Dynamic sowing depth adjustment device and method

Abstract

A dynamic sowing depth adjustment device and method includes a frame; a dual-axis layered rotary tiller blade assembly mounted on the frame and located below the front of the frame; a side pressure roller mechanism mounted on the frame and located behind the dual-axis layered rotary tiller blade assembly; a spatial curved baffle mechanism mounted on the frame and located above the side pressure roller mechanism, cooperating with the side pressure roller mechanism to achieve dynamic sowing depth adjustment through blocking coupling; a post-sowing pressure roller mounted on the frame, with a set height difference between the roller and the side pressure roller mechanism for maintaining soil compaction; a transmission mechanism mounted on the frame and connected to the dual-axis layered rotary tiller blade assembly, the side pressure roller mechanism, and the spatial curved baffle mechanism; and a measurement and control system mounted on the frame and connected to the transmission mechanism, the side pressure roller mechanism, the spatial curved baffle mechanism, and the post-sowing pressure roller mechanism, for real-time detection and control of operating parameters to improve the sowing depth qualification rate and consistency. The present invention also discloses a dynamic sowing depth adjustment method.

Description

Technical Field

[0001] The present invention relates to agricultural machinery, and in particular to a dynamic sowing depth adjustment device and method. Background Art

[0002] Sowing is the starting point of agricultural planting and production, and it is also the foundation for the growth, development, and high yield of crops. With the advancement of science and technology and the continuous development of modern agricultural technology, agricultural equipment has rapidly developed in the direction of large-scale, precise, intelligent, and economical, and precision seeding has become the main trend in seeding operations. Precision seeding technology is a mechanized seeding technology that sows a fixed amount of high-quality seeds in holes and deeply applies seeds and fertilizers according to the row spacing, plant spacing, and sowing depth (sowing depth) required by agronomic requirements. It is highly valued and widely used due to its outstanding advantages in cost saving and efficiency improvement. Precision seeders are the key to achieving precision seeding. The uniformity of their seed spacing and the stability of their sowing depth directly affect the quality of seedling emergence and the final crop yield.

[0003] Planting depth influences seed emergence time, emergence rate, canopy structure, and photosynthetic characteristics, ultimately impacting crop yield. Maintaining an appropriate and consistent planting depth and compaction level for a given soil environment ensures good seed-soil contact, allowing the seed to easily absorb water from the soil, promoting rapid and uniform seed emergence. Currently, planting depth control technology has become a major area of ​​research in seeding technology and a cutting-edge area of ​​research integrating and intersecting agricultural machinery and agronomy.

[0004] Due to the complex nature of seeding operations, soil texture and topographical variations are the primary factors affecting seeding depth variability. Existing technologies primarily improve seeding depth control performance through two approaches: one is to optimize the passive adjustment structure of traditional seeding units, focusing on optimizing the original mechanical spring's force application method and reducing furrowing resistance. However, this approach suffers from a narrow application range and weak adjustment capabilities. The other approach is to adopt active adjustment technology, replacing the passive adjustment structure of traditional seeding units with an adaptive adjustment device. This involves using sensors to directly or indirectly measure seeding depth and employing a combination of electro-hydraulic and electrical methods to achieve seeding depth control, which is gradually becoming a new technological development trend. However, major seeding plots are often accompanied by straw residue. This results in existing seeders experiencing excessive soil return during furrowing, large soil clods in the seed furrow, and uneven gullies, causing seeds to bounce and roll significantly when they land, severely impacting seeding depth consistency. Furthermore, after the seed furrow is formed, seeds tend to fall to the sides of the furrow, resulting in inconsistent seeding depths between the bottom and sides of the furrow, which directly impacts seedling emergence and crop yield. Therefore, it is an urgent problem to be solved in this field to improve sowing quality and crop yield by solving the problems such as poor consistency of seed sowing depth caused by frequent trenching and soil filling, large clods of soil in the seed furrows, uneven furrows, and seeds easily falling on the sides of the furrow, resulting in the inability to maintain consistent sowing depth between the bottom of the furrow and the sides of the furrow. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a dynamic sowing depth adjustment device and method in view of the above-mentioned defects of the prior art, so as to improve the sowing depth qualification rate and consistency.

[0006] In order to achieve the above object, the present invention provides a dynamic sowing depth adjustment device, which includes:

[0007] frame;

[0008] A double-axis layered rotary tillage blade group is installed on the frame and located below the front of the frame, and is used to crush / throw soil and pulverize straw;

[0009] A side pressure roller mechanism is mounted on the frame and located behind the dual-axis layered rotary tillage blade group, and is used to prevent soil from being thrown out and to control the sowing depth;

[0010] A spatial curved baffle mechanism is mounted on the frame and located above the side resistance and pressure roller mechanism, for blocking the thrown soil and cooperating with the side resistance and pressure roller mechanism to achieve dynamic sowing depth adjustment by resistance-blocking coupling;

[0011] A post-sowing pressing roller is mounted on the frame and has a set height difference with the side blocking roller mechanism to maintain soil compaction;

[0012] A transmission mechanism is mounted on the frame and is connected to the dual-axis layered rotary tillage blade group, the side resistance roller mechanism and the spatial curved baffle mechanism respectively; and

[0013] The measurement and control system is installed on the frame and is respectively connected to the transmission mechanism, the side resistance roller mechanism, the spatial curved baffle mechanism and the post-sowing pressing roller, and is used for real-time detection and control of working parameters to improve the sowing depth qualification rate and consistency.

[0014] The above-mentioned dynamic sowing depth adjustment device, wherein the dual-axis layered rotary tillage blade group includes:

[0015] A front rotary tillage blade assembly is mounted on the frame via a front bearing seat;

[0016] The rear rotary tiller blade group is installed on the frame through a rear bearing seat and is located behind the front rotary tiller blade group. There is a height difference between the front rotary tiller blade group and the rear rotary tiller blade group.

[0017] The above-mentioned dynamic sowing depth adjustment device, wherein the side resistance pressure roller mechanism includes:

[0018] Side resistance slide rails are symmetrically mounted on both sides of the frame, and rolling bearings are installed in the side resistance slide rails;

[0019] Side drag cantilevers are symmetrically arranged on both sides of the frame and connected to the rolling bearing via a rolling shaft;

[0020] Side resistance rollers, both ends of which are respectively mounted on the corresponding side resistance cantilever arms, for preventing soil from being thrown out by the dual-axis layered rotary tillage blade group; and

[0021] The side resistance electric push cylinder has a fixed end mounted on the frame, and a movable end connected to the side resistance cantilever for controlling the movement of the side resistance pressure roller.

[0022] In the above-mentioned dynamic sowing depth adjustment device, the side resistance slide rails on each side of the frame are a group of rails arranged in parallel and side by side, so as to facilitate the smooth movement of the side resistance pressure rollers.

[0023] The above-mentioned dynamic sowing depth adjustment device, wherein the spatial curved surface baffle mechanism includes:

[0024] a curved baffle, mounted on the frame via a connector, for blocking soil thrown out by the dual-axis layered rotary tillage blade assembly; and

[0025] The baffle electric push cylinder has a fixed end mounted on the frame, and a movable end connected to the connecting piece for controlling the movement of the curved baffle.

[0026] The above-mentioned dynamic sowing depth adjustment device, wherein the connecting part includes a support rod and a connecting block, the connecting block is installed on the frame, one end of the support rod is installed on the connecting block, the other end of the support rod is connected to the curved baffle, and the moving end of the baffle electric push cylinder is connected to the support rod.

[0027] The above-mentioned dynamic sowing depth adjustment device, wherein the measurement and control system includes:

[0028] an ultrasonic distance measuring sensor, mounted on the frame and located behind the side resistance and pressure roller mechanism, and on the same horizontal line as the post-sowing pressure roller, for detecting the height of the side resistance and pressure roller mechanism from the ground;

[0029] An inclination sensor is installed on the post-sowing pressing roller and is used to detect the inclination angle of the post-sowing pressing roller;

[0030] a wire displacement sensor, mounted on the side resistance electric push cylinder and the baffle electric push cylinder, respectively, for detecting the movement displacement of the side resistance electric push cylinder and the baffle electric push cylinder; and

[0031] An industrial computer is installed on the rack and is used to receive detection values ​​from each sensor and issue control instructions; the input end of the industrial computer is respectively connected to the output ends of the inclination sensor, ultrasonic ranging sensor and wire displacement sensor, and the output end of the industrial computer is respectively connected to the input ends of the side resistance electric push cylinder and the baffle electric push cylinder.

[0032] In order to better achieve the above-mentioned object, the present invention further provides a dynamic sowing depth adjustment method, which includes the following steps:

[0033] S100, determining machine parameters to ensure that the rotary tiller can crush straw and effectively cut soil and complete soil throwing movement;

[0034] S200, determining the sowing depth based on the height h of the soil above the ground after the side pressure roller mechanism blocks the ejected soil detected by the ultrasonic ranging sensor, and the inclination angle θ of the post-sowing pressure roller detected by the inclination sensor:

[0035] s=h-(L AB sinθ+r);

[0036] S300, controlling the sowing depth by adjusting the displacement of the side resistance electric push cylinder and the baffle electric push cylinder according to the displacement of the side resistance electric push cylinder and the baffle electric push cylinder detected by the wire displacement sensor, thereby achieving barrier coupling coordinated sowing depth adjustment; and

[0037] S400 , repeating steps S200 - S300 to complete barrier coupling coordinated seeding depth adjustment.

[0038] The above-mentioned dynamic seeding depth adjustment method, wherein step S300 further includes:

[0039] S301, before sowing depth adjustment, sowing depth is s1=h1-(L AB sinθ1+r), the displacements of the side resistance electric push cylinder and the baffle electric push cylinder detected by the wire displacement sensor are x1 and y1 respectively, and the thickness of the backward soil cover is T1=H1×P1;

[0040] S302, after the sowing depth of the side resistance electric push cylinder is adjusted, the sowing depth is s2=h2-(L AB sinθ2+r), ​​the displacement of the side resistance electric push cylinder detected by the pull-wire displacement sensor is x2, the thickness of the soil thrown back is T2=H2×P2, and the thickness of the soil thrown back prevented by the unit displacement of the side resistance electric push cylinder is:

[0041] U1=(T2-T1) / (x2-x1)=(H2×P2-H1×P1) / (x2-x1);

[0042] The sowing depth adjusted by the moving unit displacement of the side resistance electric push cylinder is:

[0043] s'=(s2-s1) / (x2-x1)=[(h2-(L AB sinθ2+r)-(h1-(L AB sinθ1+r))] / (x2-x1);

[0044] S303, after the sowing depth of the baffle electric push cylinder is adjusted, the sowing depth is s3=h3-(L AB sinθ3+r), the displacement of the baffle electric push cylinder detected by the pull-wire displacement sensor is y2, the thickness of the soil thrown back is T3=H3×P3, and the thickness of the soil thrown back prevented by the unit displacement of the baffle electric push cylinder is:

[0045] U2=(T3-T1) / (y2-y1)=(H3×P3-H1×P1) / (y2-y1);

[0046] The sowing depth adjusted by the moving unit displacement of the baffle electric push cylinder is:

[0047] s”=(s3-s1) / (y2-y1)=[(h3-(L AB sinθ3+r)-(h1-(L AB sinθ1+r))] / (y2-y1);

[0048] S304: The displacement of the side resistance electric push cylinder is x, and the displacement of the baffle electric push cylinder is y. After the coupling and coordinated sowing depth adjustment of the side resistance electric push cylinder and the baffle electric push cylinder, the coupled and coordinated blocking thickness of the backward throwing soil is:

[0049] U3=K×U1×(x-x1)+J×U2×

[0050] (y-y1)=K(H2×P2-H1×P1)(x-x1) / (x2-x1)+J(H3×P3-H1×P1) / (y2-y1)(y-y1);

[0051] Among them, K and J are weight coefficients;

[0052] The seeding depth of coupled cooperative barrier regulation is:

[0053] s”'=M×s’×(x-x1)+N×s”×

[0054] (y-y1)=M[(h2-(L AB sinθ2+r)-(h1-(L AB sinθ1+r))](x-x1) / (x2-x1)+N[(h3-(L AB sinθ3+r)-(h1-(L AB sinθ1+r))](y-y1 / (y2-y1).

[0055] Where M and N are weight coefficients, h is the height from the connection point between the post-sowing pressing roller and the frame to the ground after the side pressure roller mechanism prevents the soil from being thrown out; θ is the inclination angle of the post-sowing pressing roller; s is the sowing depth; L ABis the distance from point A to point B of the post-sowing pressing roller; r is the radius of the post-sowing pressing roller; s1 is the sowing depth before sowing depth adjustment; h1 is the height from the connection point between the post-sowing pressing roller and the frame to the ground after the side resistance roller mechanism prevents the soil from being thrown out before sowing depth adjustment; θ1 is the inclination angle of the post-sowing pressing roller before sowing depth adjustment; x1 is the displacement of the side resistance electric push cylinder before sowing depth adjustment; y1 is the displacement of the space curved baffle electric push cylinder before sowing depth adjustment; T1 is the thickness of the soil thrown back by the double-axis rotary tillage blade group before sowing depth adjustment; H1 is the depth of the double-axis rotary tillage blade group into the soil before sowing depth adjustment; P1 is the displacement of the double-axis rotary tillage blade group before sowing depth adjustment. Soil throwing rate; S2 is the sowing depth after the sowing depth of the side resistance electric push cylinder is adjusted; h2 is the height from the ground after the sowing depth of the side resistance electric push cylinder is adjusted, and the connection point between the post-sowing pressing roller and the frame and the side resistance pressing roller mechanism prevents the soil from being thrown out; θ2 is the inclination angle of the post-sowing pressing roller after the sowing depth of the side resistance electric push cylinder is adjusted; x2 is the displacement of the side resistance electric push cylinder after the sowing depth of the side resistance electric push cylinder is adjusted; T2 is the thickness of the soil thrown back by the double-axis rotary tillage blade group after the sowing depth of the side resistance electric push cylinder is adjusted; H2 is the depth of the double-axis rotary tillage blade group into the soil after the sowing depth of the side resistance electric push cylinder is adjusted; P2 is the soil throwing rate of the double-axis rotary tillage blade group after the sowing depth of the side resistance electric push cylinder is adjusted; U1 is the displacement of the side resistance electric push cylinder The thickness of soil thrown backwards is prevented by the unit displacement of the push cylinder; s' is the sowing depth adjusted by the unit displacement of the side resistance electric push cylinder; S3 is the sowing depth after the sowing depth is adjusted by the space curved baffle electric push cylinder; h3 is the height from the ground after the sowing depth of the space curved baffle electric push cylinder is adjusted, and the connection point between the post-sowing pressing roller and the frame and the side resistance pressing roller mechanism prevents the soil from being thrown out; θ3 is the inclination angle of the post-sowing pressing roller after the sowing depth of the space curved baffle electric push cylinder is adjusted; y2 is the displacement of the space curved baffle electric push cylinder after the sowing depth of the space curved baffle electric push cylinder is adjusted; T3 is the distance from the double-axis rotary tillage blade group to the sowing depth of the space curved baffle electric push cylinder to the sowing depth of the space curved baffle electric push cylinder. Thickness of soil cover; H3 is the depth of the dual-axis rotary tillage blade group into the soil after the sowing depth of the spatial curved surface baffle electric push cylinder is adjusted; P3 is the soil throwing rate of the dual-axis rotary tillage blade group after the sowing depth of the spatial curved surface baffle electric push cylinder is adjusted; U2 is the thickness of soil thrown backwards prevented by the unit displacement of the spatial curved surface baffle electric push cylinder; s' is the sowing depth adjusted by the unit displacement of the spatial curved surface baffle electric push cylinder; x is the displacement of the side resistance electric push cylinder; y is the displacement of the spatial curved surface baffle electric push cylinder; U3 is the thickness of soil thrown backwards blocked by the coupling and coordinated sowing depth adjustment of the side resistance electric push cylinder and the spatial curved surface baffle electric push cylinder; s'' is the sowing depth adjusted by the coupling and coordinated blocking.

[0056] In the above-mentioned dynamic sowing depth adjustment method, in step S300, if the measured sowing depth is too large or too small, the side resistance electric push cylinder is first adjusted to significantly prevent a large amount or a small amount of soil from being thrown out, and then the baffle electric push cylinder is adjusted to fine-tune the thrown soil.

[0057] The technical effects of the present invention are:

[0058] The present invention can realize a dynamic sowing depth adjustment process of blocking-coupling, adjust "soil on seeding" in all directions and all paths, and then control the sowing depth, effectively improve the sowing depth qualification rate and consistency, ensure the consistency of seed emergence and growth, and greatly improve the sowing quality and crop yield. The device has a reasonable layout, adopts a dual-axis layered rotary tillage method, optimizes the configuration parameters of the dual rotary tillage blade group, ensures that the rotary tillage blade can crush straw and effectively cut the soil, solves the problem of poor consistency of seed sowing depth caused by excessive furrowing, large soil blocks in the seed furrow, and uneven furrows, and realizes the soil diversion process; by controlling the side resistance electric push cylinder and the baffle electric push cylinder, adjusting the horizontal position of the side resistance electric push cylinder and the side resistance pressure roller to prevent the thrown soil, and adjusting the contact position of the spatial curved baffle to block the thrown soil, a dynamic sowing depth adjustment process of blocking-coupling is realized, adjusting "soil on seeding" in all directions and all paths, and then controlling the sowing depth, solving the problem that seeds easily fall on the side of the furrow, resulting in the inability to maintain consistent sowing depth between the furrow bottom and the furrow side, and effectively improving the sowing depth qualification rate and consistency.

[0059] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments, but this does not limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 A schematic diagram of the structure of a device according to an embodiment of the present invention;

[0061] Figure 2 This is a schematic diagram of the side resistance roller mechanism structure according to one embodiment of the present invention;

[0062] Figure 3 This is a schematic structural diagram of a spatial curved surface baffle mechanism according to an embodiment of the present invention;

[0063] Figure 4 FIG. 1 is a schematic diagram of sowing depth adjustment according to an embodiment of the present invention.

[0064] Among them, the reference numerals

[0065] 1 rack

[0066] 2 Transmission mechanism

[0067] 3. Measurement and control system

[0068] 4 double-axis layered rotary tillage blade group

[0069] 41 front rotary tillage blade group

[0070] 42 front bearing seat

[0071] 43 rear rotary tillage blade set

[0072] 44 rear bearing seat

[0073] 5. Spatial curved baffle mechanism

[0074] 51 curved baffle

[0075] 52 support rod

[0076] 53 connection blocks

[0077] 54 baffle electric push cylinder

[0078] 6-side pressure roller mechanism

[0079] 61 pressure roller

[0080] 62 side resistance electric push cylinder

[0081] 63 rolling bearings

[0082] 64 side resistance slide rail

[0083] 65 rolling axis

[0084] 66 side resistance cantilever

[0085] 7. Post-sowing pressing roller DETAILED DESCRIPTION

[0086] The structural principle and working principle of the present invention are described in detail below with reference to the accompanying drawings:

[0087] See also Figure 1 , Figure 1 The figure is a schematic diagram of the structure of the device according to one embodiment of the present invention. The dynamic sowing depth adjustment device of the present invention comprises: a frame 1; a dual-axis layered rotary tillage blade group 4, mounted on the frame 1 and located below the front of the frame 1, for achieving soil crushing / throwing and straw crushing; a side blocking roller mechanism 6, mounted on the frame 1 and located behind the dual-axis layered rotary tillage blade group 4, for preventing soil from being thrown out and controlling the sowing depth; a spatial curved baffle mechanism 5, mounted on the frame 1 and located above the side blocking roller mechanism 6, for blocking soil from being thrown out, thereby adjusting the sowing depth, and cooperating with the side blocking roller mechanism 6 to achieve dynamic blocking-blocking coupling. Sowing depth adjustment; post-sowing pressing roller 7, installed on the frame 1, with a certain height difference between it and the side pressure roller mechanism 6, for maintaining appropriate soil compaction; transmission mechanism 2, installed on the frame 1, respectively connected with the dual-axis layered rotary tillage blade group 4, the side pressure roller mechanism 6 and the spatial curved baffle mechanism 5; and measurement and control system 3, installed on the frame 1 and respectively connected with the transmission mechanism 2, the side pressure roller mechanism 6, the spatial curved baffle mechanism 5 and the post-sowing pressing roller 7, for real-time detection and control of various working parameters, so as to effectively improve the sowing depth qualification rate and consistency.

[0088] In this embodiment, the dual-axis layered rotary tiller blade group 4 includes: a front rotary tiller blade group 41, which is installed on the frame 1 through a front bearing seat 42; a rear rotary tiller blade group 43, which is installed on the frame 1 through a rear bearing seat 44 and is located behind the front rotary tiller blade group 41. There is a certain height difference between the front rotary tiller blade group 41 and the rear rotary tiller blade group 43.

[0089] See also Figure 2 , Figure 2 The side resistance roller mechanism 6 of one embodiment of the present invention is a schematic structural diagram. The side resistance roller mechanism 6 of this embodiment includes: side resistance rails 64, symmetrically mounted on both sides of the frame 1, providing a track for the movement of the side resistance roller 61, and a rolling bearing 63 is installed in the side resistance rails 64 to provide support for the movement of the side resistance roller 61; side resistance cantilevers 66, symmetrically arranged on both sides of the frame 1 and connected to the rolling bearing 63 through a rolling shaft 65, for fixing the side resistance roller 61; the rolling shaft 65 is used to drive the side resistance roller 61 to move; the side resistance roller 61, with both ends respectively mounted on the corresponding side resistance cantilever 66, for preventing soil from being thrown out by the dual-axis layered rotary tillage blade group 4; and a side resistance electric push cylinder 62, the fixed end of which is mounted on the frame 1, the movable end of the side resistance electric push cylinder 62 is connected to the side resistance cantilever 66, for controlling the movement of the side resistance roller 61. The side-resistance slide rails 64 on each side of the frame 1 are a group of rails arranged in parallel and side by side, so as to facilitate the smooth movement of the side-resistance pressure rollers 61 .

[0090] See also Figure 3 , Figure 3 This is a schematic structural diagram of a spatial curved baffle mechanism 5 according to an embodiment of the present invention. The spatial curved baffle mechanism 5 of this embodiment includes: a curved baffle 51, which is mounted on the frame 1 through a connecting piece and is used to block the soil thrown out by the dual-axis layered rotary blade group 4; and a baffle electric push cylinder 54, whose fixed end is mounted on the frame 1, and the movable end of the baffle electric push cylinder 54 is connected to the connecting piece for controlling the movement of the curved baffle 51. The connecting piece includes a support rod 52 and a connecting block 53, the connecting block 53 is mounted on the frame 1 and is used to fix the support rod 52; one end of the support rod 52 is mounted on the connecting block 53, and the other end of the support rod 52 is connected to the curved baffle 51 for supporting the curved baffle 51; the movable end of the baffle electric push cylinder 54 is connected to the support rod 52.

[0091] The measurement and control system 3 of this embodiment includes: an ultrasonic distance measuring sensor, which is installed on the frame 1 and located behind the side resistance pressure roller mechanism 6, and the installation point is on the same horizontal line as the post-sowing pressing roller 7, and is used to detect the height of the soil above the ground after the side resistance pressure roller mechanism 6 blocks the ejected soil; an inclination sensor, which is installed on the post-sowing pressing roller 7, and is used to detect the inclination angle of the post-sowing pressing roller 7; a wire displacement sensor, which is respectively installed on the side resistance electric push cylinder 62 and the baffle electric push cylinder 54, and is used to detect the movement displacement of the side resistance electric push cylinder 62 and the baffle electric push cylinder 54; and an industrial computer, which is installed on the frame 1, includes a display screen and a keyboard arranged on the panel, and a data processor arranged therein, and is used to receive the detection values ​​of each sensor and issue control instructions; the input end of the industrial computer is respectively connected to the output end of the inclination sensor, the ultrasonic distance measuring sensor and the wire displacement sensor, and the output end of the industrial computer is respectively connected to the input end of the side resistance electric push cylinder 62 and the baffle electric push cylinder 54. The industrial computer drives the actuator of the sowing depth adjustment device through the side resistance electric push cylinder 62 and the baffle electric push cylinder 54.

[0092] See also Figure 4 , Figure 4 The dynamic sowing depth adjustment method of the present invention comprises the following steps:

[0093] Step S100: Determine the parameters such as the forward speed of the machine, the depth of penetration into the soil, the rotation radius and angular velocity, and the spatial configuration of the dual-axis rotary blade group to ensure that the rotary blades can crush the straw and effectively cut the soil and complete the soil throwing movement. The thickness of the backward soil throwing is T = H × P, where P is the soil throwing rate and H is the penetration depth;

[0094] Step S200: The height h of the soil thrown out by the side pressure roller mechanism 6 after the ultrasonic distance measuring sensor detects the height h of the soil thrown out, and the tilt angle θ of the pressure roller detected by the tilt sensor is used to calculate the sowing depth s = h-(L AB sinθ+r);

[0095] Step S300: Based on the displacement of the side resistance electric push cylinder 62 and the baffle electric push cylinder 54 detected by the wire displacement sensor, if the measured sowing depth is too large or too small, the side resistance electric push cylinder 62 is first adjusted to significantly prevent a large or small amount of soil from being thrown out, and then the baffle electric push cylinder 54 is adjusted to fine-tune the sowing depth to block the thrown soil, thereby controlling the sowing depth and realizing the blocking coupling coordinated sowing depth adjustment process;

[0096] Step S400: Repeat steps S200-S300 to complete the barrier coupling coordinated broadcast depth adjustment process.

[0097] Wherein step S300 further includes:

[0098] Step S301: Before sowing depth adjustment, the sowing depth is s1=h1-(L AB sinθ1+r), the displacements of the side resistance electric push cylinder 62 and the baffle electric push cylinder 54 detected by the wire displacement sensor are x1 and y1 respectively, and the thickness of the soil thrown back is T1=H1×P1;

[0099] Step S302: After the sowing depth of the side resistance electric push cylinder 62 is adjusted, the sowing depth is s2=h2-(L AB sinθ2+r), ​​the displacement of the side resistance electric push cylinder 62 detected by the wire displacement sensor is x2, and the thickness of the soil covered by the backward throwing is T2=H2×P2, then the thickness of the soil covered by the backward throwing that is prevented by the side resistance electric push cylinder 62 per unit displacement is:

[0100] U1=(T2-T1) / (x2-x1)=(H2×P2-H1×P1) / (x2-x1);

[0101] Sowing depth adjusted by 62-unit displacement of the side resistance electric push cylinder:

[0102] s'=(s2-s1) / (x2-x1)=[(h2-(L AB sinθ2+r)-(h1-(L AB sinθ1+r))] / (x2-x1);

[0103] Step S303: After the sowing depth of the baffle electric push cylinder 54 is adjusted, the sowing depth is s3=h3-(L AB sinθ3+r), the displacement of the baffle electric push cylinder 54 detected by the wire displacement sensor is y2, and the thickness of the soil thrown back is T3=H3×P3, then the thickness of the soil thrown back prevented by the baffle electric push cylinder 54 per unit displacement is:

[0104] U2=(T3-T1) / (y2-y1)=(H3×P3-H1×P1) / (y2-y1);

[0105] The sowing depth is adjusted by the 54-unit displacement of the baffle electric push cylinder:

[0106] s”=(s3-s1) / (y2-y1)=[(h3-(L AB sinθ3+r)-(h1-(L AB sinθ1+r))] / (y2-y1);

[0107] Step S304: The side resistance electric push cylinder 62 moves a displacement of x, and the baffle electric push cylinder 54 moves a displacement of y. Then, after the side resistance electric push cylinder 62 and the baffle electric push cylinder 54 are coupled and coordinated to adjust the sowing depth, the coupling and coordination prevent the backward throwing of soil to a thickness of:

[0108] U3=K×U1×(x-x1)+J×U2×(y-y1)=K(H2×P2-H1×P1)(x-x1) / (x2-x1)+J(H3×P3-H1×P1)

[0109] / (y2-y1)(y-y1);

[0110] Among them, K and J are weight coefficients, which are determined by actual conditions;

[0111] Seeding depth regulated by coupled synergistic blocking:

[0112] s”'=M×s’×(x-x1)+N×s”×(y-y1)=M[(h2-(L AB sinθ2+r)-(h1-(L AB sinθ1+r))](x-x1) / (x

[0113] 2-x1)+N[(h3-(L AB sinθ3+r)-(h1-(L AB sinθ1+r))](y-y1 / (y2-y1);

[0114] That is, by adjusting the movement displacement of the side resistance electric push cylinder 62 and the movement displacement of the baffle electric push cylinder 54, a dynamic sowing depth adjustment process of resistance-blocking coupling can be realized, and the "planting soil" can be adjusted in all directions and all paths to control the sowing depth, effectively improve the sowing depth qualification rate and consistency, ensure the consistency of seed germination and growth, and greatly improve the sowing quality and crop yield.

[0115] Where M and N are weight coefficients, which are determined by actual conditions; h is the height from the connection point between the post-sowing pressing roller and the frame to the ground after the side pressure roller mechanism prevents the soil from being thrown out; θ is the inclination angle of the post-sowing pressing roller; s is the sowing depth; L ABis the distance from point A to point B of the post-sowing pressing roller; r is the radius of the post-sowing pressing roller; s1 is the sowing depth before sowing depth adjustment; h1 is the height from the connection point between the post-sowing pressing roller and the frame to the ground after the side resistance roller mechanism prevents the soil from being thrown out before sowing depth adjustment; θ1 is the inclination angle of the post-sowing pressing roller before sowing depth adjustment; x1 is the displacement of the side resistance electric push cylinder before sowing depth adjustment; y1 is the displacement of the space curved baffle electric push cylinder before sowing depth adjustment; T1 is the thickness of the soil thrown back by the double-axis rotary tillage blade group before sowing depth adjustment; H1 is the depth of the double-axis rotary tillage blade group into the soil before sowing depth adjustment; P1 is the displacement of the double-axis rotary tillage blade group before sowing depth adjustment. Soil throwing rate; S2 is the sowing depth after the sowing depth of the side resistance electric push cylinder is adjusted; h2 is the height from the ground after the sowing depth of the side resistance electric push cylinder is adjusted, and the connection point between the post-sowing pressing roller and the frame and the side resistance pressing roller mechanism prevents the soil from being thrown out; θ2 is the inclination angle of the post-sowing pressing roller after the sowing depth of the side resistance electric push cylinder is adjusted; x2 is the displacement of the side resistance electric push cylinder after the sowing depth of the side resistance electric push cylinder is adjusted; T2 is the thickness of the soil thrown back by the double-axis rotary tillage blade group after the sowing depth of the side resistance electric push cylinder is adjusted; H2 is the depth of the double-axis rotary tillage blade group into the soil after the sowing depth of the side resistance electric push cylinder is adjusted; P2 is the soil throwing rate of the double-axis rotary tillage blade group after the sowing depth of the side resistance electric push cylinder is adjusted; U1 is the displacement of the side resistance electric push cylinder The thickness of soil thrown backwards is prevented by the unit displacement of the push cylinder; s' is the sowing depth adjusted by the unit displacement of the side resistance electric push cylinder; S3 is the sowing depth after the sowing depth is adjusted by the space curved baffle electric push cylinder; h3 is the height from the ground after the sowing depth of the space curved baffle electric push cylinder is adjusted, and the connection point between the post-sowing pressing roller and the frame and the side resistance pressing roller mechanism prevents the soil from being thrown out; θ3 is the inclination angle of the post-sowing pressing roller after the sowing depth of the space curved baffle electric push cylinder is adjusted; y2 is the displacement of the space curved baffle electric push cylinder after the sowing depth of the space curved baffle electric push cylinder is adjusted; T3 is the distance from the double-axis rotary tillage blade group to the sowing depth of the space curved baffle electric push cylinder to the sowing depth of the space curved baffle electric push cylinder. Thickness of soil cover; H3 is the depth of the dual-axis rotary tillage blade group into the soil after the sowing depth of the spatial curved surface baffle electric push cylinder is adjusted; P3 is the soil throwing rate of the dual-axis rotary tillage blade group after the sowing depth of the spatial curved surface baffle electric push cylinder is adjusted; U2 is the thickness of soil thrown backwards prevented by the unit displacement of the spatial curved surface baffle electric push cylinder; s' is the sowing depth adjusted by the unit displacement of the spatial curved surface baffle electric push cylinder; x is the displacement of the side resistance electric push cylinder; y is the displacement of the spatial curved surface baffle electric push cylinder; U3 is the thickness of soil thrown backwards blocked by the coupling and coordinated sowing depth adjustment of the side resistance electric push cylinder and the spatial curved surface baffle electric push cylinder; s'' is the sowing depth adjusted by the coupling and coordinated blocking.

[0116] During the working process, first of all, the parameters such as the forward speed of the machine, the depth of penetration into the soil, the rotation radius and angular velocity, and the spatial configuration of the dual-axis rotary tillage blade group are reasonably configured to ensure that the rotary tillage blade effectively crushes the straw and soil, completes the soil throwing movement, and achieves the purpose of soil diversion; the working speed of the side resistance electric push cylinder 62 and the baffle electric push cylinder 54 are adjusted through the measurement and control system 3, and when the transmission mechanism 2 moves smoothly, the height of the soil after the side resistance pressure roller mechanism 6 blocks the thrown soil is detected by the ultrasonic ranging sensor, and the inclination angle of the pressure roller is detected by the inclination sensor to calculate the sowing depth; then according to the pulling The linear displacement sensor detects the movement of the side resistance electric push cylinder 62 and the baffle electric push cylinder 54. If the measured sowing depth is too large or too small, the side resistance electric push cylinder 62 is adjusted first to greatly prevent a large or small amount of soil from being thrown out, and then the baffle electric push cylinder 54 is adjusted to fine-tune the thrown soil, thereby controlling the sowing depth to achieve a dynamic sowing depth adjustment process of resistance-blocking coupling, and adjust the "planting soil" in all directions and all paths to control the sowing depth, effectively improve the sowing depth qualification rate and consistency, ensure the consistency of seed emergence and growth, and greatly improve the sowing quality and crop yield.

[0117] The present invention has a reasonable layout and can fundamentally solve the current problems of poor consistency in seed sowing depth caused by too much trenching and soil backfilling, large soil blocks in the seed furrows, uneven furrows, and seeds easily falling on the sides of the furrow, resulting in the inability to maintain consistent sowing depth between the seeds at the bottom of the furrow and the sides of the furrow. It realizes a dynamic sowing depth adjustment process with barrier-coupling, adjusts the "planting soil" in all directions and all paths, and then controls the sowing depth, effectively improving the sowing depth qualification rate and consistency, ensuring consistent seed emergence and growth, and greatly improving the sowing quality and crop yield. The dual-axis layered rotary tillage method is adopted, and the configuration parameters of the dual rotary tillage blade group are optimized to ensure that the rotary tillage blades can crush the straw and effectively cut the soil, solving the current problems of poor consistency in seed sowing depth caused by a large amount of soil back into the furrow, large clods of soil in the seed furrow, and uneven furrows, and realizing the soil diversion process; by controlling the side resistance electric push cylinder 62 and the baffle electric push cylinder 54, adjusting the horizontal position of the side resistance electric push cylinder 62 and the side resistance pressure roller 61 to prevent the thrown soil, and adjusting the contact position of the curved baffle 51 to block the thrown soil, realizing the dynamic sowing depth adjustment process of resistance-blocking coupling, and adjusting the "planting soil" in all directions and all paths, thereby controlling the sowing depth, solving the problem that seeds easily fall on the side of the furrow, resulting in the inability to maintain consistent sowing depth between the seeds at the bottom of the furrow and the side of the furrow, and effectively improving the sowing depth qualification rate and consistency.

[0118] 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 may make various corresponding changes and modifications based on the present invention, but these corresponding changes and modifications should all fall within the scope of protection of the claims attached to the present invention.

Claims

1. A dynamic sowing depth adjustment device, characterized in that: include: frame; A double-axis layered rotary tillage blade group is installed on the frame and located below the front of the frame, and is used to crush / throw soil and pulverize straw; A side pressure roller mechanism is mounted on the frame and located behind the dual-axis layered rotary tillage blade group, and is used to prevent soil from being thrown out and control the sowing depth; the side pressure roller mechanism includes: Side resistance slide rails are symmetrically mounted on both sides of the frame, and rolling bearings are installed in the side resistance slide rails; Side drag cantilevers are symmetrically arranged on both sides of the frame and connected to the rolling bearing via a rolling shaft; Side resistance rollers, both ends of which are respectively mounted on the corresponding side resistance cantilever arms, for preventing soil from being thrown out by the dual-axis layered rotary tillage blade group; and A side resistance electric push cylinder, the fixed end of which is mounted on the frame, and the movable end of which is connected to the side resistance cantilever, for controlling the movement of the side resistance pressure roller; A spatial curved baffle mechanism is mounted on the frame and located above the side blocking roller mechanism, and is used to block the thrown soil. It cooperates with the side blocking roller mechanism to achieve dynamic sowing depth adjustment by blocking-coupling, so as to adjust the "soil planting" in all directions and along all paths. A post-sowing pressing roller is mounted on the frame and has a set height difference with the side blocking roller mechanism to maintain soil compaction; A transmission mechanism is mounted on the frame and is connected to the dual-axis layered rotary tillage blade group, the side resistance roller mechanism and the spatial curved baffle mechanism respectively; and A measurement and control system is installed on the frame and is respectively connected to the transmission mechanism, the side resistance roller mechanism, the spatial curved baffle mechanism and the post-sowing pressing roller, and is used to detect and control working parameters in real time to improve the seeding depth qualification rate and consistency; Wherein, the dual-axis layered rotary tillage blade group includes: A front rotary tillage blade assembly is mounted on the frame via a front bearing seat; and The rear rotary tiller blade group is mounted on the frame via a rear bearing seat and is located behind the front rotary tiller blade group, with a height difference between the front rotary tiller blade group and the rear rotary tiller blade group; The spatial curved surface baffle mechanism comprises: a curved baffle, mounted on the frame via a connector, for blocking soil thrown out by the dual-axis layered rotary tillage blade assembly; and A baffle electric push cylinder, the fixed end of which is mounted on the frame, and the movable end of which is connected to the connecting member, for controlling the movement of the curved baffle; The measurement and control system comprises: an ultrasonic distance measuring sensor, mounted on the frame and located behind the side resistance and pressure roller mechanism, and on the same horizontal line as the post-sowing pressure roller, for detecting the height of the side resistance and pressure roller mechanism from the ground; An inclination sensor is installed on the post-sowing pressing roller and is used to detect the inclination angle of the post-sowing pressing roller; a wire displacement sensor, mounted on the side resistance electric push cylinder and the baffle electric push cylinder, respectively, for detecting the movement displacement of the side resistance electric push cylinder and the baffle electric push cylinder; and An industrial computer is installed on the frame and is used to receive detection values ​​from various sensors and issue control instructions; the input end of the industrial computer is respectively connected to the output ends of the inclination sensor, ultrasonic ranging sensor and wire displacement sensor, and the output end of the industrial computer is respectively connected to the input ends of the side resistance electric push cylinder and the baffle electric push cylinder. By controlling the side resistance electric push cylinder and the baffle electric push cylinder, the horizontal positions of the side resistance electric push cylinder and the side resistance pressure roller are adjusted to prevent soil from being thrown out; and the curved baffle is adjusted to block the thrown soil, thereby realizing dynamic sowing depth adjustment of blocking coupling.

2. The dynamic sowing depth adjustment device according to claim 1, characterized in that: The side resistance slide rails on each side of the frame are a group of rails arranged in parallel and side by side, so as to facilitate the smooth movement of the side resistance pressure rollers.

3. The dynamic sowing depth adjustment device according to claim 1, characterized in that: The connecting part includes a support rod and a connecting block, the connecting block is installed on the frame, one end of the support rod is installed on the connecting block, the other end of the support rod is connected to the curved baffle, and the moving end of the baffle electric push cylinder is connected to the support rod.

4. A dynamic sowing depth adjustment method, characterized in that: The dynamic sowing depth adjustment device according to any one of claims 1 to 3 is used to adjust the "soil on the soil" in all directions and all paths to improve the sowing depth qualification rate and consistency, including the following steps: S100, determining machine parameters to ensure that the rotary tiller can crush straw and effectively cut soil and complete soil throwing movement; S200, determining the sowing depth s based on the height h of the soil above the ground after the side pressure roller mechanism blocks the ejected soil detected by the ultrasonic ranging sensor, and the inclination angle θ of the post-sowing pressure roller detected by the inclination sensor: s=h-(L AB sinθ+r); Where h is the height from the connection point between the post-sowing pressing roller and the frame to the ground after the side pressure roller mechanism prevents the soil from being thrown out, L AB is the distance from point A to point B of the post-sowing press roller, θ is the inclination angle of the post-sowing press roller, and r is the radius of the post-sowing press roller; S300, controlling the sowing depth by adjusting the displacement of the side resistance electric push cylinder and the baffle electric push cylinder according to the displacement of the side resistance electric push cylinder and the baffle electric push cylinder detected by the wire displacement sensor, thereby achieving barrier coupling coordinated sowing depth adjustment; and S400 , repeating steps S200 - S300 to complete barrier coupling coordinated seeding depth adjustment.

5. The dynamic sowing depth adjustment method according to claim 4, characterized in that: Step S300 further includes: S301, before sowing depth adjustment, sowing depth is s1=h1-(L AB sinθ1+r), the displacements of the side resistance electric push cylinder and the baffle electric push cylinder detected by the wire displacement sensor are x1 and y1 respectively, and the thickness of the backward soil cover is T1=H1×P1; S302, after the sowing depth of the side resistance electric push cylinder is adjusted, the sowing depth is s2=h2-(L AB sinθ2+r), ​​the displacement of the side resistance electric push cylinder detected by the pull-wire displacement sensor is x2, the thickness of the soil thrown back is T2=H2×P2, and the thickness of the soil thrown back prevented by the unit displacement of the side resistance electric push cylinder is: U1=(T2-T1) / (x2-x1)=(H2×P2-H1×P1) / (x2-x1); The sowing depth adjusted by the moving unit displacement of the side resistance electric push cylinder is: s’=(s2-s1) / (x2-x1)=[(h2-(L AB sinθ2+r)-(h1-(L AB sinθ1+r))] / (x2-x1); S303, after the sowing depth of the baffle electric push cylinder is adjusted, the sowing depth is s3=h3-(L AB sinθ3+r), the displacement of the baffle electric push cylinder detected by the pull-wire displacement sensor is y2, the thickness of the soil thrown back is T3=H3×P3, and the thickness of the soil thrown back prevented by the unit displacement of the baffle electric push cylinder is: U2=(T3-T1) / (y2-y1)=(H3×P3-H1×P1) / (y2-y1); The sowing depth adjusted by the moving unit displacement of the baffle electric push cylinder is: <h2 style=";text-align:left;direction:ltr">s”=(s3-s1) / (y2-y1)=[(h3-(L<h2 style=";text-align:left;direction:ltr"> AB <h2 style=";text-align:left;direction:ltr"> sinθ3+r)-(h1-(L<h2 style=";text-align:left;direction:ltr"> AB <h2 style=";text-align:left;direction:ltr"> sinθ1+r))] / (y2-y1); S304: The displacement of the side resistance electric push cylinder is x, and the displacement of the baffle electric push cylinder is y. After the coupling and coordinated sowing depth adjustment of the side resistance electric push cylinder and the baffle electric push cylinder, the coupled and coordinated blocking thickness of the backward throwing soil is: U3=K×U1×(x-x1)+J×U2× (y-y1)=K(H2×P2-H1×P1)(x-x1) / (x2-x1)+J(H3×P3-H1×P1) / (y2-y1)(y-y1); The seeding depth of coupled cooperative barrier regulation is: s”'=M×s’×(x-x1)+N×s”× (y-y1)=M[(h2-(L AB sinθ2+r)-(h1-(L AB sinθ1+r))](x-x1) / (x2-x1)+N[(h3-(L AB sinθ3+r)-(h1-(L AB sinθ1+r))](y-y1 / (y2-y1); Among them, K, J, M, and N are weight coefficients, s1 is the sowing depth before sowing depth adjustment; h1 is the height from the ground after the connection point between the post-sowing pressing roller and the frame to the side resistance pressing roller mechanism to prevent the soil from being thrown out before sowing depth adjustment; θ1 is the inclination angle of the post-sowing pressing roller before sowing depth adjustment; x1 is the displacement of the side resistance electric push cylinder before sowing depth adjustment; y1 is the displacement of the spatial curved baffle electric push cylinder before sowing depth adjustment; T1 is the thickness of the soil thrown back by the dual-axis rotary tillage blade group before sowing depth adjustment; H1 is the depth of the dual-axis rotary tillage blade group into the soil before sowing depth adjustment; P1 is the soil throwing rate of the dual-axis rotary tillage blade group before sowing depth adjustment; S2 is The sowing depth after the side resistance electric push cylinder sowing depth is adjusted; h2 is the height from the ground after the connection point between the post-sowing pressing roller and the frame to the side resistance pressing roller mechanism prevents the soil from being thrown out after the side resistance electric push cylinder sowing depth is adjusted; θ2 is the inclination angle of the post-sowing pressing roller after the side resistance electric push cylinder sowing depth is adjusted; x2 is the displacement of the side resistance electric push cylinder after the side resistance electric push cylinder sowing depth is adjusted; T2 is the thickness of the soil thrown back by the double-axis rotary tillage blade group after the side resistance electric push cylinder sowing depth is adjusted; H2 is the depth of the double-axis rotary tillage blade group into the soil after the side resistance electric push cylinder sowing depth is adjusted; P2 is the soil throwing rate of the double-axis rotary tillage blade group after the side resistance electric push cylinder sowing depth is adjusted; U1 is the displacement of the side resistance electric push cylinder The thickness of soil thrown back by unit displacement is prevented; s' is the sowing depth adjusted by the unit displacement of the side resistance electric push cylinder; S3 is the sowing depth after the sowing depth is adjusted by the space curved baffle electric push cylinder; h3 is the height from the ground after the sowing depth adjustment of the space curved baffle electric push cylinder, when the connection point between the post-sowing pressing roller and the frame is reached to the side resistance pressing roller mechanism to prevent the soil from being thrown out; θ3 is the inclination angle of the post-sowing pressing roller after the sowing depth adjustment of the space curved baffle electric push cylinder; y2 is the displacement of the space curved baffle electric push cylinder after the sowing depth adjustment of the space curved baffle electric push cylinder; T3 is the distance from the double-axis rotary tillage blade group to throw soil and cover the soil backward after the sowing depth adjustment of the space curved baffle electric push cylinder. Thickness; H3 is the depth of the double-axis rotary tillage blade group into the soil after the sowing depth of the spatial curved surface baffle electric push cylinder is adjusted; P3 is the soil throwing rate of the double-axis rotary tillage blade group after the sowing depth of the spatial curved surface baffle electric push cylinder is adjusted; U2 is the thickness of the backward soil thrown back by the unit displacement of the spatial curved surface baffle electric push cylinder; s" is the sowing depth adjusted by the unit displacement of the spatial curved surface baffle electric push cylinder; x is the displacement of the side resistance electric push cylinder; y is the displacement of the spatial curved surface baffle electric push cylinder; U3 is the thickness of the backward soil thrown back by the coupling and cooperative blocking after the sowing depth is adjusted by the coupling and cooperative blocking of the side resistance electric push cylinder and the spatial curved surface baffle electric push cylinder; s"' is the sowing depth adjusted by the coupling and cooperative blocking.

6. The dynamic sowing depth adjustment method according to claim 4, characterized in that: In step S300, if the measured sowing depth is too large or too small, the side resistance electric push cylinder is first adjusted to significantly prevent a large or small amount of soil from being thrown out, and then the baffle electric push cylinder is adjusted to fine-tune the thrown soil.

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