Hilly slope land vertical self-adaptive profiling straw cleaning and soil covering device

Abstract

This invention discloses a vertical adaptive contour-following straw clearing and covering device for hilly sloping farmland, comprising a dual air spring adaptive contour-following suspension, a vertical straw clearing attitude adjustment mechanism, an umbrella-shaped linkage straw clearing radius stepless adjustment mechanism, and a passive contour-following elastic covering device. The straw clearing mechanism mainly consists of an umbrella-shaped linkage radius adjustment drive cylinder, an umbrella-shaped linkage low-wear angle adjustment slider, and a straw clearing spring tooth assembly, used for continuous stepless adjustment of the straw clearing operation radius and synchronous high-precision control of the spring tooth operation angle, completing the directional throwing and clearing of straw in the seed strip. The contour-following suspension mechanism mainly uses two sets of symmetrically arranged adaptive contour-following springs and contour-following rods to achieve adaptive contour-following of undulating hilly terrain and adjust the operating height of the device. The attitude adjustment mechanism drives the attitude adjustment swing shaft to deflect through a built-in angle drive motor, precisely controlling the straw throwing path. The passive contour-following elastic covering device uses a passive contour-following buffer spring and telescopic rod structure to drive the covering shovel to adaptively conform to the ground surface, adjust the covering amount, and prevent straw from slipping back into the seed strip during sloping operations. During operation, the device cleans the seedbed on the straw-covered no-till surface through the straw-cleaning mechanism, while the covering soil device simultaneously covers and fixes the straw with topsoil. The entire process of straw cleaning, terrain shaping, posture adjustment, and anti-slip covering is completed in one operation, providing a stable and qualified seedbed environment for no-till sowing.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology, and in particular relates to straw clearing and soil covering operations during sowing on sloping farmland. Background Technology

[0002] Hilly and mountainous sloping farmland is an important characteristic arable land resource in my country, occupying a core position in the agricultural production system of mountainous and plateau regions in the southwest and northwest, and serving as a key carrier for dryland agriculture and specialty crop cultivation. However, sloping farmland generally suffers from inherent defects such as large topographical variations and fragmented plots. During the promotion and application of conservation tillage straw return technology, the straw cover layer in the seed strip is prone to slippage and accumulation due to the slope during the sowing stage. This easily leads to straw blockage in individual seeding units, straw entanglement in machinery, and jamming of operating components during no-till sowing operations, seriously affecting operational efficiency and sowing quality. To solve these problems, while existing strip tillage models can achieve straw clearing and seed strip preparation in regular plots on plains, they generally suffer from technical limitations such as poor terrain adaptability and insufficient operational stability when operating on hilly and mountainous sloping farmland. They are difficult to adapt to the undulating operating environment of sloping farmland, and the technical level of conservation tillage needs to be improved.

[0003] Strip tillage is a core technology in conservation tillage systems. For the two core processes of straw clearing and seedbed preparation under this model, domestic and international academic and industrial communities have conducted extensive specialized research, resulting in several mature patented technologies. For example, in response to the need for integrated strip clearing and soil loosening operations, invention patent 202210766535.4 developed a strip no-till vertical differential speed strip clearing and soil loosening device. This device uses a coaxial differential drive of a vertical stubble-clearing spring tooth group and a vertical soil-loosening harrow group as its core architecture. It can simultaneously complete the straw clearing and seedbed loosening and breaking up processes in a single operation. Simultaneously, a biomimetic drag-reducing harrow tooth structure reduces soil breaking resistance, optimizing and improving the quality of seedbed preparation. Furthermore, in response to the need for efficient separation of straw and soil and reduced soil movement during straw clearing operations, invention patent 202310973475.8... An active spiral-push notched straw clearing wheel is proposed. This device adopts a symmetrical spiral notched blade structure, relying on the notch design of the blades to achieve precise separation of straw and soil. While significantly reducing the amount of soil disturbed during operation, it can directionally push the straw in the seeding strip to both sides, creating a clean seedbed free from straw interference. Addressing the need for improved surface adaptability and anti-clogging performance in straw clearing operations, invention patent 202422327160.9 discloses a drive-type straw clearing device with energy storage function for a no-till seeder. This device buffers the surface reaction force during operation through an energy storage component, and simultaneously uses a bevel gear transmission structure to drive the straw clearing unit to complete the lateral throwing of straw. This significantly improves the anti-clogging effect of continuous machine operation while reducing soil disturbance. Addressing the needs for energy consumption control and straw cover stability in strip tillage operations, invention patent 202510281761.7... A conservation tillage strip tillage machine has been developed. This device uses multiple sets of staggered harrow blades to achieve passive rotation, eliminating the need for additional power output from a tractor. It utilizes the curvature of the harrow blades to shallowly bury straw on the ground, reducing power consumption while achieving stable straw coverage. While this patented technology provides multiple technical pathways for straw treatment and seedbed preparation in strip tillage, it still has significant drawbacks in hilly and mountainous sloping farmland scenarios: First, it suffers from poor flexibility in adjusting straw removal parameters, low straw removal rates, high energy consumption, and significant soil disturbance, failing to meet the requirements of conservation tillage agronomy. Second, it has weak adaptability to complex terrain, easily leading to problems such as straw displacement, straw retracing, and discontinuity in the timing of straw removal and soil covering, thus failing to meet the operational needs of hilly and mountainous sloping farmland.

[0004] In summary, there is a current need to develop an integrated operating device for hilly and mountainous sloping farmland that can simultaneously achieve terrain-adaptive contouring, efficient clearing of straw in the seed strip, and straw anti-slip fixation, tailored to the unique working environment of hilly and mountainous sloping farmland. This device should be able to complete high-quality straw clearing of the seed strip in a single operation, while significantly improving its adaptability to complex sloping terrain. It should effectively reduce the amount of straw residue in the seed strip, while achieving the goals of moisture retention, temperature increase, and the construction of fine and flat seedbeds. Ultimately, this will improve the quality of no-till seeding operations and ensure uniform crop emergence. Summary of the Invention

[0005] This invention aims to solve the problems of existing straw clearing devices in hilly and mountainous sloping farmland, which suffer from large topographical undulations and fragmented plots, poor terrain adaptability, insufficient operational stability, asynchronous adjustment of straw clearing radius and spring tooth angle, easy wear and jamming of mechanisms, and the tendency for straw throwing direction deviation, slippage back to the seed zone, and discontinuity in straw clearing and covering sequence during slope operations. The invention provides a vertical adaptive contouring straw clearing and covering device for hilly and sloping farmland that integrates adaptive contouring, precise fine-tuning of straw clearing posture, stepless adjustment of straw clearing radius, synchronous control of spring tooth angle, and passive covering to prevent straw slippage. The device can complete the entire process of straw clearing in the seed zone, terrain adaptive contouring, and topsoil covering to prevent slippage in a single operation, adapting to the complex operating environment of hilly and mountainous sloping farmland and meeting the agronomic requirements of conservation tillage. The device includes a dual air spring adaptive contouring suspension 1, a vertical straw clearing posture adjustment mechanism 2, an umbrella-shaped linkage stepless adjustment mechanism for straw clearing radius 3, and a passive contouring elastic covering device 5.

[0006] Among them, the dual air spring adaptive contour suspension 1 is used to adapt to the undulations of hilly and mountainous terrain and realize the adaptive dynamic adjustment of the device's operating height.

[0007] The vertical straw cleaning posture adjustment mechanism 2 is used to drive the straw cleaning actuator below to complete the spatial posture fine adjustment and accurately control the straw throwing path;

[0008] The umbrella-shaped linkage-type stepless adjustment mechanism for straw cleaning radius 3 is used to realize continuous stepless adjustment of the straw cleaning operation radius and simultaneously complete the lateral throwing and cleaning of the straw in the seed belt; at the same time, through the linkage transmission of the umbrella-shaped linkage, all straw cleaning spring teeth are driven to deflect synchronously, realizing the uniform and high-precision adjustment of the spring tooth operation angle to meet the straw cleaning needs under different working conditions.

[0009] The passive contour-following elastic soil covering device 5 is used to adaptively adjust the working posture according to the undulation of the ground, and to cover and fix the straw after it is thrown with topsoil to prevent the straw on the slope from sliding back to the planting area.

[0010] Preferably, the dual air spring adaptive contouring suspension 1 includes a suspension mounting back plate 101, an air spring mounting shaft 102, two sets of adaptive contouring springs 104, a contouring rod 106, an outer connecting plate 107, and a device mounting frame 108. The two sets of adaptive contouring springs 104 are arranged symmetrically from left to right, with their upper ends hinged to the suspension mounting back plate 101 via the air spring mounting shaft 102, and their lower ends hinged to the device mounting frame 108 via the contouring rod 106. The outer connecting plate 107 is fixed to the side wall of the device mounting frame 108 for fixed connection with the vertical straw clearing posture adjustment mechanism 2. The overall height of the device is adaptively adjusted by inflating and deflating the two sets of adaptive contouring springs 104. During operation, when the working height needs to be raised, the two sets of adaptive contour springs 104 simultaneously deflate, and the spring bladders contract to lift the entire device, adapting to the raised terrain. Conversely, when the working height needs to be lowered, the two sets of adaptive contour springs 104 simultaneously inflate, and the spring bladders extend to lower the entire device, adapting to the sunken terrain, thus achieving full-stroke adaptive dynamic adjustment of the device's working height.

[0011] Preferably, the vertical straw-clearing posture adjustment mechanism 2 includes a posture adjustment drive mounting box 201, a posture adjustment drive cavity docking cover 202, a cover fastening screw 203, an inner connecting piece 204, a drive motor mounting cavity 205, a posture adjustment swing shaft 206, a posture adjustment hinge pin 207, a lower hinge support 208, and a swing shaft drive adapter 209; the posture adjustment drive mounting box 201 is fixedly connected to the outer connecting piece 107 of the dual air spring adaptive contour suspension 1 through the inner connecting piece 204; the posture adjustment drive mounting box 201 has a drive motor mounting cavity 205 inside, and an angle drive is installed in the drive motor mounting cavity 205. The attitude adjustment drive cavity docking cover 202 is fixed to the top of the attitude adjustment drive mounting box 201 by the cover fastening screw 203, sealing the upper opening of the drive motor mounting cavity 205; the upper end of the swing shaft drive adapter 209 is connected to the output end of the angle drive motor, and the lower end is fixedly connected to the attitude adjustment swing shaft 206; the lower hinge support 208 is fixed to the lower part of the attitude adjustment drive mounting box 201, and the attitude adjustment swing shaft 206 is hinged to the inner side of the lower hinge support 208 by the attitude adjustment hinge pin 207, and can complete the spatial swing angle adjustment around the attitude adjustment hinge pin 207 under the drive of the angle drive motor. During operation, when the device operates along the transverse slope of hilly terrain, the slope gradient causes the straw to naturally slide downhill. At this time, the angle drive motor outputs power, which drives the swing shaft adapter 209 to rotate the attitude adjustment swing shaft 206 around the attitude adjustment hinge pin 207 to the upper side of the slope by a corresponding angle. This drives the straw clearing actuator below to simultaneously complete attitude fine-tuning, adjusting the lateral throwing path of the straw and accurately throwing the straw to the non-sowing area on the upper side of the slope, preventing the straw from sliding down the slope and back into the planting zone. When the device operates along the longitudinal slope of hilly terrain, the slope gradient causes the straw throwing distance to be uncontrollable. At this time, the angle drive motor outputs power, which drives the attitude adjustment swing shaft 206 around the hinge pin to complete attitude fine-tuning by tilting forward or backward. This drives the straw clearing actuator to adjust the operating angle, accurately controlling the straw throwing distance and stably throwing the straw to the preset fixed areas on both sides of the planting zone, preventing the straw from scattering back into the planting zone along the slope. When the amount of straw cover in the field is large and full straw return is being carried out, the angle drive motor drives the attitude adjustment swing shaft 206 to deflect, adjusting the working angle of the straw clearing actuator. This precisely controls the throwing force and direction of the straw, ensuring continuous and stable throwing of thick layers of straw and preventing straw from getting tangled in the spring teeth or accumulating near the seed strip. When clearing straw from densely planted crops with narrow row spacing, the angle drive motor drives the attitude adjustment swing shaft 206 to complete a small-amplitude precise deflection, fine-tuning the working attitude of the straw clearing actuator. This precisely controls the straw throwing boundary, preventing straw from being thrown into the area of ​​adjacent crops and preventing the straw clearing mechanism from damaging adjacent crops and the seed strip / seedbed structure.

[0012] The umbrella-shaped linkage type stepless adjustment mechanism for straw cleaning radius 3 includes a central drive motor 301, a central drive motor mounting housing 302, an umbrella-shaped linkage central hinge seat 303, a power transmission shaft 304, a straw cleaning radius adjustment umbrella-shaped linkage 305, an umbrella-shaped linkage type radius adjustment drive cylinder 307, a drive cylinder mounting bracket 308, an upper base of the straw cleaning disc 309, an umbrella-shaped linkage type low-wear angle adjustment slider 310, a lower base of the straw cleaning disc 311, and a straw cleaning spring tooth assembly 312;

[0013] The upper end of the central drive motor mounting housing 302 is fixedly connected to the lower end of the vertical straw cleaning posture adjustment mechanism 2. The central drive motor 301 is installed inside the central drive motor mounting housing 302. The output end of the central drive motor 301 is connected to the straw cleaning disc base through the power transmission shaft 304, which is used to drive the entire straw cleaning actuator to rotate around the central axis of the device and provide the main rotation power for straw cleaning operation.

[0014] When the umbrella-shaped linkage-type stepless adjustment mechanism for straw clearing radius is in operation, the central drive motor 301 serves as the main drive source for straw clearing operations. Through the power transmission shaft 304, it drives the straw clearing disc base and the straw clearing spring tooth group 312 to rotate continuously around the central axis of the device, thereby driving the spring teeth to complete the lateral throwing and cleaning operation of the seed belt straw, providing the core rotational power for the entire straw clearing process.

[0015] The upper end of the straw-clearing radius adjusting umbrella-shaped connecting rod 305 is hinged to the umbrella-shaped connecting rod center hinge seat 303, and the lower end is connected to the umbrella-shaped connecting rod angle adjusting ball head rod 310-1 of the umbrella-shaped connecting rod type low-wear angle adjusting slider 310; the upper base 309 of the straw-clearing disc and the lower base 311 of the straw-clearing disc are fixedly connected vertically to form a closed installation cavity, and a radial sliding groove is provided on the cavity for the umbrella-shaped connecting rod type low-wear angle adjusting slider 310 to slide; the straw-clearing spring tooth assembly 312 is fixedly installed on the umbrella-shaped connecting rod type low-wear angle adjusting slider 310.

[0016] The umbrella-shaped linkage radius adjustment drive cylinder 307 is fixed to the base 309 of the straw-clearing disc via a drive cylinder mounting bracket 308. Its piston rod is connected to the drive rocker arm of the straw-clearing disc. The extension and retraction of the piston rod drives the straw-clearing disc to rotate, which in turn drives the umbrella-shaped linkage low-wear angle adjustment slider 310 to slide synchronously along the radial groove, realizing continuous stepless adjustment of the straw-clearing radius. During operation, the mechanism is independently driven by the umbrella-shaped linkage radius adjustment drive cylinder 307. For pre-planting straw-clearing operations of densely planted crops with narrow row spacing, the piston rod of the umbrella-shaped linkage radius adjustment drive cylinder 307 performs a retraction action, driving the straw-clearing disc to rotate positively around the central axis, which in turn pulls all the umbrella-shaped linkage low-wear angle adjustment sliders 310 to slide synchronously along the radial groove towards the center of the device, causing all the spring teeth of the straw-clearing spring tooth group 312 to retract synchronously. For straw-clearing operations of sparsely planted crops with wide row spacing, the piston rod of the umbrella-shaped linkage radius adjustment drive cylinder 307 performs a retraction action, driving the straw-clearing disc to rotate positively around the central axis, which in turn pulls all the umbrella-shaped linkage low-wear angle adjustment sliders 310 to slide synchronously along the radial groove towards the center of the device, causing all the spring teeth of the straw-clearing spring tooth group 312 to retract synchronously. The extension action causes the straw-cleaning disc to rotate in the opposite direction around the central axis, which in turn pushes all the umbrella-shaped linkage type low-wear angle adjusting sliders 310 to slide synchronously outward along the radial groove, causing all the spring teeth of the straw-cleaning spring tooth group 312 to extend outward synchronously. For operation scenarios with varying slopes in hilly and mountainous areas, the piston rod stroke can be adjusted according to the real-time slope changes during operation. When the slope increases, the piston rod is controlled to retract, reducing the straw-cleaning operation radius and the operating coverage of the spring teeth. When the slope decreases, the piston rod is controlled to extend, increasing the straw-cleaning operation radius and ensuring the straw-cleaning width.

[0017] The umbrella-shaped connecting rod center hinge seat 303 can be axially displaced along the power transmission shaft 304. This axial movement drives all the straw-clearing radius adjusting umbrella-shaped connecting rods 305 to simultaneously open and close. Furthermore, the umbrella-shaped connecting rod angle adjusting ball joint 310-1 drives all the spring teeth of the straw-clearing spring tooth assembly 312 to simultaneously deflect, achieving uniform and high-precision adjustment of the working angle of all spring teeth. During operation, the mechanism is driven by the axial displacement adjustment of the umbrella-shaped connecting rod center hinge seat 303. For straw-clearing operations involving thick layers of full-volume straw return to the field, when facing high-coverage hard straw in the field, adjusting the umbrella-shaped connecting rod center hinge seat 303 allows it to move axially upwards along the power transmission shaft 304, driving the… The straw-clearing radius adjusting umbrella-shaped connecting rod 305 opens outwards synchronously, thereby driving all the teeth of the straw-clearing tooth assembly 312 to deflect synchronously in the rotational direction through the umbrella-shaped connecting rod angle adjusting ball head rod 310-1. This increases the working angle of attack of the teeth, increases the contact area between the teeth and the straw, and enhances the gripping force and lateral throwing force of the teeth on thick layers of hard straw, ensuring that the thick layers of straw are completely and continuously thrown to the non-sowing area outside the seed zone. For straw-clearing operations with thin layers of half-grain straw returned to the field, the umbrella-shaped connecting rod center hinge seat 303 is adjusted to move axially downwards along the power transmission shaft 304, driving all the straw-clearing radius adjusting umbrella-shaped connecting rods 305 to retract synchronously inwards, thereby driving all the straw-clearing radius adjusting umbrella-shaped connecting rods 305 to retract synchronously through the umbrella-shaped connecting rod angle adjusting ball head rod 310-1. Rod 310-1 drives all the teeth of the straw-clearing tooth assembly 312 to deflect synchronously in the opposite direction, reducing the working angle of the teeth and decreasing the depth of penetration and disturbance range of the teeth into the seedbed soil. This ensures that the thin layer of straw is completely cleared while maximizing the protection of the soil aggregate structure of the seedbed, providing good soil conditions for subsequent seed germination and seedling emergence. For hilly and mountainous slope operations, when facing a transverse slope, adjusting the central hinge seat 303 of the umbrella-shaped connecting rod completes the corresponding axial movement. Through the straw-clearing radius adjustment umbrella-shaped connecting rod 305 and the umbrella-shaped connecting rod angle adjustment ball head rod 310-1, all the teeth of the straw-clearing tooth assembly 312 are driven to deflect synchronously towards the uphill side, adjusting the lateral throwing angle of the teeth. The straw is precisely thrown to the non-sowing area on the uphill side, offsetting the impact of straw slippage caused by the slope gradient. For hilly and mountainous slope operations, when facing a downhill slope, the umbrella-shaped connecting rod center hinge seat 303 can be adjusted to drive the spring teeth to synchronously reduce the operating angle, thereby reducing the initial speed of straw throwing and preventing the straw from being thrown too far. When operating uphill, the umbrella-shaped connecting rod center hinge seat 303 can be adjusted to drive the spring teeth to synchronously increase the operating angle, thereby increasing the initial speed of straw throwing and ensuring that the straw is thrown to the preset non-sowing area. The operating angle of the spring teeth can be precisely adjusted according to the slope and direction of travel to control the straw throwing distance and stably throw the straw to the preset fixed areas on both sides of the seed strip.

[0018] The umbrella-shaped linkage type low-wear angle adjustment slider 310 includes an umbrella-shaped linkage type angle adjustment ball head rod 310-1, a low-wear built-in bearing 310-2, and a split low-wear angle adjustment slider base 310-3. The upper end of the umbrella-shaped linkage type angle adjustment ball head rod 310-1 is hinged to the straw cleaning radius adjustment umbrella-shaped linkage 305. The ball head structure at the rod end cooperates with the split low-wear angle adjustment slider base 310-3 to form a ball joint connection structure, which is used to achieve overlapping limit during the dual-track movement of straw cleaning radius adjustment and spring tooth angle adjustment, eliminate the action deviation in the process of multiple sets of spring tooth adjustment, and ensure the synchronicity of all spring tooth adjustments and the consistency of the working angle. The split low-wear angle adjustment slider base 310-3 10-3 is a split structure, with the two parts connected by a thrust needle roller bearing. This structure is used to reduce the relative motion wear between the upper and lower parts during the high-speed rotation of the straw-clearing disc and the reciprocating sliding of the slider along the radial groove. It also isolates field dust and mud from entering the friction pair, making it suitable for harsh and continuous operation in dusty and muddy hilly areas. The low-wear built-in bearing 310-2 is installed inside the split low-wear angle adjustment slider base 310-3, converting the sliding friction between the ball head rod and the slider base into rolling friction. Through the triple friction reduction structure of ball joint limiting, split bearing connection, and built-in rolling friction reduction, the risk of mechanical wear and jamming during the online adjustment of the spring tooth angle and the stepless adjustment of the straw-clearing radius is greatly reduced.

[0019] The passive contouring elastic soil covering device 5 is fixed to the lower end of the umbrella-shaped linkage-type straw-clearing radius stepless adjustment mechanism 3 via the passive contouring soil covering device connecting bracket 313, and rotates synchronously with the straw-clearing actuator to achieve a closed-loop operation of straw-clearing and soil covering in sequence. The passive contouring elastic soil covering device 5 includes a passive contouring soil covering device upper connecting flange 501, a soil covering device upper support plate 502, a soil covering device passive contouring buffer spring 503, a passive contouring telescopic rod 504, and a passive contouring soil covering shovel 505. The passive contouring soil covering device upper connecting flange 501 is fixedly connected to the passive contouring soil covering device connecting bracket 313, and the soil covering device upper support plate 502 is fixed below the upper connecting flange to provide a stable upper installation reference for the elastic contouring component. The soil covering device passive contouring buffer spring 503 is fitted around the passive contouring telescopic rod 504. On the side, its upper end abuts against the support plate 502 on the soil covering device, and its lower end abuts against the lower support seat of the passive contour telescopic rod 504, forming a non-powered passive contour elastic buffer component, which is used to generate adaptive elastic expansion and contraction with the undulation of the ground surface, and eliminate the fluctuation of the soil penetration depth caused by the undulation of the terrain; the passive contour soil covering shovel 505 is fixed to the lower end of the passive contour telescopic rod 504, and can adaptively adjust the soil penetration posture and soil penetration depth with the undulation of the ground surface under the drive of the elastic buffer component, always keeping it in contact with the working ground, while controlling the amount of soil covering, and completing the topsoil covering operation simultaneously with the straw clearing operation, and immediately covering and fixing the straw thrown laterally by the straw clearing mechanism.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] This invention constructs a collaborative operation system for the entire process of "shape imitation-posture adjustment-stalk clearing-soil covering", which breaks through the design limitations of independent operation of each link in the existing technology. Through the spatial and temporal matching of the four major mechanisms, the connection between lateral stalk throwing and soil covering is realized, which effectively improves the stalk clearing rate, reduces the stalk return rate, and reduces the problems of stalk blockage and entanglement during sowing operations.

[0022] This invention achieves independent and precise adjustment of the straw clearing radius and the angle of the spring teeth. Through the umbrella-shaped linkage structure, it realizes synchronous and high-precision adjustment of the working angle of all spring teeth, solving the problems of poor consistency of multi-spring tooth adjustment and uneven straw clearing effect in traditional devices. At the same time, the straw clearing working radius is continuously and steplessly adjusted by cylinder drive, which can adapt to the operation needs of different planting row spacings, and take into account the straw clearing operation of densely planted crops with narrow row spacing and sparsely planted crops with wide row spacing, making it more practical.

[0023] This invention optimizes the low-wear core structure for harsh working environments in hilly and mountainous areas. Through a triple wear reduction design of ball joint limiting, split bearing connection, and built-in rolling wear reduction, traditional sliding friction is transformed into rolling friction, which greatly reduces the wear and jamming risk of the adjustment mechanism, improves the continuous operation time and service life of the device, and meets the long-term continuous operation needs of scattered plots in hilly and mountainous areas.

[0024] This invention adopts a passive contour-following soil covering design without power, which can adaptively adjust its working posture according to the undulation of the ground without additional driving power, ensuring that the soil covering shovel is always in contact with the ground and the soil covering thickness is uniform and controllable. It not only effectively fixes the straw on the slope, but also avoids excessive disturbance of the topsoil, which meets the core requirements of conservation tillage of "less soil movement and water and soil conservation". At the same time, the structure is lightweight and has low supporting requirements, and can be directly loaded onto small horsepower tractors commonly used in hilly and mountainous areas, making it highly practical.

[0025] This invention enables flexible adjustment of straw removal amount, working width, and soil covering angle. The operating parameters can be flexibly adjusted according to different crop straw types, covering amount, plot slope, and agronomic requirements, effectively improving straw removal effect and reducing straw residue in the seed strip.

[0026] This invention achieves precise control of the straw throwing path through a vertical straw-clearing posture adjustment mechanism. It can flexibly adjust the spatial working posture of the straw-clearing actuator according to the working scenarios such as cross slope, down slope, and different straw coverage, and accurately control the straw throwing direction, throwing distance and throwing boundary. This ensures the straw-clearing effect in the seed strip while avoiding damage to adjacent crops and seedbed structure, greatly improving the working accuracy and scenario adaptability. Attached Figure Description

[0027] Appendix Figure 1This is a schematic diagram of the overall structure of the present invention;

[0028] Appendix Figure 2 This is a schematic diagram of the overall structure of a dual air spring adaptive contour suspension.

[0029] Appendix Figure 3 This is a schematic diagram of the rear structure of a dual air spring adaptive contour suspension.

[0030] Appendix Figure 4 A schematic diagram of the overall structure of the vertical straw-clearing posture adjustment mechanism;

[0031] Appendix Figure 5 A front view of the vertical straw-clearing posture adjustment mechanism.

[0032] Appendix Figure 6 A schematic diagram of the overall structure of the umbrella-shaped linkage-type stepless adjustment mechanism for straw clearing radius;

[0033] Appendix Figure 7 A schematic diagram of the front structure of the umbrella-shaped linkage type stepless adjustment mechanism for straw clearing radius;

[0034] Appendix Figure 8 A schematic diagram of the overall structure of the umbrella-shaped linkage type low-wear angle adjustment slider;

[0035] Appendix Figure 9 A schematic diagram of the internal structure of an umbrella-shaped linkage type low-wear angle adjustment slider;

[0036] Appendix Figure 10 A schematic diagram of the overall structure of the passive contour-following elastic soil covering device;

[0037] Figure reference numerals:

[0038] 1-Dual air spring adaptive contour-following suspension; 2-Vertical straw clearing posture adjustment mechanism; 3-Umbrella-shaped linkage straw clearing radius stepless adjustment mechanism; 4-Straw lateral throwing guide baffle; 5-Passive contour-following elastic soil covering device.

[0039] 101-Suspension mounting backplate, 102-Air spring mounting shaft, 103-Suspension fixing screw, 104-Adaptive contour spring, 105-Air spring mounting shaft fixing screw, 106-Contouring rod, 107-External connecting plate, 108-Device mounting bracket;

[0040] 201-Attitude adjustment drive mounting box, 202-Attitude adjustment drive cavity docking cover, 203-Cover fastening screw, 204-Inner connecting piece, 205-Drive motor mounting cavity, 206-Attitude adjustment swing shaft, 207-Attitude adjustment hinge pin, 208-Lower hinge support, 209-Swing shaft drive adapter;

[0041] 301-Center drive motor, 302-Center drive motor mounting housing, 303-Umbrella-shaped connecting rod center hinge seat, 304-Power transmission shaft, 305-Umbrella-shaped connecting rod for straw cleaning radius adjustment, 306-Hinge screw, 307-Umbrella-shaped connecting rod type radius adjustment drive cylinder, 308-Drive cylinder mounting bracket, 309-Upper base of straw cleaning disc, 310-Umbrella-shaped connecting rod type low-wear angle adjustment slider, 311-Lower base of straw cleaning disc, 312-Straw cleaning spring tooth assembly, 313-Passive contour covering device connecting bracket;

[0042] Among them, 310-1-umbrella-shaped connecting rod type angle adjustment ball joint, 310-2-low wear built-in bearing, and 310-3-split type low wear angle adjustment slider base.

[0043] 501 - Connecting flange on passive contour covering device; 502 - Support plate on covering device; 503 - Passive contouring buffer spring of covering device; 504 - Passive contouring telescopic rod; 505 - Passive contouring covering shovel. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of the embodiments of this invention will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0045] The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the invention, and should not be construed as limiting the invention.

[0046] In a broad embodiment of the present invention, a vertical adaptive contour-following straw clearing and soil covering device for hilly sloping farmland is composed of a dual air spring adaptive contour-following suspension 1, a vertical straw clearing posture adjustment mechanism 2, an umbrella-shaped linkage straw clearing radius stepless adjustment mechanism 3, a straw lateral throwing guide baffle 4, and a passive contour-following elastic soil covering device 5.

[0047] Among them, the dual air spring adaptive contour-following suspension 1 is used to adapt to the undulating terrain of hilly areas and realize the adaptive adjustment of the device's working height; the vertical straw-clearing posture adjustment mechanism 2 is used to drive the straw-clearing actuator below to complete the spatial posture adjustment and precisely control the straw throwing path; the umbrella-shaped linkage straw-clearing radius stepless adjustment mechanism 3 is used to realize the continuous stepless adjustment of the straw-clearing working radius and the synchronous high-precision adjustment of the spring tooth working angle, and complete the lateral throwing and cleaning of the straw in the seed strip; the straw lateral throwing guide baffle 4 is used to constrain the straw throwing trajectory and prevent the straw from splashing back into the seed strip; the passive contour-following elastic soil covering device 5 is used to adaptively adjust the working posture according to the undulation of the ground surface, and immediately cover and fix the thrown straw with soil to prevent the straw on the slope from sliding back into the seed strip.

[0048] like Figure 2 , Figure 3 As shown, the dual air spring adaptive contouring suspension 1 includes a suspension mounting back plate 101, an air spring mounting shaft 102, two sets of adaptive contouring springs 104, a contouring rod 106, an outer connecting plate 107, and a device mounting frame 108. The suspension mounting back plate 101 is used to fix the entire device to the main frame of the seeder. The two sets of adaptive contouring springs 104 are arranged symmetrically on the left and right sides. Their upper ends are hinged to the suspension mounting back plate 101 through the air spring mounting shaft 102, and their lower ends are hinged to the device mounting frame 108 through the contouring rod 106. The outer connecting plate 107 is fixed to the side wall of the device mounting frame 108 by fasteners and is used to fixally connect with the inner connecting plate 204 of the vertical straw clearing posture adjustment mechanism 2 to achieve a rigid connection between the suspension and the working mechanism below.

[0049] During operation, the overall working height of the device is adaptively adjusted by inflating and deflating two sets of adaptive contour springs 104: when the working height needs to be raised, the two sets of adaptive contour springs 104 deflate simultaneously, and the spring bladders contract to lift the entire device, adapting to the raised terrain; conversely, when the working height needs to be lowered, the two sets of adaptive contour springs 104 inflate simultaneously, and the spring bladders extend to lower the entire device, adapting to the sunken terrain, thus achieving full-stroke adaptive dynamic adjustment of the device's working height.

[0050] like Figure 4 , Figure 5As shown, the vertical straw-clearing posture adjustment mechanism 2 includes a posture adjustment drive mounting box 201, a posture adjustment drive cavity docking cover 202, a cover fastening screw 203, an inner connecting piece 204, a drive motor mounting cavity 205, a posture adjustment swing shaft 206, a posture adjustment hinge pin 207, a lower hinge support 208, and a swing shaft drive adapter 209. The attitude adjustment drive mounting box 201 is fixedly connected to the outer connecting plate 107 of the dual air spring adaptive contour suspension 1 via an inner connecting plate 204 and fasteners. The attitude adjustment drive mounting box 201 has a drive motor mounting cavity 205 inside. The angle drive motor is sealed in the drive motor mounting cavity 205, which can isolate field dust and mud to a certain extent and protect the drive components. The attitude adjustment drive cavity docking cover 202 is fixed to the top of the attitude adjustment drive mounting box 201 by the cover fastening screw 203, which closes the upper opening of the drive motor mounting cavity 205 and provides axial limit for the drive motor.

[0051] The upper end of the swing shaft drive adapter 209 is connected to the output end of the angle drive motor, and the lower end is fixedly connected to the attitude adjustment swing shaft 206. The lower hinge support 208 is fixed to the lower two sides of the attitude adjustment drive mounting box 201 by fasteners. The attitude adjustment swing shaft 206 is hinged to the inner side of the lower hinge support 208 on both sides by attitude adjustment hinge pin 207. It can complete the spatial swing angle adjustment around the attitude adjustment hinge pin 207 under the drive of the angle drive motor.

[0052] During operation, this device adjusts its posture according to different operating scenarios: When operating along the transverse slope of hilly terrain, the angle drive motor outputs power, which drives the attitude adjustment swing shaft 206 to deflect uphill by a corresponding angle around the attitude adjustment hinge pin 207 via the swing shaft drive adapter 209. This drives the straw clearing actuator below to simultaneously complete attitude fine-tuning, adjusting the lateral throwing path of the straw and accurately throwing it to the non-sowing area on the upper side of the slope, preventing the straw from sliding down the slope and back into the planting zone. When operating along the longitudinal slope of hilly terrain, the angle drive motor outputs power, which drives the attitude adjustment swing shaft 206 to complete forward or backward attitude fine-tuning around the hinge pin. This drives the straw clearing actuator to adjust the operating angle, precisely controlling the throwing distance of the straw. The straw is stably thrown to the pre-set fixed areas on both sides of the seed strip, preventing it from scattering back into the seed strip along the slope. When the straw coverage in the field is large and full straw return is being carried out, the angle drive motor drives the attitude adjustment swing shaft 206 to deflect, adjusting the working angle of the straw clearing actuator, precisely controlling the throwing force and direction of the straw, ensuring continuous and stable throwing of thick straw layers, and preventing straw from getting tangled in the spring teeth or accumulating near the seed strip. When clearing straw from densely planted crops with narrow row spacing, the angle drive motor drives the attitude adjustment swing shaft 206 to complete a small-amplitude precise deflection, fine-tuning the working attitude of the straw clearing actuator, precisely controlling the straw throwing boundary, preventing straw from being thrown into the area of ​​adjacent crops, and preventing the straw clearing mechanism from damaging adjacent crops and the seed strip and seedbed structure.

[0053] like Figure 6 , Figure 7 As shown, the umbrella-shaped linkage type stepless adjustment mechanism 3 for straw clearing radius includes a central drive motor 301, a central drive motor mounting housing 302, an umbrella-shaped linkage central hinge seat 303, a power transmission shaft 304, a straw clearing radius adjustment umbrella-shaped linkage 305, an umbrella-shaped linkage type radius adjustment drive cylinder 307, a drive cylinder mounting bracket 308, an upper base of the straw clearing disc 309, an umbrella-shaped linkage type low-wear angle adjustment slider 310, a lower base of the straw clearing disc 311, a straw clearing spring tooth group 312, and a passive contour-following soil covering device connecting bracket 313. The upper end of the central drive motor mounting housing 302 is fixedly connected to the lower end of the attitude adjustment swing shaft 206 of the vertical straw cleaning attitude adjustment mechanism 2. The central drive motor 301 is enclosedly installed inside the central drive motor mounting housing 302. The output end of the central drive motor 301 is connected to the straw cleaning disc base through the power transmission shaft 304, which is used to drive the entire straw cleaning actuator to rotate around the central axis of the device and provide the main rotation power for straw cleaning operation.

[0054] The upper end of the straw-clearing radius adjusting umbrella-shaped connecting rod 305 is hinged to the circumferential hinge position of the umbrella-shaped connecting rod center hinge seat 303, and the lower end is connected to the umbrella-shaped connecting rod angle adjusting ball head rod 310-1 of the umbrella-shaped connecting rod type low-wear angle adjusting slider 310. The upper base 309 of the straw-clearing disc and the lower base 311 of the straw-clearing disc are parallel to each other and fixedly connected by fasteners, forming an installation cavity. The cavity has multiple sets of radially penetrating grooves in its circumference. The umbrella-shaped connecting rod type low-wear angle adjusting slider 310 is limited and installed in the radial grooves and can slide radially along the grooves. The upper end of a single spring tooth of the straw-clearing spring tooth group 312 is fixedly installed at the lower end of a single set of umbrella-shaped connecting rod type low-wear angle adjusting sliders 310, and rotates synchronously with the straw-clearing disc to complete the straw-clearing operation. The passive contour covering device connecting bracket 313 is fixed to the lower end of the straw-clearing disc lower base 311 and is used to install and fix the passive contour elastic covering device 5.

[0055] The umbrella-shaped connecting rod center hinge seat 303 can be axially displaced along the power transmission shaft 304. The axial movement drives all the straw-cleaning radius adjusting umbrella-shaped connecting rods 305 to open and close synchronously. Then, the umbrella-shaped connecting rod angle adjusting ball head rod 310-1 drives all the spring teeth of the straw-cleaning spring tooth group 312 to deflect synchronously, realizing the uniform and high-precision adjustment of the working angle of all spring teeth. The umbrella-shaped connecting rod radius adjusting drive cylinder 307 is horizontally fixed to the upper end face of the base 309 on the straw-cleaning disc through the drive cylinder mounting bracket 308. Its piston rod end is connected to the drive rocker arm of the straw-cleaning disc. The extension and retraction movement of the piston rod drives the straw-cleaning disc to rotate around the central axis, thereby driving all the umbrella-shaped connecting rod low-wear angle adjusting sliders 310 to slide radially synchronously along the radial groove, driving the straw-cleaning spring tooth group 312 to extend and retract radially synchronously, realizing the continuous stepless adjustment of the straw-cleaning working radius.

[0056] During operation, the straw-clearing radius adjustment and spring tooth angle adjustment of this mechanism can be executed independently or in conjunction: In the straw-clearing radius adjustment stage, for pre-sowing straw-clearing operations of densely planted crops with narrow row spacing, the piston rod of the umbrella-shaped linkage radius adjustment drive cylinder 307 performs a retraction action, driving the straw-clearing disc to rotate forward around the central axis, thereby pulling all the umbrella-shaped linkage low-wear angle adjustment sliders 310 to slide synchronously along the radial groove towards the center of the device, causing all the spring teeth of the straw-clearing spring tooth group 312 to retract synchronously inward, reducing the straw-clearing radius; for straw-clearing operations of sparsely planted crops with wide row spacing, the umbrella-shaped linkage radius adjustment drive cylinder... The piston rod of 307 extends, causing the straw-cleaning disc to rotate in the opposite direction around the central axis. This, in turn, pushes all the umbrella-shaped linkage-type low-wear angle adjusting sliders 310 to slide synchronously outward along the radial groove. This causes all the spring teeth of the straw-cleaning spring tooth group 312 to extend outward synchronously, increasing the straw-cleaning operating radius. For operation scenarios with varying slopes in hilly and mountainous areas, the piston rod stroke can be adjusted according to the real-time slope changes during operation. When the slope increases, the piston rod is controlled to retract, reducing the straw-cleaning operating radius and decreasing the operating coverage of the spring teeth. When the slope decreases, the piston rod is controlled to extend, increasing the straw-cleaning operating radius and ensuring the straw-cleaning width.

[0057] In the spring tooth operation angle adjustment stage, for the straw clearing operation scenario of returning thick layers of full-volume straw to the field, the central hinge seat 303 of the umbrella-shaped connecting rod is adjusted to move axially upward along the power transmission shaft 304, causing all straw clearing radius adjusting umbrella-shaped connecting rods 305 to open outward simultaneously. Then, through the umbrella-shaped connecting rod angle adjusting ball joint 310-1, all the spring teeth of the straw clearing spring tooth assembly 312 are simultaneously deflected in the rotation direction, increasing the operating angle of the spring teeth and improving the gripping force and lateral throwing force of the spring teeth on thick layers of hard straw. For the straw clearing operation scenario of returning thin layers of half-volume straw to the field, the central hinge seat 303 of the umbrella-shaped connecting rod is adjusted to move axially downward along the power transmission shaft 304, causing all the straw clearing radius adjusting umbrella-shaped connecting rods 305 to open outward simultaneously. The rod 305 retracts inward synchronously, which in turn drives all the teeth of the straw-clearing tooth assembly 312 to deflect synchronously in the opposite direction through the umbrella-shaped connecting rod angle adjustment ball head rod 310-1, reducing the working angle of the teeth and minimizing disturbance to the seedbed soil. For hilly and mountainous cross-slope operations, the umbrella-shaped connecting rod center hinge seat 303 is adjusted to complete the corresponding axial movement, driving all the teeth of the straw-clearing tooth assembly 312 to deflect synchronously to the uphill side, adjusting the lateral throwing angle of the teeth to counteract the impact of straw slippage caused by the slope. For hilly and mountainous downhill operations, the working angle of the teeth is adjusted according to the working direction and slope, precisely controlling the straw throwing distance and preventing straw from scattering back into the seedbed.

[0058] like Figure 8 , Figure 9As shown, the umbrella-shaped linkage type low-wear angle adjustment slider 310 includes an umbrella-shaped linkage type angle adjustment ball head rod 310-1, a low-wear built-in bearing 310-2, and a split low-wear angle adjustment slider base 310-3. The upper end of the umbrella-shaped connecting rod angle adjustment ball joint 310-1 is hinged to the straw cleaning radius adjustment umbrella-shaped connecting rod 305. The ball joint structure at the end of the rod and the split low-wear angle adjustment slider base 310-3 cooperate to form a ball joint connection structure, which achieves overlapping limit during the dual-track movement of straw cleaning radius adjustment and spring tooth angle adjustment, eliminating the action deviation during the multi-set spring tooth adjustment process. The split low-wear angle adjustment slider base 310-3 is a split structure with upper and lower parts connected by a thrust needle roller bearing, which eliminates the relative motion wear between the upper and lower parts during the high-speed rotation of the straw cleaning disc and the reciprocating sliding of the slider along the radial groove. The low-wear built-in bearing 310-2 is installed inside the split low-wear angle adjustment slider base 310-3, which converts the sliding friction between the ball joint rod and the slider base into rolling friction. The triple wear reduction structure greatly reduces the wear and jamming risk of the mechanism.

[0059] The straw lateral throwing guide baffle 4 is a bent sheet metal structure, which is fixed to the side of the umbrella-shaped linkage straw cleaning radius stepless adjustment mechanism 3 by fasteners. The lower end extends to the upper part of the working area of ​​the passive contour elastic soil covering device 5. It can constrain the movement trajectory of the straw thrown by the straw cleaning spring tooth group 312, prevent the straw from splashing and falling back into the seed strip, and guide the straw to fall accurately into the soil covering working area, thereby improving the effect of subsequent soil covering and fixing.

[0060] like Figure 10 As shown, the passive contouring elastic soil covering device 5 includes a connecting flange 501 on the passive contouring soil covering device, a support plate 502 on the soil covering device, a passive contouring buffer spring 503 on the soil covering device, a passive contouring telescopic rod 504, and a passive contouring soil covering shovel 505. The upper connecting flange 501 of the passive contouring soil covering device is fixedly connected to the upper connecting bracket 313 of the passive contouring soil covering device by fasteners. The upper support plate 502 of the soil covering device is fixed below the upper connecting flange, providing a stable upper installation reference for the elastic contouring component. The passive contouring buffer spring 503 of the soil covering device is fitted on the outside of the passive contouring telescopic rod 504. Its upper end abuts against the upper support plate 502 of the soil covering device, and its lower end abuts against the lower support seat of the passive contouring telescopic rod 504, forming a non-powered passive contouring elastic buffer component. The passive contouring soil covering shovel 505 is fixed to the lower end of the passive contouring telescopic rod 504. Driven by the elastic buffer component, it can adaptively adjust the soil entry posture and depth according to the undulation of the ground surface, and always keep in contact with the working ground.

[0061] During operation, this device rotates synchronously with the straw-clearing disc. The moment the straw-clearing spring throws the straw to the side, the passive contour-following covering shovel 505 immediately scrapes off the topsoil and covers the straw, achieving a closed-loop operation of synchronous straw throwing and covering. For undulating terrain, when the surface is raised, the covering shovel is pushed by the ground, causing the passive contour-following telescopic rod 504 to compress the buffer spring upward, raising the working height. When the surface is sunken, the buffer spring rebounds, causing the passive contour-following telescopic rod 504 to extend downward, pushing the covering shovel to always keep it in contact with the ground, ensuring that the covering thickness is uniform and controllable. This effectively fixes the straw on slopes while avoiding excessive disturbance of the topsoil, meeting the agronomic requirements of conservation tillage.

[0062] The overall collaborative operation process of the device of this invention is as follows: Before operation, based on agronomic and working condition parameters such as the planting row spacing of the target crop, the amount of straw coverage, and the slope of the plot, operating parameters such as the straw clearing radius, the spring tooth operating angle, and the target straw clearing depth are preset; during operation, the dual air spring adaptive contour-following suspension 1 adjusts the device's operating height in real time according to the terrain undulations to complete terrain adaptive contour-following; the vertical straw clearing posture adjustment mechanism 2 adjusts the spatial operating posture of the straw clearing actuator in real time according to the slope and the amount of straw coverage, precisely controlling the straw throwing path; the umbrella-shaped linkage straw clearing radius stepless adjustment mechanism 3... The drive motor 301 drives the straw-clearing disc and the spring tooth assembly to rotate at high speed, completing the lateral throwing and clearing of straw in the seed strip. At the same time, the straw-clearing radius and the spring tooth angle are adjusted in real time according to the operation scenario to ensure the straw-clearing effect. The straw-side throwing guide baffle 4 constrains the straw throwing trajectory and guides the straw to fall accurately into the soil covering operation area. The passive contour-following elastic soil covering device 5 completes the topsoil covering in sync with the straw-clearing operation, fixing the thrown straw immediately and preventing the straw on the slope from sliding back into the seed strip. Finally, the entire process of straw clearing in the seed strip, terrain adaptive contouring, and topsoil covering to prevent slippage is completed in one operation.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vertical adaptive contour-following straw clearing and soil covering device for hilly sloping farmland, characterized in that, It includes a dual air spring adaptive contour-following suspension (1), a vertical straw-clearing posture adjustment mechanism (2), an umbrella-shaped linkage straw-clearing radius stepless adjustment mechanism (3), and a passive contour-following elastic soil covering device (5). The dual air spring adaptive contour suspension (1) is fixedly connected to the upper end of the vertical straw clearing posture adjustment mechanism (2) through the outer connecting plate (107). The vertical straw clearing posture adjustment mechanism (2) is connected to the upper end of the umbrella-shaped linkage straw clearing radius stepless adjustment mechanism (3) through the connection of the posture adjustment swing shaft (206). The passive contour elastic soil covering device (5) is fixedly installed at the lower end of the umbrella-shaped linkage straw clearing radius stepless adjustment mechanism (3) through the connection (313) of the passive contour soil covering device upper connecting flange (501) and the passive contour soil covering device connecting bracket. The dual air spring adaptive contour-following suspension (1) is used to adapt to the undulations of hilly and mountainous terrain and realize the adaptive dynamic adjustment of the device's working height; the vertical straw-clearing posture adjustment mechanism (2) is used to drive the straw-clearing actuator below to complete the spatial posture fine adjustment and accurately control the straw throwing path; the umbrella-shaped linkage straw-clearing radius stepless adjustment mechanism (3) is used to realize the continuous stepless adjustment of the straw-clearing working radius and simultaneously complete the lateral throwing and cleaning of the straw in the seed belt; at the same time, through the linkage transmission of the umbrella-shaped linkage, all straw-clearing spring teeth are driven to deflect synchronously, realizing the unified high-precision adjustment of the spring tooth working angle and meeting the straw cleaning needs under different working conditions; the passive contour-following elastic soil covering device (5) is used to adaptively adjust the working posture according to the undulations of the ground surface, cover and fix the thrown straw with topsoil, and prevent the straw on the slope from sliding back to the seed belt.

2. The vertical adaptive contour-following straw clearing and soil covering device for hilly sloping farmland according to claim 1, characterized in that, The dual air spring adaptive contour suspension (1) includes a suspension mounting backplate (101), an air spring mounting shaft (102), two sets of adaptive contour springs (104), a contour rod (106), an outer connecting plate (107), and a device mounting bracket (108). The two sets of adaptive contour springs (104) are arranged symmetrically on the left and right. Their upper ends are hinged to the suspension mounting back plate (101) through the air spring mounting shaft (102), and their lower ends are hinged to the device mounting frame (108) through the contour rod (106). The outer connecting plate (107) is fixed to the side wall of the device mounting frame (108) for fixed connection with the vertical straw clearing posture adjustment mechanism (2). The overall height of the device is adaptively contoured and adjusted by inflating and deflating the two sets of adaptive contour springs (104). During operation, when the working height needs to be raised, the two sets of adaptive contour springs (104) release air simultaneously, and the spring bladder contracts to drive the entire device to rise, adapting to the raised terrain; conversely, when the working height needs to be lowered, the two sets of adaptive contour springs (104) inflate simultaneously, and the spring bladder extends to drive the entire device to fall, adapting to the sunken terrain, thus realizing the full-stroke adaptive dynamic adjustment of the device's working height.

3. The vertical adaptive contour-following straw clearing and soil covering device for hilly sloping farmland according to claim 1, characterized in that, The vertical straw clearing posture adjustment mechanism (2) includes a posture adjustment drive mounting box (201), a posture adjustment drive cavity docking cover (202), a cover fastening screw (203), an inner connecting piece (204), a drive motor mounting cavity (205), a posture adjustment swing shaft (206), a posture adjustment hinge pin (207), a lower hinge support seat (208), and a swing shaft drive adapter (209). The attitude adjustment drive mounting box (201) is fixedly connected to the outer connecting plate (107) of the dual air spring adaptive contour suspension (1) through the inner connecting plate (204); the attitude adjustment drive mounting box (201) has a drive motor mounting cavity (205) inside, and the drive motor mounting cavity (205) is equipped with an angle drive motor; the attitude adjustment drive cavity docking cover (202) is fixed to the top of the attitude adjustment drive mounting box (201) by the cover fastening screw (203), and the upper opening of the drive motor mounting cavity (205) is closed; The upper end of the swing shaft drive adapter (209) is connected to the output end of the angle drive motor, and the lower end is fixedly connected to the attitude adjustment swing shaft (206). The lower hinge support (208) is fixed to the lower part of the attitude adjustment drive mounting box (201). The attitude adjustment swing shaft (206) is hinged to the inner side of the lower hinge support (208) through the attitude adjustment hinge pin (207). It can complete the spatial swing angle adjustment around the attitude adjustment hinge pin (207) under the drive of the angle drive motor. During operation, when the device operates along the transverse slope of hilly terrain, the slope gradient causes the straw to naturally slide down the slope. At this time, the angle drive motor outputs power, which drives the swing shaft to drive the adapter (209) to drive the attitude adjustment swing shaft (206) to deflect to the upper side of the slope by the corresponding angle around the attitude adjustment hinge pin (207). This drives the straw clearing actuator below to simultaneously complete the attitude fine adjustment, adjust the lateral throwing path of the straw, and accurately throw the straw to the non-sowing area on the upper side of the slope, preventing the straw from sliding down the slope and back to the planting zone. When the device operates along the longitudinal slope of hilly terrain, the slope gradient causes the straw throwing distance to be uncontrollable. At this time, the angle drive motor outputs power, which drives the attitude adjustment swing shaft (206) to complete the attitude fine adjustment of forward or backward tilting around the hinge pin, driving the straw clearing actuator to adjust the operating angle, accurately control the straw throwing distance, and stably throw the straw to the preset fixed areas on both sides of the planting zone, preventing the straw from scattering back to the planting zone along the longitudinal slope. When the amount of straw covering the field is large and full straw return is carried out, the angle drive motor drives the attitude adjustment swing shaft (206) to deflect, adjust the working angle of the straw clearing actuator, and precisely control the throwing force and direction of the straw to ensure continuous and stable throwing of thick straw layers, and avoid straw entanglement in the spring teeth and accumulation near the seed strip. When clearing straw for densely planted crops with narrow row spacing, the angle drive motor drives the attitude adjustment swing shaft (206) to complete a small-amplitude precise deflection, fine-tuning the working attitude of the straw clearing actuator, precisely controlling the straw throwing boundary, avoiding straw being thrown into the area of ​​adjacent crops, and preventing the straw clearing mechanism from damaging adjacent crops and the seed strip and seedbed structure.

4. The vertical adaptive contour-following straw clearing and soil covering device for hilly sloping farmland according to claim 1, characterized in that, The umbrella-shaped linkage stepless adjustment mechanism (3) for straw cleaning radius includes a central drive motor (301), a central drive motor mounting housing (302), an umbrella-shaped linkage central hinge seat (303), a power transmission shaft (304), a straw cleaning radius adjustment umbrella-shaped linkage (305), an umbrella-shaped linkage radius adjustment drive cylinder (307), a drive cylinder mounting bracket (308), an upper base of the straw cleaning disc (309), an umbrella-shaped linkage low-wear angle adjustment slider (310), a lower base of the straw cleaning disc (311), and a straw cleaning spring tooth assembly (312). The upper end of the central drive motor mounting housing (302) is fixedly connected to the lower end of the vertical straw cleaning posture adjustment mechanism (2), and the central drive motor (301) is installed inside the central drive motor mounting housing (302); the output end of the central drive motor (301) is connected to the straw cleaning disc base through the power transmission shaft (304) to drive the entire straw cleaning actuator to rotate around the central axis of the device and provide the main rotation power for straw cleaning operation; When the umbrella-shaped linkage-type stepless adjustment mechanism for straw clearing radius is in operation, the central drive motor (301) serves as the main drive source for straw clearing operations. Through the power transmission shaft (304), the straw clearing disc base and the straw clearing spring tooth group (312) are driven to rotate continuously around the central axis of the device, thereby driving the spring teeth to complete the lateral throwing and cleaning operation of the seed belt straw, providing core rotational power for the entire straw clearing process. The upper end of the straw-clearing radius adjusting umbrella-shaped connecting rod (305) is hinged to the umbrella-shaped connecting rod center hinge seat (303), and the lower end is connected to the umbrella-shaped connecting rod angle adjusting ball head rod (310-1) of the umbrella-shaped connecting rod type low-wear angle adjusting slider (310); the upper base (309) of the straw-clearing disc and the lower base (311) of the straw-clearing disc are fixedly connected vertically to form a closed installation cavity, and a radial sliding groove is provided on the cavity for the umbrella-shaped connecting rod type low-wear angle adjusting slider (310) to slide; the straw-clearing spring tooth assembly (312) is fixedly installed on the umbrella-shaped connecting rod type low-wear angle adjusting slider (310); The umbrella-shaped linkage radius adjustment drive cylinder (307) is fixed on the base (309) of the straw cleaning disc through the drive cylinder mounting bracket (308), and its piston rod is connected to the drive rocker arm of the straw cleaning disc. The extension and retraction of the piston rod drives the straw cleaning disc to rotate, which in turn drives the umbrella-shaped linkage low-wear angle adjustment slider (310) to slide synchronously along the radial groove, so as to realize the continuous stepless adjustment of the straw cleaning operation radius. During operation, the mechanism is independently driven by an umbrella-shaped linkage radius adjustment drive cylinder (307). For pre-planting straw clearing operations of densely planted crops with narrow row spacing, the piston rod of the umbrella-shaped linkage radius adjustment drive cylinder (307) performs a retraction action, causing the straw clearing disc to rotate forward around the central axis. This, in turn, pulls all the umbrella-shaped linkage low-wear angle adjustment sliders (310) to slide synchronously towards the center of the device along the radial groove, causing all the spring teeth of the straw clearing spring tooth group (312) to retract synchronously inward. For straw clearing operations of sparsely planted crops with wide row spacing, the piston rod of the umbrella-shaped linkage radius adjustment drive cylinder (307) performs a retraction action. The piston rod extends, causing the straw-cleaning disc to rotate in the opposite direction around the central axis. This, in turn, pushes all the umbrella-shaped linkage low-wear angle adjustment sliders (310) to slide synchronously outward along the radial groove, causing all the spring teeth of the straw-cleaning spring tooth group (312) to extend outward synchronously. For the operation scenario of hilly and mountainous slopes with varying slopes, the piston rod stroke can be adjusted according to the real-time slope changes during the operation. When the slope increases, the piston rod is controlled to retract, reducing the straw-cleaning operation radius and the coverage area of ​​the spring teeth. When the slope decreases, the piston rod is controlled to extend, increasing the straw-cleaning operation radius and ensuring the straw-cleaning width. The umbrella-shaped connecting rod center hinge seat (303) can be axially displaced along the power transmission shaft (304). Through axial movement, all straw-clearing radius adjusting umbrella-shaped connecting rods (305) are simultaneously opened and closed. Then, through the umbrella-shaped connecting rod angle adjusting ball head rod (310-1), all the spring teeth of the straw-clearing spring tooth group (312) are simultaneously deflected, realizing the uniform and high-precision adjustment of the working angle of all spring teeth. During operation, the mechanism is driven by adjusting the axial displacement of the umbrella-shaped connecting rod center hinge seat (303). For the straw-clearing operation scenario of thick layer full straw return to the field, when facing high coverage of hard straw in the field, the umbrella-shaped connecting rod center hinge seat (303) is adjusted to move axially upward along the power transmission shaft (304). The movement causes all the straw-clearing radius adjusting umbrella-shaped connecting rods (305) to open outwards simultaneously, and then through the umbrella-shaped connecting rod angle adjusting ball head rod (310-1), all the spring teeth of the straw-clearing spring tooth group (312) are simultaneously deflected in the direction of rotation, increasing the working angle of attack of the spring teeth, increasing the contact area between the spring teeth and the straw, and improving the gripping force and lateral throwing force of the spring teeth on the thick layer of hard straw, ensuring that the thick layer of straw is completely and continuously thrown to the non-sowing area outside the seed zone; for the straw-clearing operation scenario of returning half of the straw to the field, the umbrella-shaped connecting rod center hinge seat (303) is adjusted to move axially downwards along the power transmission shaft (304), causing all the straw-clearing radius adjusting umbrella-shaped connecting rods (305) to retract inwards simultaneously, and then through the umbrella-shaped connecting rod... The angle-adjusting ball joint (310-1) drives all the teeth of the straw-clearing spring tooth group (312) to deflect synchronously in the opposite direction, reducing the working angle of the spring teeth and decreasing the cutting depth and disturbance range of the spring teeth on the seedbed soil. While ensuring that the thin layer of straw is completely cleaned, the soil aggregate structure of the seedbed is protected to the greatest extent, providing good soil conditions for subsequent seed germination and seedling emergence. For the scenario of working on the transverse slope of hilly and mountainous areas, when facing the transverse slope, the center hinge seat (303) of the umbrella-shaped connecting rod is adjusted to complete the corresponding axial movement. Through the straw-clearing radius adjusting umbrella-shaped connecting rod (305) and the umbrella-shaped connecting rod angle-adjusting ball joint (310-1), all the spring teeth of the straw-clearing spring tooth group (312) are driven to deflect synchronously to the uphill side, adjusting the side angle of the spring teeth. The angle of the throw can be adjusted to precisely throw the straw to the non-sowing area on the upper side of the slope, thus offsetting the impact of straw slippage caused by the slope gradient. For hilly and mountainous areas, when working downhill, the central hinge seat (303) of the umbrella-shaped connecting rod can be adjusted to drive the spring teeth to simultaneously reduce the angle of attack, thereby reducing the initial speed of straw throwing and preventing the straw from being thrown too far. When working uphill, the central hinge seat (303) of the umbrella-shaped connecting rod can be adjusted to drive the spring teeth to simultaneously increase the angle of attack, thereby increasing the initial speed of straw throwing and ensuring that the straw is thrown to the preset non-sowing area. The angle of the spring teeth can be precisely adjusted according to the slope and direction of travel to control the throwing distance of the straw and stably throw the straw to the preset fixed areas on both sides of the seed belt.

5. The vertical adaptive contour-following straw clearing and soil covering device for hilly sloping farmland according to claim 1, characterized in that, The umbrella-shaped linkage type low-wear angle adjustment slider (310) includes an umbrella-shaped linkage type angle adjustment ball head rod (310-1), a low-wear built-in bearing (310-2), and a split low-wear angle adjustment slider base (310-3). The upper end of the umbrella-shaped connecting rod angle adjustment ball head rod (310-1) is hinged to the straw cleaning radius adjustment umbrella-shaped connecting rod (305). The ball head structure at the end of the rod and the split low-wear angle adjustment slider base (310-3) form a ball joint connection structure, which is used to achieve overlapping limit during the dual trajectory movement of straw cleaning radius adjustment and spring tooth angle adjustment, eliminate the action deviation in the process of multiple spring tooth adjustment, and ensure the synchronicity of all spring tooth adjustments and the consistency of the working angle. The split-type low-wear angle adjusting slider base (310-3) is a split structure with upper and lower parts connected by a thrust needle roller bearing. It is used to eliminate the relative motion wear between the upper and lower parts during the high-speed rotation of the straw clearing disc and the reciprocating sliding of the slider along the radial groove. At the same time, it isolates field dust and mud from entering the friction pair, adapting to the harsh continuous operation environment of dusty and muddy hilly areas. The low-wear built-in bearing (310-2) is installed inside the split-type low-wear angle adjustment slider base (310-3), which converts the sliding friction between the ball head rod and the slider base into rolling friction. Through the triple friction reduction structure of ball joint limiting, split bearing connection and built-in rolling friction reduction, the risk of mechanical wear and jamming during the online adjustment of spring tooth angle and stepless adjustment of straw cleaning radius is greatly reduced.

6. The vertical adaptive contour-following straw clearing and soil covering device for hilly sloping farmland according to claim 1, characterized in that, The umbrella-shaped linkage-type stepless adjustment mechanism (3) for clearing straw radius is fixedly provided with a straw lateral throwing guide baffle (4) on its side. The straw lateral throwing guide baffle (4) is used to constrain the movement trajectory of the straw thrown by the straw clearing spring tooth group (312) and guide the straw to a preset non-sowing area.

7. The vertical adaptive contour-following straw clearing and soil covering device for hilly sloping farmland according to claim 1, characterized in that, The passive contour elastic soil covering device (5) is fixed to the lower end of the umbrella-shaped linkage straw cleaning radius stepless adjustment mechanism (3) through the passive contour soil covering device connecting bracket (313), and rotates synchronously with the straw cleaning execution mechanism to realize the time-synchronous closed-loop operation of straw cleaning-soil covering; The passive contouring elastic soil covering device (5) includes a connecting flange (501) on the passive contouring soil covering device, a support plate (502) on the soil covering device, a passive contouring buffer spring (503) on the soil covering device, a passive contouring telescopic rod (504) and a passive contouring soil covering shovel (505). The upper connecting flange (501) of the passive contouring soil covering device is fixedly connected to the connecting bracket (313) of the passive contouring soil covering device, and the upper support plate (502) of the soil covering device is fixed below the upper connecting flange to provide a stable upper installation reference for the elastic contouring component. The passive contouring buffer spring (503) of the soil covering device is fitted on the outside of the passive contouring telescopic rod (504). Its upper end abuts against the upper support plate (502) of the soil covering device, and its lower end abuts against the lower support seat of the passive contouring telescopic rod (504), forming a non-powered passive contouring elastic buffer component, which is used to generate adaptive elastic expansion and contraction with the undulation of the ground surface, and to eliminate the fluctuation of the soil penetration depth caused by the undulation of the terrain. The passive contouring shovel (505) is fixed to the lower end of the passive contouring telescopic rod (504). Driven by the elastic buffer component, it can adaptively adjust the soil entry posture and depth according to the undulation of the ground, always keeping it in close contact with the working ground. At the same time, it controls the amount of soil covering and completes the topsoil covering operation simultaneously with the straw clearing operation, and immediately covers and fixes the straw thrown laterally by the straw clearing mechanism.

Images