A device and method for controlling seeding depth stability

Abstract

A device and method for controlling sowing depth stability. The device for controlling sowing depth stability includes: a machine body, a disc furrow opener and a depth-limiting wheel are installed below the machine body; a pressure regulating mechanism, including a four-bar linkage profiling mechanism and a down-pressure regulator, the down-pressure regulator is installed on the four-bar linkage profiling mechanism, the four-bar linkage profiling mechanism is respectively connected with the machine body and the tractor, and the pressure regulating mechanism is used to adjust the down-pressure of the machine body to determine that the side wall of the sowing furrow is in a critical state of stable non-collapse; and a sowing depth regulating mechanism, installed on the machine body and connected with the depth-limiting wheel, is used to adjust the height of the depth-limiting wheel to control the actual sowing depth to be equal to the ideal sowing depth, and the ideal sowing depth is the height difference between the depth-limiting wheel and the disc furrow opener. The present invention also provides a method for controlling sowing depth stability. The present invention can ensure that seeds are accurately sown at the bottom of the furrow with the ideal sowing depth during sowing, and improve sowing stability.

Description

Technical Field

[0001] The present invention relates to agricultural seeding technology, in particular to a device and method for controlling seeding depth stability. Background Art

[0002] Seeding is one of the key links in agricultural production and plays a crucial role in the growth of crops. The stability and consistency of seeding depth, as well as the quality of the contact between seeds and the surrounding soil, directly affect seed germination and the uniformity of seedling emergence, and thus have a great impact on crop yield. Seeding depth stability is an important indicator for evaluating seeding quality. When the seeding depth is too shallow, the soil moisture content is low, which is not conducive to seed germination. After rolling, the squeezing effect of the rolling wheel on the soil will cause some seeds to be exposed on the ground surface, resulting in difficult germination. In addition, when the seeding depth is too shallow, the soil environment for the growth of germinated seeds is relatively poor. When the soil layer is dry, it is difficult to obtain sufficient nutrients for growth and development, and the seedlings are weak, and even yellow seedlings and dead seedlings appear, leading to seedling shortage and thus yield reduction. When the seeding depth is too deep, it is not conducive to seedling emergence. The seeds consume a large amount of nutrients during the process of breaking through the soil, and the seedlings will also appear relatively slender after emergence, resulting in yield reduction. Thus, it can be seen that both too deep and too shallow seeding depths are not conducive to the growth and development of crops. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a device and method for controlling seeding depth stability in view of the above-mentioned defects of the prior art.

[0004] To achieve the above object, the present invention provides a device for controlling seeding depth stability, which includes:

[0005] A body, a disc furrow opener and a depth-limiting wheel are installed below the body;

[0006] A pressure regulating mechanism, including a four-bar linkage profiling mechanism and a down-pressure regulator. The down-pressure regulator is installed on the four-bar linkage profiling mechanism. The four-bar linkage profiling mechanism is respectively connected to the body and the tractor. The pressure regulating mechanism is used to adjust the down-pressure of the body to determine that the side wall of the seed furrow for seeding is in a critical state of stable non-collapse; and

[0007] A seeding depth regulating mechanism, installed on the body and connected to the depth-limiting wheel, is used to adjust the height of the depth-limiting wheel to control the actual seeding depth to be equal to the ideal seeding depth. The ideal seeding depth is the height difference between the depth-limiting wheel and the disc furrow opener.

[0008] In the above device for controlling seeding depth stability, the four-bar linkage profiling mechanism includes a seeding unit connecting frame and a pair of upper linkages and lower linkages. The two ends of the upper linkage are respectively connected to the upper end of the seeding unit connecting frame and the body. The two ends of the lower linkage are respectively connected to the lower end of the seeding unit connecting frame and the body. The upper linkage and the lower linkage are arranged in parallel.

[0009] The above-mentioned sowing depth stability control device, wherein the down-pressure regulator is a hydraulic cylinder, a pneumatic spring or an airbag, and a down-pressure sensor is arranged on the down-pressure regulator for recording the pressure value of the down-pressure regulator, and the pressure value range of the down-pressure regulator is 0 to 4000 N.

[0010] The above-mentioned sowing depth stability control device, wherein the down-pressure regulator is a hydraulic cylinder, one end of the hydraulic cylinder is connected to the upper connecting rod through an upper mounting seat, the other end of the hydraulic cylinder is connected to the lower connecting rod through a lower mounting seat, the oil inlet of the hydraulic cylinder is arranged on the upper mounting seat, and the down-pressure regulator is installed at the oil inlet.

[0011] The above-mentioned sowing depth stability control device, wherein both ends of the upper mounting seat are fixedly connected to a pair of the upper connecting rods respectively, and both ends of the lower mounting seat are fixedly connected to a pair of the lower connecting rods respectively.

[0012] The above-mentioned sowing depth stability control device, wherein the sowing depth adjustment mechanism includes:

[0013] A depth-limiting crank arm, one end of which is connected to the depth-limiting wheel, and the other end of the depth-limiting crank arm is hinged to the machine body;

[0014] An adjustment handle, which is installed on the machine body;

[0015] An adjustment lead screw, one end of which is connected to the adjustment handle, the other end of the adjustment lead screw is connected to a connecting block, and a connecting thread adapted to the adjustment lead screw is arranged on the connecting block; and

[0016] A depth-limiting block, which is hinged to the connecting block through a pin shaft sensor, and the lower surface of the depth-limiting block is in contact with the surface of the depth-limiting crank arm.

[0017] The above-mentioned sowing depth stability control device, wherein the working range value of the pin shaft sensor is 300 N to 1500 N.

[0018] The above-mentioned sowing depth stability control device, wherein the ideal sowing depth is 3 to 6 cm.

[0019] The above-mentioned sowing depth stability control device, wherein a pressing mechanism is further arranged at the lower part of the machine body, and the pressing mechanism is arranged directly behind the disc furrow opener and the depth-limiting wheel.

[0020] In order to better achieve the above object, the present invention further provides a sowing depth stability control method, which includes the following steps:

[0021] S100. Adjust the adjusting handle according to agronomic requirements so that the height difference between the bottom surface of the depth-limiting wheel and the bottom edge of the disc opener is equal to the ideal seeding depth;

[0022] S200. Set the downward pressure value of the downward pressure regulator to any value within the adjustable range and then enter the field for operation. After operating for a length of not less than 5 m, stop the machine. Record the pin sensor value during the operation process. After stopping, observe whether the side wall of the seed furrow formed by the opener and the depth-limiting wheel is intact and whether there is collapse;

[0023] S300. If the side wall of the seed furrow collapses, increase the downward pressure value of the downward pressure regulator and repeat step S200 until the critical state where the side wall of the seed furrow is stable without collapse. Record the downward pressure value A of the downward pressure regulator and the numerical value B of the pin sensor at this time; if the side wall of the seed furrow remains intact, decrease the downward pressure value of the downward pressure regulator and repeat step S200 until the critical state where the side wall of the seed furrow is stable without collapse. Record the downward pressure value A of the downward pressure regulator and the numerical value B of the pin sensor at this time; and

[0024] S400. Configure the seeder according to the recorded downward pressure value A of the downward pressure regulator and the numerical value B of the pin sensor. After installing the pressing mechanism, perform normal seeding operation to achieve stable seeding depth.

[0025] For the above seeding depth stability control method, it further includes the following steps:

[0026] S500. According to the numerical value B of the pin sensor, set the range value of the pin sensor as (B, 1.1B). When the numerical value of the pin sensor deviates from the range value, increase or decrease the downward pressure value A of the downward pressure regulator to ensure that the numerical value of the pin sensor always remains within the range value during seeding operation.

[0027] The technical effect of the present invention is as follows:

[0028] Aiming at the problem that the seeding depth consistency of the existing seeder is difficult to control and affects the seeding quality, the present invention takes the height difference between the depth-limiting wheel and the disc opener as the ideal seeding depth, and adjusts the force applied to the depth-limiting wheel through the downward pressure regulator to ensure that the side wall of the seed furrow is neat without collapse, prevent the formation of backflow soil in the side wall of the seed furrow, and ensure that the seeds are accurately sown at the bottom of the seed furrow during seeding, thereby ensuring the stability of seeding.

[0029] The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments, but it is not a limitation to the present invention. Brief Description of the Drawings

[0030] Figure 1 It is a schematic structural diagram of an embodiment of the present invention;

[0031] Figure 2Schematic diagram of the pressure regulating mechanism according to an embodiment of the present invention;

[0032] Figure 3 Schematic diagram of the seeding depth regulating mechanism according to an embodiment of the present invention;

[0033] Figure 4 、 Figure 5 Working principle diagrams of the present invention respectively;

[0034] Figure 6 Seeding depth regulation flowchart of the present invention;

[0035] Figure 7 Seeding depth regulation principle diagram of the present invention.

[0036] Wherein, reference numerals

[0037] 1 Machine body

[0038] 2 Pressure regulating mechanism

[0039] 21 Four-bar linkage profiling mechanism

[0040] 211 Upper connecting rod

[0041] 212 Lower connecting rod

[0042] 213 Seeding unit connecting bracket

[0043] 22 Lower pressure regulator

[0044] 221 Lower pressure sensor

[0045] 222 Oil inlet

[0046] 23 Upper mounting seat

[0047] 24 Lower mounting seat

[0048] 25 Upper pin shaft

[0049] 26 Lower pin shaft

[0050] 3 Seeding depth regulating mechanism

[0051] 31 Adjusting handle

[0052] 32 Adjusting screw rod

[0053] 33 Connecting block

[0054] 34 Pin shaft sensor

[0055] 35 Depth limit block

[0056] 36 Depth limit crank arm

[0057] 37 Connecting pin shaft

[0058] 38 Connecting bolt

[0059] 4 Disc furrow opener

[0060] 5 Depth limiter wheel

[0061] 6 Pressing mechanism

[0062] 7 Seeds

[0063] 8 Seed furrow

[0064] 81 Side wall

[0065] 82 Compacted soil

[0066] 83 Uncompacted soil

[0067] 84 Backflow soil

[0068] 9 Ground surface

[0069] L0 Ideal seeding depth

[0070] L1 Actual seeding depth Specific implementation manner

[0071] The structural principle and working principle of the present invention will be specifically described below in conjunction with the accompanying drawings:

[0072] See Figure 1 , Figure 1 which is a schematic structural diagram of an embodiment of the present invention. The seeding depth stability control device is characterized by including: a machine body 1, a disc furrow opener 4 and a depth limiter wheel 5 are installed below the machine body 1; a pressure regulating mechanism 2, including a four-link profiling mechanism 21 and a downward pressure regulator 22, the downward pressure regulator 22 is installed on the four-link profiling mechanism 21, the four-link profiling mechanism 21 is respectively connected with the machine body 1 and a tractor, and the pressure regulating mechanism 2 is used to adjust the downward pressure of the machine body 1 to determine that the side wall 81 of the seed furrow 8 for seeding is in a critical state of stable non-collapse; and a seeding depth regulating mechanism 3, installed on the machine body 1 and connected with the depth limiter wheel 5, for adjusting the height of the depth limiter wheel 5 to control the actual seeding depth L1 to be equal to the ideal seeding depth L0, the ideal seeding depth L0 is the height difference between the depth limiter wheel 5 and the disc furrow opener 4, and the ideal seeding depth L0 is preferably 3 - 6 cm. A pressing mechanism 6 is further arranged at the lower part of the machine body 1, and the pressing mechanism 6 is arranged directly behind the disc furrow opener 4 and the depth limiter wheel 5.

[0073] See Figure 2 , Figure 2Schematic diagram of the structure of the pressure regulating mechanism 2 according to an embodiment of the present invention. In this embodiment, the four-bar profiling mechanism 21 includes a seeding unit connecting frame 213, and upper connecting rods 211 and lower connecting rods 212 arranged in pairs. Both ends of the upper connecting rod 211 are respectively connected to the upper end of the seeding unit connecting frame 213 and the machine body 1, and both ends of the lower connecting rod 212 are respectively connected to the lower end of the seeding unit connecting frame 213 and the machine body 1. The upper connecting rod 211 and the lower connecting rod 212 are arranged in parallel. Among them, the down-pressure regulator 22 can be implemented by any one of a hydraulic cylinder, a pneumatic spring or an airbag to adjust the down-pressure. A down-pressure sensor 221 is arranged on the down-pressure regulator 22 for recording the pressure value of the down-pressure regulator 22. The pressure value range of the down-pressure regulator 22 is 0 to 4000 N. There are two upper connecting rods 211 and two lower connecting rods 212 respectively. The seeding unit connecting frame 213 is fixedly connected to the seeding machine frame. One end of the upper connecting rod 211 is hinged to the seeding unit connecting frame 213 through an upper pin shaft 25, and the other end of the upper connecting rod 211 is hinged to the machine body 1 through another upper pin shaft 25. One end of the lower connecting rod 212 is hinged to the seeding unit connecting frame 213 through a lower pin shaft 26, and the other end of the lower connecting rod 212 is hinged to the machine body 1 through another lower pin shaft 26. The entire seeding unit can rotate around the upper pin shaft 25 and the lower pin shaft 26 at one end through the upper connecting rod 211 and the lower connecting rod 212 to achieve single-unit profiling.

[0074] In this embodiment, the down-pressure regulator 22 is preferably a hydraulic cylinder. One end of the hydraulic cylinder is connected to the upper connecting rod 211 through an upper mounting seat 23, and the other end of the hydraulic cylinder is connected to the lower connecting rod 212 through a lower mounting seat 24. The oil inlet 222 of the hydraulic cylinder is arranged on the upper mounting seat 23, and the down-pressure regulator 22 is installed at the oil inlet 222. One end of the hydraulic cylinder is installed on the upper mounting seat 23, and both ends of the upper mounting seat 23 are respectively fixedly connected to a pair of the upper connecting rods 211. The other end of the hydraulic cylinder is installed on the lower mounting seat 24, and both ends of the lower mounting seat 24 are respectively fixedly connected to a pair of the lower connecting rods 212.

[0075] When the down pressure regulator 22 is a hydraulic cylinder, the hydraulic oil supply comes from the tractor or tractor hydraulic system. When the down pressure is increased, the oil pump increases the oil supply, and the hydraulic oil enters the hydraulic cylinder through the oil inlet 222, and the piston rod extends. A down pressure sensor 221 is installed at the oil inlet 222 to record the pressure value of the down pressure regulator 22. Since the upper part of the hydraulic cylinder is fixedly connected to the upper connecting rod 211 through the upper mounting seat 23, the down pressure increases. When the cylinder extends, the down pressure will act on the two lower connecting rods 212 fixedly connected to the lower mounting seat 24, so that the entire body 1 together with the components thereon will rotate clockwise around the upper pin 25 and the lower pin 26 hinged to the sowing unit connecting frame 213. Since the relative height of the furrow opener and the depth limiting wheel 5 is unchanged, that is, the sowing depth is unchanged, the compaction force of the depth limiting wheel 5 on the soil will increase, the side wall 81 of the seed furrow 8 will be compacted, and the force of the pin sensor 34 will increase. On the contrary, when the lower pressure of the lower pressure regulator 22 becomes smaller, the extension of the oil cylinder decreases. Under the action of the four-bar profiling mechanism 21, the entire body 1 together with the components thereon will rotate counterclockwise around the upper pin 25 and the lower pin 26 hinged to the sowing unit connecting frame 213, resulting in a decrease in the compaction force of the depth limiting wheel 5 on the soil. The force of the pin sensor 34 will also decrease, and the compaction degree of the side wall 81 of the seed groove 8 will decrease, resulting in instability of the side wall 81 of the seed groove 8. If the side wall 81 of the seed groove 8 collapses, there will be backflow soil 84 in the seed groove 8, and the depth of the seeds 7 sown into the seed groove 8 through the seed guide tube will change. If sowing, the actual sowing depth L1 will become shallower.

[0076] See also Figure 3 , Figure 3 The structural schematic diagram of the sowing depth adjustment mechanism 3 of an embodiment of the present invention. The sowing depth adjustment mechanism 3 comprises: a depth limiting arm 36, one end of which is fixedly connected to the depth limiting wheel 5 through a connecting bolt 38, and the other end of the depth limiting arm 36 is hinged to the machine body 1 through a connecting pin 37; an adjustment handle 31, which is mounted on the machine body 1; an adjustment screw rod 32, one end of which is fixedly connected to the adjustment handle 31, and the other end of the adjustment screw rod 32 is connected to a connecting block 33, and the connecting block 33 is provided with a connecting thread adapted to the adjustment screw rod 32; and a depth limiting block 35, which is hinged to the connecting block 33 through a pin sensor 34, and the lower side surface of the depth limiting block 35 contacts the surface of the depth limiting arm 36. The working range value of the pin sensor 34 is 300N to 1500N. When adjusting the sowing depth, the adjustment handle 31 is rotated, and the adjustment screw rod 32 rotates accordingly, and the connecting block 33 is driven to move through the thread of the connecting block 33 matched therewith, and the depth limiting block 35 is driven to move through the pin sensor 34. If the adjusting handle 31 is rotated to make the adjusting screw rod 32 retract backward, the connecting block 33 will be driven to move counterclockwise, and the depth limiting block 35 will be driven to press the depth limiting arm 36 downward, so that the depth limiting wheel 5 will be lifted and the sowing depth will become shallower. Similarly, the reverse adjustment can be made to deepen the sowing depth.

[0077] See Figures 4 - 7 , Figure 4 and Figure 5 which are the working principle diagrams of the present invention respectively, Figure 6 is the flowchart of the seeding depth adjustment of the present invention, Figure 7 is the schematic diagram of the seeding depth adjustment of the present invention. In view of the production problem that it is difficult to control the consistency of the seeding depth of the seeder, which affects the seeding quality, the present invention provides a method for controlling the seeding depth stability. Taking the height difference between the depth-limiting wheel 5 and the disc opener 4 as the ideal seeding depth L0, by applying a certain force to the depth-limiting wheel 5, the uncompacted soil 83 is compacted. The disc opener 4 opens stable seed furrows 8 on both sides, and the side walls 81 of the seed furrows 8 are neat and without collapse. When there is no backflow soil 84 in the side walls 81 of the two seed furrows 8, the seeds 7 are accurately sown into the seed furrows 8 under the action of the seed guide tube. At this time, the position of the seeds 7 is at the bottom of the seed furrows 8, and the seeding depth is the ideal seeding depth L0. That is, by controlling the combined action of the opener and the depth-limiting wheel 5, by compacting the soil 82, the side walls 81 of the seed furrows 8 opened by the opener are stable, without collapse and without backflow soil 84, so as to ensure the stable seeding depth of the seeds 7. The depth-limiting wheel 5 has a compaction effect on the soil under a certain force. When the disc opener 4 works to cut the soil, the side walls 81 of the formed seed furrows 8 are neat and without collapse, and when there is no backflow soil 84 in the two side walls 81, the seeds 7 are accurately sown into the seed furrows 8 under the action of the seed guide tube. At this time, the position of the seeds 7 is at the bottom of the seed furrows 8, and then after the operations of covering soil and rolling, the seeding is completed, and the seeding depth at this time is the ideal seeding depth L0. If the downward pressure or gravity applied to the depth-limiting wheel 5 is insufficient, the side walls 81 of the seed furrows 8 formed by the disc opener 4 cutting the soil are unstable and will collapse. Under the action of the rotation of the disc opener 4, the soil on the single side wall 81 or the two side walls 81 of the seed furrows 8 will have a backflow phenomenon. When there is backflow soil 84 in the seed furrows 8, the depth of the seeds 7 sown into the seed furrows 8 through the seed guide tube will change, and the actual seeding depth L1 will be less than the ideal seeding depth L0. Under the condition of the same soil type, the greater the force applied to the depth-limiting wheel 5, the more stable the side walls 81 of the seed furrows 8, the greater the settlement amount of the depth-limiting wheel 5 relative to the ground 9, and the greater the soil bulk density under the depth-limiting wheel 5. When the side walls 81 of the seed furrows 8 are stable, the force applied to the depth-limiting wheel 5 should not be too large to prevent excessive compaction of the soil, which affects the germination and root growth of the seeds 7.

[0078] Based on the above principle, the method for controlling the seeding depth stability of the present invention includes the following steps:

[0079] Step S100: Under the condition of removing the rolling device and the seed box not discharging seeds, set the seeding depth required by agronomy as the ideal seeding depth L0. The ideal seeding depth L0 is generally 3 - 6 cm. Adjust the adjusting handle 31 according to the agronomic requirements to make the height difference between the bottom surface of the depth-limiting wheel 5 and the bottom edge of the disc opener 4 equal to the ideal seeding depth L0;

[0080] Step S200: Set the down-pressure value of the down-pressure regulator 22 to any value within the adjustable range. Generally, adjust it from small to large. After the adjustment is completed, start the operation. Stop the machine after the operation length is not less than 5 m. During the operation, record the value of the pin shaft sensor 34. After stopping the machine, observe whether the side wall 81 of the seed furrow 8 formed by the furrow opener and the depth limiter wheel 5 is intact and whether there is any collapse.

[0081] Step S300: If the side wall 81 of the seed furrow 8 collapses, there will be backflow soil 84 in the seed furrow 8, and the depth of the seeds 7 sown into the seed furrow 8 through the seed guide tube will change. For example, if sowing, the actual sowing depth L1 will be less than the ideal sowing depth L0. Then increase the down-pressure value of the down-pressure regulator 22 and repeat Step S200 until the side wall 81 of the seed furrow 8 reaches a critical state of stability without collapse. Record the down-pressure value A of the down-pressure regulator 22 and the numerical value B of the pin shaft sensor 34 at this time. If the side wall 81 of the seed furrow 8 does not collapse and remains intact, there will be no backflow soil 84 in the seed furrow 8, and the depth of the seeds 7 sown into the seed furrow 8 through the seed guide tube will not change. For example, if sowing, the actual sowing depth L1 will be equal to the ideal sowing depth L0. To prevent the soil from being compacted, reduce the down-pressure value of the down-pressure regulator 22 and repeat Step S200 until the side wall 81 of the seed furrow 8 reaches a critical state of stability without collapse. Record the down-pressure value A of the down-pressure regulator 22 and the numerical value B of the pin shaft sensor 34 at this time; and

[0082] Step S400: Configure the seeder according to the down-pressure value A of the down-pressure regulator 22 and the numerical value B of the pin shaft sensor 34 recorded in the test, that is, set the seeder control system. After installing the rolling mechanism 6, normal sowing operation can be carried out. At this time, the sowing depth can be kept stable during the seeder operation process.

[0083] This embodiment may further include the following steps:

[0084] Step S500: According to the numerical value B of the pin shaft sensor 34, set the range value of the pin shaft sensor 34 as an interval range: (B, 1.1B). During operation, when the numerical value of the pin shaft sensor 34 deviates from the range value, increase or decrease the down-pressure value A of the down-pressure regulator 22 to ensure that the numerical value of the pin shaft sensor 34 always remains within the range value (B, 1.1B) during sowing operation. At this time, the sowing depth can be ensured to be stable.

[0085] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and deformations according to the present invention. However, these corresponding changes and deformations should all fall within the protection scope of the appended claims of the present invention.

Claims

1. A method for controlling seeding depth stability, characterized in that, it includes the following steps: S100. Adjust the adjusting handle according to agronomic requirements so that the height difference between the bottom surface of the depth-limiting wheel and the bottom edge of the disk furrow opener is equal to the ideal seeding depth; S200. Set the downward pressure value of the downward pressure regulator to any value within the adjustable range and then enter the field for operation. After operating for no less than 5 m, stop the machine. During the operation process, record the pin shaft sensor value. After stopping the machine, observe whether the side wall of the seed furrow formed by the furrow opener and the depth-limiting wheel is intact and whether it collapses; S300. If the side wall of the seed furrow collapses, increase the downward pressure value of the downward pressure regulator, and repeat step S200 until the critical state where the side wall of the seed furrow is stable without collapse, and record the downward pressure value A of the downward pressure regulator and the value B of the pin shaft sensor at this time; if the side wall of the seed furrow remains intact, decrease the downward pressure value of the downward pressure regulator, and repeat step S200 until the critical state where the side wall of the seed furrow is stable without collapse, and record the downward pressure value A of the downward pressure regulator and the value B of the pin shaft sensor at this time; and S400. Configure the seeder according to the recorded downward pressure value A of the downward pressure regulator and the value B of the pin shaft sensor. After installing the pressing mechanism, perform normal seeding operation to achieve stable seeding depth.

2. The seeding depth stability control method according to claim 1, characterized in that, it further includes the following steps: S500. According to the value B of the pin shaft sensor, set the range value of the pin shaft sensor as (B, 1.1B). When the value of the pin shaft sensor deviates from the range value, increase or decrease the downward pressure value A of the downward pressure regulator to ensure that the value of the pin shaft sensor always remains within the range value during seeding operation.

3. A seeding depth stability control device, characterized in that, it uses the seeding depth stability control method according to claim 1 or 2 for seeding depth control. The seeding depth stability control device includes: A machine body, a disk furrow opener and a depth-limiting wheel are installed below the machine body; a pressing mechanism is further arranged at the lower part of the machine body, and the pressing mechanism is arranged directly behind the disk furrow opener and the depth-limiting wheel; A pressure regulating mechanism, including a four-bar linkage profiling mechanism and a downward pressure regulator. The downward pressure regulator is installed on the four-bar linkage profiling mechanism. The four-bar linkage profiling mechanism is respectively connected with the machine body and the tractor. The pressure regulating mechanism is used to adjust the downward pressure of the machine body to determine the critical state where the side wall of the sown seed furrow is stable without collapse; and A seeding depth adjusting mechanism, installed on the machine body and connected with the depth-limiting wheel, is used to adjust the height of the depth-limiting wheel to control the actual seeding depth to be equal to the ideal seeding depth. The ideal seeding depth is the height difference between the depth-limiting wheel and the disk furrow opener; Among them, the seeding depth adjusting mechanism includes: A depth-limiting crank arm, one end of which is connected with the depth-limiting wheel, and the other end of the depth-limiting crank arm is hinged with the machine body; An adjusting handle, installed on the machine body; An adjusting lead screw, one end of which is connected with the adjusting handle, and the other end of the adjusting lead screw is connected with a connecting block. The connecting block is provided with a connecting thread adapted to the adjusting lead screw; The depth-limiting block is hinged to the connecting block through a pin shaft sensor, and the lower surface of the depth-limiting block is in contact with the surface of the depth-limiting crank arm.

4. The seeding depth stability control device according to claim 3, characterized in that the four-bar profiling mechanism includes a seeding unit connecting frame and a pair of upper connecting rods and lower connecting rods arranged in pairs. The two ends of the upper connecting rod are respectively connected to the upper end of the seeding unit connecting frame and the machine body, and the two ends of the lower connecting rod are respectively connected to the lower end of the seeding unit connecting frame and the machine body. The upper connecting rod and the lower connecting rod are arranged in parallel.

5. The seeding depth stability control device according to claim 4, characterized in that the down-pressure regulator is a hydraulic cylinder, a pneumatic spring or an airbag. A down-pressure sensor is arranged on the down-pressure regulator for recording the pressure value of the down-pressure regulator. The pressure value range of the down-pressure regulator is 0-4000N.

6. The seeding depth stability control device according to claim 5, characterized in that the down-pressure regulator is a hydraulic cylinder. One end of the hydraulic cylinder is connected to the upper connecting rod through an upper mounting seat, and the other end of the hydraulic cylinder is connected to the lower connecting rod through a lower mounting seat. The oil inlet of the hydraulic cylinder is arranged on the upper mounting seat, and the down-pressure regulator is installed at the oil inlet.

7. The seeding depth stability control device according to claim 6, characterized in that both ends of the upper mounting seat are fixedly connected to a pair of the upper connecting rods respectively, and both ends of the lower mounting seat are fixedly connected to a pair of the lower connecting rods respectively.

8. The seeding depth stability control device according to claim 3, characterized in that the working range value of the pin shaft sensor is 300N-1500N.

9. The seeding depth stability control device according to claim 3, characterized in that the ideal seeding depth is 3-6 cm.

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