Seeding profiling shock absorption device and method

Abstract

The present invention provides a seeding profiling and vibration damping device and method, belonging to the technical field of agricultural machinery equipment. The seeding profiling and vibration damping device includes: a seeding unit; a profiling four-bar linkage mechanism arranged on one side of the seeding unit; a traction frame arranged on the side of the profiling four-bar linkage mechanism away from the seeding unit, and the traction frame is used to be connected with an external traction device to drive the seeding unit to move forward; a vibration damping mechanism arranged on the traction frame, and the vibration damping mechanism abuts against the profiling four-bar linkage mechanism to reduce the vibration of the profiling four-bar linkage mechanism. By setting the vibration damping mechanism, the resistance of the profiling four-bar linkage mechanism to up-and-down vibration is adjusted in real time, thereby reducing the vibration amplitude of the profiling four-bar linkage mechanism, enabling the seeding unit to adapt to the stable operation requirements under different surface undulation environments, and maximizing the profiling effect of the seeding machine and the seeding operation quality.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery equipment, and particularly relates to a seeding profiling vibration damping 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 surfaces or stubble coverage, the profiling bounce of the seeder is severe 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 use the method of installing springs on the profiling four-bar linkage to reduce the vibration during seeding operations, thereby improving the ground profiling effect of the seeder, 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 actively adjusted 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 vibration damping 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 vibration damping device, including:

[0005] A seeding monomer;

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

[0007] A traction frame, arranged on the side of the profiling four-bar linkage mechanism away from the seeding monomer, and the traction frame is used to connect with an external traction device to drive the seeding monomer to move forward;

[0008] A vibration damping mechanism, arranged on the traction frame, and the vibration damping mechanism abuts against the profiling four-bar linkage mechanism to reduce the vibration of the profiling four-bar linkage mechanism.

[0009] According to a seeding profiling vibration damping device provided by the present invention, the profiling four-bar linkage mechanism includes a first link, a second link, and a third link. The third link is connected to the seeding monomer. The first link and the second link are arranged in parallel. One end of the first link and the second link are both hinged to the third link, and the other end of the first link and the second link are both hinged to the traction frame;

[0010] A first flexible protrusion is arranged on the end surface of the first link facing the second link, and a second flexible protrusion is arranged on the end surface of the second link facing the first link. The vibration damping mechanism abuts against the first flexible protrusion and the second flexible protrusion respectively to reduce the vibration of the profiling four-bar linkage mechanism.

[0011] A seeding profiling damping device provided by the present invention, the damping mechanism includes a damper fixed seat, a damping rod and an elastic slider. One end of the damper fixed seat is connected to the towing frame, and the other end of the damper fixed seat is connected to the middle of the damping rod through a torque adjusting mechanism. Both ends of the damping rod are respectively connected to one of the elastic sliders, and the two elastic sliders are respectively abutted against the first flexible protrusion and the second flexible protrusion.

[0012] A seeding profiling damping device provided by the present invention, both ends of the damping rod are respectively connected to the corresponding side elastic slider through a resistance adjusting mechanism;

[0013] Cavities are respectively formed inside both sides of the middle part of the damping rod, mounting grooves are formed at both ends of the damping rod, and connecting channels are formed between the cavities and the mounting grooves on the corresponding sides;

[0014] The resistance adjusting mechanism includes an electromagnetic chuck, an armature, a connecting rod and a compression spring. The armature is slidably arranged in the cavity, the connecting rod movably penetrates through the connecting channel, one end of the connecting rod is connected to the armature, the other end of the connecting rod is connected to the elastic slider, the compression spring is sleeved on the connecting rod, one end of the compression spring is connected to the inner wall of the mounting groove facing the cavity side, the other end of the compression spring is connected to the elastic slider, and the electromagnetic chuck is arranged inside the damping rod on the side close to the center of the damping rod.

[0015] A seeding profiling damping device provided by the present invention, the end faces of the elastic slider in contact with the first flexible protrusion and the second flexible protrusion are convex arc structures, the end faces of the first flexible protrusion and the second flexible protrusion in contact with the elastic slider are concave arc structures, and the elastic slider is tangent to and abutted against the first flexible protrusion and the second flexible protrusion.

[0016] A seeding profiling damping device provided by the present invention, the torque adjusting mechanism includes a rotating shaft and a torsion spring. The rotating shaft is fixed on the damper fixed seat, a through hole is formed in the middle of the damping rod, the rotating shaft penetrates through the through hole and the damping rod is rotatably connected to the rotating shaft;

[0017] On both sides of the damping rod, the torsion springs are arranged, and the number of the torsion springs on each side is at least one. Each torsion spring is sleeved on the rotating shaft. On both end faces of the damping rod near the through hole, a clamping groove is formed, and the two clamping grooves are respectively located on both sides of the through hole. One end of each torsion spring is connected to the rotating shaft, and the other end of each torsion spring is respectively located in the corresponding clamping groove on the corresponding side. The torsion springs on both sides of the damping rod provide torsion forces in opposite directions.

[0018] According to a seeding profiling damping device provided by the present invention, on the damper fixing seat, a limiting block for restricting the rotation range of the damping rod is arranged, and there are two limiting blocks which are respectively located on both sides of the damping rod.

[0019] According to a seeding profiling damping device provided by the present invention, the torque adjusting mechanism includes a torque motor, the torque motor is fixed on the damper fixing seat, and the output shaft of the torque motor is connected to the middle part of the damping rod.

[0020] The present invention also provides a seeding profiling damping method, which is applied to the above-mentioned seeding profiling damping device, and the damping method includes:

[0021] Real-time monitor the acting forces between the elastic slider and the first flexible protrusion and the second flexible protrusion;

[0022] According to the magnitude of the acting force, combined with the torque output control model of the damping rod, change the contact force between the elastic slider and the first flexible protrusion and the second flexible protrusion and the rotational resistance of the damping rod;

[0023] Real-time monitor the vibration acceleration of the seeding unit, calculate the swing amplitude of the profiling four-bar linkage according to the vibration acceleration of the seeding unit, and adjust the swing amplitude by changing the contact force between the elastic slider and the first flexible protrusion and the second flexible protrusion, so that the amplitude change amount of the profiling four-bar linkage per unit time is minimized, and the optimal damping effect of the seeding unit under different working conditions is achieved.

[0024] According to a seeding profiling damping method provided by the present invention, it further includes:

[0025] Judge the motion state of the profiling four-bar linkage according to the vibration acceleration of the seeding unit;

[0026] Adjust the swing direction of the damping rod according to the motion state of the profiling four-bar linkage.

[0027] A seeding profiling damping device and method provided by the present invention can adjust the resistance of the up-and-down vibration of the profiling four-bar mechanism in real time by setting a damping mechanism, thereby reducing the vibration amplitude of the profiling four-bar mechanism, enabling the seeding unit to adapt to the stable operation requirements under different surface undulation environments, reducing the field operation vibration of the seeding unit in complex environments, effectively improving the uniformity of seeding grain spacing and the consistency of seeding depth, and maximizing the profiling effect of the seeder and the seeding operation quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in 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, other drawings can be obtained based on these drawings without creative efforts.

[0029] Figure 1 is the front view of the seeding profiling damping device provided by the present invention;

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

[0031] Figure 3 is the structural schematic diagram of the profiling four-bar mechanism;

[0032] Figure 4 is the schematic diagram of the profiling four-bar mechanism in the rising state;

[0033] Figure 5 is the schematic diagram of the profiling four-bar mechanism in the descending state;

[0034] Figure 6 is the side view of the damping rod;

[0035] Figure 7 is Figure 6 the top view of;

[0036] Figure 8 is the internal structural schematic diagram of the damping rod;

[0037] Figure 9 is the flow schematic diagram of the seeding profiling damping method provided by the present invention;

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

[0039] Reference numerals:

[0040] 100, seeding unit; 101, moving mechanism; 102, furrow opener;

[0041] 200. Profiling four-bar linkage mechanism; 201. First link; 202. Second link;

[0042] 203. Third link; 204. First flexible protrusion; 205. Second flexible protrusion;

[0043] 300. Traction frame;

[0044] 400. Vibration damping mechanism; 401. Damper fixing seat; 402. Damper rod;

[0045] 403. Elastic slider; 404. Cavity; 405. Installation groove; 406. Through hole;

[0046] 407. Card slot; 408. Limit block;

[0047] 500. Torque adjustment mechanism; 501. Rotating shaft; 502. Torsion spring;

[0048] 600. Resistance adjustment mechanism; 601. Electromagnetic chuck; 602. Armature; 603. Connecting rod;

[0049] 604. Compression spring. Detailed implementation manner

[0050] 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 any creative effort belong to the scope of protection of the present invention.

[0051] The following combines Figures 1-10 to describe a seeding profiling vibration damping device and method of the present invention.

[0052] As Figure 1 and Figure 2 shown, a seeding profiling vibration damping device includes: a seeding unit 100, a profiling four-bar linkage mechanism 200, a traction frame 300 and a vibration damping mechanism 400.

[0053] A moving mechanism 101 and a furrow opener 102 are provided at the bottom of the seeding unit 100. The seeding unit 100 has a conventional seeding machine structure, the moving mechanism 101 has a conventional driving wheel structure, and the furrow opener 102 also has a conventional existing structure.

[0054] The profiling four-bar linkage mechanism 200 is disposed on one side of the seeding unit 100, specifically on the front side in the advancing direction of the seeding unit 100;

[0055] The towing frame 300 is arranged on the side of the profiling four-bar linkage 200 away from the seeding unit 100. The towing frame 300 is used to connect with an external towing device to drive the seeding unit 100 to move forward.

[0056] The towing device can be a tractor or other power mechanism. The towing frame 300 is connected to the suspension frame behind the towing device, and then the seeding unit 100 is driven to move forward by the towing device.

[0057] The vibration damping mechanism 400 is arranged on the towing frame 300. The vibration damping mechanism 400 abuts against the profiling four-bar linkage 200 to reduce the vibration of the profiling four-bar linkage 200.

[0058] Specifically, as Figures 3-5 shown, the profiling four-bar linkage 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 is arranged in parallel with 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.

[0059] A first flexible protrusion 204 is arranged on the end face of the first link 201 facing the second link 202, and a second flexible protrusion 205 is arranged on the end face of the second link 202 facing the first link 201. The vibration damping mechanism 400 abuts against the first flexible protrusion 204 and the second flexible protrusion 205 respectively to reduce the vibration of the profiling four-bar linkage 200, and further reduce the vibration of the seeding unit 100.

[0060] It can be understood that the first link 201 and the second link 202 are rigid rods, and the first flexible protrusion 204 and the second flexible protrusion 205 are made of elastic materials, and the materials include but are not limited to rubber, TPE, and other elastomers.

[0061] Specifically, the vibration damping mechanism 400 includes a damper fixing seat 401, a damper rod 402, and an elastic slider 403. One end of the damper fixing seat 401 is connected to the towing frame 300, and the other end of the damper fixing seat 401 is connected to the middle of the damper rod 402 through a torque adjusting mechanism 500. Both ends of the damper rod 402 are respectively connected to an elastic slider 403, and the two elastic sliders 403 respectively abut against the first flexible protrusion 204 and the second flexible protrusion 205.

[0062] Both ends of the damper rod 402 are respectively connected to the corresponding elastic slider 403 through a resistance adjusting mechanism 600.

[0063] On both inner sides of the middle part of the damping rod 402, cavities 404 are formed, and mounting grooves 405 are formed at both ends of the damping rod 402. A connecting channel is formed between the cavity 404 and the mounting groove 405 on the corresponding side.

[0064] Specifically, as Figure 8 shown, the resistance adjusting mechanism 600 includes an electromagnetic chuck 601, an armature 602, a connecting rod 603 and a compression spring 604. The armature 602 is slidably disposed in the cavity 404. The connecting rod 603 movably passes through the connecting channel. One end of the connecting rod 603 is connected to the armature 602, and the other end of the connecting rod 603 is connected to the elastic slider 403. The compression spring 604 is sleeved on the connecting rod 603. One end of the compression spring 604 is connected to the inner wall of the mounting groove 405 facing the cavity 404, and the other end of the compression spring 604 is connected to the elastic slider 403. The electromagnetic chuck 601 is disposed inside the damping rod 402 on the side close to the center of the damping rod 402 in the cavity 404.

[0065] During actual operation, the compression spring 604 presses the elastic slider 403 to make the elastic slider 403 contact the first flexible protrusion 204 and the second flexible protrusion 205. When the electromagnetic chuck 601 is not powered on, due to the extrusion of the compression spring 604, the elastic slider 403 is in the maximum state of extrusion deformation with the first flexible protrusion 204 and the second flexible protrusion 205, and the sliding friction force is the largest at this time. When the electromagnetic chuck 601 is powered on, the electromagnetic chuck 601 generates an electromagnetic attraction force on the armature 602. The electromagnetic attraction force cancels part of the rebounding force of the compression spring 604, changes the deformation of the compression spring 604, and thus reduces the friction force between the elastic slider 403 and the first flexible protrusion 204 and the second flexible protrusion 205. By adjusting the strength of the magnetism of the electromagnetic chuck 601, the control of the rotation resistance of the damping rod 402 during the movement of the device is realized, that is, the greater the friction force between the elastic slider 403 and the first flexible protrusion 204 and the second flexible protrusion 205, the greater the rotation resistance of the damping rod 402, and vice versa.

[0066] The end faces of the elastic slider 403 in contact with the first flexible protrusion 204 and the second flexible protrusion 205 are of a convex arc structure, and the end faces of the first flexible protrusion 204 and the second flexible protrusion 205 in contact with the elastic slider 403 are of a concave arc structure. The elastic slider 403 is tangent and abuts against the first flexible protrusion 204 and the second flexible protrusion 205.

[0067] It can be understood that the end face of the elastic slider 403 can be in a semi-circular structure or other arc structures; after determining the shape of the elastic slider 403, the shapes of the contact surfaces between the first flexible protrusion 204 and the second flexible protrusion 205 and the elastic slider 403 can be formed by curve fitting. The contact surfaces are tangent to and squeeze the elastic sliders 403 at both ends of the damping rod 402. When the first link 201 and the second link 202 swing, relative sliding occurs between the upper and lower contact surfaces;

[0068] Among them, the fitting process of the flexible protrusion contact surface is as follows: First, determine the movement trajectory of the tangent point on the elastic slider 403 to ensure that the tangent point does not coincide with the dead point (vertex) position; Second, determine the movement angles of the first link 201 and the second link 202 according to the design range of the upper and lower profiling amounts of the profiling four-bar mechanism 200 (generally 80 mm - 120 mm), so as to obtain the rotation angle of the damping rod 402, and at the same time avoid interference between the damping rod 402 and the first link 201 and the second link 202; Finally, perform curve fitting according to the positions of multiple tangent points to obtain the contour line of the flexible protrusion. Since the upper and lower protrusions are symmetric structures, the contour lines of the first flexible protrusion 204 and the second flexible protrusion 205 can be obtained in the same way.

[0069] In some embodiments, as Figures 6-7 shown, the torque adjustment mechanism 500 includes a rotating shaft 501 and a torsion spring 502. The rotating shaft 501 is fixed on the damper fixing seat 401. A through hole 406 is provided in the middle of the damping rod 402. The rotating shaft 501 passes through the through hole 406 and the damping rod 402 is rotatably connected to the rotating shaft 501;

[0070] Torsion springs 502 are provided on both sides of the damping rod 402. The number of torsion springs 502 on each side is at least one. Each torsion spring 502 is sleeved on the rotating shaft 501. A clamping groove 407 is provided at the position near the through hole 406 on both end faces of the damping rod 402. The two clamping grooves 407 are respectively located on both sides of the through hole 406. One end of each torsion spring 502 is connected to the rotating shaft 501, and the other end of each torsion spring 502 is respectively located in the corresponding clamping groove 407. The torsion springs 502 on both sides of the damping rod 402 provide torques in opposite directions;

[0071] It can be understood that the torsion springs 502 on both sides are symmetrically arranged and provide torques in opposite directions, which can provide torques in different directions during the forward and reverse rotation of the damping rod 402, so as to increase the resistance during the rotation of the damping rod 402 to adapt to different vibration levels, especially to achieve a better vibration damping effect in the case of severe vibration;

[0072] As Figure 3As shown, a damper fixing seat 401 is provided with limit blocks 408 for restricting the rotation range of a damper rod 402. There are two limit blocks 408, which are respectively located on both sides of the damper rod 402; the limit blocks 408 are preferably made of flexible materials;

[0073] Two symmetrical limit blocks 408 are installed at the hinge joint between the damper rod 402 and the damper fixing seat 401 to limit the rotation range of the damper rod 402, thereby limiting the up and down profiling distance of the profiling four-bar linkage 200. It can also protect the damper rod 402 to prevent the first link 201 and the second link 202 from colliding violently with the damper rod 402 during vibration, and reduce mechanical damage to each other.

[0074] In some embodiments, the torque adjustment mechanism 500 includes a torque motor. The torque motor is fixed on the damper fixing seat 401, and the output shaft of the torque motor is connected to the middle of the damper rod 402;

[0075] The torque motor provides different torques to the damper rod 402, thereby changing the friction force between the flexible protrusion and the elastic slider 403. The torque motor can change the output torque (including the magnitude and direction of the torque and the rotation angle range. Limiting the angle rotation range serves the same purpose as the aforementioned limit block 408) to adapt to different vibration levels and achieve a better vibration damping effect.

[0076] When the seeding unit 100 is operating, the undulation of the ground drives the seeding unit 100 to vibrate, and the profiling four-bar linkage 200 floats up and down accordingly. When the profiling four-bar linkage 200 rises, the second flexible protrusion 205 contacts and presses the elastic slider 403 at the lower end of the damper rod 402, and drives the damper rod 402 to rotate counterclockwise through the friction force between the two. At this time, by adjusting the counterclockwise rotation resistance of the damper rod 402, the upward impact force of the profiling four-bar linkage 200 can be eliminated to the greatest extent. Similarly, when the profiling four-bar linkage 200 descends, the first flexible protrusion 204 contacts and presses the elastic slider 403 at the upper end of the damper rod 402, and drives the damper rod 402 to rotate clockwise through the friction force between the two. At this time, by adjusting the clockwise rotation resistance of the damper rod 402, the downward impact force of the profiling four-bar linkage 200 can be eliminated to the greatest extent. In short, whether the profiling four-bar linkage 200 rises or descends, by increasing the friction force between the flexible protrusion and the elastic slider 403, the rotation resistance of the damper rod 402 can be increased, thereby reducing the vibration of the profiling four-bar linkage 200, slowing down the movement trend of the seeding unit 100, and ultimately achieving the effect of reducing the vibration of the seeding unit 100.

[0077] Furthermore, in order to enable the vibration damping mechanism 400 to better adjust the resistance, the seeding profiling vibration damping device of the present application further includes a vibration damping electronic control unit, which includes a single-chip microcomputer, a motion state detection sensor, and a pressure sensor; among them, the motion state detection sensor can be replaced by an acceleration sensor, and the pressure sensor can be replaced by a strain gauge;

[0078] Among them, the motion state detection sensor is arranged on the seeding monomer 100 for real-time monitoring of the vibration acceleration of the seeding monomer 100; the pressure sensor is arranged on the elastic slider 403 for real-time monitoring of the contact pressure between the elastic slider 403 and the first flexible protrusion 204 and the second flexible protrusion 205;

[0079] The single-chip microcomputer is used to receive the signals monitored by the motion state detection sensor and the pressure sensor, and control the action of the vibration damping mechanism 400 according to the signal feedback to adjust the magnitude of the resistance received by the damping rod 402.

[0080] A seeding profiling vibration damping method, which is applied to the aforementioned seeding profiling vibration damping device, as Figure 9 shown, the vibration damping method includes:

[0081] Real-time monitoring of the acting force between the elastic slider 403 and the first flexible protrusion 204 and the second flexible protrusion 205;

[0082] According to the magnitude of the acting force, combined with the torque output control model of the damping rod 402, change the contact force between the elastic slider 403 and the first flexible protrusion 204 and the second flexible protrusion 205 and the rotational resistance of the damping rod 402; by controlling the magnitude of the electromagnetic suction force generated by the electromagnetic chuck 601 on the armature 602, change the contact force between the elastic slider 403 and the first flexible protrusion 204 and the second flexible protrusion 205, and then change the rotational resistance of the damping rod 402;

[0083] Real-time monitoring of the vibration acceleration of the seeding monomer 100, calculating the swing amplitude of the profiling four-bar linkage 200 according to the vibration acceleration of the seeding monomer 100, and adjusting the swing amplitude by changing the contact force between the elastic slider 403 and the first flexible protrusion 204 and the second flexible protrusion 205, so that the amplitude change amount of the profiling four-bar linkage 200 per unit time is minimized, and the optimal vibration damping effect of the seeding monomer 100 under different working conditions is achieved.

[0084] The above-mentioned seeding profiling vibration damping method further includes:

[0085] Judging the motion state of the profiling four-bar linkage 200 according to the vibration acceleration of the seeding monomer 100; it is also possible to judge the motion state of the profiling four-bar linkage 200 by the force change of the elastic sliders 403 at both ends of the damping rod 402;

[0086] Adjust the swinging direction of the damping rod 402 according to the motion state of the profiling four-bar linkage 200; that is, when the torque adjusting mechanism 500 is a torque motor, the swinging direction of the damping rod 402 can be actively adjusted to change the rotational resistance of the damping rod 402.

[0087] Specifically, the torque output control model of the aforementioned damping rod 402 is a relationship model between the torque generated on the damping rod 402 when the entire device vibrates and the resistance torque suffered by the damping rod 402 during rotation. The purpose is to make the rotational resistance suffered by the damping rod 402 during rotation appropriate, so that the torque adjusting mechanism 500 can obtain the torque to be output;

[0088] The elastic slider 403 slides due to mutual extrusion with the first flexible protrusion 204 and the second flexible protrusion 205. The frictional force generated during the sliding process can be calculated by the following formula:

[0089] F N = KΔH1 (1) F N1 = K(ΔH1 + ΔH2) (2)

[0090] F f = μF N1 (3)

[0091] Wherein, K is a constant elastic coefficient, ΔH1 is the deformation of the elastic slider 403 in the relaxed state, ΔH2 is the deformation of the elastic slider 403 caused by vibration. In this device, the deformation of the elastic slider 403 due to mutual extrusion with the flexible protrusion remains unchanged during the movement. F f is the frictional force tangent to the surface of the elastic slider 403 and opposite to the movement direction, μ is the friction coefficient, and the friction coefficient depends on the materials and roughness of the two contact surfaces. F N is the force exerted by the first flexible protrusion 204 on the elastic slider 403, F N1 is the force exerted by the second flexible protrusion 205 on the elastic slider 403, which can be obtained by the pressure sensor on the elastic slider 403. In addition to the vibration acceleration, it can also be judged whether the profiling four-bar linkage 200 is in the rising state or the falling state through the change of F N , and then control the direction of the output torque.

[0092] Through the torque output control model of the damping rod 402, obtain the output torque of the damping rod 402, and then conduct a force analysis on the profiling four-bar linkage 200 to obtain the motion state of the damping rod 402. The specific calculation method is as follows:

[0093] Such as Figure 10As shown, the elastic slider 403 located on the lower side is selected as the object. O is the rotation center of the damping rod 402, O1 is the center of the elastic slider 403 on the lower side, N is the contact point (tangent point) between the second flexible protrusion 205 and the elastic slider 403, R is the radius of the contact point of the elastic slider 403, L1 is the distance from O to O1, L2 is the lever arm of the force acting on the damping rod 402, α is the angle between O1N and O1O, and θ is the angle between the force acting on the elastic slider 403 and the lever arm. In the figure, F represents the upward force received when the profiling four-bar linkage 200 vibrates, and v represents the upward movement tendency of the profiling four-bar linkage 200. The following relationships are formed among them:

[0094]

[0095] sinθ = L1sinα / L2 (5)

[0096] Δ = L2sinθ(F f +μF N )+T-L2(F N1 -F N ) (6)

[0097] Among them, T is the torque output by the torque motor, and Δ is the difference between the resistance torque received by the damping rod 402 and the torque generated by the vibration. Considering the actual situation, when it is positive, it can be amplified by 10% - 20%, and when it is negative, it can be reduced by 10% - 20% to meet the motion conditions; the larger the absolute value of Δ, the greater the vibration amplitude and the greater the rotational resistance required by the damping rod 402. The above process is analyzed and calculated by the single-chip microcomputer. Finally, according to the obtained Δ value, the vibration damping mechanism 400 is regulated at a certain time interval; that is, the single-chip microcomputer can calculate the difference between the resistance torque received by the damping rod 402 and the torque generated by the vibration, determine whether the profiling four-bar linkage 200 rises or falls according to its size change, and then change the electromagnetic suction force generated by the electromagnetic chuck 601 on the armature 602 to change the contact force between the elastic slider 403 and the first flexible protrusion 204 and the second flexible protrusion 205, thereby changing the rotational resistance of the damping rod 402. The rotational resistance of the damping rod 402 can also be changed by the torque motor to achieve the vibration damping effect of the entire device.

[0098] The seeding profiling and vibration damping device and method of 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, resulting in uneven seeding spacing and unstable seeding depth. By designing the profiling mechanism of the no-till seeding unit, through the vibration damping mechanism 400, the motion state detection sensor of the seeding machine, etc., the magnitude of the up-and-down vibration resistance of the profiling four-bar mechanism 200 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 seeding operation quality, promoting the growth and development of seeds, and laying a solid foundation for the research on the subsequent high-speed precision seeding operation control technology.

[0099] 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. 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 seeding profiling and vibration damping device, characterized in that, Comprising: Seeding monomer; Contour following four-bar linkage mechanism, arranged on one side of the seeding monomer; Traction frame, arranged on the side of the contour following four-bar linkage mechanism away from the seeding monomer, and the traction frame is used to connect with an external traction device to drive the seeding monomer to move forward; Vibration damping mechanism, arranged on the traction frame, and the vibration damping mechanism abuts against the contour following four-bar linkage mechanism to reduce the vibration of the contour following four-bar linkage mechanism; The contour following four-bar linkage mechanism includes a first link, a second link and a third link. The third link is connected to the seeding monomer. The first link and the second link are arranged in parallel. 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; A first flexible protrusion is arranged on the end face of the first link facing the second link, and a second flexible protrusion is arranged on the end face of the second link facing the first link. The vibration damping mechanism abuts against the first flexible protrusion and the second flexible protrusion respectively to reduce the vibration of the contour following four-bar linkage mechanism; The vibration damping mechanism includes a damper fixing seat, a damping rod and an elastic slider. One end of the damper fixing seat is connected to the traction frame, and the other end of the damper fixing seat is connected to the middle of the damping rod through a torque adjusting mechanism. Two ends of the damping rod are respectively connected to one of the elastic sliders, and the two elastic sliders respectively abut against the first flexible protrusion and the second flexible protrusion.

2. The seeding profiling and vibration damping device according to claim 1, characterized in that Two ends of the damping rod are respectively connected to the corresponding side elastic slider through a resistance adjusting mechanism; Cavities are respectively formed inside both sides of the middle of the damping rod, mounting grooves are respectively formed at both ends of the damping rod, and connecting channels are formed between the cavities and the corresponding side mounting grooves; The resistance adjusting mechanism includes an electromagnetic chuck, an armature, a connecting rod and a compression spring. The armature is slidably arranged in the cavity. The connecting rod movably penetrates through the connecting channel. One end of the connecting rod is connected to the armature, the other end of the connecting rod is connected to the elastic slider, the compression spring is sleeved on the connecting rod, one end of the compression spring is connected to the inner wall of the mounting groove facing the cavity, the other end of the compression spring is connected to the elastic slider, and the electromagnetic chuck is arranged inside the damping rod on the side of the cavity close to the center of the damping rod.

3. The seeding profiling and vibration damping device according to claim 1, characterized in that, The end faces of the elastic slider in contact with the first flexible protrusion and the second flexible protrusion are of a convex arc structure, the end faces of the first flexible protrusion and the second flexible protrusion in contact with the elastic slider are of a concave arc structure, and the elastic slider is tangent to and abuts against the first flexible protrusion and the second flexible protrusion.

4. The seeding profiling shock absorption device according to claim 1, wherein The torque adjusting mechanism includes a rotating shaft and a torsion spring. The rotating shaft is fixed on the damper fixing seat. A through hole is formed in the middle of the damping rod. The rotating shaft penetrates through the through hole and the damping rod is rotatably connected to the rotating shaft; The torsion springs are arranged on both sides of the damping rod, and the number of the torsion springs on each side is at least one. Each torsion spring is sleeved on the rotating shaft. A clamping groove is formed at a position close to the through hole on each end face of both sides of the damping rod. The two clamping grooves are respectively located on both sides of the through hole. One end of each torsion spring is connected to the rotating shaft, and the other end of each torsion spring is respectively located in the corresponding clamping groove on the corresponding side. The torsion springs on both sides of the damping rod provide torsions in opposite directions.

5. The seeding profiling shock-absorbing device according to claim 4, characterized in that The damper fixing seat is provided with limiting blocks for restricting the rotation range of the damping rod. There are two limiting blocks which are respectively located on both sides of the damping rod.

6. The seeding profiling and vibration damping device according to claim 1, characterized in that The torque adjusting mechanism includes a torque motor which is fixed on the damper fixing seat, and an output shaft of the torque motor is connected to the middle of the damping rod.

7. A seeding contour-following vibration damping method, characterized in that The vibration reduction method is applied to the seeding profiling vibration reduction device according to any one of claims 1-6. The vibration reduction method includes: Real-time monitoring of the acting forces between the elastic slider and the first flexible protrusion and the second flexible protrusion; According to the magnitude of the acting force, combining with the torque output control model of the damping rod, changing the contact force between the elastic slider and the first flexible protrusion and the second flexible protrusion and the rotational resistance of the damping rod; Real-time monitoring of the vibration acceleration of the seeding unit, calculating the swing amplitude of the profiling four-bar linkage according to the vibration acceleration of the seeding unit, and adjusting the swing amplitude by changing the contact force between the elastic slider and the first flexible protrusion and the second flexible protrusion, so that the amplitude change amount per unit time of the profiling four-bar linkage is minimized, and the optimal vibration reduction effect of the seeding unit under different working conditions is achieved.

8. The seeding profiling and vibration damping method according to claim 7, wherein, It further includes: Judging the motion state of the profiling four-bar linkage according to the vibration acceleration of the seeding unit; Adjusting the swing direction of the damping rod according to the motion state of the profiling four-bar linkage.

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