Three-tooth stubble-shifting active anti-blocking device for no-tillage planter and operation method

Abstract

The invention provides a three-tooth stubble-shifting active anti-blocking device for a no-tillage planter and an operation method, and belongs to the technical field of agricultural machinery. The three-tooth stubble-shifting active anti-blocking device comprises an automatic height control mechanism and an elastic-tooth stubble-shifting component; the automatic height control mechanism is connected with ground rollers, a pressure sensor and a control motor through a rack, the two ground rollers are symmetrically arranged in front of the rack, the pressure sensor is fixed between the two ground rollers to detect the ground straw coverage amount in real time, and a sliding rail is driven to ascend and descend through an electric signal to adjust the stubble shifting height of elastic teeth; the elastic claw stubble shifting part comprises a three-claw type elastic claw, an elastic claw connecting mechanism and an elastic claw spring; and the head of the three-claw type elastic claw consists of a main stubble shifting claw, a left inclined stubble shifting claw and a right inclined stubble shifting claw. The stubble shifting height of the elastic teeth is dynamically adjusted through closed-loop control, directional flow guide is conducted in combination with the bending parts of the three-jaw type elastic teeth, the straw dispersing efficiency is improved, soil disturbance is reduced, the problems that a no-tillage planter is prone to being blocked and stubble cleaning is unstable when the straw covering amount changes are solved, and the device is suitable for seedling strip cleaning operation of protective tillage.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to a three-tooth stubble removing active anti-blocking device for a no-tillage seeder and an operating method thereof. Background Art

[0002] No-till seeding technology is widely used in the agricultural field because of its advantages in moisture conservation, erosion reduction and soil fertility improvement. However, when existing no-till seeders are operated in fields with high straw cover, the furrowing part of the seed drill is easily blocked by straw, resulting in unclean seeding strips and uneven seeding depth, which seriously affects the emergence rate. Traditional anti-blocking devices mostly use fixed spring teeth or passive stubble wheel structures, which have the following problems. Poor adaptability: Fixed spring teeth cannot dynamically adjust the stubble height according to the amount of straw cover on the surface. When the cover is high, the spring teeth are easily entangled by straw. When the cover is low, the spring teeth are excessively penetrated into the soil and disturb the soil structure. Response hysteresis: The passive adjustment mechanism that relies on mechanical ground contact feedback has the problems of low sensitivity and insufficient adjustment accuracy, making it difficult to respond to complex surface conditions in a timely manner. Low stubble removal efficiency: The single-claw or double-claw spring tooth structure has limited ability to grasp and disperse straw, and it is easy to leave residual straw, resulting in secondary blockage of the seedling strip.

[0003] While existing technologies have attempted to improve regulation performance by adding sensors or motor drives, they haven't effectively addressed the real-time linkage between sensor signals and actuators. Furthermore, the tine design still struggles to balance multi-directional stubble removal with vibration reduction. Therefore, there's an urgent need for an active anti-blocking device that can sense the amount of straw cover on the ground in real time, precisely adjust the tine's operating state, and improve stubble removal efficiency, thereby ensuring the quality and reliability of no-till seeding operations. Summary of the Invention

[0004] To address the aforementioned technical issues, a three-tine stubble-plowing active anti-blocking device and operating method for a no-till planter are provided. This invention precisely controls the vertical movement of the spring-tine stubble-plowing mechanism based on changes in the amount of straw cover on the ground, thereby flexibly adjusting the stubble-plowing height of the spring-tine. Combined with the spring-tine stubble-plowing components, precise stubble-plowing operations can be achieved at multiple angles and in the same direction.

[0005] To achieve the above-mentioned object, the present invention provides a three-tooth stubble-picking active anti-blocking device for a no-tillage planter, comprising: an automatic height control mechanism, a spring-tooth stubble-picking component;

[0006] The automatic height control mechanism is connected through a frame and includes a ground roller, a ground roller connection structure, a ground roller spring, a pressure sensor and a control motor;

[0007] The spring-tooth stubble-picking component is symmetrically connected to the frame and located behind the ground roller, and includes a three-claw spring tooth, a spring-tooth connecting mechanism, and a spring-tooth spring. The ground roller is hinged to the ground roller connecting structure via the ground roller shaft. The ground roller connecting structure includes a telescopic connecting rod, one end of which is fixedly connected to the ground roller shaft, and the other end is elastically hinged to the frame via the ground roller spring. The ground roller spring is installed vertically just above the ground roller to buffer the contact pressure between the ground roller and the ground, and ensure that the ground roller always conforms to the undulations of the ground during operation.

[0008] The pressure sensor is arranged between the two ground rollers and is used to detect the amount of straw covering the ground in real time and output a signal to the control motor, which drives the spring-tooth connection mechanism to move up and down along the slide rail to adjust the stubble-moving height of the three-claw spring-tooth. The three-claw spring-tooth rotates in contact with the ground through friction, driving the surface straw to separate from the sowing seedling belt.

[0009] The three-claw spring tooth includes: three elastic teeth, which are evenly distributed on the circumference to form a claw-like structure; each elastic tooth is provided with a bend at the top, and the bending direction is consistent; the elastic tooth head part is a main stubble plucking claw and two left and right oblique stubble plucking claws, and the inclination angle of the oblique stubble plucking claws is not greater than 60°; the tail of the elastic tooth is connected to the elastic tooth connection mechanism through a spring tooth spring, so as to reduce operation vibration and keep the stubble plucking direction stable.

[0010] Furthermore, the ground roller connection structure further comprises: a ground roller connecting roller, both ends of which are movably connected to the frame through bearings, and a ground roller shaft passes through the center of the ground roller and is fixed to the ground roller connecting roller;

[0011] The telescopic connecting rod is a sleeve-type structure with a damping element disposed therein for reducing the amplitude of the up and down vibration of the ground roller.

[0012] Furthermore, the ground roller spring is a coil compression spring, the top end of which is fixedly connected to the frame, and the bottom end is connected to the retractable connecting rod of the ground roller connection structure through a hinge, forming an elastic support system, so that the ground roller can instantly rebound and maintain continuous contact when encountering a surface obstacle.

[0013] Furthermore, the pressure sensor is fixed on the left side below the frame, in the middle of the two rollers, and is used to convert the change in the amount of straw coverage on the surface into an electrical signal, and to achieve dynamic adjustment of the height of the three-claw spring-tine stubble remover by controlling the motor to drive the slide rail up and down.

[0014] Furthermore, the spring-tooth stubble removing component also includes: a spring-tooth disc, with multiple three-claw spring teeth evenly spaced; the spring-tooth connecting mechanism is symmetrically arranged on both sides of the frame, and is linked with the control motor through the slide rail to realize the overall lifting and lowering of the spring-tooth stubble removing component.

[0015] Furthermore, the main stubble plucking claw of the three-claw spring tooth is parallel to the spring tooth axis, and the left and right oblique stubble plucking claws are inclined to both sides respectively, forming a multi-directional stubble plucking path. According to the different stacking directions of the straw, the plucking teeth are automatically adjusted for efficient straw cleaning.

[0016] Furthermore, the three-claw spring tine stubble picking height is dynamically adjusted, and the spring tine moves up and down to adjust the spring tine stubble picking height according to the amount of straw coverage on the surface, and the three-claw spring tine is used to complete the cleaning of the surface straw.

[0017] Furthermore, the slide rail is fixed vertically on the frame, the elastic tooth connection mechanism slides with the slide rail through a bearing, and the control motor drives the elastic tooth connection mechanism to move along the slide rail through gear transmission or pulley to achieve precise height control.

[0018] The present invention also provides a control method for a three-tooth stubble removing active anti-blocking device for a no-tillage seeder, comprising the following steps:

[0019] S1, the ground rollers contact the ground and transmit the surface pressure to the pressure sensor in real time. The pressure sensor is located below the frame between the two ground rollers;

[0020] S2, the pressure sensor converts the detected surface straw coverage signal into an electrical signal and transmits it to the control motor;

[0021] S3, the control motor drives the slide rail to move up and down according to the electrical signal, driving the spring tooth connection mechanism and the three-claw spring teeth to rise and fall synchronously, and adjusting the spring tooth picking height;

[0022] S4. When the three-claw spring teeth come into contact with the ground, the friction force drives the stubble-pulling wheel to rotate, and the main stubble-pulling claws and the left and right oblique stubble-pulling claws work together to pull the surface straw away from the sowing seedling belt.

[0023] Furthermore, the control motor realizes real-time dynamic adjustment of the stubble plucking height of the spring teeth through a closed-loop control system, including: the pressure sensor continuously monitors the changes in the amount of straw coverage on the surface and generates a feedback signal; the closed-loop control system adjusts the speed and direction of the control motor based on the comparison of the feedback signal with the preset threshold; the slide rail responds to the motor drive, so that the three-claw spring teeth always maintain a stubble plucking height that matches the amount of straw coverage on the surface during operation.

[0024] Due to the adoption of the above technical solution, the present invention has the following advantages compared with the prior art:

[0025] The present invention provides a three-tine active stubble-clearing and anti-blocking device for no-till planters. This device utilizes rollers elastically connected to the frame. A pressure sensor monitors the surface straw cover in real time, controls the vertical movement of a motor-driven slide rail, and uses a three-claw spring-loaded tine to adjust the stubble-clearing height. When the cover is high, the tine rises to prevent entanglement, while when the cover is low, it lowers to minimize soil disturbance, ensuring optimal seedling strip cleaning efficiency and soil protection.

[0026] 2. The present invention provides a three-tooth stubble-picking active anti-blocking device for a no-till seeder. The pressure sensor transmits the detection signal to the closed-loop control system in real time, and dynamically adjusts the speed and direction of the control motor by comparing with the preset threshold. The response time of the spring-tooth stubble-picking height adjustment is shortened to within 50ms, and the adjustment accuracy error is ≤2mm, which significantly reduces the risk of sowing interruption due to sudden changes in working conditions.

[0027] 3. The present invention provides a three-tooth stubble-picking active anti-blocking device for a no-till seeder. The main stubble-picking claws of the three-claw spring teeth penetrate vertically into the soil to cut off the straw roots. The left and right oblique stubble-picking claws push the straw to both sides of the seedling strip with lateral force, and the bending part further guides the straw to separate. The measured straw dispersion rate is ≥95%, and the uniformity of the seedling strip width is improved by 35%, effectively avoiding secondary blockage.

[0028] 4. The present invention provides a three-tooth stubble removing active anti-blocking device for a no-till seeder. The ground roller connecting spring absorbs the impact vibration between the ground roller and the ground, and the spring tooth spring buffers the reverse force during the spring tooth operation. The two work together to reduce the peak load of the frame and transmission components by more than 60%, improve operating stability by 40%, and reduce the wear rate of key components to 1 / 3 of that of traditional devices.

[0029] Based on the above reasons, the present invention can be widely promoted in the field of agricultural machinery technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0031] Figure 1 This is a schematic diagram of the overall structure of a three-tooth stubble-pulling active anti-blocking device for a no-till planter according to the present invention;

[0032] Figure 2 This is a bottom schematic diagram of a three-tooth stubble-pulling active anti-blocking device for a no-till planter according to the present invention;

[0033] Figure 3The present invention provides a flow chart of a control method for a three-tooth stubble removing active anti-blocking device for a no-till planter.

[0034] In the figure: 1. Ground roller; 2. Ground roller connecting structure; 3. Ground roller connecting roller; 4. Ground roller spring; 5. Frame; 6. Frame connecting mechanism; 7. Control motor; 8. Slide rail; 9. Three-claw spring tooth; 10. Spring tooth connecting mechanism; 11. Spring tooth spring; 12. Pressure sensor. DETAILED DESCRIPTION

[0035] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0036] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0037] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0038] Unless otherwise specifically stated, the relative arrangement of the parts and steps, numerical expressions and numerical values described in these embodiments do not limit the scope of the present invention. At the same time, it should be clear that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The techniques, methods and equipment known to ordinary technicians in the relevant fields may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, so once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0039] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention: the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0040] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below their position devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0041] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0042] like Figures 1 to 2 As shown, the present invention provides a three-tooth stubble-pushing active anti-blocking device for a no-tillage planter, comprising: an automatic height control mechanism, a spring-tooth stubble-pushing component;

[0043] The automatic height control mechanism is connected through a frame 5 and includes a ground roller 1, a ground roller connection structure 2, a ground roller spring 4, a pressure sensor 12 and a control motor 7;

[0044] The spring-tooth stubble-picking component is symmetrically connected to the frame 5 and is located behind the ground roller 1. It includes a three-claw spring tooth 9, a spring-tooth connecting mechanism 10, and a spring-tooth spring 11. The ground roller 1 is hinged to the ground roller connecting structure 2 via the ground roller shaft. The ground roller connecting structure 2 includes a telescopic connecting rod, one end of which is fixedly connected to the ground roller shaft and the other end is elastically hinged to the frame 5 via the ground roller spring 4. The ground roller spring 4 is installed in a vertical direction directly above the ground roller 1 to buffer the contact pressure between the ground roller 1 and the ground and ensure that the ground roller 1 always conforms to the ground fluctuations during operation.

[0045] A pressure sensor 12 is arranged between the two ground rollers 1, and is used to detect the amount of surface straw coverage in real time and output a signal to the control motor 7. The control motor 7 drives the elastic tooth connecting mechanism 10 to move up and down along the slide rail 8 to adjust the stubble-plowing height of the three-claw elastic tooth 9; the three-claw elastic tooth 9 rotates in contact with the ground and frictionally drives the surface straw out of the sowing seedling belt; the three-claw elastic tooth 9 includes: three elastic teeth, which are evenly distributed on the circumference to form a claw-like structure; each elastic tooth is provided with a bend at the top, and the bending direction is consistent; the elastic tooth head part is a main stubble-plowing claw and two oblique stubble-plowing claws on the left and right, and the inclination angle of the oblique stubble-plowing claws is not more than 60°; the tail of the elastic tooth is connected to the elastic tooth connecting mechanism 10 through a spring tooth spring 11, which is used to reduce operation vibration and keep the stubble-plowing direction stable.

[0046] Furthermore, the ground roller 1 is hinged to the frame 5 via a retractable connecting rod in the ground roller connection structure 2. The ground roller spring 4 provides preload force, keeping the ground roller 1 in close contact with the ground. When the ground undulates, the ground roller 1 floats up and down to conform to the terrain through the expansion and contraction of the retractable connecting rod and the elastic deformation of the spring, preventing damage to the machine caused by rigid collisions.

[0047] Furthermore, the three-claw spring tooth 9 contacts the ground after entering the soil. When the seeder moves forward, the ground friction drives the spring tooth to rotate around the spring tooth axis; among them, the main stubble-prying claw is vertically inserted into the straw layer to push the straw covering the seedling belt backward; the left and right oblique stubble-prying claws distribute the straw to both sides, expand the cleaning range, and avoid the accumulation of straw on both sides of the seedling belt; the spring tooth spring 11 connects the tail of the spring tooth with the spring tooth connecting mechanism 10. When the spring tooth encounters a hard obstacle, the spring compression absorbs the impact force to prevent the spring tooth from breaking, and at the same time maintains the stability of the spring tooth's stubble-prying direction through the rebound force.

[0048] Furthermore, in the automatic height control mechanism, the ground roller 1 is connected to the frame 5 through the ground roller shaft; the ground roller spring 4 is arranged above the ground roller 1, connected to the ground roller connecting roller 3 and the frame 5, and is used to buffer the contact pressure between the ground roller 1 and the ground to ensure that the ground roller 1 always fits the ground.

[0049] Furthermore, the pressure sensor 12 is fixed on the left side below the frame 5, in the middle of the two ground rollers 1, and is used to convert the change in the surface straw coverage into an electrical signal, and drive the slide rail 8 to rise and fall by controlling the motor 7 to realize dynamic adjustment of the stubble-picking height of the three-claw spring teeth 9.

[0050] Furthermore, the pressure sensor 12 is fixed under the frame 5, directly below the middle of the two ground rollers 1, maintaining a small distance (about 2-5 mm) from the ground surface. When the seeder is not operating, the sensor obtains a reference pressure value through stable contact with the ground roller 1, which serves as a reference for subsequent detection. The reference pressure value is the surface pressure when there is no straw covering.

[0051] Furthermore, the spring-tooth stubble removing component also includes: a spring-tooth disc, with multiple three-claw spring teeth 9 evenly spaced; a spring-tooth connecting mechanism 10 symmetrically arranged on both sides of the frame 5, which is linked with the control motor 7 through the slide rail 8 to achieve the overall lifting and lowering of the spring-tooth stubble removing component.

[0052] Furthermore, the ground roller connection structure 2 includes: a retractable connecting rod, one end of which is connected to the ground roller 1, and the other end is hinged to the frame 5 through the ground roller spring 4, allowing the ground roller 1 to adaptively adjust its height as the ground rises and falls.

[0053] Furthermore, the frame connection mechanism 6 cooperates with the ground roller spring 4 and the spring tooth spring 11 to absorb the impact force generated when the ground roller 1 contacts the ground, and evenly distributes the load to the frame 5, reducing vibration wear of key components and extending the service life of the device.

[0054] Furthermore, the main stubble-picking claw of the three-claw spring tooth 9 is parallel to the spring tooth axis, and the left and right oblique stubble-picking claws are inclined to both sides respectively, forming a multi-directional stubble-picking path for efficiently cleaning straw in different stacking directions.

[0055] Furthermore, the slide rail 8 is vertically fixed on the frame 5, the elastic tooth connection mechanism 10 slides with the slide rail 8 through a bearing, and the control motor 7 drives the elastic tooth connection mechanism 10 to move along the slide rail 8 through gear transmission or a pulley to achieve precise height control.

[0056] like Figure 3 As shown, the present invention also provides a control method for a three-tooth stubble removing active anti-blocking device for a no-till planter, comprising the following steps:

[0057] S1, the ground roller 1 contacts the ground and transmits the surface pressure to the pressure sensor 12 in real time. The pressure sensor 12 is located below the frame 5 between the two ground rollers 1;

[0058] S2, the pressure sensor 12 converts the detected surface straw coverage signal into an electrical signal and transmits it to the control motor 7;

[0059] S3, control the motor 7 to drive the slide rail 8 up and down according to the electrical signal, drive the spring tooth connection mechanism 10 and the three-claw spring tooth 9 to rise and fall synchronously, and adjust the spring tooth picking height;

[0060] S4. When the three-claw spring teeth 9 come into contact with the ground, the friction force drives the stubble-pulling wheel to rotate, and the main stubble-pulling claws and the left and right oblique stubble-pulling claws cooperate to pull the surface straw away from the sowing seedling belt.

[0061] Furthermore, during the movement of the seeder, the ground roller 1 rolls and compacts the surface straw layer, and the pressure sensor 12 detects the vertical pressure of the sowing area between the two ground rollers 1 in real time; when the straw coverage increases, the accumulated straw generates additional pressure on the sensor; when the coverage decreases, the pressure decreases; the pressure sensor 12 converts the pressure value into a 0-5V analog electrical signal, and transmits it to the closed-loop control system of the control motor 7 through a cable, and provides an example of a pressure sensor 12 corresponding to an electrical signal according to different pressures. When the pressure is within the preset reference value range: a 2.5V signal is output, and the corresponding spring tooth stubble picking height is a preset standard value (such as 5cm); when the pressure is greater than the preset reference value range: the signal rises to 3.5V, triggering the spring tooth depth to increase to 7cm; when the pressure is less than the preset reference value range: the signal drops to 1.5V, and the spring tooth depth is reduced to 3cm. The above pressure preset reference values and spring tooth stubble picking height preset standard values can be adjusted by the user according to actual conditions.

[0062] Furthermore, the control motor 7 realizes real-time dynamic adjustment of the stubble plucking height of the spring teeth through a closed-loop control system, including: the pressure sensor 12 continuously monitors the changes in the amount of straw coverage on the surface and generates a feedback signal; the closed-loop control system adjusts the speed and direction of the control motor 7 based on the comparison of the feedback signal with the preset threshold; the slide rail 8 responds to the motor drive, so that the three-claw spring teeth 9 always maintain a stubble plucking height that matches the amount of straw coverage on the surface during operation.

[0063] Furthermore, after receiving the pressure signal, the closed-loop control system compares it with a preset threshold value (e.g., 2.5V±0.5V). If the signal exceeds the threshold range, the control motor 7 is started to drive the slide rail 8 up and down;

[0064] The control motor 7 drives the screw in the slide rail 8 to rotate through gear transmission, so that the spring tooth connection mechanism 10 moves along the vertical direction of the slide rail 8; the spring tooth connection mechanism 10 is connected to the slide rail 8 through a sliding bearing to ensure that the lifting process is smooth and free of jamming, and can withstand the lateral force during the spring tooth operation.

[0065] Furthermore, the pressure sensor 12 continuously monitors the change in the amount of straw coverage in the seedling belt area. When the spring tine depth increases, the straw is effectively cleared. The pressure sensor 12 detects that the pressure drops to within the threshold value and controls the motor 7 to stop and maintain the current depth.

[0066] If the straw suddenly becomes thicker and the pressure signal exceeds the limit again, the motor will continue to drive the spring teeth downward until the pressure returns to the normal range;

[0067] The ground roller 1 always adapts to the terrain fluctuations through the spring and the retractable connecting rod during movement, ensuring that the detection reference of the pressure sensor 12 is not affected by the uneven ground.

[0068] 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 it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A three-tooth stubble-picking active anti-blocking device for a no-till planter, characterized in that: include: Automatic height control mechanism, spring-tine stubble-picking components; The automatic height control mechanism is connected via a frame (5) and includes a ground roller (1), a ground roller connection structure (2), a ground roller spring (4), a pressure sensor (12) and a control motor (7); The spring-tooth stubble-picking component is symmetrically connected to the frame (5) and is located behind the ground roller (1), and includes a three-claw spring tooth (9), a spring-tooth connecting mechanism (10) and a spring-tooth spring (11); wherein the ground roller (1) is hinged to the ground roller connecting structure (2) through the ground roller shaft, and the ground roller connecting structure (2) includes a telescopic connecting rod, one end of which is fixedly connected to the ground roller shaft, and the other end is elastically hinged to the frame (5) through the ground roller spring (4); the ground roller spring (4) is installed in a vertical direction just above the ground roller (1) to buffer the contact pressure between the ground roller (1) and the ground, and ensure that the ground roller (1) always conforms to the ground undulations during operation; The pressure sensor (12) is arranged between the two ground rollers (1) and is used to detect the amount of straw covering the ground in real time and output a signal to the control motor (7). The control motor (7) drives the spring-tooth connection mechanism (10) to move up and down along the slide rail (8) to adjust the stubble-moving height of the three-claw spring teeth (9); the three-claw spring teeth (9) rotate in contact with the ground through friction, driving the surface straw to separate from the sowing seedling belt; The three-claw spring tooth (9) comprises: three elastic teeth, which are evenly distributed on the circumference to form a claw-like structure; each elastic tooth is provided with a bend at the top, and the bending direction is consistent; the elastic tooth head portion is a main stubble-picking claw and two left and right oblique stubble-picking claws, and the oblique stubble-picking claws have an inclination angle of less than 60°; the elastic tooth tail is connected to the elastic tooth connection mechanism (10) through an elastic tooth spring (11), so as to reduce operation vibration and keep the stubble-picking direction stable.

2. The three-tooth stubble removing active anti-blocking device for a no-tillage seeder according to claim 1, characterized in that: The ground roller connection structure (2) further includes: a ground roller connection roller (3), both ends of which are movably connected to the frame (5) via bearings, and a ground roller shaft passes through the center of the ground roller (1) and is fixed to the ground roller connection roller (3); The telescopic connecting rod is a sleeve-type structure with a damping element provided therein for slowing down the up and down vibration amplitude of the ground roller (1).

3. The three-tooth stubble removing active anti-blocking device for a no-tillage planter according to claim 1 is characterized in that: The ground roller spring (4) is a helical compression spring, the top end of which is fixedly connected to the frame (5), and the bottom end of which is connected to the telescopic connecting rod of the ground roller connecting structure (2) through a hinge, forming an elastic support system, so that the ground roller (1) can instantly rebound and maintain continuous contact when encountering a surface obstacle.

4. The three-tooth stubble removing active anti-blocking device for a no-tillage seeder according to claim 1, characterized in that: The pressure sensor (12) is fixed on the left side below the frame (5), in the middle of the two ground rollers (1), and is used to convert the change in the amount of straw covering on the ground surface into an electrical signal, and to control the motor (7) to drive the slide rail (8) to rise and fall, thereby realizing dynamic adjustment of the stubble-picking height of the three-claw spring teeth (9).

5. The three-tooth stubble removing active anti-blocking device for a no-tillage planter according to claim 1, characterized in that: The spring-tooth stubble removing component further comprises: a spring-tooth disc, on which a plurality of three-claw spring teeth (9) are evenly spaced and installed; a spring-tooth connecting mechanism (10) is symmetrically arranged on both sides of the frame (5), and is linked to the control motor (7) through a slide rail (8) to achieve the overall lifting and lowering of the spring-tooth stubble removing component.

6. The three-tooth stubble removing active anti-blocking device for a no-tillage seeder according to claim 1, characterized in that: The main stubble-picking claw of the three-claw spring tooth (9) is parallel to the spring tooth axis, and the left and right oblique stubble-picking claws are inclined to both sides respectively, forming a multi-directional stubble-picking path for efficiently cleaning straw in different stacking directions.

7. The three-tooth stubble removing active anti-blocking device for a no-tillage planter according to claim 1, characterized in that: The slide rail (8) is vertically fixed on the frame (5), the elastic tooth connection mechanism (10) is slidably matched with the slide rail (8) through a bearing, and the control motor (7) drives the elastic tooth connection mechanism (10) to move along the slide rail (8) through gear transmission or a pulley, thereby achieving precise height control.

8. A control method for a three-tooth stubble-picking active anti-blocking device for a no-till planter, characterized in that: The following steps are involved: S1, contacting the ground through the ground rollers (1) and transmitting the surface pressure to the pressure sensor (12) in real time, wherein the pressure sensor (12) is located below the frame (5) between the two ground rollers (1); S2, the pressure sensor (12) converts the detected surface straw coverage amount signal into an electrical signal and transmits it to the control motor (7); S3, the control motor (7) drives the slide rail (8) to move up and down according to the electrical signal, driving the spring tooth connection mechanism (10) and the three-claw spring tooth (9) to rise and fall synchronously, and adjusting the spring tooth picking height; S4. When the three-claw spring teeth (9) come into contact with the ground, the friction force drives the stubble-pulling wheel to rotate, and the main stubble-pulling claws and the left and right oblique stubble-pulling claws cooperate to pull the surface straw away from the sowing seedling belt.

9. The control method of the three-tooth stubble removing active anti-blocking device for a no-tillage planter according to claim 9, characterized in that: The control motor (7) realizes real-time dynamic adjustment of the spring tine stubble picking height through a closed-loop control system, including: a pressure sensor (12) continuously monitors changes in the amount of straw covering the ground surface and generates a feedback signal; the closed-loop control system adjusts the speed and direction of the control motor (7) based on the comparison between the feedback signal and a preset threshold value; and the slide rail (8) responds to the motor drive, so that the three-claw spring tine (9) always maintains a stubble picking height that matches the amount of straw covering the ground surface during operation.

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