motion state sensor 502. At this time, the angle sensor 501 on the traction frame 300 detects the unevenness of the field surface in real time, and the upper computer obtains the inclination angle of the traction frame, and can preliminarily calculate the ground undulation h0 through the traction frame length combined with the traction frame length spacing K. At this time, the stepper motor and electromagnetic clutch on the traction frame are energized, and can be switched to the active vibration reduction mode at any time according to the upper computer command.

[0081] S102: If the host computer determines that the active vibration reduction mode needs to be adopted, the electromagnetic clutch squeezes the electromagnetic clutch end to squeeze the triangular swing arm. At this time, the stepper motor rotates to drive the triangular swing arm to swing and lift / press down the sowing unit to complete the preliminary profiling. At this time, the ground distance sensor obtains the ground distance information and accurately measures the ground distance change ΔH of the sowing unit 100 by comparing it with the predetermined sowing depth H.

[0082] S103: When the depth limiting wheel of the sowing unit 100 reaches the undulating point, the furrowing depth of the furrowing disc becomes deeper, the upper connecting rod 203 and the lower connecting rod 201 will tilt upward counterclockwise around the hinge point of the sowing unit, and the ground distance ultrasonic sensor 502 located on the lower connecting rod will collect the distance between the sowing unit 100 and the ground. The vehicle-mounted host computer will accurately measure the ground distance change ΔH of the sowing unit 100 in combination with the predetermined sowing depth H. The vehicle-mounted host computer will calculate the actual ground distance change ΔH and transmit it to the stepping motor 401, control the stepping motor 401 to rotate quickly and at a small angle, and drive the triangular swing arms 402 and 404 to swing to complete the secondary precision adjustment.

Claims

1. A multi-link device for contour vibration reduction of a seed drill, the multi-link device comprising a seed drill unit (100), a contour four-link device (200) connected to the seed drill unit (100), an active adjustment device (400) connected to the contour four-link device (200), and a traction frame (300) connected to the active adjustment device (400); the traction frame (300) is arranged at the outer end of the active adjustment device (400), one end of the contour four-link device (200) is hinged to the seed drill unit (100), and the other end is connected to the traction frame (300); the active adjustment device (400) is fixed to the traction frame through a groove; characterized in that The multi-link device is also provided with an active vibration reduction detection and control unit, which comprises a vehicle-mounted host computer, an inclination angle sensor (501), a motion state sensor (502), and a ground distance ultrasonic sensor (503); the inclination angle sensor (501) is arranged on the front end of the traction frame (300) for real-time monitoring of the traction inclination angle α, the motion state sensor (502) is placed on the active adjustment device (400) for detecting the vibration amplitude, the ground distance ultrasonic sensor (503) is placed on the profiling four-link device (200) for measuring the ground distance change ΔH of the sowing unit (100), and the vehicle-mounted host computer is arranged on the sowing unit (100).

2. A multi-link device for contour vibration reduction of a seed drill according to claim 1, characterized in that: The contour-matching four-link device (200) comprises a frame-shaped rear connecting frame (204), and upper connecting rods (203) and lower connecting rods (201) are respectively hinged on the upper and lower sides of the rear connecting frame (204); a fixed connecting rod (202) is hinged on the front end of the upper connecting rod (203) and the lower connecting rod (201) on each side, and the two fixed connecting rods (202) are fixed on two pin holes of the sowing unit (100); the length of the lower connecting rod (201) is greater than that of the upper connecting rod (203); and the ground distance ultrasonic sensor (503) is placed on the lower rotation connection point between the rear connecting frame (204) and the fixed connecting rod (202).

3. A multi-link device for contour vibration reduction of a seed drill according to claim 2, characterized in that: The active adjustment device (400) comprises two upper triangular swing arms (402) on the left and right sides of the upper rear connecting frame (204) and two lower triangular swing arms (404) on the left and right sides of the lower rear connecting frame (204), respectively; a shock absorbing and vibration reducing spring (403) is connected between the tail ends of the upper triangular swing arms (402) and the lower triangular swing arms (404) on the same side; a stepping motor (401) is installed at the top of the triangle of each upper triangular swing arm (402) and the lower triangular swing arm (404); the output shaft of the stepping motor (401) is provided with a keyway and an electromagnetic clutch (405) in one direction; the electromagnetic clutch end (406) is fixedly installed with the upper triangular swing arm (402) / the lower triangular swing arm (404); and a motion state sensor (502) is placed on the rear pivot point of one of the lower triangular swing arms (404) for detecting the vibration amplitude of the lower triangular swing arm (404).

4. A multi-link device for contour vibration reduction of a seed drill according to claim 3, characterized in that: The left and right sides of the traction frame (300) are respectively provided with a large groove and one or two small grooves, the small grooves are double-layered and provided with countersunk grooves and bolt grooves, and the four stepper motors (401) are all fixed on the large grooves of the traction frame (300), fixedly connected by bolts in the small grooves on the traction frame (300) and can be moved up and down through the small grooves next to them to adjust the height; each of the upper triangular swing arms (402) is arranged in a direction with the long side at the bottom, and each of the lower triangular swing arms (404) is arranged in a direction with the long side at the top.

5. A multi-link device for contour vibration reduction of a seed drill according to claim 3 or 4, characterized in that: The shock-absorbing and vibration-reducing spring (403) is installed on a spring fixing rod. There are two spring fixing rods, which respectively penetrate two upper triangular swing arms (402) and a lower triangular swing arm (404). When subjected to vibration, the upper triangular swing arm (402) and the lower triangular swing arm (404) rotate to drive the spring fixing rod to move. At this time, due to the difference in the swing angles of the upper triangular swing arm (402) and the lower triangular swing arm (404), the spring will stretch or compress to reduce vibration.

6. A vibration reduction adjustment method for a multi-link device for contour vibration reduction of a seed drill according to any one of claims 1 to 5, characterized in that: The method comprises the following steps: S101: When the sowing unit (100) is operating in the field, the vehicle-mounted host computer monitors the vibration amplitude in real time through the motion state sensor (502) on the lower triangular swing arm (404), and sets a vibration amplitude threshold. If the vibration amplitude of the lower triangular swing arm (404) remains within the set threshold range, the passive vibration reduction mode is adopted; S102: When the vibration amplitude of the lower triangular swing arm (404) exceeds the vibration amplitude set by the motion state sensor (502), the host computer switches to the active vibration reduction mode: S103: In the active vibration reduction mode, the angle sensor (501) at the front end of the traction frame 300 detects the traction frame inclination angle in real time, and the host computer obtains the traction frame inclination angle α and preliminarily calculates the ground undulation h0 by combining the traction frame length spacing K: h0=K×α The upper machine determines the angle difference between the upper and lower triangular swing arms according to the preliminary calculated ground undulation h0, and quickly stretches / compresses the damping spring (403) and raises / lowers the rear connecting frame (204) to make the monomer rise / fall to complete the preliminary upward / downward profiling; S104: Due to the flexible connection between the rear connecting frame (204) and the triangular swing arms (402), (404), there is a difference in the undulation angle between the sowing unit (100) and the lower connecting rod, so a secondary fine adjustment is required. When the depth limiting wheel of the sowing unit (100) reaches the undulation point, the furrowing depth of the furrowing disc becomes shallower / deeper, and the upper connecting rod (203) and the lower connecting rod (201) will tilt counterclockwise downward / clockwise upward around the hinge point of the sowing unit. The ground distance ultrasonic sensor (502) located on the lower connecting rod will collect the distance between the sowing unit (100) and the ground. The vehicle-mounted host computer combines the predetermined sowing depth H to accurately measure the ground distance change ΔH of the sowing unit (100). The vehicle-mounted host computer transmits ΔH to the stepping motor (401), controls the stepping motor (401) to rotate quickly and at a small angle, and drives the triangular swing arms (402), (404) to swing to complete the fine adjustment.

7. The vibration reduction adjustment method of the multi-link device for contour vibration reduction of a seed drill according to claim 6 is characterized in that: The working process of the passive vibration reduction mode is as follows: One end of the upper connecting rod (203) is rotatably connected to the upper turning point of the fixed connecting rod (202) to form a first turning point A, and the other end is hinged on the rear connecting hole of the upper triangular swing arm (402) to form a second turning point B; one end of the lower connecting rod (201) is rotatably connected to the upper turning point of the fixed connecting rod (202) to form a third turning point C, and the other end is hinged on the rear connecting hole of the lower triangular swing arm (404) to form a fourth turning point D; the rear connecting frame (204) is hinged on the second turning point B and the fourth turning point D, and is connected to the upper and lower triangular swing arms (402) and the rear turning points of (404); The length of the lower connecting rod (201) is greater than that of the upper connecting rod (203); a line connecting the first turning point A and the second turning point B is defined as a first connecting line L1; a line connecting the third rotation C and the fourth rotation D is defined as a second connecting line L2; and an intersection of the first connecting line and an extension of the second connecting line is defined as a first virtual turning point P; the virtual turning point P maintains a tendency to move in the opposite direction when the planter unit vibrates; that is, when the planter unit (100) moves upward due to impact with the road surface, the virtual turning point P moves downward accordingly; During passive vibration reduction, the sowing unit (100) moves up and down during field operations. When the contour-matching four-link device (200) follows the sowing unit (100) to rise, the upper connecting rod (203) and the lower connecting rod (201) rotate clockwise to drive the rear connecting frame (204) to move upward toward the sowing unit (100). At this time, the triangular swing arms (402) and (404) will swing downward counterclockwise, thereby causing the vibration reduction spring (403) to produce an oblique downward displacement to absorb vibration. Similarly, when the sowing unit (100) falls back due to its own weight, the triangular swing arms (402) and (404) rotate to compress the damping spring (403), driving the rear connecting frame (204) to move downward away from the sowing machine unit (100), thereby reducing the vibration impact; at the same time, during the vibration reduction process, since the length of the lower connecting rod (201) is greater than the upper connecting rod (203), the rotation angle of the lower triangular swing arm (404) will always be smaller than the rotation angle of the upper triangular swing arm (402), thereby driving the extension and compression of the damping spring.

8. The vibration reduction adjustment method of the multi-link device for contour vibration reduction of a seed drill according to claim 6 is characterized in that: The working process of the active vibration reduction mode is as follows: When the vehicle-mounted host computer issues an active vibration reduction command, the stepper motor (401) rotates, the electromagnetic clutch (405) is energized to drive the electromagnetic clutch end (406) to squeeze the triangular swing arm, and the triangular swing arms (402) and (404) rotate with the stepper motor to drive the rear connecting frame (204) and the vibration reduction spring (403) to operate. Specifically, the upper triangular swing arm (402) is rotationally connected to the spring fixing rod to form a fifth turning point E, and the lower triangular swing arm (404) is rotationally connected to the spring fixing rod to form a sixth turning point F. The definition of the first turning point The line connecting the third turning point C and the fifth turning point E is the third line L3, the line connecting the fourth rotation point D and the sixth rotation point F is the fourth line L4, and the intersection of the third line and the extended line of the fourth line is the second virtual turning point N; the virtual turning point N maintains a tendency to move in the opposite direction when the spring is stretched or compressed; the design of the virtual turning point N is to use the upper and lower triangular swing arms (402), (404) to make the damping spring (403) also move along an arc trajectory, and the tension of the damping spring (403) will tend to pull the rear connecting frame (204) to this point.

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