A multi-link device and adjusting method for seeding machine profiling damping

Abstract

The application discloses a multi-connecting rod device and adjusting method for contouring vibration reduction of a seeding machine, and belongs to the technical field of seeding machines.The multi-connecting rod device comprises a seeding unit, a contouring four-connecting rod device, a driving adjusting device and a traction frame; and a driving vibration reduction detection and control unit is further arranged, which comprises a vehicle-mounted upper computer, an inclination angle sensor, a motion state sensor and a ground distance ultrasonic sensor.The application adopts a mode combining driving and passive modes, and when facing a plurality of small undulating grounds, the passive vibration reduction formed by the multi-connecting rod device and the up-and-down swing arm is utilized to improve the dynamic adjusting capacity; when facing a large undulating ground, the upper computer selects a driving adjusting mode, detects the amplitude value through the motion state sensor, comprehensively considers the sensor angle and the ground distance information, adopts pre-adjustment and compensation adjustment, and thus the seeding unit can realize high-precision synchronous contouring under the uneven ground surface.The application can maximize the contouring effect and the seeding operation quality of the seeding machine.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of agricultural automatic machinery and equipment, and particularly relates to a multi-link device for contouring vibration reduction of a seeding machine and a regulating method. BACKGROUND

[0002] A contouring mechanism is a key component of a corn seeding machine. The adjustment of the contouring mechanism can stabilize the furrow depth, thereby improving the consistency of the seeding depth. At present, mechanical contouring is widely used in China. This passive contouring method has simple composition and convenient installation and adjustment, but the contouring precision is poor. Mechanical contouring mainly uses spring contouring. Generally, it has multiple installation gears. The gear can be adjusted according to the working terrain to change the spring stretching length to control the down pressure of the seeding unit, and the working environment adaptability is good. With the development of modern agriculture, passive contouring cannot guarantee the adjustment precision when dealing with large amplitude and high frequency ground undulations in high-speed working environment. In particular, since the development of conservation tillage technology, the amount of straw residue covering in the field has increased significantly. The seeding unit cannot obtain sufficient down pressure by relying on passive contouring. Active contouring can supplement the down pressure of the seeding unit and perform real-time control of the seeding depth. Therefore, it has gradually become the focus of current contouring mechanism research. However, with the continuous improvement of seeding operation speed and precision requirements, active contouring research still has problems such as adjustment lag and poor working environment adaptability.

[0003] In order to solve the above problems, the patent application with publication number CN 112219510 A discloses a four-link mechanism for a seeding machine. The main mechanism mainly consists of two first links, two second links, two third links, and related connecting components. In order to maintain the tight state of the four-link mechanism and avoid shaking during work, two tensioning mechanisms are designed in the mechanism. Under the action of the two tensioning mechanisms, the spacing between the second link and the third link will change. A plurality of rectangular grooves are provided on the second link. The horizontal plate can be adjusted to move in the corresponding groove according to the different soil, and the position is fixed through the clamping column and the clamping groove. By pulling the pressure rod, the locking of the clamping column can be released, so as to adjust the position of the horizontal plate, and then change the shape of the four-link mechanism. Such design can adjust the four-link mechanism according to the different soil quality of the seeding soil, can be suitable for different soil quality of the soil, and the connection relationship between each component is close, which ensures that each component will not shake during use. However, the overall design focuses on stability and adjustability, and lacks the ability to automatically adapt to soil changes. Moreover, the mechanical structure of the four-link mechanism is complex, and the adjustment method is complicated. When facing different seeding depths in the same field, the four-link mechanism needs to be adjusted according to the different soil quality of the seeding soil. This complex contouring adjustment method needs to consume a long time, and the adaptability to continuous uneven seeding ground is not strong.

[0004] The patent application with the publication number CN 116491266 A discloses a seeding profiling four-bar linkage damping device and method. The device reduces the vibration of the profiling four-bar linkage device by setting a lever damping device. The partial vibration force of the seeding unit on the four-bar linkage is absorbed by the damper. The partial vibration force is absorbed by the damper through the joint action of the lever and the damper, and the other part changes direction through the lever to suppress vibration, which can achieve the effect of doubling the damping resistance. At the same time, the motion state of the four-bar linkage is detected by the sensor, the length of the lever arm is changed, the up-down vibration resistance of the profiling four-bar linkage is adjusted in real time, thereby reducing the vibration amplitude, and the better damping effect is achieved through active adjustment, and better damping effect is achieved under different working conditions. Although the lever damping device can reduce vibration to a certain extent, its adjustment range and precision cannot completely adapt to all types of ground undulations and soil conditions. Especially in the working environment of the Yellow-Huaihai Plain, the profiling effect and damping performance of the system are restricted in the face of large-area small undulating ground.

[0005] The existing traditional profiling four-bar linkage mainly reduces vibration during seeding operation by adding springs to improve the profiling effect of the seeding machine on the ground. Since the spring constant is fixed during actual operation, it cannot be actively adjusted in real time. The active profiling technology cannot completely adapt to all types of ground undulations and soil conditions in terms of adjustment range and precision, especially in the face of continuous small undulating ground, the active profiling structure has lower adjustment accuracy than ordinary four-bar linkage mechanisms. SUMMARY

[0006] To solve the above problems, the present application provides a multi-link device and adjustment method for profiling and damping of a seeding machine. The device uses a combination of active and passive profiling four-bar linkage mechanisms. When facing multiple small undulating grounds, passive damping is performed using damping springs. The multi-link device and the upper and lower swing arms form a multi-link system that can increase the stroke of the damping spring. By changing the rotation path of the link and swing arm, the impact force caused by vibration can be better absorbed and dispersed, the seeding unit shock absorption frequency is optimized, and the dynamic adjustment capability is improved. This design helps to reduce the energy required for single unit shock absorption, so that even small vibrations can be absorbed by the damping spring. At the same time, in the face of large undulating ground, the upper machine selects the active adjustment mode, detects the amplitude value through the motion state sensor, combines the sensor angle and ground distance information, and uses pre-adjustment and compensation adjustment to enable the seeding unit to achieve high-precision synchronous profiling under uneven ground conditions. The present application can adapt the seeding unit to stable operation requirements under different ground undulating environments, and maximize the profiling effect and seeding operation quality of the seeding machine.

[0007] The above object is achieved by the following technical solutions:

[0008] The application provides a multi-link device and a regulating method for contouring vibration reduction of a seeding machine.

[0009] The multi-link device is further provided with an active vibration reduction detection and control unit, which comprises an on-board host computer, an inclination angle sensor, a motion state sensor and a ground distance ultrasonic sensor.

[0010] Further, the contouring four-link device comprises a frame-shaped rear connecting frame, the upper and lower sides of the rear connecting frame are respectively hinged with upper links and lower links, the front ends of the upper links and the lower links on each side are hinged with fixed links, the two fixed links are fixed on two pin shaft holes of the seeding unit, the length of the lower links is greater than that of the upper links, and the ground distance ultrasonic sensor is arranged on the lower rotating connecting point of the rear connecting frame and the fixed link.

[0011] Further, the active regulating device comprises two upper triangular swing arms and two lower triangular swing arms which are respectively hinged on the upper left and right sides and the lower left and right sides of the rear connecting frame, one vibration reduction spring is connected between the tail ends of the upper triangular swing arm and the lower triangular swing arm on the same side, a stepper motor is installed at the triangular top end of each upper triangular swing arm and lower triangular swing arm, the output shaft of the stepper motor is provided with a key groove, is provided with an electromagnetic clutch in one direction, and the electromagnetic clutch end is fixedly installed with the upper triangular swing arm / lower triangular swing arm, and the motion state sensor is arranged on the rear rotating point of one of the lower triangular swing arms to detect the vibration amplitude of the lower triangular swing arm.

[0012] Further, the left and right sides of the traction frame are respectively provided with one large groove and two small grooves, the small grooves are double-layered and are provided with countersunk grooves and bolt grooves, four stepper motors are fixed on the large groove of the traction frame, are fixedly connected through the small grooves of the traction frame and can move up and down through the small grooves beside the traction frame to adjust the height, each upper triangular swing arm is arranged in a direction with the long side downward, and each lower triangular swing arm is arranged in a direction with the long side upward.

[0013] Further, the damping spring is mounted on the spring fixing rod, the number of the spring fixing rod is 2, the two spring fixing rods are respectively penetrated through the upper triangular swing arm and the lower triangular swing arm, when the upper triangular swing arm and the lower triangular swing arm rotate, the spring fixing rod moves, at this time, because the swing angle of the upper triangular swing arm and the lower triangular swing arm is different, the spring is stretched or compressed to reduce vibration.

[0014] The application further provides a vibration reduction adjusting method for the multi-link device for profiling and vibration reduction of a seeding machine.

[0015] S101: When the seeding unit is working in the field, the vehicle-mounted upper computer monitors the vibration amplitude in real time through the motion state sensor on the lower triangular swing arm, sets a vibration amplitude threshold value, and if the vibration amplitude of the lower triangular swing arm remains within the set threshold value range, the passive vibration reduction mode is adopted.

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

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

[0018] h0=K*sin alpha

[0019] The upper computer judges the angle difference of the rotation of the upper and lower triangular swing arms according to the preliminary calculation of the ground undulation amount h0, and completes the preliminary profiling upward / downward by quickly stretching / compressing the damping spring and lifting / pressing the rear connecting frame to make the unit ascend / descend.

[0020] S104: Because of the flexible connection between the rear connecting frame and the triangular swing arm, there is a difference between the undulation angle of the seeding unit and the lower link, so secondary fine adjustment is needed, when the depth limiting wheel of the seeding unit reaches the undulation point, the depth of the furrowing disc becomes shallow / deep, the upper link and the lower link will be inclined counterclockwise downward / clockwise upward around the hinge point of the seeding unit, the ground distance ultrasonic sensor on the lower link will collect the distance from the seeding unit to the ground, the vehicle-mounted upper computer combines the predetermined seeding depth H to accurately measure the change of the ground distance of the seeding unit ΔH, and the vehicle-mounted upper computer transmits ΔH to the stepper motor to control the stepper motor to rotate at a small angle quickly, and drive the triangular swing arm to swing to complete the fine adjustment.

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

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

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

[0024] When passive damping is performed, the seeding unit moves up and down during field operation, and when the profiled four-connecting-rod device follows the upward movement of the seeding unit, the upper connecting rod and the lower connecting rod rotate clockwise to drive the rear connecting frame to move upward relative to the seeding unit, at this time, the triangular swing arms swing counterclockwise downward, so that the damping spring generates a downward displacement to absorb vibration. Similarly, when the seeding unit falls back due to gravity, the triangular swing arms rotate to compress the damping spring, drive the rear connecting frame to move downward relative to the seeding machine unit, and thus reduce the vibration impact; at the same time, during the damping process, since the length of the lower connecting rod is greater than that of the upper connecting rod, the angle of rotation of the lower triangular swing arm is always less than that of the upper triangular swing arm, thereby driving the stretching and compression of the damping spring.

[0025] Further, the working process of the active damping mode is as follows:

[0026] When the vehicle-mounted upper computer issues an active damping command, the stepping motor rotates, the electromagnetic clutch is energized to drive the electromagnetic clutch end to press the triangular swing arm, at this time, the triangular swing arm rotates with the stepping motor to drive the rear connecting frame and the damping spring to operate; specifically, the upper triangular swing arm is rotatably connected to the spring fixed rod to form a fifth turning point E, and the lower triangular swing arm is rotatably connected to the spring fixed rod to form a sixth turning point F; the line connecting the third turning point C and the fifth turning point E is defined as a third line L3, the line connecting the fourth turning point D and the sixth turning point F is defined as a fourth line L4, and the intersection of the extensions of the third line and the fourth line is a second virtual turning point N; the virtual turning point N has a tendency to move in the opposite direction when the spring is stretched or compressed; the design of the virtual turning point N is to make the damping spring also move along an arc-shaped track by using the upper and lower triangular swing arms, and the tension of the damping spring will tend to pull the rear connecting frame to this point.

[0027] The beneficial effects of the present application compared with the prior art are:

[0028] 1. The present application increases the stroke amount of the damping spring through the multi-link device and the upper and lower swing arms of the multi-link system, which can realize the extension of the spring stroke and the real-time reduction of the single vibration. The vibration amplitude is determined by the motion state sensor, the single angle and height information are calculated, and the seeding machine profiling is actively adjusted, so that the seeding single can realize high-precision synchronous profiling under the condition of uneven ground surface.

[0029] 2. In addition to meeting the passive damping demand, the motor active profiling function is increased, which meets the continuous flat ground and different damping demand of ground high and low undulation, and adopts the triangular swing arm device to construct the virtual turning point, which is beneficial to reduce the energy required by the vehicle frame shock absorption, so that the micro vibration can also be avoided by the shock absorber. At the same time, the adjustable active profiling technology is used, the sensor angle and ground distance information are used, the pre-adjusting and compensation adjusting are adopted, so that the seeding single can realize high-precision synchronous profiling under the condition of uneven ground surface. The present application can make the seeding single adapt to the stable operation demand under different ground undulation environment, and maximize the profiling effect and seeding operation quality of the seeding machine. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 is the front view of the multi-link device for profiling and damping of the seeding machine provided by the present application;

[0031] Figure 2 is the perspective view of the multi-link device for profiling and damping of the seeding machine provided by the present application;

[0032] Figure 3 is the working schematic diagram of the multi-link device for profiling and damping of the seeding machine, Figure 3 Among them, (a) shows the normal working state of the device, (b) shows the lifting device of the device, and (c) shows the depressed state of the device;

[0033] Figure 4 is the structure diagram of the motor swing arm structure provided by the present application;

[0034] Figure 5 is the schematic diagram of the virtual turning point of the profiling structure provided by the present application;

[0035] Figure 6 is the damping flowchart of the profiling and damping multi-link device provided by the present application;

[0036] Figure 7 is the profiling and damping mode discrimination switching flowchart;

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

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

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

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

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

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

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

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

[0045] The rear connecting frame 204 is hinged at the second turning point B and the fourth turning point D, and is connected with the upper and lower triangular swing arms 402, 404 rear turning points, and can be deviated to swing to ensure that the upper and lower connecting rods on both sides and the triangular swing arms operate consistently.

[0046] The above-mentioned four connecting rods can achieve the following technical effects: 1. connecting the seeding unit 100 and the traction frame 300; 2. when vibrating, the seeding unit is pushed by the upper connecting rod 203 and the lower connecting rod 201 to rotate the rear connecting frame 204, thereby moving forward or backward, so that the left and right triangular swing arms and the upper and lower connecting rods can maintain the same horizontal movement, which helps to avoid shock.

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

[0048] That is, when the seeding unit 100 moves upward due to road impact, the virtual turning point P moves downward accordingly, which is a key feature of the profiled shock absorption device. This process reflects that the virtual turning point P is not static, but dynamically adjusts with the shock absorption stroke to optimize the shock absorption performance. The virtual turning point design of the present application allows the turning point to move with the change of the shock absorption stroke, thereby more effectively absorbing road impact. Compared with the fixed turning point design of the traditional parallel four connecting rods, this design can provide better shock absorption performance.

[0049] The center turning points of the upper triangular swing arm 402 and the lower triangular swing arm 404 are fixed at the drive shaft end of the stepper motor 401 and are positioned by keys and bolts. The four stepper motors are fixed on the large recess of the traction frame 300 and are connected by bolt fixation through the small recess of the traction frame 300. One end of the triangular swing arm 402, 404 is provided with a spring fixing rod for installing the shock absorbing spring 403.

[0050] Specifically, the output shaft of the stepper motor 401 is provided with a keyway, a one-way electromagnetic clutch 405, and an electromagnetic clutch end 406 fixedly installed with the triangular swing arm 402, 404. In the passive shock absorption case, the stepper motor 401 and the electromagnetic clutch 405 are powered off, and the electromagnetic clutch end 406 has a small gap with the intermediate electromagnetic clutch 405. At this time, the triangular swing arm can rotate under the drive of the lower connecting rod 201, the upper connecting rod 203, the rear connecting frame 204, and the shock absorbing spring 403. In the active shock absorption case, the stepper motor 401 rotates, the electromagnetic clutch 405 is powered on to drive the electromagnetic clutch end 406 to press the triangular swing arm. At this time, the triangular swing arm can rotate with the stepper motor to drive the rear connecting frame and the shock absorbing spring to operate.

[0051] Specifically, the upper triangular swing arm 402 is arranged with the long side downward, and the lower triangular swing arm 404 is arranged with the long side upward. The output shaft of the stepping motor 401 can pass through the groove of the traction frame 300 and can be moved up and down through the small groove beside it to adjust the height. The long side of the triangular swing arm 402, 404 is provided with a hole for hinging the rear connecting frame 204, and can be rotated. The small hole on the long side is used for installing the spring fixing rod, and the spring fixing rod does not rotate.

[0052] Specifically, the number of spring fixing rods is 2, which respectively pass through the two upper triangular swing arms 402 and the lower triangular swing arms 404. When the vibration occurs, the triangular swing arm rotates to drive the spring fixing rod to move. When the seeding unit 100 contacts the continuously undulating ground, the displacement of the seeding unit 100 will drive the upper connecting rod 203 and the lower connecting rod 201 to rotate. At this time, the rear connecting frame 204 will move to drive the triangular swing arm 402, 404 to swing. At this time, due to the difference in the swing angle of the upper and lower triangular swing arms, the spring will be stretched or compressed to reduce vibration.

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

[0054] Specifically, the triangular swing arm 402, 404 adjusts the relative height by moving up and down in the groove of the traction frame, thereby changing the distance between the spring fixing rods, and compressing or stretching the damping spring 403 to change the pre-tightening force thereof.

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

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

[0057] Specifically, when the seeding unit 100 is working, the vibration trajectory thereof is an arc curve. Specifically, the virtual rotation point N is designed to make the damping spring 403 move along an arc trajectory by using the upper and lower triangular swing arms. The initial position of the trajectory is as shown in Figure 3The position of the natural pre-pressing value, the tension of the damping spring 403 will tend to pull the rear connecting frame 204 to this point. Thus, the stability of the seeding unit 100 is improved, and high efficiency response can be maintained even in multiple continuous small vibrations.

[0058] When the seeding unit 100 is in the process of field work, it moves up and down. When the profiled four-bar linkage device 200 follows the seeding unit 100 to rise, the upper connecting rod 203 and the lower connecting rod 201 rotate clockwise to drive the rear connecting frame 204 to move towards the upward movement of the seeding unit 100, at this time the triangular swing arms 402 and 404 will swing counterclockwise downward, so that the damping spring 403 generates a downward displacement to absorb the vibration. Similarly, when the seeding unit 100 falls back due to gravity, the triangular swing arms 402 and 404 rotate to compress the damping spring 403, drive the rear connecting frame 204 to move away from the seeding unit 100 downward, and thus reduce the vibration impact.

[0059] It should be noted that during the damping process, due to the length of the lower connecting rod 201 being greater than that of the upper connecting rod 203, the angle of rotation of the lower triangular swing arm 404 will always be less than that of the upper triangular swing arm 402, thereby driving the stretching and compression of the damping spring.

[0060] The adjustment method of the multi-linkage device for profiled damping of a seeding machine is divided into passive damping and active damping. When passive damping, the stepper motor 401 and the electromagnetic clutch 405 are both powered off, and only rely on the stretching and compression of the damping spring 403 to reduce the vibration of the seeding unit 100.

[0061] When the amount of straw residue coverage or the ground undulation of the work area of the seeding unit 100 is large, the stepper motor 401 and the electromagnetic clutch 405 are powered on to drive the triangular swing arms 402 and 404 to rotate for active damping.

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

[0063] When the seeding machine encounters a protruding ground during operation: the traction frame 300 connected to the tractor is affected by the terrain and tilts counterclockwise upward. The inclination angle sensor 501 located on the traction frame will collect the inclination angle α, and in combination with the length interval K of the traction frame, the ground undulation amount h0 can be preliminarily calculated, the formula is further,

[0064] h0 = K x sin a

[0065] At this time, the stepping motor 401 is powered on, the electromagnetic clutch 405 is powered on to rotate the compression electromagnetic clutch end head 406, thereby driving the upper triangular swing arm 402 and the lower triangular swing arm 404 to rotate counterclockwise. Since the length of the lower connecting rod 201 is greater than that of the upper connecting rod 203, the rotation angle of the lower triangular swing arm 404 will be greater than that of the upper triangular swing arm 402. At this time, the upper computer will judge the angle difference of the upper and lower triangular swing arms according to the preliminary calculation of the ground fluctuation h0, and complete the preliminary upward profiling by quickly stretching the damping spring 403 and lifting the rear connecting frame 204 to make the single body rise. Due to the flexible connection characteristics of the rear connecting frame 204 and the triangular swing arms 402 and 404, there is a difference between the fluctuation angle of the seeding unit 100 and the lower connecting rod, so secondary fine adjustment is needed.

[0066] Specifically, when the depth limiting wheel of the seeding unit 100 reaches the fluctuation point, the depth of the furrowing disc becomes shallow, and the upper connecting rod 203 and the lower connecting rod 201 will be inclined downward counterclockwise around the seeding unit hinge point. The ground distance of the seeding unit 100 will be collected by the ultrasonic sensor 502 located on the lower connecting rod, and the vehicle-mounted upper computer will accurately measure the ground distance change AH of the seeding unit 100 in combination with the predetermined seeding depth H. The vehicle-mounted upper computer will transmit the actual ground distance change AH to the stepping motor 401 to control the stepping motor 401 to rotate quickly at a small angle, thereby driving the triangular swing arms 402 and 404 to swing to complete the fine adjustment.

[0067] Similarly, when the seeder encounters a concave ground during operation: the traction frame 300 connected to the tractor will be inclined downward clockwise due to the influence of the terrain. The angle sensor 501 located on the traction frame will collect the inclination angle a, and in combination with the length interval K of the traction frame, the ground fluctuation h0 can be preliminarily calculated, and the formula is further,

[0068] h0 = K x sin a

[0069] At this time, the stepping motor 401 is powered on, the electromagnetic clutch 405 is powered on to rotate the compression electromagnetic clutch end head 406, thereby driving the upper triangular swing arm 402 and the lower triangular swing arm 404 to rotate clockwise. Since the length of the lower connecting rod 201 is greater than that of the upper connecting rod 203, the rotation angle of the lower triangular swing arm 404 will be greater than that of the upper triangular swing arm 402. At this time, the upper computer will judge the angle difference of the upper and lower triangular swing arms according to the preliminary calculation of the ground fluctuation h0, and complete the preliminary downward profiling by quickly stretching the damping spring 403 upward and pressing the rear connecting frame 204 downward to make the single body rise. Due to the flexible connection characteristics of the rear connecting frame 204 and the triangular swing arms 402 and 404, there is a difference between the fluctuation angle of the seeding unit 100 and the lower connecting rod, so secondary fine adjustment is needed.

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

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

[0072] The triangular swing arm adjusts the contouring mechanism's operating range, improving the seeder's adaptability in various operating environments. The distance between the angle change points of the traction frame and the rear connecting frame is used to compensate for delays, preventing adjustment lags during high-speed operation. A segmented adjustment method compensates for motor rotation after pre-adjustment, preventing inaccurate adjustment in undulating environments. These three features work together to achieve highly precise, synchronized contouring of the sowing unit even at high speeds.

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

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

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

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

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

[0078] Specifically, when the seeding unit 100 is working in the field, the motion state sensor 502 monitors the vibration amplitude in real time. When the vibration amplitude exceeds the set vibration amplitude, the upper computer is warned. At this time, the angle sensor 501 detects the inclination angle of the traction frame 300 in real time to feed back the ground unevenness. The upper computer receives the information and selects the active damping mode. The stepping motor 401 and the electromagnetic clutch 405 are energized to squeeze the electromagnetic clutch end 406, which drives the triangular swing arm 402 and 404 to rotate and stretch the damping spring 403. The upper computer preliminarily calculates the ground fluctuation h0 according to the inclination angle and length information of the traction frame to adjust the initial seeding depth. When the seeding unit 100 reaches the fluctuation point, the ultrasonic sensor 502 located on the lower connecting rod will collect the distance from the seeding unit 100 to the ground. The vehicle-mounted upper computer combines the predetermined seeding depth H to accurately measure the distance change AH of the seeding unit 100 to the ground. The upper computer performs secondary calculation according to the distance sensor and angle sensor information. At this time, the stepping motor 401 performs small-angle fine adjustment to drive the seeding unit to complete secondary accurate profiling.

[0079] The following will be described in detail Figure 7 The multi-link device and adjustment method for profiling and damping of a seeding machine provided by the embodiments of the present application are described in detail

[0080] S101: When the seeding unit 100 is working in the field, the upper computer monitors the vibration amplitude in real time through the motion state sensor 502 on the lower triangular swing arm 404. By setting the vibration amplitude threshold, if the triangular swing arm vibration value remains within the limited range, the passive damping mode is adopted for normal work. When the swing angle of the triangular swing arm is too large, the vibration amplitude exceeds the set vibration amplitude of the motion state sensor 502. At this time, the angle sensor 501 on the traction frame 300 detects the unevenness of the field ground in real time. The upper computer obtains the inclination angle of the traction frame, and preliminarily calculates the ground fluctuation h0 by combining the length of the traction frame with the length interval K of the traction frame. At this time, the stepping motor and the electromagnetic clutch on the traction frame are energized, and the active damping mode is switched at any time according to the instruction of the upper computer.

[0081] S102: If the upper computer determines that the active damping mode needs to be adopted, the electromagnetic clutch squeezes the electromagnetic clutch end to squeeze the triangular swing arm. At this time, the stepping motor rotates to drive the triangular swing arm to swing to lift / press the seeding unit to complete the preliminary profiling. At this time, the distance sensor obtains the distance information, and accurately measures the distance change AH of the seeding unit 100 to the ground by the predetermined seeding depth H.

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

Claims

1. A multi-link device for contour-profiling vibration reduction of a seed drill, the multi-link device comprising a seed drill unit (100), a contour-profiling four-link device (200) connected to the seed drill unit (100), an active adjustment device (400) connected to the contour-profiling four-link device (200), and a traction frame (300) connected to the active adjustment device (400); the traction frame (300) is arranged at the outer end of the active adjustment device (400), one end of the contour-profiling four-link device (200) is hinged to the seed drill unit (100), and the other end is connected to the traction frame (300); the active adjustment device (400) is fixed to the traction frame through a groove; and the characteristics are as follows: The multi-link device is further provided with an active vibration reduction detection and control unit, the active vibration reduction detection and control unit comprising a vehicle-mounted host computer, an inclination angle sensor (501), a motion state sensor (502), and a ground distance ultrasonic sensor (503); the inclination angle sensor (501) is arranged on the front end of the traction frame (300) for real-time monitoring of the traction inclination angle α, the motion state sensor (502) is placed on the active adjustment device (400) for detecting the vibration amplitude, the ground distance ultrasonic sensor (503) is placed on the profiling four-link device (200) for measuring the ground distance change ΔH of the sowing unit (100), and the vehicle-mounted host computer is arranged on the sowing unit (100); The contour-matching four-link device (200) comprises a frame-shaped rear connecting frame (204), wherein upper connecting rods (203) and lower connecting rods (201) are hingedly connected on both sides of the rear connecting frame (204); a fixed connecting rod (202) is hingedly connected to the front end of the upper connecting rod (203) and the lower connecting rod (201) on each side, and the two fixed connecting rods (202) are fixed on two pin holes of the sowing unit (100); the length of the lower connecting rod (201) is greater than that of the upper connecting rod (203); and a ground-distance ultrasonic sensor (503) is placed on the lower rotation connection point between the rear connecting frame (204) and the fixed connecting rod (202); The active adjustment device (400) comprises two upper triangular swing arms (402) hingedly connected to the left and right sides of the upper rear connecting frame (204) and two lower triangular swing arms (404) hingedly connected to the left and right sides of the lower rear connecting frame (204). A damping spring (403) is connected between the tail ends of the upper triangular swing arms (402) and the lower triangular swing arms (404) on the same side. A stepping motor (401) is installed at the top of the triangle of each upper triangular swing arm (402) and the lower triangular swing arm (404). The output shaft of the stepping motor (401) is provided with a keyway and a one-way electromagnetic clutch (405). The electromagnetic clutch end (406) is fixedly installed with the upper triangular swing arm (402) / the lower triangular swing arm (404). A motion state sensor (502) is placed at the rear turning point of one of the lower triangular swing arms (404) to detect the vibration amplitude of the lower triangular swing arm (404).

2. A multi-link device for contour vibration reduction of a seed drill according to claim 1, characterized in that: The left and right sides of the traction frame (300) are respectively provided with a large groove and one or two small grooves, the small grooves are double-layered and provided with countersunk grooves and bolt grooves, and the four stepping motors (401) are all fixed on the large grooves of the traction frame (300), fixedly connected by bolts in the small grooves on the traction frame (300) and can be moved up and down through the small grooves next to them to adjust the height; each of the upper triangular swing arms (402) is arranged in a direction with the long side at the bottom, and each of the lower triangular swing arms (404) is arranged in a direction with the long side at the top.

3. A multi-link device for contour vibration reduction of a seed drill according to claim 1 or 2, characterized in that: The vibration-damping spring (403) is mounted on a spring fixing rod. There are two spring fixing rods, which respectively pass through two upper triangular swing arms (402) and a lower triangular swing arm (404). When subjected to vibration, the upper triangular swing arm (402) and the lower triangular swing arm (404) rotate to drive the spring fixing rod to move. At this time, due to the difference in the swing angles of the upper triangular swing arm (402) and the lower triangular swing arm (404), the spring will stretch or compress to reduce vibration.

4. A vibration reduction adjustment method for a multi-link device for contour vibration reduction of a seed drill according to any one of claims 1 to 3, characterized in that: The method comprises the following steps: S101: When the sowing unit (100) is operating in the field, the vehicle-mounted host computer monitors the vibration amplitude in real time through the motion state sensor (502) on the lower triangular swing arm (404), and sets a vibration amplitude threshold. If the vibration amplitude of the lower triangular swing arm (404) remains within the set threshold range, the passive vibration reduction mode is adopted; S102: When the vibration amplitude of the lower triangular swing arm (404) exceeds the vibration amplitude set by the motion state sensor (502), the host computer switches to the active vibration reduction mode: S103: In the active vibration reduction mode, the tilt angle sensor (501) at the front end of the traction frame (300) detects the tilt angle of the traction frame in real time, and the host computer obtains the tilt angle α of the traction frame and preliminarily calculates the ground undulation h0 by combining the traction frame length spacing K: h0=K×sinα The upper machine determines the angle difference between the upper and lower triangular swing arms according to the preliminary calculated ground undulation h0, and quickly stretches / compresses the damping spring (403) and raises / lowers the rear connecting frame (204) to make the monomer rise / fall to complete the preliminary upward / downward profiling; S104: Due to the flexible connection characteristics of the rear connecting frame (204) and the upper triangular swing arm (402) and the lower triangular swing arm (404), there is a difference in the undulation angle between the sowing unit (100) and the lower connecting rod, so a secondary fine adjustment is required. When the depth limiting wheel of the sowing unit (100) reaches the undulation point, the furrowing depth of the furrowing disc becomes shallower / deeper, and the upper connecting rod (203) and the lower connecting rod (201) will tilt counterclockwise downward / clockwise upward around the hinge point of the sowing unit. The ground distance ultrasonic sensor (503) located on the lower connecting rod will collect the distance between the sowing unit (100) and the ground. The vehicle-mounted host computer combines the predetermined sowing depth H to accurately measure the ground distance change ΔH of the sowing unit (100). The vehicle-mounted host computer transmits ΔH to the stepping motor (401), controls the stepping motor (401) to rotate quickly and at a small angle, and drives the upper triangular swing arm (402) and the lower triangular swing arm (404) to swing to complete the fine adjustment.

5. The vibration reduction adjustment method for the multi-link device for contour vibration reduction of a seed drill according to claim 4, characterized in that: The working process of the passive vibration reduction mode is as follows: One end of the upper connecting rod (203) is rotatably connected to the upper turning point of the fixed connecting rod (202) to form a first turning point A, and the other end is hinged to the rear connecting hole of the upper triangular swing arm (402) to form a second turning point B; one end of the lower connecting rod (201) is rotatably connected to the upper turning point of the fixed connecting rod (202) to form a third turning point C, and the other end is hinged to the rear connecting hole of the lower triangular swing arm (404) to form a fourth turning point D; the rear connecting frame (204) is hinged to the second turning point B and the fourth turning point D, and is connected to the rear turning points of the upper triangular swing arm (402) and the lower triangular swing arm (404); The length of the lower connecting rod (201) is greater than that of the upper connecting rod (203); a line connecting the first turning point A and the second turning point B is defined as a first connecting line L1; a line connecting the third turning point C and the fourth turning point D is defined as a second connecting line L2; and an intersection of the first connecting line and the extension of the second connecting line is defined as a first virtual turning point P; the virtual turning point P maintains a tendency to move in the opposite direction when the seed drill unit vibrates; that is, when the seed drill unit (100) moves upward due to the impact of the road surface, the virtual turning point P moves downward accordingly; During passive vibration reduction, the sowing unit (100) moves up and down during field operation. When the contoured four-link device (200) follows the sowing unit (100) to rise, the upper connecting rod (203) and the lower connecting rod (201) rotate clockwise to drive the rear connecting frame (204) to move upward toward the sowing unit (100). At this time, the upper triangular swing arm (402) and the lower triangular swing arm (404) will swing counterclockwise downward, thereby causing the vibration reduction spring (403) to produce an oblique downward displacement to absorb vibration. Similarly, When the sowing unit (100) falls down due to its own weight, the triangular swing arms (402) and (404) rotate to compress the vibration damping spring (403), driving the rear connecting frame (204) to move downward away from the sowing unit (100), thereby reducing the vibration impact; at the same time, during the vibration reduction process, since the length of the lower connecting rod (201) is greater than that of the upper connecting rod (203), the rotation angle of the lower triangular swing arm (404) will always be smaller than the rotation angle of the upper triangular swing arm (402), thereby driving the extension and compression of the vibration damping spring.

6. The vibration reduction adjustment method for the multi-link device for contour vibration reduction of a seed drill according to claim 5, characterized in that: The working process of the active vibration reduction mode is as follows: When the vehicle-mounted host computer issues an active vibration reduction command, the stepper motor (401) rotates, the electromagnetic clutch (405) is energized, and the electromagnetic clutch terminal (406) is driven to squeeze the triangular swing arm. At this time, the upper triangular swing arm (402) and the lower triangular swing arm (404) rotate with the stepper motor and then drive the rear connecting frame (204) and the vibration reduction spring (403) to operate. Specifically, the upper triangular swing arm (402) is rotationally connected to the spring fixing rod to form a fifth turning point E, and the lower triangular swing arm (404) is rotationally connected to the spring fixing rod to form a sixth turning point F. Definition The line connecting the third turning point C and the fifth turning point E is the third line L3, the line connecting the fourth turning point D and the sixth turning point F is the fourth line L4, and the intersection of the extension lines of the third and fourth lines is the second virtual turning point N; the virtual turning point N maintains a tendency to move in the opposite direction when the spring is stretched or compressed; the design of the virtual turning point N is to use the upper and lower triangular swing arms (402), (404) to make the damping spring (403) also move along an arc trajectory, and the tension of the damping spring (403) will tend to pull the rear connecting frame (204) to this point.

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