Pressure-adjustable corn pressing device and adjusting method

Abstract

The invention relates to the technical field of agricultural equipment, and discloses a pressure-adjustable corn compacting device and an adjusting method.The pressure-adjustable corn compacting device comprises an integrated bearing frame, and a hinge linkage structure is formed by a front light connecting frame and a rear external movable frame through a first self-adaptive pressure adjusting assembly; the double-wheel cooperative pressing system comprises a pre-pressing wheel which is vertically hung at the bottom of the front end of the lightweight connecting frame through a second self-adaptive pressure adjusting assembly, and the surface of a wheel body of the pre-pressing wheel is provided with a spiral flow guide rib and a variable eccentric counterweight assembly; the pre-press wheel serves as a front end component, and the segmented floating structure (controlled by the floating connecting mechanism) of the pre-press wheel can actively adapt to ground fluctuation, so that suspension or impact caused by uneven terrain is avoided; the main press wheel responds to displacement feedback of the pre-press wheel in real time through hinge angle adjustment (controlled by the first self-adaptive pressure adjusting assembly), it is ensured that stable grounding pressure can be maintained in soft or hard soil areas, and the uniformity and adaptability of press operation are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of agricultural equipment technology, specifically to an adjustable pressure corn compactor and its adjustment method. Background Technology

[0002] Traditional corn compaction devices mostly employ a single-wheel structure, with a fixed wheel as its core design. Ground pressure is adjusted mechanically or hydraulically to achieve soil compaction. While these devices perform adequately in conventional flat fields, their limitations become increasingly apparent in the complex field environments of corn ridge planting (ridge planting, furrow drainage). Current mainstream devices generally use a single pressure setting, failing to dynamically respond to changes in terrain and soil properties, resulting in compaction quality that fails to meet agronomical requirements.

[0003] The primary drawback lies in its insufficient adaptability to terrain. Traditional single-unit compactors, due to their rigid structure, cannot automatically adjust pressure to varying ground conditions. When the device travels through soft soil areas, the wheel easily sinks into the soil, causing localized over-compaction and forming a hard subsoil that hinders root penetration. In hard or raised areas, the wheel is suspended, resulting in insufficient compaction and loose soil in the seeding zone, failing to effectively retain moisture. This uneven compaction not only reduces seed germination rates but also easily leads to soil compaction, affecting subsequent crop growth cycles. Actual measurement data shows that in undulating terrain, the compaction uniformity of traditional devices fluctuates by as much as 30%, far exceeding the 15% standard allowed for corn cultivation.

[0004] Secondly, the device lacks the ability to differentiate between the ridge and furrow bottom. Maize ridge cultivation requires high compaction on the ridge (seeding strip) to retain moisture and promote seedling growth, while low compaction is needed on the furrow bottom (drainage strip) to prevent soil compaction. However, a single roller applies uniform pressure, failing to differentiate regional characteristics: in the furrow bottom area, excessive compaction leads to overly dense soil, inhibiting drainage and hindering root development; in the ridge area, insufficient pressure fails to achieve suitable compaction, reducing moisture retention. Agronomic practice shows that this "one-size-fits-all" compaction results in an under-compaction rate of up to 25% in the seed strip and an over-compaction rate of over 20% in the furrow bottom, directly leading to a 10-15% decrease in maize emergence rate and significant yield loss.

[0005] Furthermore, the cleaning systems of traditional equipment rely on passive scraping, which is prone to clogging due to the adhesion of wet, sticky soil, affecting the efficiency of continuous operation. However, the core problem remains the lack of adaptability to terrain and regional differences, becoming a key bottleneck restricting the precision and efficiency of corn compaction operations. These shortcomings are particularly prominent in complex farmland environments, urgently requiring technological innovation to achieve adaptive compaction. Summary of the Invention

[0006] The purpose of this invention is to provide an adjustable pressure corn compactor to solve the problems mentioned in the background art.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: an adjustable pressure corn compactor, characterized in that it comprises: The integrated load-bearing frame consists of a lightweight connecting frame at the front and an external movable frame at the rear, which are connected by a first adaptive pressure regulating component to form a hinged linkage structure. The dual-wheel coordinated suppression system includes: The pre-pressurized wheel is vertically suspended at the bottom front end of the lightweight connecting frame via the second adaptive pressure regulating component. Its wheel surface is provided with spiral guide ribs and a variable eccentric counterweight component. The main press wheel is horizontally pivotally connected to the interior of the external movable frame and is arranged in a staggered manner with the pre-press wheel. The mechanical linkage component converts the vertical pressure adjustment of the second adaptive pressure regulating component into the hinge angle change of the first adaptive pressure regulating component, so that the ground pressure of the main pressing wheel and the terrain feedback of the pre-pressing wheel are established in a nonlinear mapping relationship. An integrated cleaning system includes: The pre-pressurized wheel cleaning module consists of a first scraping component fixed to the second adaptive pressure regulating component forming dynamic contact with the surface of the pre-pressurized wheel; The main pressure wheel cleaning module, through the energy recovery module, forms a pressure-adjustable contact between the second scraping component and the main pressure wheel. The intelligent monitoring system integrates sensing and detection components in the lightweight connecting frame to collect pressing parameters in real time, and forms a closed-loop control with each pressure regulating component through the control circuit.

[0008] According to the above technical solution, the first adaptive voltage regulation component includes: An inclined base plate is fixedly installed in the middle of the lightweight connecting frame; The first symmetrical fixing rod is symmetrically hinged to both sides of the front end of the inclined base plate; The first limiting plate is horizontally fixed to the ends of the two first symmetrical fixing rods; The first damper has its cylinder body vertically fixed at the center of the first limiting plate; The first adjusting plate is horizontally sleeved on the two first symmetrical fixed rods and fixedly connected to the telescopic end of the first damper; The first hinge shaft horizontally passes through the front end of the external movable frame and is sleeved on the two first symmetrical fixed rods; The first telescopic spring is coaxially sleeved on the outside of each of the first symmetrical fixed rods, with its two ends abutting against the first adjusting plate and the first limiting plate, respectively. The first electric telescopic rod is vertically positioned between the first adjusting plate and the first hinge shaft.

[0009] According to the above technical solution, the pre-pressurization wheel includes: The wheel mounting bracket has an inverted U-shaped structure with the opening facing downwards. The pre-pressurized wheel body is composed of at least three cylindrical combined wheel bodies connected in series by a floating connection mechanism. Each cylindrical combined wheel body has a honeycomb structure inside and spiral guide ribs on the outside. The floating connection mechanism includes: The hinge shaft extends laterally through adjacent cylindrical combined wheel bodies; A helical torsion spring buffer unit, coaxially sleeved on the outer circumference of the hinge shaft, includes: A helical torsion spring, with its two ends fixed to adjacent wheel bodies; A rotary damper, integrated on a hinge shaft, has its input shaft keyed to the hinge shaft; The damping coefficient of the rotary damper is matched with the stiffness of the helical torsion spring, allowing relative deflection of adjacent cylindrical combined wheels. The variable eccentric counterweight assembly includes: A sliding counterweight rod is radially disposed within the cylindrical combined wheel body; An eccentric counterweight is slidably mounted on a sliding counterweight rod. The third electric telescopic rod is fixed to the inner wall of the cylindrical combined wheel and the telescopic end is connected to an eccentric counterweight.

[0010] According to the above technical solution, the second adaptive voltage regulation component includes: A horizontal base plate is fixedly installed at the front end of the lightweight connecting frame; The lifting rod is vertically connected to the horizontal base plate and the wheel fixing frame, with the top penetrating the horizontal base plate and the end fixedly installed with a limit plate. The second electric telescopic rod is vertically fixed to the center of the bottom of the horizontal base plate; The second adjusting plate is horizontally sleeved on the two lifting rods and fixedly connected to the telescopic end of the second electric telescopic rod. The second telescopic spring is coaxially sleeved on the outside of each lifting rod, with its two ends abutting against the second adjusting plate and the wheel fixing frame, respectively; The second damper is vertically positioned between the second adjusting plate and the wheel fixing frame.

[0011] According to the above technical solution, the first scraping component includes: The first polyurethane scraper is fixed at an angle to the inside of the wheel body fixing frame by bolts, and its cutting edge maintains a gap with the outer wall of the pre-pressed wheel body. The second scraping component includes: The fixed frame is vertically fixed to the top of the external movable frame; The fourth electric telescopic rod is installed vertically at the bottom of the fixed frame; The movable plate is horizontally connected to the telescopic end of the fourth electric telescopic pole. The second polyurethane scraper is arc-shaped and located at the bottom of the moving plate, and is tightly fitted to the outer wall of the main pressure roller.

[0012] According to the above technical solution, the main pressure roller includes: The rubber wheel body consists of a central ridge airbag area and two side groove bottom airbag areas; The first rotary joint is located on one side of the rubber wheel and connects to the ridge airbag area; The second rotary joint is located on the other side of the rubber wheel and is connected to the airbag area at the bottom of the two grooves through a three-way valve; The first air pump is connected to the first rotary joint via the first air delivery pipe; The second air pump is connected to the second rotary joint via the second air supply pipe.

[0013] According to the above technical solution, the mechanical linkage component includes: A displacement sensor detects the displacement of the first adjustment plate in real time. A pressure sensor monitors the output pressure of the second regulating plate in real time. The linkage controller receives signals from the displacement sensor and the pressure sensor. The linkage controller is configured as follows: When the displacement of the second adjusting plate exceeds the threshold, a pressure amplification command is generated; The first electric telescopic rod is controlled to produce a stroke reduction proportional to the displacement of the second adjusting plate; This makes the ground pressure change gradient of the main ballast wheel 1.2-1.5 times that of the pre-ballast wheel.

[0014] According to the above technical solution, the sensing and detection component includes: The multi-dimensional soil parameter detection unit includes: A soil hardness sensor, vertically mounted in the middle of a lightweight connecting frame, detects the topsoil layer; The soil moisture sensor is installed horizontally in the middle of the lightweight connecting frame, and the detection width covers the working width of the dual-wheel operation. Terrain scanning unit: A laser terrain sensor is mounted on the front of a horizontal base plate to scan the terrain ahead. Suppression effect feedback unit: The compaction sensor is vertically mounted on the rear of the main compaction wheel via an L-shaped bracket, with its probe pointing vertically toward the compacted ground surface. The data fusion module, integrated within the lightweight connector, is configured as follows: By correlating terrain height data with post-compaction compaction data, a terrain compaction mapping curve is generated; When the compaction degree in the trench bottom area exceeds the threshold, reduce the pressure in the trench bottom airbag area; The preset compaction target value is dynamically adjusted based on the real-time soil moisture content.

[0015] According to the above technical solution, the energy recovery module includes: The piezoelectric ceramic module is embedded in the shaft of the pre-pressed wheel. A piezoelectric ceramic sheet is attached to the back of the second polyurethane scraper; The piezoelectric ceramic module and the piezoelectric ceramic sheet are connected via a control circuit.

[0016] A method for adjusting an adjustable pressure corn compactor includes the following steps: S1, Terrain Feedback and Pre-Suppressing Wheel Adaptive Adjustment The segmented wheel body of the pre-pressed wheel adapts to the terrain undulations through a floating connection mechanism; The variable eccentric counterweight assembly dynamically adjusts the wheel's moment of inertia according to terrain features; The spring damping system of the second adaptive voltage regulating component absorbs vertical impacts; S2, Electronic pressure linkage adjustment The displacement sensor captures the displacement changes of the second adjustment plate in real time; The linkage controller calculates the target displacement of the first adjusting plate based on the amount and rate of displacement change. Controlling the first electric telescopic rod to execute the target displacement causes the pressure of the main press wheel to generate a nonlinear gain; S3, Main Pressure Roller Zone Pressure Adjustment Based on the differences in soil physical properties, the internal pressure of the ridge airbag area and the furrow bottom airbag area can be adjusted independently. When the soil at the bottom of the trench becomes too wet, the pressure in the airbag area at the bottom of the trench is automatically reduced. S4, cleaning system working in tandem The first scraping component removes deposits from the pre-pressed wheel at a constant contact angle; The energy recovery module converts mechanical vibration energy into electrical energy and dynamically adjusts the contact pressure of the second scraping component; S5, Closed-loop dynamic optimization: The sensing and detection components acquire real-time data on the pressing effect; The linkage controller compares preset parameters and optimizes the pressure distribution of the two wheels by adjusting the initial pressure of the first electric telescopic rod and the gain coefficient of the second electric telescopic rod.

[0017] Compared with the prior art, the beneficial effects achieved by the present invention are: (1) The pre-compacting wheel and the main compacting wheel achieve efficient response and precise matching to farmland terrain through a collaborative adaptive adjustment mechanism. As the front-end component, the pre-compacting wheel's segmented floating structure (controlled by the floating connection mechanism) can actively adapt to ground undulations, avoiding suspension or impact caused by uneven terrain. The main compacting wheel responds to the displacement feedback of the pre-compacting wheel in real time through hinge angle adjustment (controlled by the first adaptive pressure regulating component), ensuring that a stable ground pressure can be maintained in both soft and hard soil areas, significantly improving the uniformity and adaptability of compaction operations, and avoiding uneven compaction or soil disturbance caused by terrain changes in traditional single-wheel devices.

[0018] (2) The mechanical linkage component dynamically converts the displacement of the pre-compacting wheel (reflecting terrain disturbance) into ground pressure adjustment of the main compacting wheel, with the pressure change gradient precisely controlled within 1.2–1.5 times that of the pre-compacting wheel. This design allows the main compacting wheel to apply higher compaction intensity in the ridge area (seeding strip) to conserve moisture and promote seedling growth, while maintaining a lower compaction degree in the furrow bottom area (drainage strip) to prevent soil compaction. This perfectly matches the agronomic requirements of the corn ridge planting pattern and avoids the problems of over-compaction or under-compaction.

[0019] (3) The energy recovery module innovatively utilizes the mechanical energy generated by the vibration of the pre-pressing wheel shaft to drive the piezoelectric ceramic sheet on the back of the second polyurethane scraper to generate high-frequency vibration through the piezoelectric ceramic element, which significantly enhances the removal efficiency of wet and sticky substances on the surface of the main pressing wheel. This mechanism requires no additional energy input, which not only reduces the overall energy consumption of the machine, but also reduces the risk of scraper clogging through "vibration-assisted cleaning", extends the service life of components, and improves the real-time response capability of the cleaning system.

[0020] (4) The second scraping component adopts a "static pressing + dynamic oscillation" composite cleaning mode. The fourth electric telescopic rod adjusts the basic contact pressure of the second polyurethane scraper, which works in conjunction with the high-frequency vibration generated by the piezoelectric ceramic sheet. This mode effectively destroys the adhesion between the attached material and the wheel surface, greatly reduces the probability of wet and sticky mud or straw residue, avoids wheel slippage or blockage, and ensures the reliability and stability of continuous operation.

[0021] (5) The sensing and detection component collects real-time operational environment data through multi-dimensional sensors (soil hardness, moisture content, terrain scanning, and compaction feedback). The data fusion module dynamically generates a terrain-compaction mapping curve and automatically corrects the compaction target value based on the soil moisture content. This closed-loop system ensures that the compaction quality always meets agronomic standards. For example, it automatically reduces the compaction intensity in areas with high moisture content to avoid the formation of a hard subsurface, significantly improving operational accuracy and adaptability.

[0022] (6) The helical torsion spring buffer unit of the floating connection mechanism works in conjunction with the rotational damper to enable the segmented structure of the pre-pressurized wheel body to smoothly deflect in complex terrain, effectively absorbing impact energy and suppressing high-frequency vibration. This design not only improves operational stability and reduces soil disturbance, but also extends the service life of the wheel body components, providing the whole machine with long-lasting and reliable operating capabilities and reducing maintenance costs. Attached Figure Description

[0023] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a first perspective view of the present invention; Figure 2 This is a second perspective view of the present invention; Figure 3 This is a third perspective view of the present invention; Figure 4 This is a fourth perspective schematic diagram of the present invention; Figure 5 This is the fifth perspective schematic diagram of the present invention; Figure 6 This is a first partial three-dimensional schematic diagram of the present invention; Figure 7 This is a second partial perspective view of the present invention; Figure 8 This is a third partial perspective view of the present invention; Figure 9 This is a fourth partial perspective view of the present invention; Figure 10 This is a fifth partial perspective view of the present invention; Figure 11 This is a sixth partial perspective view of the present invention; Figure 12 This is a third-dimensional schematic diagram of the seventh part of the present invention; In the diagram: 1-Lightweight connecting frame, 2-First adaptive pressure regulating component, 200-Inclined base plate, 201-First symmetrical fixing rod, 202-First limiting plate, 203-First damper, 204-First adjusting plate, 205-First hinge shaft, 206-First telescopic spring, 207-First electric telescopic rod, 3-External movable frame, 4-Pre-pressurized wheel, 401-Wheel body fixing frame, 402-Pre-pressurized wheel body, 403-Floating connecting mechanism, 4031-Hinge shaft, 40 32-Helical torsion spring, 4033-Rotary damper, 404-Helical guide rib, 405-Variable eccentric counterweight assembly, 4051-Sliding counterweight rod, 4052-Eccentric counterweight block, 4053-Third electric telescopic rod, 5-Second adaptive pressure regulating assembly, 500-Horizontal base plate, 501-Lifting rod, 502-Second electric telescopic rod, 503-Second adjusting plate, 504-Second telescopic spring, 505-Second damper, 506-Limiting top plate, 6-Main pressure roller. 601-Rubber wheel body, 602-Ridge airbag area, 603-Ditch bottom airbag area, 604-First rotary joint, 605-Second rotary joint, 606-Three-way valve, 607-First air pump, 608-First air supply pipe, 609-Second air pump, 610-Second air supply pipe, 7-Mechanical linkage assembly, 701-Displacement sensor, 702-Pressure sensor, 703-Linkage controller, 8-First scraping assembly, 801-First polyurethane scraper, 9-Second scraping assembly. 901-Fixed frame, 902-Fourth electric telescopic rod, 903-Moving plate, 904-Second polyurethane scraper, 10-Energy recovery module, 1001-Piezoelectric ceramic module, 1002-Piezoelectric ceramic sheet, 11-Sensing and detection components, 1101-Soil hardness sensor, 1102-Soil moisture content sensor, 1103-Laser terrain sensor, 1104-Compaction sensor, 1105-L-shaped bracket, 1106-Detector head, 1107-Data fusion module. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] Please see Figure 1-12 The present invention provides a technical solution: an adjustable pressure corn compactor, characterized in that it comprises: The integrated load-bearing frame consists of a lightweight connecting frame 1 at the front and an external movable frame 3 at the rear, which are connected by a first adaptive pressure regulating component 2 to form a hinged linkage structure. The dual-wheel coordinated suppression system includes: The pre-pressurization wheel 4 is vertically suspended at the bottom front end of the lightweight connecting frame 1 via the second adaptive pressure regulating component 5. The wheel body surface is provided with a spiral guide rib 404 and a variable eccentric counterweight component 405. The main pressing wheel 6 is horizontally pivotally connected to the interior of the external movable frame 3 and is arranged in a staggered manner with the pre-pressing wheel 4. The mechanical linkage component 7 converts the vertical pressure adjustment of the second adaptive pressure regulating component 5 into the hinge angle change of the first adaptive pressure regulating component 2, so that the ground pressure of the main pressing wheel 6 and the terrain feedback of the pre-pressing wheel 4 establish a nonlinear mapping relationship. An integrated cleaning system includes: The pre-pressurized wheel cleaning module is formed by the first scraping component 8, which is fixed to the second adaptive pressure regulating component 5, and the surface of the pre-pressurized wheel 4 in dynamic contact. The main pressure wheel cleaning module, driven by the energy recovery module 10, forms a pressure-adjustable contact between the second scraping component 9 and the main pressure wheel 6. The intelligent monitoring system integrates the sensing and detection component 11 of the lightweight connecting frame 1 to collect the pressing parameters in real time, and forms a closed-loop control with each pressure regulating component through the control circuit; Specifically, the first adaptive voltage regulation component 2 includes: An inclined base plate 200 is fixedly installed in the middle of the lightweight connecting frame 1; The first symmetrical fixing rod 201 is symmetrically hinged to both sides of the front end of the inclined base plate 200; The first limiting plate 202 is horizontally fixedly connected to the ends of the two first symmetrical fixing rods 201; The first damper 203 has its cylinder body vertically fixed to the center of the first limiting plate 202; The first adjusting plate 204 is horizontally sleeved on the two first symmetrical fixed rods 201 and fixedly connected to the telescopic end of the first damper 203; The first hinge shaft 205 horizontally passes through the front end of the external movable frame 3 and is sleeved on the two first symmetrical fixed rods 201; The first telescopic spring 206 is coaxially sleeved outside each of the first symmetrical fixed rods 201, and its two ends abut against the first adjusting plate 204 and the first limiting plate 202, respectively. The first electric telescopic rod 207 is vertically disposed between the first adjusting plate 204 and the first hinge shaft 205; The first adaptive pressure regulating component 2, as the core structure connecting the lightweight connecting frame 1 and the external movable frame 3, achieves dynamic adjustment of the posture and pressure of the rear of the pressing device through multiple cooperating components. The functions of each component are analyzed below: The inclined base plate 200 is fixedly installed in the middle of the lightweight connecting frame 1, serving as the installation reference surface for the entire first adaptive pressure regulating component 2, providing a stable support foundation for other components, and ensuring a firm connection between the component and the front bearing structure. The first symmetrical fixing rod 201 is symmetrically hinged to both sides of the front end of the inclined base plate 200. Its main function is to construct a guide frame that can rotate relatively but maintains structural symmetry, allowing subsequent components to move in a controlled manner in its axial direction. The displacement is maintained while ensuring consistent movement on both sides to avoid uneven loading. The first limiting plate 202 is laterally fixed to the ends of the two first symmetrical fixing rods 201, which limits the free end position of the first symmetrical fixing rods 201 and provides an installation platform for the first damper 203, thereby ensuring the rigidity and stability of the entire pressure regulating structure in the vertical direction. The cylinder of the first damper 203 is vertically fixed to the center of the first limiting plate 202, and its telescopic end is connected to the first adjusting plate 204. It is used to absorb and buffer high-frequency vibrations caused by terrain undulations or operational impacts, improve the smoothness of device operation, and participate in adjusting the force response characteristics of the main pressure wheel 6 on the ground. The first adjusting plate 204 is horizontally sleeved on the two first symmetrical fixing rods 201 and connected to the first damper 203. The telescopic end of the 03 is fixedly connected, serving as a key intermediate component for load bearing and force transmission. It can slide on the first symmetrical fixed rod 201 to achieve vertical position adjustment, and effectively transmit the action of the first damper 203 to the lower structure. The first hinge shaft 205 horizontally passes through the front end of the external movable frame 3 and is simultaneously sleeved on the two first symmetrical fixed rods 201, forming the hinge point between the external movable frame 3 and the front structure. This allows the external movable frame 3 to perform pitching motion around this axis, thereby adapting to the pressing requirements under different terrain conditions. The first telescopic spring 206 is coaxially sleeved on the outside of each first symmetrical fixed rod 201, with its two ends abutting against the first adjusting plate 204 and the first limiting plate 202, respectively. In the absence of active drive, it provides initial preload to maintain the system. The structure exhibits normal structural tension and stores elastic potential energy under pressure, assisting in flexible pressure adjustment and rebound reset. The first electric telescopic rod 207 is vertically positioned between the first adjusting plate 204 and the first hinge shaft 205, serving as an active adjustment element. By extending and retracting, it changes the relative distance between the first adjusting plate 204 and the first hinge shaft 205, thereby controlling the hinge angle of the external movable frame 3. This, in turn, adjusts the pressure applied to the ground by the main pressing wheel 6, achieving precise control of the pressing intensity. In summary, the first adaptive pressure regulating component 2, through the mechanical cooperation and functional integration of the aforementioned components, not only achieves flexible hinge linkage between the lightweight connecting frame 1 and the external movable frame 3, but also possesses multiple functions such as passive buffering, active pressure regulation, and attitude self-adaptation.Providing stable and variable ground pressure support to the main press wheel 6, it is the key execution unit for the entire machine to achieve intelligent pressure regulation operation; The pre-pressurizing wheel 4 includes: The wheel mounting bracket 401 has an inverted U-shaped structure with the opening facing downwards. The pre-pressurized wheel body 402 is composed of at least three cylindrical combined wheel bodies connected in series by a floating connection mechanism 403. Each cylindrical combined wheel body has a honeycomb structure inside and is provided with a spiral guide rib 404 on the outside. The floating connection mechanism 403 includes: The hinge shaft 4031 extends laterally through adjacent cylindrical combined wheel bodies; A helical torsion spring buffer unit, coaxially sleeved on the outer circumference of the hinge shaft 4031, includes: A helical torsion spring 4032, with its two ends fixed to adjacent wheel bodies respectively; Rotary damper 4033 is integrated on hinge shaft 4031, and its input shaft is keyed to hinge shaft 4031; The damping coefficient of the rotary damper 4033 is matched with the stiffness of the helical torsion spring 4032, allowing relative deflection of adjacent cylindrical combined wheels. The variable eccentric counterweight assembly 405 includes: The sliding counterweight rod 4051 is radially disposed within the cylindrical combined wheel body; An eccentric counterweight 4052 is slidably sleeved on a sliding counterweight rod 4051; The third electric telescopic rod 4053 is fixed to the inner wall of the cylindrical combined wheel and the telescopic end is connected to the eccentric counterweight 4052. As a key actuator at the front end of the entire machine, the pre-pressurization wheel 4 is designed to balance terrain adaptability, operational stability, and dynamic adjustment capabilities. The functions of its various components are described in detail below: The wheel fixing frame 401 adopts an inverted U-shaped structure with the opening facing downwards. It is mainly used to support and suspend the entire pre-compacted wheel 402 and reliably connect it to the second adaptive pressure regulating component 5. This structure provides sufficient rigidity while reserving space for the vertical movement and local deflection of the pre-compacted wheel 402, ensuring that it can freely respond to ground undulations in complex terrain. The pre-compacted wheel 402 is composed of at least three cylindrical combined wheel sections connected in series by a floating connection mechanism 403. This segmented structure breaks the limitation of the traditional integral wheel on terrain adaptability, allowing each cylindrical combined wheel section to independently adjust its posture according to local ground conditions, thereby improving the fit between the whole wheel and the uneven ground surface. The interior of each cylindrical combined wheel section adopts a honeycomb structure, which effectively reduces the overall weight and reduces the moment of inertia while ensuring structural strength. The spiral guide ribs 404 set on the outside play a role in guiding soil flow, preventing mud and grass from getting tangled, and assisting in leveling the broken soil during the compaction process. The floating connection mechanism 403 is the core of realizing the segmented coordination and flexible deformation of the pre-pressurized wheel body 402. The hinge shaft 4031 transversely penetrates adjacent cylindrical combined wheel bodies, forming a mechanical connection hub between adjacent wheel segments, allowing them to rotate relative to each other around this shaft at a limited angle. A helical torsion spring buffer unit is coaxially sleeved on the outer circumference of the hinge shaft 4031, and is composed of a helical torsion spring 4032 and a rotational damper 4033. The two ends of the helical torsion spring 4032 are respectively fixed to adjacent wheel bodies, providing recovery... The torque enables the deflected wheel segment to automatically return to its original position after escaping the obstacle. The rotary damper 4033 is integrated on the hinge shaft 4031. Its input shaft is connected to the hinge shaft 4031 by a key to achieve synchronous rotation. It is used to suppress the rapid swaying between adjacent wheels caused by impact or vibration. The damping coefficient of the rotary damper 4033 and the stiffness of the helical torsion spring 4032 are matched to ensure that while allowing necessary deflection, excessive swaying or hysteresis is avoided, thereby achieving a balance between compliance and stability. The variable eccentric counterweight assembly 405 is embedded inside each cylindrical combined wheel body to dynamically adjust the rotational inertia and center of gravity distribution of the pre-compacting wheel body 402. The sliding counterweight rod 4051 is radially arranged inside the cylindrical combined wheel body and serves as a guide rail for the eccentric counterweight block 4052. The eccentric counterweight block 4052 is slidably sleeved on the sliding counterweight rod 4051 and can move radially to change the mass distribution of the wheel body. The third electric telescopic rod 4053 is fixed to the inner wall of the cylindrical combined wheel body, and its telescopic end is connected to the eccentric counterweight block 4052. The position of the eccentric counterweight block 4052 is controlled by active telescopic control, thereby adjusting the rotational characteristics of the pre-compacting wheel 4 in real time according to the operational requirements. For example, in soft or undulating terrain, the penetration ability and compaction stability of the wheel body can be enhanced by increasing the eccentricity. On flat and hard surfaces, the eccentricity can be reduced to reduce energy consumption and reduce excessive compaction of the soil. In summary, the pre-pressing wheel 4, through the stable support of the wheel body fixing frame 401, the segmented flexible structure of the pre-pressing wheel body 402, the buffering and limiting mechanism of the floating connection mechanism 403, and the dynamic mass control of the variable eccentric counterweight component 405, achieves a high degree of adaptability to complex farmland terrain, stable pressing effect during operation, and intelligent response capability for on-demand adjustment, laying a good foundation for the precise operation of the subsequent main pressing wheel 6; Specifically, the second adaptive voltage regulation component 5 includes: A horizontal base plate 500 is fixedly installed at the front end of the lightweight connecting frame 1; The lifting rod 501 is vertically connected to the horizontal base plate 500 and the wheel fixing frame 401, with the top penetrating the horizontal base plate 500 and the end fixedly installed with a limiting top plate 506; The second electric telescopic rod 502 is vertically fixed to the center of the bottom of the horizontal base plate 500; The second adjusting plate 503 is horizontally sleeved on the two lifting rods 501 and fixedly connected to the telescopic end of the second electric telescopic rod 502. The second telescopic spring 504 is coaxially sleeved on the outside of each lifting rod 501, and its two ends abut against the second adjusting plate 503 and the wheel fixing frame 401 respectively. The second damper 505 is vertically disposed between the second adjusting plate 503 and the wheel fixing frame 401; The second adaptive pressure regulating component 5, as a key adjustment mechanism connecting the lightweight connecting frame 1 and the pre-pressurizing wheel 4, is designed to achieve active control and passive buffering of the vertical pressure on the pre-pressurizing wheel 4, thereby improving the overall machine's adaptability and stability under different soil conditions and terrain undulations. The functions of its components are described in detail below: The horizontal base plate 500 is fixedly installed at the front end of the lightweight connecting frame 1, forming the upper mounting platform of the second adaptive pressure regulating assembly 5. This provides a stable support foundation for components such as the lifting rod 501 and the second electric telescopic rod 502, and ensures a rigid connection between the entire assembly and the front load-bearing structure. The lifting rod 501 is vertically connected to the horizontal base plate 500 and the wheel fixing frame 401. Its top penetrates the horizontal base plate 500, and a limiting top plate 506 is fixedly installed at its upper end. The lifting rod 501 acts as a guide structure, restricting the wheel fixing frame 401 to move only in the vertical direction, preventing lateral displacement or torsion. The limiting top plate 506 prevents the lifting rod 501 from detaching from the horizontal base plate 500 under extreme working conditions, providing mechanical limiting protection. Two electric telescopic rods 502 are vertically fixed to the center of the bottom of the horizontal base plate 500. Their telescopic ends extend downward and are fixedly connected to the second adjusting plate 503. As an active adjustment actuator, the second electric telescopic rod 502 changes the vertical position of the second adjusting plate 503 through its telescopic movement, thereby directly controlling the initial pressure applied to the pre-pressing wheel 4, achieving precise setting and dynamic adjustment of the pressing intensity. The second adjusting plate 503 is horizontally sleeved on the two lifting rods 501 and fixedly connected to the telescopic end of the second electric telescopic rod 502. As the core component for force transmission and structural integration, this plate can slide smoothly along the lifting rod 501 in response to the drive of the electric telescopic rod, and effectively transmit the thrust or pull from the second electric telescopic rod 502 to the spring below. The second telescopic spring 504 is coaxially sleeved on the outside of each lifting rod 501, with its two ends abutting against the second adjusting plate 503 and the wheel fixing frame 401, respectively. When there is no active drive or external impact, the second telescopic spring 504 provides elastic support force to maintain the basic contact pressure between the pre-pressed wheel 4 and the ground. Simultaneously, when encountering local protrusions or depressions, it can absorb impact energy through compression or elongation, achieving flexible buffering and preventing rigid collisions from damaging the soil structure or the device itself. The second damper 505 is vertically installed between the second adjusting plate 503 and the wheel fixing frame 401, mainly used to suppress high-frequency vibrations caused by uneven ground or operational vibrations. When the pre-pressed wheel 4 moves rapidly up and down with the terrain, the second damper 505 consumes kinetic energy through its internal damping medium, slowing down the movement speed of the wheel fixing frame 401, improving operational stability, and preventing vibration caused by excessive spring rebound. In summary, the second adaptive pressure regulating component 5, through the structural support of the horizontal base plate 500, the guide limit of the lifting rod 501, the active pressure adjustment of the second electric telescopic rod 502, the force transmission integration of the second adjusting plate 503, the elastic buffer of the second telescopic spring 504, and the vibration suppression of the second damper 505, jointly constructs a vertical pressure regulating system with both active control and passive adaptation capabilities. This component can not only accurately set the ground pressure of the pre-pressed wheel 4 according to operational requirements, but also...It can also automatically absorb impact and maintain stable contact in complex field environments, providing a key guarantee for the machine to achieve efficient, uniform, and intelligent compaction operations; Specifically, the first scraping component 8 includes: The first polyurethane scraper 801 is obliquely fixed to the inner side of the wheel body fixing frame 401 by bolts, and its cutting edge maintains a gap with the outer wall of the pre-pressed wheel body 402. The second scraping component 9 includes: The fixed bracket 901 is vertically fixed to the top of the external movable bracket 3; The fourth electric telescopic rod 902 is vertically installed at the bottom of the fixed frame 901; The movable plate 903 is horizontally connected to the telescopic end of the fourth electric telescopic rod 902; The second polyurethane scraper 904 is arc-shaped and located at the bottom of the movable plate 903 and is tightly attached to the outer wall of the main pressing wheel 6; The first scraping component 8 and the second scraping component 9 together constitute an integrated cleaning system, which effectively removes mud, straw, or wet sticky substances that may adhere to the pre-pressing roller 4 and the main pressing roller 6 during operation, ensuring the cleanliness of the pressing roller surface and maintaining its normal operating performance and pressing quality. The specific structure and function of the two scraping components are described in detail below: The first scraping component 8 is mainly used to clean the surface of the pre-pressed wheel body 402. Its core component is the first polyurethane scraper 801. The scraper is fixed to the inner side of the wheel body fixing frame 401 by bolts. The installation angle is optimized so that its cutting edge faces the rotation direction of the pre-pressed wheel body 402. A small gap is maintained between the cutting edge of the first polyurethane scraper 801 and the outer wall of the pre-pressed wheel body 402. This avoids excessive wear caused by direct hard contact and can effectively scrape off loose soil or plant residues attached to the surface of the pre-pressed wheel body 402 during its rotation. The polyurethane material has good wear resistance, elasticity and corrosion resistance, and can work stably for a long time in harsh working environments such as wet and muddy conditions. At the same time, it protects the surface of the pre-pressed wheel body 402. The second scraping assembly 9 is used for active, pressure-adjustable cleaning of the main press roller 6. Its structure consists of a fixed frame 901, a fourth electric telescopic rod 902, a movable plate 903, and a second polyurethane scraper 904. The fixed frame 901 is vertically fixed to the top of the external movable frame 3, serving as the support base for the entire second scraping assembly 9. The fourth electric telescopic rod 902 is vertically installed at the bottom of the fixed frame 901, with its telescopic end extending downwards and connecting to the movable plate 903, forming an adjustable-height drive unit. The movable plate 903 is arranged parallel to the ground and moves up and down with the telescopic movement of the fourth electric telescopic rod 902. The second polyurethane scraper 904 has an arc-shaped structure and is installed at the bottom of the movable plate 903, its outline conforming to the outer wall of the main press roller 6. The second polyurethane scraper 904 is matched and fits tightly against the outer wall of the main pressure roller 6 during operation. By controlling the extension and retraction stroke of the fourth electric telescopic rod 902, the contact pressure of the second polyurethane scraper 904 on the surface of the main pressure roller 6 can be dynamically adjusted. When the main pressure roller 6 is covered with a lot of wet mud or sticky substances, the contact pressure can be increased to enhance the scraping effect. When the cleaning needs are low or to reduce wear, the pressure can be appropriately reduced. This pressure-adjustable contact method ensures efficient cleaning while also taking into account the service life of the scraper and the wheel. The second polyurethane scraper 904 is also made of polyurethane, which has both flexibility and scraping ability. It can adapt to the rubber surface of the main pressure roller 6 to avoid scratches and effectively remove various attachments. In summary, the first scraping component 8 achieves passive cleaning of the pre-pressing wheel 402 through a fixed-interval scraping method, which is simple and reliable in structure; the second scraping component 9 achieves active and adjustable pressure cleaning of the main pressing wheel 6 through electric drive, which is highly adaptable. The two work together to ensure that the dual-wheel pressing system remains clean during continuous operation, preventing uneven pressing or operational failure caused by wheel blockage or slippage, thereby ensuring the overall machine's operational quality and stability. Specifically, the main pressure wheel 6 includes: The rubber wheel body 601 is composed of a central ridge airbag area 602 and two side groove bottom airbag areas 603. The first rotary joint 604 is located on one side of the rubber wheel 601 and is connected to the ridge airbag area 602. The second rotary joint 605 is located on the other side of the rubber wheel 601 and is connected to the two bottom airbag areas 603 through the three-way valve 606. The first air pump 607 is connected to the first rotary joint 604 via the first air supply pipe 608; The second air pump 609 is connected to the second rotary joint 605 via the second air supply pipe 610; The main compactor roller 6, as the core operating component at the rear of the machine, is designed to achieve differentiated and adjustable compaction of different soil areas (ridges and furrows) to adapt to the common ridge planting pattern in corn cultivation. This roller achieves on-demand pressure distribution through airbag partitioning and an independent air supply system. The functions of each component are described in detail below: The rubber wheel body 601 is made entirely of flexible rubber material, possessing excellent elasticity and ground adhesion. Its internal structure is divided into three functional areas: a central ridge airbag area 602 and two side furrow bottom airbag areas 603. This zoned design allows the main roller 6 to apply different ground pressures to the ridge and furrow bottom when passing through the working width in one pass. The ridge area is usually the crop sowing zone and needs to be moderately compacted to retain moisture and promote seedling growth, while the furrow bottom area is mainly used for drainage or hilling. Excessive compaction can easily lead to soil compaction or affect root development, therefore, it needs to be independently adjusted. To control pressure, a first rotary joint 604 is located on one side of the rubber wheel 601 and directly connected to the ridge airbag area 602. As a key interface for gas transmission, the first rotary joint 604 continuously and securely introduces compressed air into the ridge airbag area 602 during the rotation of the rubber wheel 601, ensuring stable air pressure in this area unaffected by wheel rotation. A second rotary joint 605 is located on the other side of the rubber wheel 601 and connects simultaneously to the left and right trench bottom airbag areas 603 via a three-way valve 606. The three-way valve 606... The system ensures that the airflow from the second rotary joint 605 is evenly distributed to the two trench bottom airbag areas 603, guaranteeing consistent pressure on both sides and preventing uneven pressure distribution or deviation due to pressure imbalance. The second rotary joint 605 also features a rotary sealing function, ensuring continuous and reliable air supply to the trench bottom airbag areas 603 when the wheel rotates. The first air pump 607 serves as an independent air source for the ridge airbag area 602, connected to the first rotary joint 604 via the first air delivery pipe 608. The first air pump 607 can independently adjust its output air pressure according to operational requirements. The precise control of the inflation level and grounding pressure of the ridge airbag area 602 enables targeted management of the soil compaction in the sowing strip. The second air pump 609 is dedicated to supplying air to the furrow bottom airbag area 603. It is connected to the second rotary joint 605 through the second air supply pipe 610. Since the soil conditions at the bottom of the furrow are often different from those at the ridge (such as higher moisture content and softer structure), the second air pump 609 can be independently pressure-set from the first air pump 607. If necessary, the output can be reduced through the control system to reduce the compaction intensity at the bottom of the furrow and prevent the soil from becoming too dense. In summary, the main roller 6, through the partitioned airbag structure of the rubber wheel body 601, the dynamic sealing air supply of the rotary joints on both sides, the balanced distribution of the three-way valve 606, and the separate control of two independent air pump systems, constructs a highly flexible partitioned pressure regulation mechanism. This design enables the main roller 6 to implement differentiated compaction strategies for the ridge and the bottom of the furrow according to the soil physical properties, terrain features, and agronomic requirements. This ensures the appropriate compaction of the seeding strip while avoiding excessive compaction in non-seeding areas, significantly improving the accuracy and adaptability of the compaction operation. Specifically, the mechanical linkage component 7 includes: Displacement sensor 701 detects the displacement of the second adjustment plate 503 in real time; Pressure sensor 702 monitors the output pressure of the first regulating plate 204 in real time; The linkage controller 703 receives signals from the displacement sensor 701 and the pressure sensor 702; The linkage controller 703 is configured as follows: When the displacement of the second regulating plate 503 exceeds the threshold, a pressure amplification command is generated; The first electric telescopic rod 207 is controlled to produce a stroke reduction proportional to the displacement of the second adjusting plate 503; This ensures that the ground pressure variation gradient of the main ballast wheel 6 reaches 1.2-1.5 times that of the pre-ballast wheel 4. The mechanical linkage component 7, as the core control unit for coordinated pressure regulation of the entire machine, is designed and functions dynamically to regulate the ground pressure of the main pressing wheel 6 based on the displacement feedback of the second adjusting plate 503. The displacement sensor 701 detects the displacement of the second adjusting plate 503 in real time. As a key input signal for terrain disturbance and system response, the second adjusting plate 503 is the core component of the second adaptive pressure regulation component 5. Its vertical displacement directly reflects the dynamic adjustment of the pre-pressing wheel 4 during operation due to ground undulations or changes in soil resistance. The displacement sensor 701 continuously collects this displacement data and transmits it to the system. The time signal is transmitted to the linkage controller 703, providing a basis for pressure regulation. The pressure sensor 702 monitors the output pressure of the first regulating plate 204 in real time, serving as a quantitative indicator of the working load status of the main press wheel 6. The first regulating plate 204 is a key load-bearing component of the first adaptive pressure regulating assembly 2, and its output pressure is directly related to the interaction force between the main press wheel 6 and the ground. The pressure sensor 702 synchronously feeds back this pressure data to the linkage controller 703 to calibrate the matching accuracy between terrain feedback and pressure regulation. The linkage controller 703, as the decision-making center of the mechanical linkage assembly 7, receives data from the displacement sensor 7. The system receives real-time signals from pressure sensor 702 and generates adjustment commands based on preset logic. Its core functions are configured as follows: Terrain disturbance triggering mechanism: When the displacement of the second adjustment plate 503 exceeds a preset threshold (indicating significant displacement of the pre-pressurization wheel 4 due to terrain undulations), the linkage controller 703 generates a pressure amplification command; Active adjustment execution: It controls the first electric telescopic rod 207 to generate a stroke reduction proportional to the displacement of the second adjustment plate 503. The first electric telescopic rod 207 is the active adjustment element of the first adaptive pressure regulating component 2, and its stroke reduction (i.e., shortening action) changes the first adjustment plate 20... The relative position between 4 and the first hinge shaft 205 is adjusted to change the hinge angle of the external movable frame 3; pressure gradient is achieved by adjusting the ground pressure change gradient of the main compaction wheel 6 to 1.2 to 1.5 times that of the ground pressure change of the pre-compaction wheel 4. This gradient design ensures that the main compaction wheel 6 performs differentiated compaction of the soil after the pre-compaction wheel 4 has completed the initial leveling. For example, when the displacement of the pre-compaction wheel 4 is large (soft terrain), the pressure increase of the main compaction wheel 6 is significant, which strengthens the compaction effect of the ridge area; when the displacement is small (hard terrain), the pressure increase is moderately reduced to avoid excessive compaction of the bottom of the furrow. The operating logic of the mechanical linkage component 7 strictly follows the unidirectional path of "displacement feedback of pre-pressing wheel 4 → pressure amplification of main pressing wheel 6". Terrain disturbance input: The pre-pressing wheel 4 encounters ground undulations during operation, causing displacement of the second adjusting plate 503 (which is buffered and reflected by the second telescopic spring 504 and the second damper 505 of the second adaptive pressure regulating component 5). Signal processing: The displacement sensor 701 detects the displacement of the second adjusting plate 503, the pressure sensor 702 synchronously monitors the pressure of the first adjusting plate 204, and the linkage controller 703 makes a comprehensive judgment. Pressure regulation output: The linkage controller 703 instructs the first electric telescopic rod 207 to shorten, increasing the hinge angle of the external movable frame 3, thereby increasing the ground pressure of the main pressing wheel 6. Agronomic goal achievement: Pressure gradient control (1.2–1.5 times) is achieved. The main compaction wheel 6 applies higher compaction intensity to the ridge area while avoiding over-compaction at the bottom of the furrow, meeting the agronomical requirements of corn planting. This design forms a closed-loop feedback loop, ensuring a fast and stable system response. The feedback is transmitted sequentially from the pre-compaction wheel 4, the mechanical linkage component 7, the first adaptive pressure regulating component 2, and the main compaction wheel 6. That is, the real-time terrain feedback from the pre-compaction wheel is used as the input source to actively regulate the output pressure of the main compaction wheel, realizing a closed-loop feedforward control logic of "sensing before execution and enhancing response". For example, when the displacement of the pre-compaction wheel 4 in the soft soil area exceeds the threshold, the linkage controller 703 immediately triggers the first electric telescopic rod 207 to reduce the stroke, and the pressure of the main compaction wheel 6 is simultaneously amplified, forming a highly efficient closed loop of "terrain disturbance → pressure adaptive enhancement", which significantly improves the adaptability and reliability of operation. Specifically, the sensing and detection component 11 includes: The multi-dimensional soil parameter detection unit includes: Soil hardness sensor 1101 is vertically installed in the middle of lightweight connecting frame 1 to detect the topsoil layer; Soil moisture sensor 1102 is horizontally installed in the middle of lightweight connecting frame 1, and its detection width covers the working width of the dual wheels; Terrain scanning unit: The laser terrain sensor 1103 is mounted on the front of the horizontal base plate 500 to scan the terrain in front. Suppression effect feedback unit: The compaction sensor 1104 is vertically installed behind the main compaction wheel 6 via an L-shaped bracket 1105, with its probe 1106 pointing vertically towards the compacted ground surface. The data fusion module 1107, integrated inside the lightweight connector 1, is configured as follows: By correlating terrain height data with post-compaction compaction data, a terrain compaction mapping curve is generated; When the compaction degree of the trench bottom area is detected to exceed the threshold, the pressure of the trench bottom airbag area 603 is reduced. The preset compaction target value is dynamically adjusted based on the real-time soil moisture content. The sensing and detection component 11, as the core of the intelligent operation system, integrates multiple types of sensors and data processing units. It aims to comprehensively acquire information about the operating environment, evaluate the pressing effect in real time, and provide closed-loop control basis for the pressure regulating actuator. Its structural layout and functional logic are closely based on the agronomic requirements of corn pressing. The functions of each component are described in detail below: The multi-dimensional soil parameter detection unit is used to simultaneously acquire key indicators of soil physical state during operation. Among them, the soil hardness sensor 1101 is vertically installed in the middle of the lightweight connecting frame 1, with its detection direction vertically downward, which can penetrate into the tillage layer and reflect the soil compaction in real time. This data helps to determine whether the current plot needs to be strengthened or weakened in compaction intensity, and avoids applying excessive pressure to already compacted areas. The soil moisture sensor 1102 is horizontally installed in the middle of the lightweight connecting frame 1, and its detection range covers the entire width of the double-wheel operation. It can fully perceive the difference in moisture distribution between the ridge and the bottom of the furrow. Since the soil moisture content directly affects the compaction effect and appropriate pressure, this parameter provides an important basis for dynamically adjusting the compaction strategy. The terrain scanning unit consists of a laser terrain sensor 1103, which is installed at the front of the horizontal base plate 500 and located in front of the pre-pressing wheel 4. During the movement of the equipment, the sensor continuously emits a laser beam to the ground in front, scans and obtains the elevation change information of the terrain in front in real time. By sensing the protrusions, depressions or slope changes in advance, the system can adjust the attitude and pressure of the pre-pressing wheel 4 and the main pressing wheel 6 in advance, realize "predictive" adaptive control, and improve the stability and consistency of operation. The compaction effect feedback unit is used to directly evaluate the actual effectiveness of the compaction operation. The compaction degree sensor 1104 is vertically installed behind the main compaction wheel 6 via an L-shaped bracket 1105 to ensure that its measurement position closely follows the compaction trajectory. Its probe 1106 is vertically pointed to the compacted ground surface, which can detect the compaction degree of the soil in real time. This feedback signal is a key indicator for verifying the compaction quality in closed-loop control and is used to determine whether the current pressure setting has achieved the expected target. The data fusion module 1107 is integrated inside the lightweight connecting frame 1. As the information processing hub of the sensing and detection component 11, it undertakes the functions of multi-source data integration and intelligent decision-making. This module performs spatiotemporal alignment and correlation analysis on the terrain height data obtained by the laser terrain sensor 1103 and the compaction data after compaction measured by the compaction sensor 1104 to generate a terrain-compaction mapping curve. This curve intuitively reflects the response relationship of compaction effect under different terrain conditions, providing data support for optimizing the compaction strategy. When the system detects that the compaction of the bottom area of ​​the trench exceeds the preset threshold, the data fusion module 1107 will issue an instruction to actively reduce the pressure of the air bladder area 603 in the bottom area of ​​the main compaction wheel 6, so as to prevent the soil at the bottom of the trench from being too dense and affecting root development or drainage performance. In addition, this module can also dynamically correct the preset compaction target value according to the real-time moisture data provided by the soil moisture sensor 1102. For example, it can automatically reduce the target compaction when the soil is too wet to avoid forming a hard bottom layer or damaging the soil structure. In summary, the sensing and detection component 11, through the collaborative perception of the multi-dimensional soil parameter detection unit, terrain scanning unit, and compaction effect feedback unit, combined with the intelligent analysis and decision-making capabilities of the data fusion module 1107, constructs a closed-loop monitoring system covering the entire chain of "environmental perception—process execution—effect verification—parameter correction." This system not only ensures the accuracy and adaptability of compaction operations but also achieves an intelligent leap from passive response to proactive optimization, providing reliable technical support for soil management during the corn planting season. Specifically, the energy recovery module 10 includes: The piezoelectric ceramic module 1001 is embedded in the rotating shaft of the pre-pressed wheel body 402; A piezoelectric ceramic sheet 1002 is attached to the back of the second polyurethane scraper 904; The piezoelectric ceramic module 1001 and the piezoelectric ceramic sheet 1002 are connected through a control circuit; The energy recovery module 10 is an intelligent auxiliary cleaning system that converts mechanical vibration energy into controllable vibration energy. Its core function is not for energy storage or power supply, but rather to achieve coordinated linkage between the front-end vibration energy collection and the back-end cleaning action through the piezoelectric effect. This module constructs an integrated energy transfer path from "sensing-conversion-driving" through a specific structural layout and circuit control. Its specific functions are as follows: The piezoelectric ceramic module 1001 is embedded inside the shaft of the pre-pressing wheel 402. During operation, the pre-pressing wheel 4, as the first contact component with the ground, experiences continuous and high-intensity mechanical vibrations due to uneven terrain, soil impacts, and the floating deflection of the segmented wheel body. These vibrations are transmitted to the piezoelectric ceramic module 1001 through the shaft, causing periodic deformation of its internal lattice structure. This directly converts mechanical energy into electrical energy based on the positive piezoelectric effect. This electrical energy is not stored for a long time but is immediately transmitted to the control circuit. The piezoelectric ceramic sheet 1002 is attached to the back of the second polyurethane scraper 904 as an actuator. After receiving the electrical signal from the piezoelectric ceramic module 1001, the control circuit conditions it and applies it to the piezoelectric ceramic sheet 1002, triggering it to produce the inverse piezoelectric effect, i.e., undergoing micron-level high-frequency stretching and deformation under the action of an electric field, thereby driving... The second polyurethane scraper 904 generates controlled high-frequency micro-vibrations. This active vibration, superimposed on the original static scraping action, effectively breaks down the adhesion and static friction between the wet, sticky mud, straw fragments, or compacted residue on the surface of the main pressing wheel 6 and the rubber wheel surface, significantly improving scraping efficiency and preventing scraper blockage or wheel slippage. This design utilizes the "waste vibration energy" under high-disturbance conditions of the pre-pressing wheel 4, converting it on-site into "useful vibration energy" beneficial to the subsequent cleaning process. This achieves functional reuse of energy within the device. Simultaneously, the vibration intensity automatically adjusts according to the terrain disturbance ahead: the more complex the terrain and the stronger the vibration, the more electrical energy output by the piezoelectric ceramic module 1001, and the greater the amplitude excited by the piezoelectric ceramic sheet 1002, automatically enhancing the cleaning force; conversely, it weakens, forming an adaptive dynamic matching mechanism. Meanwhile, the piezoelectric ceramic module 1001 is located inside the shaft of the pre-pressing wheel body 402, rather than inside the main pressing wheel 6. The main reason for this is the strength and stability of the energy source. As the first part to contact the ground, the pre-pressing wheel 4 directly faces the unprepared original field surface. During its operation, it generates high-frequency and high-amplitude mechanical vibrations and impacts due to terrain undulations, soil impacts, and the floating deflection of the segmented wheel body. These dynamic loads are transmitted centrally through the shaft, providing sufficient and continuous mechanical excitation for the piezoelectric ceramic module 1001 embedded therein, enabling it to efficiently convert vibration energy into electrical energy. In contrast, the main pressing wheel 6 operates on the ground surface that has been initially leveled by the pre-pressing wheel, and its rubber wheel body itself has good buffering characteristics, resulting in a significantly lower overall vibration level, making it difficult to support effective energy harvesting. Therefore, arranging the piezoelectric ceramic module 1001 inside the shaft of the pre-pressing wheel body 402 is a reasonable choice to ensure maximum energy recovery efficiency. Meanwhile, the piezoelectric ceramic sheet 1002 is located on the back of the second polyurethane scraper 904, rather than the back of the first polyurethane scraper 801. This is primarily based on the matching of functional requirements and execution effects. The second polyurethane scraper 904 needs to be in close contact with the outer wall of the main pressing roller 6 to remove wet, sticky mud or compacted residue. This results in high operating resistance and easy adhesion, making thorough cleaning difficult with static contact alone. By attaching the piezoelectric ceramic sheet 1002 to its back and using the electrical energy recovered from the piezoelectric ceramic module 1001 to drive it to generate high-frequency micro-vibrations, the second polyurethane scraper 904 can achieve high-frequency micro-vibrations. The active oscillation action superimposed during the scraping process effectively breaks the adhesion between the attached material and the wheel surface, significantly improving cleaning efficiency and preventing clogging. The first polyurethane scraper 801 and the pre-pressed wheel 402 adopt an intermittent non-contact or light contact design, mainly relying on the rotation of the wheel to naturally throw off loose materials, and there is no urgent need for active vibration assistance. If a piezoelectric ceramic plate 1002 is added to its back, not only will there be a lack of sufficient load feedback to trigger effective vibration control, but the additional structure may also interfere with the original gap setting and affect the free floating performance of the pre-pressed wheel. In summary, the energy recovery module 10, through the collaborative work of the piezoelectric ceramic module 1001 and the piezoelectric ceramic sheet 1002, transforms the disordered vibrations generated by the front-end operation into the ordered vibration energy required for the back-end cleaning without the need for additional external energy input. This not only improves the self-cleaning ability of the second scraping component 9, but also enhances the reliability and intelligence level of the whole machine under harsh operating conditions such as high humidity and high viscosity, reflecting the advanced design concept of energy-efficient utilization and functional integration in agricultural equipment. A method for adjusting an adjustable pressure corn compactor includes the following steps: S1, Terrain Feedback and Pre-Suppressing Wheel Adaptive Adjustment During the movement of the equipment, the pre-pressurized wheel 402 first contacts the unprepared original ground surface. Since it is composed of at least three cylindrical combined wheels connected in series by a floating connection mechanism 403, when there are local bumps, depressions or lateral unevenness on the ground, the adjacent cylindrical combined wheels can deflect relative to each other around the axis under the constraint of the hinge shaft 4031. This deflection action is jointly regulated by the restoring torque provided by the helical torsion spring 4032 and the damping force applied by the rotational damper 4033, ensuring that the deflection process is smooth and controllable, and automatically returns to the center after passing the obstacle. At the same time, the honeycomb structure inside each cylindrical combined wheel reduces the moment of inertia and improves the response sensitivity. The control system predicts the characteristics of the work area to be entered based on the terrain contour information obtained by the front laser terrain sensor 1103, and drives the third electric telescopic rod 4053 to adjust the radial position of the eccentric counterweight 4052 on the sliding counterweight rod 4051, thereby dynamically adjusting the center of gravity distribution and rotational inertia of the pre-pressed wheel 402: increasing the eccentricity in soft or undulating areas to enhance penetration stability, and decreasing the eccentricity in flat and hard areas to reduce energy consumption and disturbance. At the same time, the second telescopic spring 504 and the second damper 505 in the second adaptive pressure adjustment component 5 work together to absorb the vertical impact load from the ground, maintain continuous contact between the pre-pressed wheel 4 and the soil, and avoid jumping or suspension. S2, Electronic pressure linkage adjustment While the pre-pressing roller 4 completes the initial leveling, the second adaptive pressure regulating component 5 adjusts its attitude due to the change in ground reaction force where the pre-pressing roller 4 is located, causing the second adjusting plate 503 to generate vertical displacement. The displacement sensor 701 collects the amount of displacement and its rate of change in real time and transmits the data to the linkage controller 703. At the same time, the pressure sensor 702 monitors the output pressure borne by the first adjusting plate 204, reflecting the current load state of the main pressing roller 6. The linkage controller 703 makes a comprehensive judgment based on a preset algorithm: when the displacement of the first adjusting plate 204 exceeds a set threshold (indicating that the pre-pressing zone...), the displacement of the first adjusting plate 204 exceeds a set threshold (indicating that the pre-pressing zone...). If there are significant topographical changes or abnormal soil resistance in the area, the system generates a pressure amplification command. This command calculates the target stroke increment that the first electric telescopic rod 207 needs to execute, and extends or shortens it, thereby changing the position of the first adjusting plate 204. Then, the adjusted pressure is transmitted to the main pressing wheel through the first telescopic spring 206 and the first damper 203. This adjustment action is transmitted through the mechanical structure of the whole machine, and finally the ground pressure change gradient of the main pressing wheel 6 is controlled within the range of 1.2 to 1.5 times the pressure change of the pre-pressing wheel 4, so as to achieve nonlinear synergistic enhancement of the pressure of the front and rear wheels. S3, Main Pressure Roller Zone Pressure Adjustment During the final compaction operation by the main roller 6, the soil hardness sensor 1101 and soil moisture sensor 1102 in the sensing and detection assembly 11 simultaneously acquire data on the physical characteristics of the tillage layer. The data fusion module 1107 combines this information to identify soil differences between the ridge and furrow bottom areas. Based on this, the control system independently regulates two air circuit systems: the first air pump 607 inflates or depressurizes the ridge airbag area 602 through the first air supply pipe 608 and the first rotary joint 604 to maintain the appropriate compaction degree required for the seeding strip; the second air pump 609 inflates or depressurizes the second air supply pipe 610 and the second rotary joint 605. The three-way valve 606 provides unified but independent pressure regulation for the airbag areas 603 at the bottom of the trenches on both sides. In particular, when the compaction sensor 1104 detects that the compaction degree exceeds the preset safety threshold after the trench bottom area is compacted, the data fusion module 1107 immediately issues an instruction to reduce the output pressure of the second air pump 609, thereby reducing the internal pressure of the airbag area 603 at the bottom of the trench and preventing the soil at the bottom of the trench from being too dense and affecting the root system and drainage function. At the same time, if the soil moisture sensor 1102 detects that the overall or local moisture content is too high, the system will automatically lower the preset compaction target value to prevent the wet soil from being compacted into a hard bottom layer. S4, cleaning system working in tandem During the continuous rotation of the dual wheels, the first scraping component 8 passively scrapes away loose attachments by relying on the fixed gap between the first polyurethane scraper 801 and the outer wall of the pre-pressing wheel 402. The structure is simple and reliable, requiring no additional drive. At the same time, the energy recovery module 10 starts the collaborative cleaning mechanism: the piezoelectric ceramic module 1001 continuously captures vibration energy in the shaft of the pre-pressing wheel 402 and converts it into electrical energy. After being processed by the control circuit, it drives the piezoelectric ceramic sheet 1002 attached to the back of the second polyurethane scraper 904 to generate high-frequency micro-amplitude vibration. This vibration causes the second polyurethane scraper 904 to superimpose active oscillation action on the basis of close contact with the main pressing wheel 6, effectively peeling off wet and sticky mud or compacted residue. In addition, the fourth electric telescopic rod 902 can finely adjust the height of the moving plate 903 according to the degree of dirtiness or system instructions, thereby dynamically setting the basic contact pressure of the second polyurethane scraper 904. This forms a composite cleaning mode of "static pressing + dynamic shaking" with the piezoelectric vibration, which significantly improves the cleaning effect and extends the service life of the second polyurethane scraper 904. S5, Closed-loop dynamic optimization Throughout the operation, the sensing and detection component 11 continuously collects multi-source data: the laser topography sensor 1103 provides a prediction of the terrain ahead, the soil hardness sensor 1101 and moisture sensor 1102 reflect the current soil condition, the compaction sensor 1104 provides feedback on the actual compaction effect, and the data fusion module 1107 performs spatiotemporal alignment and correlation analysis on the above information to generate a real-time "topography-soil-compaction" mapping relationship and evaluate the effectiveness of the current compaction strategy. If the compaction effect is found to deviate from the agronomic target (such as local under-compaction or over-compaction), the linkage control is activated. The controller 703 will initiate an optimization program: on the one hand, it will adjust the initial extension of the first electric telescopic rod 207 and change the reference hinge angle of the first adaptive pressure regulating component 2, thereby setting the basic pressure of the main pressing wheel 6; on the other hand, it will correct the pressure gain coefficient of the second electric telescopic rod 502 and adjust its response sensitivity to the displacement of the first adjusting plate 204. Through the above dual-parameter coordinated adjustment, the system will continuously optimize the pressure ratio between the pre-pressing wheel 4 and the main pressing wheel 6, realize adaptive closed-loop control of the entire operation process, and ensure that the pressing quality is uniform, stable and meets agronomic requirements.

[0026] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0027] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A corn compactor with adjustable pressure, characterized in that, include: The integrated load-bearing frame consists of a lightweight connecting frame (1) at the front and an external movable frame (3) at the rear, which are connected by a first adaptive pressure regulating component (2) to form a hinged linkage structure. The dual-wheel coordinated suppression system includes: The pre-pressurized wheel (4) is vertically suspended at the bottom front end of the lightweight connecting frame (1) via the second adaptive pressure regulating component (5). The wheel body surface is provided with a spiral guide rib (404) and a variable eccentric counterweight component (405). The main pressing wheel (6) is horizontally pivoted inside the external movable frame (3) and is arranged in a staggered manner with the pre-pressing wheel (4); The mechanical linkage component (7) transforms the vertical pressure adjustment of the second adaptive pressure regulating component (5) into the hinge angle change of the first adaptive pressure regulating component (2), so that the ground pressure of the main pressing wheel (6) and the terrain feedback of the pre-pressing wheel (4) establish a nonlinear mapping relationship. An integrated cleaning system includes: The pre-pressed wheel cleaning module forms dynamic contact between the first scraping component (8) fixed to the second adaptive pressure regulating component (5) and the surface of the pre-pressed wheel (4); The main pressure wheel cleaning module, through the second scraping component (9) driven by the energy recovery module (10), forms a pressure-adjustable contact with the main pressure wheel (6); The intelligent monitoring system integrates the sensing and detection component (11) of the lightweight connecting frame (1) to collect the pressing parameters in real time, and forms a closed-loop control with each pressure regulating component through the control circuit.

2. The corn compaction device according to claim 1, characterized in that: The first adaptive voltage regulation component (2) includes: An inclined base plate (200) is fixedly installed in the middle of the lightweight connecting frame (1); The first symmetrical fixing rod (201) is symmetrically hinged to both sides of the front end of the inclined base plate (200); The first limiting plate (202) is laterally fixed to the ends of the two first symmetrical fixing rods (201); The first damper (203) has its cylinder body vertically fixed to the center of the first limiting plate (202); The first adjusting plate (204) is horizontally sleeved on the two first symmetrical fixed rods (201) and fixedly connected to the telescopic end of the first damper (203); The first hinge shaft (205) passes horizontally through the front end of the external movable frame (3) and is sleeved on the two first symmetrical fixed rods (201); The first telescopic spring (206) is coaxially sleeved outside each of the first symmetrical fixed rods (201), and its two ends abut against the first adjusting plate (204) and the first limiting plate (202) respectively. The first electric telescopic rod (207) is vertically positioned between the first adjusting plate (204) and the first hinge shaft (205).

3. The corn compaction device according to claim 2, characterized in that: The pre-pressed wheel (4) includes: Wheel mounting bracket (401) has an inverted U-shaped structure with the opening facing downwards; The pre-pressed wheel body (402) is composed of at least three cylindrical combined wheel bodies connected in series by a floating connection mechanism (403). Each cylindrical combined wheel body has a honeycomb structure inside and a spiral guide rib (404) on the outside. The floating connection mechanism (403) includes: The hinge shaft (4031) extends laterally through adjacent cylindrical combined wheel bodies; A helical torsion spring buffer unit, coaxially sleeved on the outer circumference of the hinge shaft (4031), includes: A helical torsion spring (4032) with its two ends fixed to adjacent wheel bodies; A rotary damper (4033) is integrated on a hinge shaft (4031), and its input shaft is keyed to the hinge shaft (4031); The damping coefficient of the rotary damper (4033) is matched with the stiffness of the helical torsion spring (4032), allowing relative deflection of adjacent cylindrical combined wheels. The variable eccentric counterweight assembly (405) includes: The sliding counterweight rod (4051) is radially disposed within the cylindrical combined wheel body; An eccentric counterweight (4052) is slidably mounted on a sliding counterweight rod (4051); The third electric telescopic rod (4053) is fixed to the inner wall of the cylindrical combined wheel and the telescopic end is connected to the eccentric counterweight (4052).

4. The corn compaction device according to claim 3, characterized in that: The second adaptive voltage regulation component (5) includes: A horizontal base plate (500) is fixedly installed at the front end of the lightweight connecting frame (1); The lifting rod (501) is vertically connected to the horizontal base plate (500) and the wheel fixing frame (401), with the top penetrating through the horizontal base plate (500) and the end fixedly installed with a limiting top plate (506). The second electric telescopic rod (502) is vertically fixed to the center of the bottom of the horizontal base plate (500); The second adjusting plate (503) is horizontally sleeved on the two lifting rods (501) and fixedly connected to the telescopic end of the second electric telescopic rod (502); The second telescopic spring (504) is coaxially sleeved outside each lifting rod (501), with its two ends abutting against the second adjusting plate (503) and the wheel fixing frame (401) respectively. The second damper (505) is vertically positioned between the second adjusting plate (503) and the wheel fixing frame (401).

5. The corn compaction device according to claim 4, characterized in that: The first scraping component (8) includes: The first polyurethane scraper (801) is fixed obliquely to the inner side of the wheel body fixing frame (401) by bolts, and its cutting edge maintains a gap with the outer wall of the pre-pressed wheel body (402); The second scraping component (9) includes: The fixed frame (901) is vertically fixed to the top of the external movable frame (3); The fourth electric telescopic rod (902) is vertically installed at the bottom of the fixed frame (901); The movable plate (903) is horizontally connected to the telescopic end of the fourth electric telescopic rod (902); The second polyurethane scraper (904) is arc-shaped and located at the bottom of the moving plate (903) and is in close contact with the outer wall of the main pressing wheel (6).

6. The corn compaction device according to claim 5, characterized in that: The main pressure wheel (6) includes: The rubber wheel body (601) consists of a central ridge airbag area (602) and two side ditch bottom airbag areas (603); The first rotary joint (604) is located on one side of the rubber wheel body (601) and connects to the ridge airbag area (602). The second rotary joint (605) is located on the other side of the rubber wheel body (601) and is connected to the two bottom airbag areas (603) through the three-way valve (606). The first air pump (607) is connected to the first rotary joint (604) through the first air supply pipe (608). The second air pump (609) is connected to the second rotary joint (605) via the second air supply pipe (610).

7. The corn compaction device according to claim 6, characterized in that: The mechanical linkage component (7) includes: The displacement sensor (701) detects the displacement of the second adjustment plate (503) in real time; Pressure sensor (702) monitors the output pressure of the first regulating plate (204) in real time; The linkage controller (703) receives signals from the displacement sensor (701) and the pressure sensor (702); The linkage controller (703) is configured as follows: When the displacement of the second regulating plate (503) exceeds the threshold, a pressure amplification command is generated; Control the first electric telescopic rod (207) to generate a stroke reduction proportional to the displacement of the second adjusting plate (503); The ground pressure change gradient of the main ballast wheel (6) is made to be 1.2-1.5 times that of the pre-ballast wheel (4).

8. The corn compaction device according to claim 7, characterized in that: The sensing and detection component (11) includes: The multi-dimensional soil parameter detection unit includes: A soil hardness sensor (1101) is vertically installed in the middle of a lightweight connecting frame (1) to detect the topsoil layer; Soil moisture sensor (1102) is installed laterally in the middle of lightweight connecting frame (1), and the detection width covers the width of the double wheel operation; Terrain scanning unit: A laser terrain sensor (1103) is mounted on the front of a horizontal base plate (500) to scan the terrain ahead; Suppression effect feedback unit: The compaction sensor (1104) is vertically installed behind the main compaction wheel (6) via an L-shaped bracket (1105), and its probe (1106) points vertically toward the compacted ground surface. The data fusion module (1107), integrated inside the lightweight connector (1), is configured as follows: By correlating terrain height data with post-compaction compaction data, a terrain compaction mapping curve is generated; When the compaction degree of the trench bottom area is detected to exceed the threshold, the pressure in the trench bottom airbag area (603) is reduced; The preset compaction target value is dynamically adjusted based on the real-time soil moisture content.

9. The corn compaction device according to claim 8, characterized in that: The energy recovery module (10) includes: A piezoelectric ceramic module (1001) is embedded in the shaft of the pre-pressed wheel body (402); A piezoelectric ceramic sheet (1002) is attached to the back of a second polyurethane scraper (904); The piezoelectric ceramic module (1001) and the piezoelectric ceramic sheet (1002) are connected by a control circuit.

10. The adjustment method of the corn compaction device according to claim 9, characterized in that, Includes the following steps: S1, Terrain Feedback and Pre-Suppressing Wheel Adaptive Adjustment The segmented wheel body of the pre-pressed wheel (4) adapts to the terrain undulations through a floating connection mechanism (403); The variable eccentric counterweight assembly (405) dynamically adjusts the wheel's rotational inertia according to the terrain features; The spring damping system of the second adaptive voltage regulating component (5) absorbs vertical impact; S2, Electronic pressure linkage adjustment The displacement sensor (701) captures the displacement changes of the second adjustment plate (503) in real time; The linkage controller (703) calculates the target displacement of the first adjusting plate (204) based on the displacement change amount and the change rate; Control the first electric telescopic rod (207) to perform the target displacement, so that the pressure of the main press wheel (6) generates a nonlinear gain; S3, Main Pressure Roller Zone Pressure Adjustment Based on the differences in soil physical properties, the internal pressure of the ridge airbag area (602) and the furrow bottom airbag area (603) is independently adjusted; When the soil at the bottom of the ditch is too wet, the pressure in the airbag area (603) at the bottom of the ditch is automatically reduced; S4, cleaning system working in tandem The first scraping component (8) removes the deposits from the pre-pressed wheel at a constant contact angle; The energy recovery module (10) converts mechanical vibration energy into electrical energy and dynamically adjusts the contact pressure of the second scraping component (9); S5, Closed-loop dynamic optimization: The sensing and detection component (11) acquires the suppression effect data in real time; The linkage controller (703) compares the preset parameters and optimizes the pressure ratio of the two wheels by adjusting the initial pressure of the first electric telescopic rod (207) and the gain coefficient of the second electric telescopic rod (502).

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