Seeding profiling four-bar linkage shock absorption device and method

Abstract

The present invention provides a seeding profiling four-bar shock absorption device and method, belonging to the technical field of agricultural machinery equipment. The seeding profiling four-bar shock absorption device includes: a seeding unit; a profiling four-bar device disposed on one side of the seeding unit; a traction frame disposed on the side of the profiling four-bar device away from the seeding unit; and a lever shock absorption device disposed on the traction frame, the lever shock absorption device being connected to the profiling four-bar device to reduce the vibration of the profiling four-bar device. By providing the lever shock absorption device, part of the vibration force of the four-bar during the operation of the seeding unit is absorbed by the damper, and the other part is changed in direction by the lever to further suppress the vibration, achieving a doubling effect of the shock absorption resistance. At the same time, by detecting the motion state of the four-bar, the length of the lever arm is changed to achieve a better shock absorption effect through an active adjustment method, realizing a better shock absorption effect under different working conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery equipment, and particularly to a seeding profiling four-bar shock absorption device and method. Background Art

[0002] When a seeder performs seeding profiling, due to large changes in the spatial resistance of the soil in the plot under complex environments such as undulating ground surface or stubble coverage, the profiling bounce of the seeder is serious during high-speed operation, resulting in phenomena such as inconsistent seed spacing and uneven seeding depth, significantly affecting the development and later growth of seedlings. Existing traditional seeders mainly reduce the vibration during seeding operations by installing springs on the profiling four-bar linkage, thereby improving the profiling effect of the seeder on the ground, and thus improving the uniformity of seeding spacing and the stability of seeding depth. Since the elastic coefficient of the spring is fixed during the actual operation process and cannot be adjusted actively in real time, it is difficult to better reduce the operation vibration of the seeder under high speed or different ground conditions. Summary of the Invention

[0003] The present invention provides a seeding profiling four-bar shock absorption device and method to solve the problem of excessive operation vibration amplitude of the seeder under high speed or different ground conditions in the prior art.

[0004] The present invention provides a seeding profiling four-bar shock absorption device, including:

[0005] A seeding unit;

[0006] A profiling four-bar linkage device, arranged on one side of the seeding unit;

[0007] A traction frame, arranged on the side of the profiling four-bar linkage device away from the seeding unit;

[0008] A lever shock absorption device, arranged on the traction frame, and the lever shock absorption device is connected to the profiling four-bar linkage device to reduce the vibration of the profiling four-bar linkage device.

[0009] According to a seeding profiling four-bar shock absorption device provided by the present invention, the profiling four-bar linkage device includes a first link, a second link and a third link, the third link is connected to the seeding unit, the first link and the second link are arranged in parallel and the first link is located above the second link, one ends of the first link and the second link are both hinged to the third link, and the other ends of the first link and the second link are both hinged to the traction frame;

[0010] The lever shock absorption device is hinged to both the first link and the third link.

[0011] According to a seeding profiling four-bar linkage damping device provided by the present invention, the lever damping device includes a lever support, an intermediate lever, a damper, and a lever link. The lever support is arranged on one side of the traction frame facing the seeding monomer, and the lever support is located between the first link and the second link. The middle part of the intermediate lever is hinged to the lever support. One end of the damper is hinged to the first link, and the other end of the damper is movably connected to one end of the intermediate lever. One end of the lever link is hinged to the third link, and the other end of the lever link is movably connected to the other end of the intermediate lever.

[0012] According to a seeding profiling four-bar linkage damping device provided by the present invention, one end of the damper is connected to the intermediate lever through a first adjustment mechanism, and one end of the lever link is connected to the intermediate lever through a second adjustment mechanism.

[0013] According to a seeding profiling four-bar linkage damping device provided by the present invention, the intermediate lever includes a first support rod and a second support rod. One end of the first support rod is connected to one end of the second support rod, and the first support rod and the second support rod are arranged at an angle to each other. The connection part of the first support rod and the second support rod is hinged to the lever support;

[0014] A first through groove is formed in the first support rod, and the first adjustment mechanism is located in the first through groove;

[0015] A second through groove is formed in the second support rod, and the second adjustment mechanism is located in the second through groove.

[0016] According to a seeding profiling four-bar linkage damping device provided by the present invention, the first adjustment mechanism includes a first electric push rod. The fixed end of the first electric push rod is arranged on the side wall of the first through groove close to the second through groove, and the output end of the first electric push rod is hinged to one end of the damper.

[0017] According to a seeding profiling four-bar linkage damping device provided by the present invention, the second adjustment mechanism includes a second electric push rod. The fixed end of the second electric push rod is arranged on the side wall of the second through groove close to the first through groove, and the output end of the second electric push rod is hinged to one end of the lever link.

[0018] According to a seeding profiling four-bar linkage damping device provided by the present invention, it further includes a limiting device. The limiting device includes a first limiting block and a second limiting block, and both the first limiting block and the second limiting block are connected to the traction frame;

[0019] The first limiting block and the second limiting block are respectively arranged on the upper and lower sides of the connection part of the first link or the second link and the traction frame.

[0020] A seeding profiling four-bar shock absorption device provided by the present invention further includes an electronic control unit, which includes a single-chip microcomputer, a motion state sensor and a pressure sensor. The pressure sensor is arranged at the connection between the first link and the damper, and the motion state sensors are respectively arranged on the first link and the intermediate lever.

[0021] The present invention also provides a seeding profiling four-bar shock absorption method, which is applied to the above-mentioned seeding profiling four-bar shock absorption device. The shock absorption method includes:

[0022] Measuring the length of the power arm and the length of the resistance arm; wherein, the length of the power arm is the vertical distance between the lever fulcrum of the intermediate lever and the damper; the length of the resistance arm is the vertical distance between the lever fulcrum of the intermediate lever and the lever link;

[0023] Measuring the included angles between the first link and the damper, the damper and the intermediate lever, the intermediate lever and the lever link, and the lever link and the third link;

[0024] Measuring the acting force between the first link and the damper;

[0025] Calculating the component force of the lever link in the vertical direction;

[0026] According to the calculated component force, adjusting the telescoping of the first electric push rod and the second electric push rod, changing the length of the power arm and the length of the resistance arm, and at the same time adjusting the damping ratio of the damper, so that the vibration amplitude of the profiling four-bar device is reduced, thereby reducing the vibration of the seeding monomer.

[0027] A seeding profiling four-bar shock absorption device and method provided by the present invention use a profiling four-bar device to achieve ground profiling of the seeding monomer. By setting a lever shock absorption device and using the combined action of a damper and a lever, part of the vibration force of the seeding monomer on the four-bar during operation is absorbed by the damper, and the other part is further suppressed by changing the direction of the lever, achieving a doubling effect of shock absorption resistance, effectively reducing the vibration of the profiling four-bar, and thus reducing the vibration of the seeding monomer. At the same time, by detecting the motion state of the four-bar, the length of the lever arm is changed, and a better shock absorption effect is achieved through an active adjustment method, enabling the seeding monomer to adapt to the working environment of different ground surfaces and achieving a better shock absorption effect under different working conditions. Description of the Drawings

[0028] To more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0029] Figure 1 is the front view of the seeding profiling four-bar shock absorption device provided by the present invention;

[0030] Figure 2 is the three-dimensional view of the seeding profiling four-bar shock absorption device provided by the present invention;

[0031] Figure 3 is the connection schematic diagram of the profiling four-bar device and the towing frame;

[0032] Figure 4 is the structural schematic diagram of the intermediate lever;

[0033] Figure 5 is the schematic diagram of the profiling four-bar device rising to the limit position;

[0034] Figure 6 is the schematic diagram of the profiling four-bar device descending to the limit position;

[0035] Figure 7 is the structural schematic diagram of replacing the lever link with a hydraulic damper;

[0036] Figure 8 is the structural schematic diagram of replacing the lever link with a mechanical spring;

[0037] Figure 9 is the flow chart of the seeding profiling four-bar shock absorption method provided by the present invention;

[0038] Figure 10 is the force diagram of the profiling four-bar device.

[0039] Reference numerals:

[0040] 100, seeding unit; 101, furrow opener;

[0041] 200, profiling four-bar device; 201, first link; 202, second link;

[0042] 203, third link; 300, towing frame; 400, lever shock absorption device;

[0043] 410, lever support; 420, intermediate lever; 421, first strut;

[0044] 422, second strut; 423, first through groove; 424, second through groove;

[0045] 430, Damper; 440, Lever linkage;

[0046] 500, Limit device; 501, First limit block; 502, Second limit block;

[0047] 601, First electric push rod; 602, Second electric push rod;

[0048] 701, Motion state sensor; 702, Pressure sensor. Detailed implementation manners

[0049] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without making creative efforts shall fall within the protection scope of the present invention.

[0050] The following combines Figures 1 - 10 to describe a seeding profiling four-bar shock absorption device and method of the present invention.

[0051] As Figures 1 - 8 shown, a seeding profiling four-bar shock absorption device includes: a seeding unit 100, a profiling four-bar device 200, a traction frame 300, a lever shock absorption device 400, a limit device 500 and an electronic control unit.

[0052] The seeding unit 100 has a conventional seeding machine structure. A driving wheel and a furrow opener 101 are provided at the bottom of the seeding unit 100. The driving wheel and the furrow opener 101 are also conventional existing structures. The seeding unit 100 can perform seeding while opening furrows;

[0053] The profiling four-bar device 200 is arranged on one side of the seeding unit 100, specifically on the front side in the advancing direction of the seeding unit 100;

[0054] The traction frame 300 is arranged on the side of the profiling four-bar device 200 away from the seeding unit 100. The traction frame 300 is used to connect with an external traction device to drive the seeding unit 100 to move forward;

[0055] The traction device can be a tractor or other power mechanisms. The traction frame 300 is connected to the suspension frame behind the traction device, and then the seeding unit 100 is driven to move forward by the traction device;

[0056] The lever shock absorption device 400 is arranged on the traction frame 300. The lever shock absorption device 400 is connected to the profiling four-bar device 200 to reduce the vibration of the profiling four-bar device 200.

[0057] Specifically, the profiling four-bar linkage device 200 includes a first link 201, a second link 202, and a third link 203. The third link 203 is connected to the seeding unit 100. The first link 201 and the second link 202 are arranged in parallel, and the first link 201 is located above the second link 202. One ends of the first link 201 and the second link 202 are both hinged to the third link 203, and the other ends of the first link 201 and the second link 202 are both hinged to the towing frame 300;

[0058] The lever damping device 400 is hinged to both the first link 201 and the third link 203;

[0059] Specifically, the lever damping device 400 includes a lever support 410, an intermediate lever 420, a damper 430, and a lever link 440. The lever support 410 is arranged on the side of the towing frame 300 facing the seeding unit 100, and the lever support 410 is located between the first link 201 and the second link 202. The middle part of the intermediate lever 420 is hinged to the lever support 410. One end of the damper 430 is hinged to the first link 201, and the other end of the damper 430 is movably connected to one end of the intermediate lever 420. One end of the lever link 440 is hinged to the third link 203, and the other end of the lever link 440 is movably connected to the other end of the intermediate lever 420;

[0060] It can be understood that for the convenience of rotation, the first link 201 and the damper 430 are hinged by a hinge, which also facilitates the installation of the pressure sensor 702; the lever link 440 and the third link 203 are hinged by a hinge; when vibrating, the first link 201 transmits the vibration to the damper 430, and the damper 430 absorbs and transmits a part of the force to the power arm end of the intermediate lever 420, forming a moment to push the intermediate lever 420 to rotate, so as to generate a vertical force in the opposite direction to the vibration direction at the resistance arm end, achieving the effect of multiplying the resistance and suppressing the vibration.

[0061] Specifically, one end of the damper 430 is connected to the intermediate lever 420 through a first adjusting mechanism, and one end of the lever link 440 is connected to the intermediate lever 420 through a second adjusting mechanism;

[0062] Specifically, the intermediate lever 420 includes a first rod 421 and a second rod 422. One end of the first rod 421 and one end of the second rod 422 are connected, and the first rod 421 and the second rod 422 are arranged at an angle to each other. The connection part of the first rod 421 and the second rod 422 is hinged to the lever support 410;

[0063] It should be noted that the damper 430 includes but is not limited to pneumatic springs, hydraulic dampers, electromagnetic dampers, etc.; the intermediate lever 420 may be in a V-shaped structure, and the opening of the V-shaped structure faces the seeding unit 100 side;

[0064] A first through groove 423 is formed on the first rod 421, and the first adjusting mechanism is located in the first through groove 423;

[0065] A second through groove 424 is formed on the second rod 422, and the second adjusting mechanism is located in the second through groove 424.

[0066] The first adjusting mechanism includes a first electric push rod 601. The fixed end of the first electric push rod 601 is arranged on the side wall of the first through groove 423 close to the second through groove 424, and the output end of the first electric push rod 601 is hinged to one end of the damper 430.

[0067] The second adjusting mechanism includes a second electric push rod 602. The fixed end of the second electric push rod 602 is arranged on the side wall of the second through groove 424 close to the first through groove 423, and the output end of the second electric push rod 602 is hinged to one end of the lever link 440.

[0068] It should be noted that the above electric push rod can be replaced by a structure with a length adjustment function such as a hydraulic rod or a pneumatic rod to realize the function of adjusting the length of the force arm of the adjusting mechanism.

[0069] When the seeding unit 100 is operating, the undulation of the ground drives the seeding unit 100 to vibrate, thereby driving the profiling four-bar linkage 200 to move up and down. When the profiling four-bar linkage 200 rises, the vibration force causes the first link 201 to pull the damper 430 upward, driving the intermediate lever 420 to rotate counterclockwise, thereby generating an obliquely downward force at the resistance arm end and transmitting it to the third link 203 through the lever link 440. A vertically downward component force is generated on the third link 203, and the direction is opposite to the vibration force direction. Coupled with the downward reaction force of the damper 430 when the first link 201 acts on the damper 430, the upward vibration is suppressed. When this component force is small, the first electric push rod 601 at the power arm end can be appropriately extended or the second electric push rod 602 at the resistance arm end can be shortened to increase the length of the power arm or shorten the length of the resistance arm to increase this component force and achieve a better suppression effect. Similarly, when the profiling four-bar linkage 200 descends, the vibration force is transmitted to the damper 430 and the intermediate lever 420, pushing the intermediate lever 420 to rotate clockwise, generating an obliquely upward force at the resistance arm end and transmitting it to the third link 203 through the lever link 440. This force has a vertically upward component force. Coupled with the upward reaction force of the damper 430, the downward vibration of the four-bar linkage is suppressed; at the same time, when this component force is small, the size of the suppression force can also be increased by increasing the length of the power arm and reducing the length of the resistance arm;

[0070] In the above situation, when the component force is too large, the length of the driving arm can be reduced or the length of the resistance arm can be increased to suppress vibration and reduce the impact force on each connecting rod.

[0071] The limiting device 500 includes a first limiting block 501 and a second limiting block 502, and both the first limiting block 501 and the second limiting block 502 are connected to the traction frame 300;

[0072] The first limiting block 501 and the second limiting block 502 are respectively arranged on the upper and lower sides of the connection between the first connecting rod 201 or the second connecting rod 202 and the traction frame 300; preferably, they are arranged on the upper and lower sides of the connection between the first connecting rod 201 and the traction frame 300 to make room for the installation of the lever support 410;

[0073] The free ends of the first limiting block 501 and the second limiting block 502 are arranged as inclined surfaces at the positions where they abut against the corresponding connecting rods, and flexible materials such as nylon are arranged on the inclined surfaces. The limiting device 500 can limit the deformation amount of the profiling four-link device 200 swinging up and down, that is, the limiting device 500 can limit the profiling distance of the profiling four-link device 200 up and down, can reduce the impact force brought by vibration, and can avoid the situation that the upper and lower two connecting rods collide with the lever damping device 400 due to excessive deformation amount, resulting in component damage, effectively protecting the lever damping device 400;

[0074] It can be understood that in order to make the lever damping device 400 have a better damping effect, in this embodiment, the positions of the components in the lever damping device 400 are further reasonably arranged. Preferably, the lever support 410 is arranged on the upper side close to the hinge joint between the second connecting rod 202 and the traction frame 300, the damper 430 is hinged to the position on the middle part of the first connecting rod 201 close to the third connecting rod 203, and the lever connecting rod 440 is hinged to the position a little above the middle part of the third connecting rod 203;

[0075] In some embodiments, the lever connecting rod 440 can be a rigid rod. In addition, the lever connecting rod 440 can be replaced by a hydraulic damper, a pneumatic spring, a mechanical spring, etc., so that the lever damping device 400 forms a double hydraulic device or a hydraulic spring combination device.

[0076] The electronic control unit includes a single-chip microcomputer, a motion state sensor 701 and a pressure sensor 702. The pressure sensor 702 is arranged at the connection between the first connecting rod 201 and the damper 430, and the motion state sensor 701 is respectively arranged on the first connecting rod 201 and the intermediate lever 420;

[0077] Specifically, the single chip microcomputer can be arranged on the sowing unit 100, and the motion state sensor 701 includes but is not limited to an angle sensor, an inclination sensor, a level ruler and an acceleration sensor, etc. The motion state sensor 701 is used to measure the motion parameters of the profiling four-link device 200 in real time, including the angle, speed, acceleration and the like of the motion; the motion state sensor 701 is also used to measure the angle of the middle lever 420; preferably, the motion state sensor 701 arranged on the first link 201 is an inclination sensor, and the motion state sensor 701 arranged on the middle lever 420 is an angle sensor; the pressure sensor 702 is used to measure the force between the first link 201 and the damper 430, and the pressure sensor 702 can be replaced by a strain gauge;

[0078] The motion state sensor 701 and the pressure sensor 702 are electrically connected to the single chip microcomputer. The motion state sensor 701 and the pressure sensor 702 transmit the measured signal to the single chip microcomputer. The single chip microcomputer is electrically connected to the damper 430, the first electric push rod 601 and the second electric push rod 602. After receiving the signal and calculating, the single chip microcomputer controls and adjusts the extension and contraction amount of the first electric push rod 601 and the second electric push rod 602, and adjusts the damping ratio of the damper 430 at the same time. When the measured motion parameter is large, that is, when the deformation amount of the four-bar linkage is large, the damping ratio of the damper 430 can be increased. On the contrary, when the parameter is small, the damping ratio can be appropriately reduced. Through active adjustment, it can adapt to different vibration levels and achieve better vibration reduction effect.

[0079] This device is different from the traditional four-bar vibration reduction device, which only passively resists the vibration force. The more intense the vibration, the greater the vibration force, the greater the deformation of the four-bar, and the initial state can be restored only when the vibration force decreases. When the device is subjected to the vibration force, the damper 430 and the lever connecting rod 440 can generate a reverse force consistent with the magnitude of the vibration force, quickly and effectively preventing deformation and achieving a better vibration reduction effect.

[0080] A sowing profiling four-link vibration reduction method is applied to the above-mentioned sowing profiling four-link vibration reduction device, such as Figure 9 As shown, vibration reduction methods include:

[0081] Measure the power arm length and the resistance arm length; wherein the power arm length is the vertical distance between the lever fulcrum of the intermediate lever 420 and the damper 430; the resistance arm length is the vertical distance between the lever fulcrum of the intermediate lever 420 and the lever connecting rod 440; the lever fulcrum of the intermediate lever 420 is the hinge point between the intermediate lever 420 and the lever support 410;

[0082] Specifically, the middle lever 420 can be regarded as a lever, and the length of the power arm and the length of the resistance arm can be obtained by respectively converting the extension and contraction amounts and various angles of the two electric push rods and other known related data;

[0083] Measure the angles between the first link 201 and the damper 430, between the damper 430 and the intermediate lever 420, between the intermediate lever 420 and the lever link 440, and between the lever link 440 and the third link 203;

[0084] Specifically, the acquisition of each angle can be measured and calculated by the motion state sensor 701;

[0085] Measure the force between the first link 201 and the damper 430; the force can be measured and calculated by the pressure sensor 702;

[0086] Calculate the component force of the lever link 440 in the vertical direction;

[0087] According to the calculated component force, adjust the extension and retraction of the first electric push rod 601 and the second electric push rod 602 to change the lengths of the power arm and the resistance arm, and at the same time adjust the damping ratio of the damper 430, so as to reduce the vibration amplitude of the profiling four-link mechanism 200, and further reduce the vibration of the seeding unit 100.

[0088] Specifically, as Figure 10 shown, v is the vibration direction, F is the downward force generated by the vibration, θ 1 is the angle between the first link 201 and the damper 430, θ 2 is the angle between the intermediate lever 420 and the damper 430, θ 3 is the angle between the intermediate lever 420 and the lever link 440, θ 4 is the angle between the lever link 440 and the third link 203, F 1 is the force on the damper 430, F 2 is the force on the lever link 440, F 3 is the reaction force converted by the lever damping device 400, L 1 is the length of the power arm, L 2 is the length of the resistance arm; the force relationship of the four-link mechanism is as follows:

[0089]

[0090] Calculate to obtain F the value of 3, and by changing the length of the force arm, make F the magnitude of 3 satisfy:

[0091] Each parameter will change with the occurrence of vibration and the change of the shape of the profiling four-bar linkage. By measuring the angles between the linkages, the lengths of the force arms, and the acting force between the first linkage 201 and the damper 430 in real time, and adjusting the length of the force arm at certain time intervals, a better vibration reduction effect can be achieved;

[0092] That is, the four-bar linkage deforms under the action of the vibration force. According to the measured acting force, the initial length of the force arm, and the angles between the linkages, the vertical component force transmitted by the lever link 440 is initially calculated. By comparing it with the vibration force, the length of the force arm is changed to make the component force as close as possible to the vibration force and reduce the vibration range. Finally, the optimal vibration reduction effect of the seeding unit 100 under different operating conditions is achieved.

[0093] A seeding profiling four-bar linkage vibration reduction device and method provided by the present invention are directed at the problems that the vibration of the seeding machine in a complex operating environment affects the operating quality of the metering device and the furrow opener 101, resulting in uneven seeding spacing and unstable seeding depth. Through the design of the profiling mechanism of the no-till seeding unit, through the combined action of the lever and the damper 430, part of the vibration force is absorbed by the damper 430, and the other part changes the direction through the lever to suppress the vibration. At the same time, relying on the motion state sensor 701 to detect the motion state of the four-bar linkage, by changing the length of the lever force arm, the magnitude of the up-and-down vibration resistance of the profiling four-bar linkage is adjusted in real time, thereby reducing its vibration amplitude, adapting to the stable operating requirements of the seeding machine under different surface undulation environments, maximizing the profiling effect of the seeding machine and the quality of the seeding operation, promoting the growth and development of seeds, and laying a solid foundation for the research on subsequent high-speed precision seeding operation control technology.

[0094] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A sowing profiling four-bar linkage damping device, characterized in that, Comprising: Sowing monomer; Contour following four-bar linkage device, arranged on one side of the sowing monomer; Traction frame, arranged on the side of the contour following four-bar linkage device away from the sowing monomer; Lever damping device, arranged on the traction frame, and the lever damping device is connected to the contour following four-bar linkage device to reduce the vibration of the contour following four-bar linkage device; The contour following four-bar linkage device includes a first link, a second link and a third link, and the lever damping device is hinged to both the first link and the third link; The lever damping device includes a lever support, an intermediate lever, a damper and a lever link. The lever support is arranged on the side of the traction frame facing the sowing monomer, and the lever support is located between the first link and the second link. The middle of the intermediate lever is hinged to the lever support. One end of the damper is hinged to the first link, the other end of the damper is movably connected to one end of the intermediate lever, one end of the lever link is hinged to the third link, and the other end of the lever link is movably connected to the other end of the intermediate lever; One end of the damper is connected to the intermediate lever through a first adjusting mechanism, and one end of the lever link is connected to the intermediate lever through a second adjusting mechanism; The intermediate lever includes a first branch rod and a second branch rod. One end of the first branch rod and one end of the second branch rod are connected, and the first branch rod and the second branch rod are arranged at an angle to each other. The connection part of the first branch rod and the second branch rod is hinged to the lever support.

2. The seeding profiling four-bar linkage shock absorber according to claim 1, characterized in that, The third link is connected to the sowing monomer. The first link and the second link are arranged in parallel, and the first link is located above the second link. One ends of the first link and the second link are both hinged to the third link, and the other ends of the first link and the second link are both hinged to the traction frame.

3. The sowing contour following four-bar linkage damping device according to claim 2, characterized in that A first through groove is formed on the first branch rod, and the first adjusting mechanism is located in the first through groove; A second through groove is formed on the second branch rod, and the second adjusting mechanism is located in the second through groove.

4. The seeding profiling four-bar linkage shock absorption device according to claim 3, characterized in that The first adjusting mechanism includes a first electric push rod. The fixed end of the first electric push rod is arranged on the side wall of the first through groove close to the second through groove, and the output end of the first electric push rod is hinged to one end of the damper.

5. The seeding profiling four-bar linkage shock absorption device according to claim 3, characterized in that The second adjusting mechanism includes a second electric push rod. The fixed end of the second electric push rod is arranged on the side wall of the second through groove close to the first through groove, and the output end of the second electric push rod is hinged to one end of the lever link.

6. The seeding profiling four-bar linkage shock absorption device according to claim 5, characterized in that It further includes a limiting device. The limiting device includes a first limiting block and a second limiting block, and both the first limiting block and the second limiting block are connected to the traction frame; The first limiting block and the second limiting block are respectively arranged on the upper and lower sides of the connection part of the first link or the second link and the traction frame.

7. The seeding profiling four-bar linkage damping device according to claim 5, characterized in that, It further includes an electronic control unit, and the electronic control unit includes a single-chip microcomputer, a motion state sensor and a pressure sensor. The pressure sensor is disposed at the connection between the first connecting rod and the damper, and the motion state sensors are respectively disposed on the first connecting rod and the intermediate lever.

8. A sowing profiling four-bar linkage vibration damping method, characterized in that, The damping method is applied to the seeding profiling four-link damping device according to any one of claims 1-7, and the damping method includes: Measuring the length of the power arm and the length of the resistance arm; wherein, the length of the power arm is the vertical distance between the lever fulcrum of the intermediate lever and the damper; the length of the resistance arm is the vertical distance between the lever fulcrum of the intermediate lever and the lever connecting rod; Measuring the included angles between the first connecting rod and the damper, between the damper and the intermediate lever, between the intermediate lever and the lever connecting rod, and between the lever connecting rod and the third connecting rod; Measuring the acting force between the first connecting rod and the damper; Calculating the component force of the lever connecting rod in the vertical direction; According to the calculated component force, adjusting the telescoping of the first electric push rod and the second electric push rod to change the length of the power arm and the length of the resistance arm, and at the same time adjusting the damping ratio of the damper, so that the vibration amplitude of the profiling four-link device is reduced, thereby reducing the vibration of the seeding monomer.

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