CN116569706A - Seeding profiling vibration damping device and method - Google Patents

Abstract

The invention provides a sowing profiling vibration damping device and method, which belong to the technical field of agricultural machinery equipment. The sowing profiling vibration damping device includes: a sowing unit; a profiling four-bar linkage mechanism arranged on one side of the sowing unit; a traction frame arranged on the side of the profiling four-bar linkage mechanism away from the sowing unit On one side, the traction frame is used to connect with the external traction device to drive the sowing unit to move forward; the vibration damping mechanism is arranged on the traction frame, and the vibration damping mechanism and the profiling The four-bar linkage abuts to reduce the vibration of the copying four-bar linkage. By setting the vibration damping mechanism, the resistance of the up and down vibration of the profiling four-bar linkage mechanism can be adjusted in real time, thereby reducing the vibration amplitude of the profiling four-bar linkage mechanism, so that the sowing unit can adapt to the stable operation requirements under different surface undulation environments. Improve the profiling effect of the seeder and the quality of sowing operations to the greatest extent.

Description

Sowing profiling vibration damping device and method

technical field

The invention relates to the technical field of agricultural machinery, in particular to a sowing profiling vibration damping device and method.

Background technique

When the seeder is sowing profiling, due to the large variation of soil space resistance in complex environments such as surface undulation or stubble coverage, the profiling jumps seriously under high-speed operation of the planter, resulting in inconsistent grain distances and uneven sowing depths. , significantly affect seedling development and later growth. The existing traditional seeder mainly adopts the method of installing springs on the profiling four-link to reduce the vibration under the sowing operation, thereby improving the effect of the sowing machine on the ground profiling, thereby improving the uniformity of the sowing grain distance and the stability of the sowing depth . Since the elastic coefficient of the spring is fixed in the actual operation process, it cannot be adjusted actively in real time, and it is difficult to better reduce the operation vibration of the planter under high speed or different ground conditions.

Contents of the invention

The invention provides a sowing profiling vibration damping device and method, which are used to solve the problem in the prior art that the operation vibration amplitude of the seeder is too large under high speed or different ground conditions.

The invention provides a sowing profiling vibration damping device, comprising:

Sowing monomer;

The profiling four-bar linkage mechanism is arranged on one side of the sowing monomer;

The traction frame is arranged on the side of the profiling four-bar linkage mechanism away from the sowing unit, and the traction frame is used to connect with an external traction device to drive the sowing unit to move forward;

The vibration damping mechanism is arranged on the traction frame, and the vibration damping mechanism abuts against the profiling four-bar linkage mechanism to reduce the vibration of the profiling four-bar linkage mechanism.

According to a sowing profiling vibration damping device provided by the present invention, the profiling four-bar linkage mechanism includes a first connecting rod, a second connecting rod and a third connecting rod, and the third connecting rod is connected to the sowing unit connection, the first connecting rod is arranged in parallel with the second connecting rod, one end of the first connecting rod and the second connecting rod are both hinged with the third connecting rod, and the first connecting rod and The other end of the second connecting rod is hinged to the traction frame;

A first flexible protrusion is provided on the end surface of the first connecting rod facing the second connecting rod, and a second flexible protrusion is provided on the end surface of the second connecting rod facing the first connecting rod. The vibration damping and damping mechanism abuts against the first flexible protrusion and the second flexible protrusion respectively to reduce the vibration of the profiling four-bar linkage mechanism.

According to a sowing profiling shock absorbing device provided by the present invention, the shock absorbing and damping mechanism includes a damper fixing seat, a damping rod and an elastic slider, one end of the damper fixing seat is connected with the traction frame, the The other end of the damper fixing seat is connected to the middle part of the damping rod through a torque adjustment mechanism, the two ends of the damping rod are respectively connected to one of the elastic sliders, and the two elastic sliders are respectively connected to the first elastic slider. A flexible protrusion abuts against the second flexible protrusion.

According to a sowing profiling vibration damping device provided by the present invention, both ends of the damping rod are respectively connected to the elastic sliders on the corresponding sides through a resistance adjustment mechanism;

Both sides of the middle part of the damping rod are provided with cavities, both ends of the damping rod are provided with mounting grooves, and a connecting channel is provided between the cavity and the mounting grooves on the corresponding side;

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

According to the sowing profiling vibration damping device provided by the present invention, the end surface of the elastic slider in contact with the first flexible protrusion and the second flexible protrusion has an outwardly convex arc structure, and the first flexible protrusion The end faces of a flexible protrusion and the second flexible protrusion in contact with the elastic slider are concave arc-shaped structures, and the elastic slider and the first flexible protrusion and the second flexible protrusion are From tangential abutment.

According to a sowing profiling vibration damping device provided by the present invention, the torque adjustment mechanism includes a rotating shaft and a torsion spring, the rotating shaft is fixed on the damper fixing seat, and a through hole is opened in the middle of the damping rod. The rotating shaft passes through the through hole and the damping rod is rotatably connected with the rotating shaft;

Both sides of the damping rod are provided with the torsion springs, the number of the torsion springs on each side is at least one, each of the torsion springs is sleeved on the rotating shaft, and the two sides of the damping rod The end surface is provided with a slot near the through hole, and the two slots are respectively located on both sides of the through hole, and one end of each torsion spring is connected to the rotating shaft, and each of the torsion springs is connected to the rotating shaft. The other ends of the torsion springs are respectively located in the slots on the corresponding sides, and the torsion springs located on both sides of the damping rod provide torsion forces in opposite directions.

According to the sowing profiling vibration damping device provided by the present invention, the damper fixing seat is provided with a limit block that limits the rotation range of the damping rod, and two limit blocks are respectively located on the damping rod. both sides of the rod.

According to a sowing profiling vibration damping device provided by the present invention, the torque adjustment mechanism includes a torque motor, the torque motor is fixed on the damper fixing seat, the output shaft of the torque motor is connected to the damping rod Central connection.

The present invention also provides a sowing profiling vibration damping method, which is applied to the above-mentioned sowing profiling vibration damping device, and the vibration damping method includes:

monitoring the force between the elastic slider and the first flexible protrusion and the second flexible protrusion in real time;

According to the magnitude of the force, combined with the torque output control model of the damping rod, change the contact force between the elastic slider and the first flexible protrusion and the second flexible protrusion and the damping Rod rotation resistance;

Monitor the vibration acceleration of the sowing unit in real time, calculate the swing amplitude of the profiling four-bar linkage mechanism according to the vibration acceleration of the sowing unit, and change the elastic slider and the first flexible protrusion and The contact force between the second flexible protrusions is used to adjust the amplitude of the swing, so that the variation of the amplitude of the profiling four-bar linkage mechanism per unit time is the smallest, and the sowing unit can be adjusted under different operating conditions. Optimum vibration damping effect.

According to a kind of sowing profiling vibration reduction method provided by the present invention, it also includes:

judging the motion state of the profiling four-bar linkage mechanism according to the vibration acceleration of the sowing unit;

According to the motion state of the profiling four-bar linkage mechanism, the swing direction of the damping rod is adjusted.

The present invention provides a sowing profiling vibration damping device and method. By setting a vibration damping mechanism, the resistance of the up and down vibration of the profiling four-bar linkage mechanism is adjusted in real time, thereby reducing the vibration amplitude of the profiling four-bar linkage mechanism, making the The sowing unit adapts to the stable operation requirements under different surface undulation environments, reduces the field operation vibration of the sowing unit in complex environments, effectively improves the uniformity of the sowing grain distance and the consistency of the sowing depth, and maximizes the profiling effect of the planter and the sowing effect. job quality.

Description of drawings

In order to more clearly illustrate the present invention or the technical solutions in the prior art, the accompanying drawings that need to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are the present invention. For some embodiments of the invention, those skilled in the art can also obtain other drawings based on these drawings without creative effort.

Fig. 1 is the front view of the sowing profiling damping device provided by the present invention;

Fig. 2 is the perspective view of the sowing profiling damping device provided by the present invention;

Fig. 3 is the structural representation of profiling four-bar linkage mechanism;

Fig. 4 is a schematic diagram of the rising state of the profiling four-bar linkage mechanism;

Fig. 5 is a schematic diagram of the descending state of the profiling four-bar linkage mechanism;

Figure 6 is a side view of the damping rod;

Figure 7 is a top view of Figure 6;

Fig. 8 is a schematic diagram of the internal structure of the damping rod;

Fig. 9 is a schematic flow chart of the sowing profiling vibration reduction method provided by the present invention;

Figure 10 is a force diagram of the profiling four-bar linkage mechanism.

Reference signs:

100. Sowing unit; 101. Moving mechanism; 102. Ditch opener;

200, profiling four-bar linkage mechanism; 201, the first connecting rod; 202, the second connecting rod;

203, the third connecting rod; 204, the first flexible protrusion; 205, the second flexible protrusion;

300, traction frame;

400, vibration damping and damping mechanism; 401, damper fixing seat; 402, damping rod;

403, elastic slider; 404, cavity; 405, installation groove; 406, through hole;

407, card slot; 408, limit block;

500, torque adjustment mechanism; 501, rotating shaft; 502, torsion spring;

600, resistance adjustment mechanism; 601, electromagnetic chuck; 602, armature; 603, connecting rod;

604, compression spring.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention , but not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

A sowing profiling vibration damping device and method of the present invention will be described below in conjunction with FIGS. 1-10 .

As shown in FIGS. 1 and 2 , a sowing profiling vibration damping device includes: a sowing unit 100 , a profiling four-bar linkage mechanism 200 , a traction frame 300 and a vibration damping mechanism 400 .

The bottom of the sowing unit 100 is provided with a moving mechanism 101 and a ditch opener 102, the sowing unit 100 is a conventional planter structure, the moving mechanism 101 is a conventional driving wheel structure, and the ditch opener 102 is also a conventional existing structure.

The profiling four-bar linkage mechanism 200 is arranged on one side of the sowing unit 100, specifically on the front side of the sowing unit 100 in the advancing direction;

The traction frame 300 is arranged on the side of the profiling four-bar linkage mechanism 200 away from the sowing unit 100, and the traction frame 300 is used to connect with an external traction device to drive the sowing unit 100 to move forward;

The traction device can be a tractor or other power mechanism, the traction frame 300 is connected with the suspension frame behind the traction device, and then the traction device drives the sowing unit 100 to move forward;

The vibration reduction and damping mechanism 400 is disposed on the traction frame 300 , and the vibration reduction and damping mechanism 400 abuts against the profiling four-bar linkage mechanism 200 to reduce the vibration of the profiling four-bar linkage mechanism 200 .

Specifically, as shown in FIGS. 3-5 , the profiling four-bar linkage mechanism 200 includes a first connecting rod 201 , a second connecting rod 202 and a third connecting rod 203 , and the third connecting rod 203 is connected to the sowing unit 100 , The first connecting rod 201 is arranged parallel to the second connecting rod 202, and one end of the first connecting rod 201 and the second connecting rod 202 is hinged with the third connecting rod 203, and the other end of the first connecting rod 201 and the second connecting rod 202 All are hinged with the traction frame 300;

A first flexible protrusion 204 is provided on the end surface of the first connecting rod 201 facing the second connecting rod 202 , and a second flexible protrusion 205 is provided on the end surface of the second connecting rod 202 facing the first connecting rod 201 , The damping and damping mechanism 400 abuts against the first flexible protrusion 204 and the second flexible protrusion 205 respectively to reduce the vibration of the profiling four-bar linkage mechanism 200, thereby reducing the vibration of the sowing unit 100;

It can be understood that the first connecting rod 201 and the second connecting rod 202 are rigid rods, and the first flexible protrusion 204 and the second flexible protrusion 205 are made of elastic materials, including but not limited to rubber, TPE and other elastic bodies .

Specifically, the damping and damping mechanism 400 includes a damper mount 401, a damper rod 402 and an elastic slider 403. One end of the damper mount 401 is connected to the traction frame 300, and the other end of the damper mount 401 is passed through a torque adjustment mechanism. 500 is connected to the middle of the damping rod 402, and the two ends of the damping rod 402 are respectively connected to an elastic slider 403, and the two elastic sliders 403 abut against the first flexible protrusion 204 and the second flexible protrusion 205 respectively.

Both ends of the damping rod 402 are respectively connected to the elastic slider 403 on the corresponding side through a resistance adjusting mechanism 600;

Both sides of the middle part of the damping rod 402 are provided with cavities 404, both ends of the damping rod 402 are provided with mounting grooves 405, and a connecting channel is provided between the cavity 404 and the mounting grooves 405 on the corresponding side;

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

During actual operation, the compression spring 604 presses the elastic slider 403 so that the elastic slider 403 is in contact with the first flexible protrusion 204 and the second flexible protrusion 205 . When the electromagnetic chuck 601 is not energized, the elastic slider 403 is squeezed by the compression spring 604, and the extrusion deformation of the elastic slider 403 and the first flexible protrusion 204 and the second flexible protrusion 205 is in the maximum state. At this time, the sliding friction The force is the maximum; when the electromagnetic chuck 601 is energized, the electromagnetic chuck 601 generates electromagnetic attraction to the armature 602, and the electromagnetic attraction offsets the rebound force of a part of the compression spring 604, changing the deformation of the compression spring 604, thereby reducing the elastic slider 403 and the first flexible The friction force between the protrusion 204 and the second flexible protrusion 205 . By adjusting the magnetic strength of the electromagnetic chuck 601, the control of the rotational resistance of the damping rod 402 during the movement of the device is realized, that is, when the friction force between the elastic slider 403 and the first flexible protrusion 204 and the second flexible protrusion 205 is greater, the damping The greater the resistance to rotation of the rod 402, and vice versa.

The end surface of the elastic slider 403 in contact with the first flexible protrusion 204 and the second flexible protrusion 205 has an outwardly convex arc structure, and the first flexible protrusion 204 and the second flexible protrusion 205 are in contact with the elastic slider 403 The end surface of the end surface is a concave arc structure, and the elastic slider 403 is in tangential contact with the first flexible protrusion 204 and the second flexible protrusion 205;

It can be understood that the end surface of the elastic slider 403 can be in a semicircular structure or in other arc structures; after the shape of the elastic slider 403 is determined, the first flexible protrusion 204 and the second flexible protrusion 205 The shape of the contact surface with the elastic slider 403 can be formed by curve fitting. The contact surface and the elastic slider 403 at both ends of the damping rod 402 are extruded tangentially. The contact surfaces slide relative to each other;

Among them, the fitting process of the contact surface of the flexible protrusion is as follows: First, determine the trajectory of the tangent point on the elastic slider 403 to ensure that the tangent point does not coincide with the dead point (vertex); secondly, according to the profiling four-bar linkage mechanism 200 up and down profiling amount design range (generally 80mm-120mm) to determine the movement angle of the first connecting rod 201 and the second connecting rod 202, and then obtain the rotation angle of the damping rod 402, while avoiding the damping rod 402 and the first connecting rod Interference occurs between 201 and the second connecting rod 202; finally, curve fitting is performed according to the positions of multiple tangent points to obtain the outline of the flexible protrusion. Since the upper and lower protrusions have a symmetrical structure, the outlines of the first flexible protrusion 204 and the second flexible protrusion 205 can be obtained similarly.

In some embodiments, as shown in Figures 6-7, the torque adjustment mechanism 500 includes a rotating shaft 501 and a torsion spring 502, the rotating shaft 501 is fixed on the damper fixing base 401, a through hole 406 is opened in the middle of the damping rod 402, and the rotating shaft 501 The through hole 406 is pierced and the damping rod 402 is rotationally connected with the rotating shaft 501;

Both sides of the damping rod 402 are provided with torsion springs 502, and the number of torsion springs 502 on each side is at least one, and each torsion spring 502 is sleeved on the rotating shaft 501. Each position has a slot 407, and the two slots 407 are located on both sides of the through hole 406, one end of each torsion spring 502 is connected to the rotating shaft 501, and the other end of each torsion spring 502 is located on the corresponding side of the card. In the groove 407, the torsion springs 502 located on both sides of the damping rod 402 provide torsion forces in opposite directions;

It can be understood that the torsion springs 502 on both sides are arranged symmetrically, and the direction of providing torsion force is opposite. During the forward and reverse rotation of the damping rod 402, torques in different directions can be provided, thereby increasing the torque during the rotation of the damping rod 402. Resistance to adapt to different vibration levels, especially in the case of severe vibration to achieve better vibration reduction;

As shown in FIG. 3 , the damper holder 401 is provided with a limiting block 408 that limits the rotational range of the damping rod 402 , and there are two limiting blocks 408 that are located on both sides of the damping rod 402 respectively; the limiting block 408 is preferably flexible material;

Two symmetrical limit blocks 408 are installed at the hinge joint between the damping rod 402 and the damper fixing seat 401, which are used to limit the rotation range of the damping rod 402, and then limit the profiling distance of the profiling four-bar linkage mechanism 200 up and down. It can protect the damping rod 402, prevent the first connecting rod 201 and the second connecting rod 202 from violently colliding with the damping rod 402 during the vibration process, and reduce mutual mechanical damage.

In some embodiments, the torque adjustment mechanism 500 includes a torque motor, the torque motor is fixed on the damper fixing base 401, and the output shaft of the torque motor is connected to the middle part of the damper rod 402;

The torque motor provides different torques to the damping rod 402, thereby changing the frictional force between the flexible protrusion and the elastic slider 403, and the torque motor can change the output torque (including the magnitude of the torque, the direction of the torque and the range of rotation angle, Limiting the angular rotation range plays the role of the aforementioned limiting block 408) to adapt to different vibration levels and achieve a better vibration reduction effect.

When the sowing unit 100 is in operation, the undulation of the ground drives the sowing unit 100 to vibrate, and the profiling four-bar linkage mechanism 200 floats up and down accordingly. When the profiled four-bar linkage mechanism 200 rises, the second flexible protrusion 205 contacts and squeezes the elastic slider 403 at the lower end of the damping rod 402, and the friction between the two drives the damping rod 402 to rotate counterclockwise. At this time, By adjusting the counterclockwise rotation resistance of the damping rod 402, the upward impact force of the profiling four-bar linkage mechanism 200 can be eliminated to the greatest extent. Similarly, when the profiling four-bar linkage mechanism 200 descends, the first flexible protrusion 204 contacts and squeezes the elastic slider 403 on the upper end of the damping rod 402, and the friction between the two drives the damping rod 402 to rotate clockwise. At this time, the downward impact force of the profiling four-bar linkage mechanism 200 can be eliminated to the greatest extent by adjusting the clockwise rotation resistance of the damping rod 402 . In short, no matter whether the profiling four-bar linkage mechanism 200 rises or falls, by increasing the friction between the flexible protrusion and the elastic slider 403, the rotation resistance of the damping rod 402 can be increased, thereby reducing the profiling four-bar linkage mechanism 200. The vibration of the link mechanism 200 slows down the movement tendency of the sowing unit 100 , and finally achieves the effect of reducing the vibration of the sowing unit 100 .

Further, in order to enable the damping and damping mechanism 400 to better adjust the resistance, the sowing profiling vibration damping device of the present application also includes a vibration damping electronic control unit, and the vibration damping electronic control unit includes a single-chip microcomputer, a motion state detection sensor and a pressure sensor ; Among them, the motion state detection sensor can be replaced by an acceleration sensor, and the pressure sensor can be replaced by a strain gauge;

Wherein, the motion state detection sensor is arranged on the sowing unit 100 for real-time monitoring of the vibration acceleration of the sowing unit 100; the pressure sensor is arranged on the elastic slider 403 for real-time monitoring of the elastic slider 403 and the first flexible protrusion 204 and the contact pressure of the second flexible protrusion 205;

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

A sowing profiling vibration damping method, the vibration damping method is applied to the aforementioned sowing profiling vibration damping device, as shown in Figure 9, the vibration damping method includes:

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

According to the size of the active force, combined with the torque output control model of the damping rod 402, the contact force between the elastic slider 403 and the first flexible protrusion 204 and the second flexible protrusion 205 and the rotation resistance of the damping rod 402 are changed; The magnitude of the electromagnetic attraction generated by the electromagnetic chuck 601 on the armature 602 is to change the contact force between the elastic slider 403 and the first flexible protrusion 204 and the second flexible protrusion 205, thereby changing the rotation resistance of the damping rod 402;

Monitor the vibration acceleration of the sowing unit 100 in real time, and calculate the swing amplitude of the profiling four-bar linkage mechanism 200 according to the vibration acceleration of the sowing unit 100, by changing the elastic slider 403 and the first flexible protrusion 204 and the second flexible protrusion The contact force between 205 is used to adjust the swing amplitude, so that the variation of the amplitude of the profiling four-bar linkage mechanism 200 per unit time is the smallest, and the optimal vibration reduction effect of the sowing unit 100 under different operating conditions is realized.

The above-mentioned sowing profiling vibration reduction method also includes:

According to the vibration acceleration of the sowing monomer 100, the motion state of the profiling four-bar linkage mechanism 200 can be judged; the motion state of the profiling four-bar linkage mechanism 200 can also be judged by the force change of the elastic slider 403 at both ends of the damping rod 402;

According to the motion state of the profiling four-bar linkage mechanism 200, the swing direction of the damping rod 402 is adjusted; that is, when the torque adjustment mechanism 500 is a torque motor, the swinging direction of the damping rod 402 can be actively adjusted to change the rotational resistance of the damping rod 402.

Specifically, the aforementioned torque output control model of the damping rod 402 is a relationship model between the torque generated on the damping rod 402 when the whole device vibrates and the resistance torque suffered by the damping rod 402 during the rotation process, the purpose is to make the damping rod 402 rotate The rotational resistance suffered during the process is appropriate, so that the torque adjustment mechanism 500 can obtain the desired output torque;

The elastic slider 403 and the first flexible protrusion 204 and the second flexible protrusion 205 slide due to mutual extrusion, and the friction force generated during the sliding process can be calculated by the following formula:

F _N = KΔH ₁ (1)

F _N1 ＝K(ΔH ₁ +ΔH ₂ ) (2)

F _f =μF _N1 (3)

Among them, K is a constant elastic coefficient, ΔH ₁ is the deformation amount of the elastic slider 403 in a relaxed state, and ΔH ₂ is the deformation amount of the elastic slider 403 due to vibration. In this device, the elastic slider 403 and the flexible convex The amount of deformation that causes mutual extrusion remains unchanged during the movement. F _f is the friction force tangent to the surface of the elastic slider 403 and opposite to the moving direction, μ is the friction factor, and the friction factor depends on the material and roughness of the two contact surfaces. F _N is the acting force of the first flexible protrusion 204 on the elastic slider 403, and F _N1 is the acting force of the second flexible protrusion 205 on the elastic slider 403, which can be obtained by the pressure sensor on the elastic slider 403, except for the vibration acceleration In addition, the change of F _N can also be used to determine whether the profiling four-bar linkage mechanism 200 is in the rising state or the falling state, and then control the direction of the output torque.

Through the torque output control model of the damping rod 402, the output torque of the damping rod 402 is obtained, and then the force analysis is performed on the profiling four-bar linkage mechanism 200, and the motion state of the damping rod 402 is obtained. The specific calculation method is as follows:

As shown in Figure 10, take the elastic slider 403 located on the lower side as the selected object, O is the rotation center of the damping rod 402, _O1 is the center of the elastic slider 403 on the lower side, and point N is the second flexible protrusion 205 With the elastic slider 403 contact point (tangent point), R is the radius of the contact point of the elastic slider 403, _L1 is the distance from O to _O1 , and _L2 is the moment arm of the applied force on the damping rod 402, α is the angle between O ₁ N and O ₁ O, and θ is the angle between the force acting on the elastic slider 403 and the force arm. In the figure, F indicates that the profiling four-bar linkage mechanism 200 is subjected to an upward force when vibrating, and v indicates that the profiling four-bar linkage mechanism 200 has a tendency to move upward. form the following relationship with each other:

sinθ＝L ₁ sinα/L ₂ (5)

Δ＝L ₂ sinθ(F _f +μF _N )+TL ₂ (F _N1 -F _N ) (6)

Among them, T is the torque output by the torque motor, and Δ is the difference between the resistance torque of the damping rod 402 and the torque generated by the vibration. Considering the actual situation, when it is a positive value, it can be amplified by 10%-20% , when it is a negative value, it can be reduced by 10%-20% to meet the motion conditions; the greater the absolute value of Δ, the greater the vibration amplitude and the greater the rotation resistance required by the damping rod 402 . The above process is analyzed and calculated by the single-chip microcomputer, and finally according to the obtained Δ value, the vibration-reducing and damping mechanism 400 is regulated at a certain time interval; Judging by its size change that the profiling four-bar linkage mechanism 200 rises or falls, and then by controlling the electromagnetic attraction force generated by the electromagnetic chuck 601 on the armature 602, the elastic slider 403 and the first flexible protrusion 204 and the second flexible protrusion are changed. The contact force between 205, and then change the rotation resistance of the damping rod 402, and the torque motor can also be used to change the rotation resistance of the damping rod 402, so as to achieve the effect of vibration reduction of the whole device.

The seeding profiling vibration damping device and method of the present invention aim at the problems that the operating vibration of the seeder affects the working quality of the seed meter and the ditch opener in the complex operating environment, causing uneven seeding grain distance and unstable seeding depth, etc. The plowing and sowing monomer profiling mechanism is designed, and the vibration resistance of the profiling four-bar linkage mechanism 200 is adjusted in real time through the vibration reduction and damping mechanism 400, the motion state detection sensor of the planter, etc., thereby reducing its vibration amplitude and adapting to different surface fluctuations The stable operation requirements of the seeder in the environment can maximize the profiling effect of the seeder and the quality of sowing operations, promote the growth and development of seeds, and lay a solid foundation for the follow-up research on high-speed precision seeding operation control technology.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims (10)

1. A seeding profiling vibration damper, comprising:

sowing the monomers;

the profiling four-bar mechanism is arranged on one side of the seeding monomer;

the traction frame is arranged on one side, far away from the seeding monomers, of the profiling four-bar mechanism and is used for being connected with an external traction device to drive the seeding monomers to move forwards;

the vibration reduction damping mechanism is arranged on the traction frame and is in abutting connection with the profiling four-bar mechanism so as to reduce vibration of the profiling four-bar mechanism.

2. The seeding profiling vibration reduction device according to claim 1, wherein the profiling four-bar mechanism comprises a first connecting rod, a second connecting rod and a third connecting rod, the third connecting rod is connected with the seeding monomer, the first connecting rod and the second connecting rod are arranged in parallel, one end of each of the first connecting rod and the second connecting rod is hinged with the third connecting rod, and the other end of each of the first connecting rod and the second connecting rod is hinged with the traction frame;

the first connecting rod is provided with a first flexible bulge towards the end face of one side of the second connecting rod, the second connecting rod is provided with a second flexible bulge towards the end face of one side of the first connecting rod, and the vibration reduction damping mechanism is respectively abutted with the first flexible bulge and the second flexible bulge so as to reduce vibration of the profiling four-bar mechanism.

3. The seeding profiling vibration damper according to claim 2, wherein the vibration damping mechanism comprises a damper fixing seat, a damping rod and an elastic sliding block, one end of the damper fixing seat is connected with the traction frame, the other end of the damper fixing seat is connected with the middle part of the damping rod through a torque adjusting mechanism, two ends of the damping rod are respectively connected with the elastic sliding block, and the two elastic sliding blocks are respectively abutted with the first flexible protrusion and the second flexible protrusion.

4. The seeding profiling vibration damper according to claim 3, wherein two ends of the damping rod are respectively connected with the elastic sliding blocks at the corresponding sides through a resistance adjusting mechanism;

cavities are formed in the two sides of the middle of the damping rod, mounting grooves are formed in the two ends of the damping rod, and a connecting channel is formed between the cavities and the mounting grooves on the corresponding sides;

the resistance adjusting mechanism comprises an electromagnetic chuck, an armature, a connecting rod and a compression spring, wherein the armature is arranged in the cavity in a sliding mode, the connecting rod movably penetrates through the connecting channel, one end of the connecting rod is connected with the armature, the other end of the connecting rod is connected with the elastic sliding block, the compression spring is sleeved on the connecting rod, one end of the compression spring faces the inner wall of one side of the cavity towards the mounting groove, the other end of the compression spring is connected with the elastic sliding block, and the electromagnetic chuck is arranged in the cavity close to the inner portion of the damping rod on one side of the center of the damping rod.

5. The seeding profiling vibration damper according to claim 3, wherein the end surfaces of the elastic sliding block, which are in contact with the first flexible protrusion and the second flexible protrusion, are in a convex arc structure, the end surfaces of the first flexible protrusion and the second flexible protrusion, which are in contact with the elastic sliding block, are in a concave arc structure, and the elastic sliding block is in tangential abutting connection with the first flexible protrusion and the second flexible protrusion.

6. The seeding profiling vibration damper according to claim 3, wherein the torque adjusting mechanism comprises a rotating shaft and a torsion spring, the rotating shaft is fixed on the damper fixing seat, a through hole is formed in the middle of the damper rod, the rotating shaft penetrates through the through hole, and the damper rod is in rotary connection with the rotating shaft;

the damping device comprises a damping rod, a clamping groove, a rotating shaft, at least one torsion spring, two clamping grooves, at least one torsion spring, at least one clamping groove and at least one torsion spring, wherein the torsion springs are arranged on two sides of the damping rod, the clamping grooves are respectively arranged on two sides of the through hole, one end of each torsion spring is connected with the rotating shaft, the other end of each torsion spring is respectively arranged in the clamping groove on the corresponding side, and the torsion springs on two sides of the damping rod provide opposite torsion.

7. The seeding profiling vibration damper according to claim 6, wherein limiting blocks for limiting the rotation range of the damping rod are arranged on the damper fixing seat, and two limiting blocks are arranged on two sides of the damping rod respectively.

8. The seed sowing profiling vibration damping device as in claim 3, wherein the torque adjusting mechanism comprises a torque motor, the torque motor is fixed to the damper fixing base, and an output shaft of the torque motor is connected with a middle portion of the damper rod.

9. A method of damping a seed sowing profiling vibration as claimed in any one of claims 1 to 8, the method comprising:

monitoring the acting force between the elastic sliding block and the first flexible bulge and the acting force between the elastic sliding block and the second flexible bulge in real time;

according to the magnitude of the acting force, combining a torque output control model of the damping rod, and changing the contact force between the elastic sliding block and the first flexible bulge and the second flexible bulge and the rotation resistance of the damping rod;

the vibration acceleration of the seeding monomer is monitored in real time, the swing amplitude of the profiling four-bar mechanism is calculated according to the vibration acceleration of the seeding monomer, the swing amplitude is adjusted by changing the contact force between the elastic sliding block and the first flexible bulge and the second flexible bulge, the amplitude variation in unit time of the profiling four-bar mechanism is minimum, and the optimal vibration reduction effect of the seeding monomer under different working conditions is realized.

10. The method of seeding profiling vibration damping according to claim 9, further comprising:

judging the motion state of the profiling four-bar mechanism according to the vibration acceleration of the seeding monomers;

and adjusting the swinging direction of the damping rod according to the motion state of the profiling four-bar mechanism.