A smart soil film residue picking device and its picking tooth depth monitoring and adjustment system

Abstract

This invention discloses an intelligent soil plastic film residue collection device and its collection tooth depth monitoring and adjustment system. The device includes multiple plastic film collection mechanisms, each having a power-type adjustment part and a follower-type collection part that are interlocked and connected in transmission. The follower-type collection part is rotatably mounted on a first adjustable transverse seat, and the power-type adjustment part is rotatably mounted on a second adjustable transverse seat. The system includes two first vertical drive components, which are installed between the first and second adjustable transverse seats. An angle adjustment component is hinged between the agricultural machinery and each of the first vertical drive components. A plastic film removal mechanism is provided at the end of the first adjustable transverse seat near the ground. This invention effectively removes plastic film residue from the soil, not only avoiding long-term harm to the soil, crops, and ecological environment caused by plastic film, but also providing a guarantee for subsequent cultivation and sustainable agricultural development. This invention is applicable to the technical field of plastic film removal in farmland.

Description

Technical Field

[0001] This invention belongs to the technical field of plastic film removal in farmland, specifically, it relates to an intelligent soil residual film picking device and its picking tooth depth monitoring and adjustment system. Background Technology

[0002] Residual plastic film mulch poses numerous health risks to soil, crops, the ecological environment, and human health, making it a key issue for sustainable agricultural development. Plastic film fragments are difficult to degrade in the soil, hindering the bonding between soil particles and disrupting soil aggregate structure. This leads to decreased soil aeration and permeability, affecting crop root respiration and water absorption. Simultaneously, residual film absorbs nutrients from the soil, reducing soil fertility, and long-term accumulation can lead to soil degradation. Furthermore, residual film can entangle crop roots, restricting normal root extension and growth, causing problems such as root swelling. Residual film in the soil hinders the development of the radicle during seed germination, reducing seed emergence and seedling survival rates. Studies have shown that when the amount of residual film in the soil reaches a certain level, it can reduce crop yields by more than 10%, and in severe cases, even lead to crop failure. Residual film in farmland, when blown away by the wind, can enter rivers, lakes, and other water bodies, causing water pollution and threatening the survival of aquatic organisms. Some residual film may float on the ground or hang on vegetation, damaging the natural landscape and forming "white pollution." Wild animals such as birds and mammals may accidentally ingest the remaining membrane, leading to intestinal blockage or even death, thus disrupting the ecological balance. Summary of the Invention

[0003] This invention provides an intelligent soil residual film picking device and its picking tooth depth monitoring and adjustment system, which can effectively remove residual plastic film in the soil. This not only avoids the long-term harm of plastic film to the soil, crops and ecological environment, but also provides a guarantee for subsequent cultivation and sustainable agricultural development.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A smart soil residual film picking device includes multiple residual film picking mechanisms arranged at intervals along the lateral side of an agricultural machine. Each residual film picking mechanism has a power-type adjustment part that is inserted into and driven to each other, and a follow-up picking part with multiple picking teeth. The follow-up picking part is rotatably mounted on a first adjustable lateral seat, and the power-type adjustment part is rotatably mounted on a second adjustable lateral seat.

[0005] Furthermore, the follow-up pickup unit includes a mounting tube with a regular polygonal insertion cavity. The mounting tube is rotatably connected to a first adjustable transverse seat. The power adjustment unit is movably inserted into the insertion cavity. The multiple pickup teeth are divided into multiple pickup tooth groups. These pickup tooth groups are spaced apart along the length direction of the mounting tube. Multiple pickup teeth in each pickup tooth group are uniformly hinged to the mounting tube along the circumference of the mounting tube, and each pickup tooth is drively connected to the power adjustment unit.

[0006] Furthermore, the power adjustment unit includes an insert rod that is movably inserted into the insert cavity. The insert rod is connected to each pickup gear via a transmission. The end of the insert rod away from the ground is rotatably connected to the second adjustable transverse seat. The end of the insert rod is coaxially connected to the output shaft of the power motor. The power motor is mounted on the second adjustable transverse seat.

[0007] Furthermore, multiple assembly port groups are provided on the mounting tube. These assembly port groups are spaced apart along the length direction of the mounting tube. Multiple assembly ports in each assembly port group are evenly arranged along the circumference of the mounting tube. Hinges are constructed on both sides of each assembly port. The transmission gear constructed at the end of the pickup tooth is hinged to the hingee through the hinge shaft. Multiple transmission racks are evenly fixed along the circumference of the outer circumference of the insertion rod. Each transmission rack extends along the length direction of the insertion rod, and the transmission rack meshes with the corresponding transmission gear.

[0008] Furthermore, the end of the insertion rod near the ground extends out of the mounting tube and is fixedly fitted with a pointed cone.

[0009] Furthermore, the first adjustable transverse seat includes two first side seats symmetrically arranged along the transverse direction of the agricultural machinery. A plurality of first adapter seats are arranged between the two first side seats. A first adapter plate and a second adapter plate are respectively constructed on both sides of each first adapter seat. A first strip hole extending along its length is opened on the first adapter plate, and a second strip hole extending along its length is opened on the second adapter plate. The first adapter plates and second adapter plates close to each other on adjacent first adapter seats are detachably connected, and the follow-up pickup part is rotatably connected to the corresponding first adapter seat.

[0010] Furthermore, the second adjustable transverse seat includes two second side seats symmetrically arranged along the transverse direction of the agricultural machinery. A plurality of second adapter seats are arranged between the two second side seats. A third adapter plate and a fourth adapter plate are respectively constructed on both sides of each second adapter seat. A third strip-shaped hole extending along its length is opened on the third adapter plate, and a fourth strip-shaped hole extending along its length is opened on the fourth adapter plate. The third adapter plates and fourth adapter plates close to each other on adjacent second adapter seats are detachably connected, and the power adjustment part is connected to the corresponding second adapter seat.

[0011] The present invention also discloses a picking tooth depth monitoring and adjustment system for an intelligent soil residual film picking device as described above, comprising two first vertical drive components. The two first vertical drive components are symmetrically installed along the transverse direction of the agricultural machine between a first adjustable transverse seat and a second adjustable transverse seat. An angle adjustment component is hinged between the agricultural machine and each of the first vertical drive components, and each of the first vertical drive components is hinged to the agricultural machine. A residual film cleaning and removal mechanism is provided at one end of the first adjustable transverse seat near the ground. Second vertical drive components are respectively installed at both ends of the residual film cleaning and removal mechanism. The second vertical drive components are connected to the corresponding first vertical drive components through an adapter arm.

[0012] Furthermore, the residual film cleaning mechanism includes multiple film cleaning units arranged at horizontal intervals and connected in sequence along the agricultural machinery. Each film cleaning unit located at both ends is connected to a fixed seat, and the fixed seat is connected to the output end of the corresponding second vertical drive component.

[0013] Furthermore, the cleaning unit includes an assembly ring fitted outside the corresponding follow-up pickup unit. Multiple cleaning teeth are detachably connected to the assembly ring at circumferential intervals. Each cleaning tooth extends into the assembly ring. A connecting arm or adjusting arm is constructed on the outer peripheral wall of the assembly ring. Adjacent assembly rings are fixedly connected by two closely spaced connecting arms, or adjacent assembly rings are detachably connected by two closely spaced adjusting arms.

[0014] The technological advancements achieved by this invention compared to existing technologies, due to the aforementioned structure, lie in the following: The residual film picking mechanism of this invention is the core execution unit for residual film grasping. It is the key component that directly contacts the soil and completes the residual film grasping process. By rotating and digging into the soil, the residual film is picked up by the picking teeth. The power-driven adjustment unit actively rotates, with one end extending into the interior of the follow-up picking unit through an insert structure. This stably transmits power to the follow-up picking unit, ensuring that the picking teeth possess sufficient "soil-penetrating gripping force" to handle residual film in soils of varying hardness (such as deeply buried residual film in compacted soil). Through its transmission cooperation with the follow-up picking unit, the power-driven adjustment unit can control the tilt angle of the picking teeth. For example, during operation, the picking teeth are driven to tilt towards the soil to grasp the residual film, facilitating the removal of the grasped residual film by the residual film cleaning mechanism. During non-operation, the picking teeth are driven to tilt away from the soil, thus preventing soil adhesion and achieving flexible switching between "operational" and "non-operational" states. The follow-up pickup unit is rotatably mounted on the first adjustable transverse seat. When the agricultural machinery moves across uneven farmland, the follow-up pickup unit can rotate slightly with the ground slope to ensure that the pickup teeth always maintain an appropriate angle with the soil surface. This prevents the pickup teeth from "jumping out of the soil and missing pickups" due to ground protrusions, or from "excessive soil penetration and damage" due to ground depressions. The multiple pickup teeth (usually distributed in groups) carried by the follow-up pickup unit can form a "multi-point grabbing net," covering a wider soil area. Compared with traditional single-row pickup teeth, it can simultaneously grab residual film at different locations, significantly increasing the amount of residual film grabbed per unit time. The first adjustable transverse seat, as the rotating mounting carrier of the follow-up pickup unit, provides fixed support for the follow-up pickup unit, ensuring that it does not shift during operation and guaranteeing the accuracy of the pickup teeth's grabbing position. The length of the first adjustable transverse seat can be adjusted along the transverse direction of the agricultural machinery to avoid "missed pickups in edge areas" due to width mismatch. The second adjustable transverse seat provides a mounting base for the power-adjustable unit, ensuring that the power-adjustable unit does not shake during high-speed operation or under stress, thus guaranteeing the stability of power transmission. The second adjustable transverse seat is structurally compatible with the first adjustable transverse seat (e.g., synchronously adjusting the transverse length), ensuring that the power-adjustable unit and the follow-up pickup unit always maintain a precise insertion and transmission relationship, avoiding misalignment due to mismatched transverse seat lengths, which could lead to "power transmission failure" or "pickup tooth adjustment failure." Therefore, this invention, by arranging multiple residual film pickup mechanisms at intervals along the transverse side of the agricultural machinery, combined with the multi-pickup tooth design of each mechanism, can cover the entire soil area within the operating width of the agricultural machinery in one go, solving the problem of low efficiency in traditional "single-mechanism narrow-width operation"; the "follow-up characteristic" of the follow-up pickup unit reduces missed pickups caused by ground undulations, significantly improving the residual film removal rate.The insertion transmission design of the power-adjustable unit and the follow-up pickup unit ensures that power is transmitted to the pickup teeth without loss, giving them sufficient penetration depth and gripping force to remove deeply buried film residue in the soil (such as film residue 5-10cm below the topsoil), avoiding the pain point of "easy to remove film residue in shallow soil, difficult to remove film residue in deep soil". When the first vertical drive unit is activated, the distance between the first and second adjustable horizontal seats is adjusted, thereby adjusting the tilt angle of the pickup teeth; when the pickup teeth are tilted towards the ground, the soil-penetrating gripping angle of the pickup teeth is adjusted, making it easier for the pickup teeth to penetrate the soil and hook up the film residue; when the pickup teeth are tilted away from the ground, the pickup teeth switch to an angle of detachment from the soil, preventing soil adhesion when not in operation. When farmland has slopes or uneven soil hardness, the operating angle adjustment component moves, pushing or pulling the first vertical drive component to rotate around the hinge point of the agricultural machinery, thereby causing the first adjustable lateral seat, the second adjustable lateral seat, and the picking mechanism to tilt as a whole. For example, for steep slopes, the mechanism can be adjusted to "tilt along the slope direction" to avoid "missing the picking on the uphill side and over-picking on the downhill side" due to the mechanism entering the soil vertically. For hard soil areas, the mechanism can be adjusted to "shallow entry at a small angle" (reducing soil entry resistance), and for soft soil areas, it can be adjusted to "deep entry at a large angle" (ensuring sufficient picking depth). The function of the residual film cleaning mechanism of this invention is to periodically remove the residual film collected on the picking teeth. That is, by controlling the movement of the second vertical drive component, the residual film cleaning mechanism moves along the length direction of the residual film picking mechanism, thereby removing the residual film on the picking teeth. In summary, this invention effectively removes residual plastic film from the soil, not only avoiding the long-term harm of plastic film to the soil, crops, and ecological environment, but also providing a guarantee for subsequent cultivation and sustainable agricultural development. Attached Figure Description

[0015] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0016] In the attached diagram: Figure 1 This is a schematic diagram of the structure of an embodiment of the present invention; Figure 2 This is a front view of the structure according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure connecting the residual film picking mechanism, the first adapter body, and the second adapter body according to an embodiment of the present invention; Figure 4 This is a schematic diagram showing the connection between the residual film picking mechanism, the first side seat, the second side seat, the first vertical drive component, and the angle adjustment component in an embodiment of the present invention. Figure 5 This is a schematic diagram of the residual film picking mechanism according to an embodiment of the present invention; Figure 6This is a schematic diagram of the structure in the residual film picking mechanism of this invention, showing the connection between the mounting tube and a picking tooth; Figure 7 This is a schematic diagram of the pickup teeth in the residual film pickup mechanism of this invention. Figure 8 This is a schematic diagram of the structure of the power adjustment unit in the residual film picking mechanism of this invention after the power motor has been removed; Figure 9 This is a schematic diagram of the structure of the residual film picking mechanism in an embodiment of the present invention, in which the picking teeth are inclined with their backs to the ground; Figure 10 This is a schematic diagram of the structure of the residual film picking mechanism in an embodiment of the present invention, in which the picking teeth are inclined toward the ground; Figure 11 This is a schematic diagram of the structure of the residual film cleaning mechanism of the present invention, in which multiple film cleaning units are fixedly connected by connecting arms; Figure 12 This is a schematic diagram of the structure of the film cleaning unit with a connecting arm fixed in the residual film cleaning mechanism of this invention embodiment; Figure 13 This is a schematic diagram of the structure of the residual film cleaning mechanism in an embodiment of the present invention, in which multiple film cleaning units are detachably connected by an adjusting arm; Figure 14 This is a schematic diagram of the structure of the film cleaning unit with an adjusting arm fixed in the residual film cleaning mechanism of an embodiment of the present invention.

[0017] Components labeled: 100-Residual film pickup mechanism, 101-Mounting tube, 102-Insertion cavity, 103-Assembly port, 104-Hinge ear, 105-Transmission gear, 106-Pickup tooth, 107-Insertion rod, 108-Transmission rack, 109-Adapter shaft, 110-Pointed cone, 111-Power motor, 200-First adjustable transverse seat, 201-First adapter seat body, 202-First adapter plate, 203-First slotted hole, 204-Second adapter plate, 205-Second slotted hole, 206-First side seat body, 207-Fifth adapter plate, 208-Fifth slotted hole, 209-First fixing ear, 30 0-Second adjustable horizontal seat, 301-Second adapter seat body, 302-Third adapter plate, 303-Third strip hole, 304-Fourth adapter plate, 305-Fourth strip hole, 306-Second side seat body, 307-Sixth adapter plate, 308-Sixth strip hole, 309-Second fixing ear, 400-First vertical drive component, 500-Angle adjustment component, 600-Residual film cleaning mechanism, 601-Assembly ring, 602-Connecting sleeve, 603-Film cleaning teeth, 604-Connecting arm, 605-Fixed seat, 606-Adjusting arm, 607-Seventh strip hole, 700-Second vertical drive component, 701-Adapter arm. Detailed Implementation

[0018] The preferred embodiments of the present invention will now be described with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustrative and explanatory purposes only and are not intended to limit the scope of the invention.

[0019] This invention discloses an intelligent soil film residue collection device, such as... Figure 1-10As shown, the machine includes a first adjustable transverse seat 200, a second adjustable transverse seat 300, and multiple residual film picking mechanisms 100. These residual film picking mechanisms 100 are spaced laterally along the agricultural machinery. Each residual film picking mechanism 100 has a power-driven adjustment section and a follower-driven picking section, which are inserted into and connected together. The follower-driven picking section has multiple picking teeth 106. The follower-driven picking section is rotatably mounted on the first adjustable transverse seat 200, and the power-driven adjustment section is rotatably mounted on the second adjustable transverse seat 300. The working principle and advantages of this invention are: the residual film picking mechanism 100 is the core execution unit for residual film grasping. It directly contacts the soil and is the key component for grasping residual film. By rotating and digging in the soil, the residual film is picked up by the picking teeth 106. The power-driven adjustment unit rotates actively, with one end extending into the interior of the follow-up pickup unit via a plug-in structure. This stably transmits power to the follow-up pickup unit, ensuring that the pickup teeth 106 possess sufficient "soil-gripping force" to handle residual film in soils of varying hardness (such as deeply buried film in compacted soil). Through its transmission cooperation with the follow-up pickup unit, the power-driven adjustment unit can control the tilt angle of the pickup teeth 106. For example, during operation, the pickup teeth 106 are driven to tilt towards the soil to grab residual film, facilitating the removal of the film by the residual film cleaning mechanism 600. During non-operational periods, the pickup teeth 106 are driven to tilt away from the soil, thus preventing soil adhesion and enabling flexible switching between "operational" and "non-operational" states. The follow-up pickup unit is rotatably mounted on the first adjustable transverse seat 200. When the agricultural machinery moves on uneven farmland, the follow-up pickup unit can rotate slightly with the ground slope to ensure that the pickup teeth 106 always maintain an appropriate angle with the soil surface. This avoids the pickup teeth 106 "jumping out of the soil and missing pickups" due to ground protrusions, or "excessive soil penetration and damage" due to ground depressions. The multiple pickup teeth 106 carried by the follow-up pickup unit (usually distributed in groups) can form a "multi-point grabbing net," covering a wider soil area. Compared with the traditional single-row pickup teeth 106, it can grab residual film at different locations simultaneously, significantly increasing the amount of residual film grabbed per unit time. The first adjustable transverse seat 200, as the rotating mounting carrier of the follow-up pickup unit, provides fixed support for the follow-up pickup unit, ensuring that it does not shift during operation and guaranteeing the accuracy of the pickup teeth 106's grabbing position. The first adjustable transverse seat 200 can be adjusted in length along the transverse direction of the agricultural machinery to avoid "missing items in the edge areas" due to mismatched width. The second adjustable transverse seat 300 provides a mounting base for the power adjustment unit, ensuring that the power adjustment unit does not shake when operating at high speed or under stress, thus guaranteeing the stability of power transmission.The second adjustable transverse seat 300 is structurally compatible with the first adjustable transverse seat 200 (e.g., synchronously adjusting the transverse length), ensuring that the power-type adjustment unit and the follow-up picking unit always maintain a precise insertion and transmission relationship, avoiding misalignment of the two due to mismatched transverse seat lengths, which could lead to "power transmission failure" or "picking tooth 106 adjustment failure". Thus, this invention, by arranging multiple residual film picking mechanisms 100 at intervals along the transverse side of the agricultural machinery, and with the multi-picking tooth 106 design of each mechanism, can cover the entire soil area within the operating width of the agricultural machinery in one go, solving the problem of low efficiency in traditional "single-mechanism narrow-width operation"; the "follow-up characteristic" of the follow-up picking unit reduces missed picking caused by ground undulations, significantly improving the residual film removal rate. The insertion transmission design of the power adjustment unit and the follow-up picking unit ensures that the power is transmitted to the picking teeth 106 without loss, giving them sufficient soil penetration depth and gripping force to remove deep-buried film residues in the soil (such as film residues 5-10cm below the topsoil), avoiding the pain point of "easy to remove film residues in shallow soil, but difficult to remove film residues in deep soil".

[0020] As a preferred embodiment of the present invention, such as Figure 5-8As shown, the follow-up pickup unit includes a mounting tube 101 and the aforementioned plurality of pickup teeth 106. The mounting tube 101 has an insertion cavity 102 with a regular polygonal cross-section, which extends through the mounting tube 101 along its length. The end of the mounting tube 101 away from the ground is rotatably connected to a first adjustable transverse seat 200. In this embodiment, the power adjustment unit is movably inserted into the insertion cavity 102. The aforementioned plurality of pickup teeth 106 are evenly divided into multiple pickup tooth groups, which are spaced apart along the length of the mounting tube 101. Each pickup tooth group has multiple pickup teeth 106 evenly hinged to the mounting tube 101 circumferentially, and each pickup tooth 106 is drive-connected to the power adjustment unit. The power adjustment unit of this embodiment includes an insertion rod 107, a transition shaft 109, and a power motor 111. The cross-section of the insertion rod 107 is a regular polygon adapted to the insertion cavity 102. The insertion rod 107 is movably inserted into the insertion cavity 102 and is drivenly connected to each pickup tooth 106. The transition shaft 109 is coaxially constructed at the end of the insertion rod 107 away from the ground. The transition shaft 109 is rotatably connected to the second adjustable transverse seat 300, and the end of the transition shaft 109 is coaxially connected to the output shaft of the power motor 111. The power motor 111 is mounted on the second adjustable transverse seat 300. In this embodiment, multiple assembly port groups are provided on the mounting tube 101. These assembly port groups are spaced apart along the length direction of the mounting tube 101, and multiple assembly ports 103 in each assembly port group are evenly arranged along the circumference of the mounting tube 101. Hinged ears 104 are constructed on both sides of each assembly port 103. A transmission gear 105 is constructed at one end of the pickup tooth 106. The transmission gear 105 is hinged to the two corresponding hinged ears 104 via a hinge shaft. A plurality of transmission racks 108 are uniformly fixed along the circumferential direction on the outer peripheral surface of the insertion rod 107. Each transmission rack 108 extends along the length direction of the insertion rod 107 and meshes with the corresponding transmission gear 105. In this embodiment, the end of the insertion rod 107 near the ground extends out of the mounting tube 101, and a pointed cone 110 is fixedly installed at this end of the insertion rod 107. The working principle and advantages of this embodiment are as follows: The mounting tube 101 of the follow-up pickup unit in this embodiment is provided with a regular polygonal insertion cavity 102. The cross-section of the insertion rod 107 of the power adjustment unit is adapted to the insertion cavity 102. This non-circular structure allows the insertion rod 107 to move only axially within the insertion cavity 102 and prevents it from rotating relative to the mounting tube 101. When the power motor 111 drives the adapter shaft 109 to rotate, the insertion rod 107 will not shift its relative position with the mounting tube 101 due to rotation, ensuring that the outer peripheral transmission rack 108 always meshes precisely with the transmission gear 105 of the pickup tooth 106 (avoiding transmission failure caused by "slippage and misalignment" in the traditional circular insertion structure).The regular polygonal structure provides a stable guide for the axial movement of the insertion rod 107. When the first vertical drive member 400 adjusts the distance between the first adjustable horizontal seat 200 and the second adjustable horizontal seat 300, the insertion rod 107 can be smoothly "inserted" or "pulled out" along the insertion cavity 102 without any jamming, providing a smooth operating basis for the subsequent adjustment of the angle of the pickup teeth 106. In this embodiment, when the mounting tube 101 rotates synchronously with the insertion rod 107, it will drive all the pickup teeth 106 distributed along its circumference and axial direction to perform a circular motion (similar to "rotating rake teeth"). During the rotation, the pickup teeth 106 continuously insert into the soil, hooking and wrapping the residual film in the soil around the teeth. At the same time, the centrifugal force generated by the circular motion can throw off the excess soil between the teeth, reducing the interference of the soil on the grabbing of the residual film (especially suitable for wet soil, avoiding soil adhesion to the residual film, which leads to separation difficulties). Although the insert rod 107 and the mounting tube 101 rotate synchronously, their relative axial displacement can be controlled by the first vertical drive member 400. In turn, the angle of the pickup tooth 106 can be adjusted by the transmission of the transmission rack 108 and the transmission gear 105. When the insert rod 107 is "pulled out" (axial displacement) relative to the mounting tube 101, the transmission rack 108 on its outer periphery drives the transmission gear 105 at the end of the pickup tooth 106 to rotate, so that the tooth tip of the pickup tooth 106 tilts towards the "rotation tangent direction" (such as when rotating clockwise, the tooth tip faces downwards towards the clockwise tangent), which enhances the hooking force when the tooth tip enters the soil and makes it easier to grab the deeply buried residual film. When the insertion rod 107 is "inserted" relative to the installation tube 101, the transmission rack 108 drives the transmission gear 105 in the opposite direction, and the tip of the picking tooth 106 tilts "above the rotation tangent" to reduce the force of entering the soil. This is suitable for scenarios where surface residual film is grabbed or residual film is transferred to the cleaning mechanism. This composite action of "rotation operation + dynamic angle adjustment" allows the picking tooth 106 to cover a larger working area through rotation, and to adapt to residual film of different depths and tightness through angle optimization, solving the problems of "fixed angle rotating teeth" and "deep film cannot be firmly grasped, and shallow film is easy to carry soil". In this embodiment, the pointed cone 110 at the end of the insertion rod 107 rotates synchronously with the insertion rod 107. Its function is upgraded from "simple soil entry guidance" to "rotational obstacle breaking + dynamic guidance": When the pointed cone 110 rotates, its conical edge can break up small clumps (diameter ≤3cm) in the soil, preventing clumps from obstructing the entry of the pickup teeth 106 into the soil; at the same time, the rotating pointed cone 110 can "disperse" the tangled residual film, making it easier for the subsequent pickup teeth 106 to grab it. The pointed cone 110 rotates with the insertion rod 107 and can extend and retract axially. When encountering a harder soil layer, the pointed cone 110 can penetrate deep into the soil through rotational drilling, opening a soil entry channel for the synchronously rotating pickup teeth 106, reducing the direct impact of the pickup teeth 106 tips, and reducing the probability of wear; in addition, the rotation of the pointed cone 110 can prevent soil from accumulating at the end of the insertion rod 107, ensuring the smooth axial extension and retraction of the insertion rod 107.

[0021] As a preferred embodiment of the present invention, such as Figure 1 , 3As shown in Figure 4, the first adjustable transverse seat 200 includes two first side seat bodies 206 and multiple first adapter seats 201. The two first side seat bodies 206 are symmetrically arranged along the transverse direction of the agricultural machinery, and the multiple first adapter seats 201 are disposed between the two first side seat bodies 206. A first adapter plate 202 and a second adapter plate 204 are respectively constructed on both sides of each first adapter seat 201. A first strip-shaped hole 203 extending along its length is formed on the first adapter plate 202, and a second strip-shaped hole 205 extending along its length is formed on the second adapter plate 204. The first adapter plates 202 and second adapter plates 204 on adjacent first adapter seats 201 are detachably connected, and the mounting tube 101 of the follower-type pickup unit is rotatably connected to the corresponding first adapter seat 201. A fifth adapter plate 207 and a first fixing ear 209 are respectively constructed on both sides of each first side seat 206. A fifth strip-shaped hole 208 extending in its length direction is opened on the fifth adapter plate 207. The fifth adapter plate 207 is detachably connected to the corresponding first adapter plate 202 or second adapter plate 204. The first fixing ear 209 is detachably connected to the output end of the corresponding first vertical drive member 400 described below. The second adjustable transverse seat 300 of this embodiment includes two second side seats 306 and a plurality of second adapter seats 301. The two second side seats 306 are symmetrically arranged along the transverse direction of the agricultural machinery, and the plurality of second adapter seats 301 are arranged between the two second side seats 306. A third adapter plate 302 and a fourth adapter plate 304 are respectively constructed on both sides of each second adapter body 301. A third strip-shaped hole 303 extending along its length is provided on the third adapter plate 302, and a fourth strip-shaped hole 305 extending along its length is provided on the fourth adapter plate 304. The third adapter plates 302 and the fourth adapter plates 304 on two adjacent second adapter bodies 301 are detachably connected. The power motor 111 of the power adjustment unit is detachably connected to the corresponding second adapter body 301, and the adapter shaft 109 is rotatably connected to the corresponding second adapter body 301. In this embodiment, a sixth adapter plate 307 and a second fixing ear 309 are respectively constructed on both sides of each second side seat 306. A sixth strip-shaped hole 308 extending in the length direction is provided on the sixth adapter plate 307. The sixth adapter plate 307 is detachably connected to the corresponding third adapter plate 302 or fourth adapter plate 304. The second fixing ear 309 is detachably connected to the non-output end of the corresponding first vertical drive member 400 described below.The first adjustable transverse seat 200 in this embodiment consists of two first side seats 206 and multiple first adapter seats 201. Its core function is to provide installation support for the follow-up pickup unit (mounting tube 101) and to adapt to different operating widths through modular splicing. The specific principle is as follows: Each first adapter seat 201 has a first adapter plate 202 (with a first strip hole 203) and a second adapter plate 204 (with a second strip hole 205) on both sides. Adjacent adapter seats are detachably connected by the second adapter plate 204 of the previous adapter seat and the first adapter plate 202 of the next adapter seat (e.g., bolts are fixed through the strip holes). Since the first strip hole 203 and the second strip hole 205 both extend laterally along the agricultural machinery, the spacing between adjacent first adapter seats 201 can be adjusted by adjusting the fixed position of the bolts in the first strip hole 203 and the second strip hole 205, thereby realizing flexible adjustment of the total length of the entire first adjustable transverse seat 200. Two first side seats 206 are symmetrically arranged along the transverse direction of the agricultural machinery. The fifth adapter plate 207 (with a fifth strip hole 208) on its inner side is detachably connected to the first adapter seat 201 on the edge. By adjusting the position of the fifth strip hole 208, it can be further adapted to the width requirements of the side working area. The outer side of the first side seat 206 is constructed with a first fixing ear 209 for detachable connection with the output end of the first vertical drive component 400. The design of the first fixing ear 209 provides a clear installation point for the first vertical drive component 400, and the detachable structure facilitates the maintenance and replacement of the first vertical drive component 400. At the same time, the connection position between the first fixing ear 209 and the first vertical drive component 400 is adapted to the length adjustment of the first adjustable transverse seat 200, ensuring that the first vertical drive component 400 can always act vertically on the first adjustable transverse seat 200, avoiding the tilting of the first vertical drive component 400 due to width adjustment, which would affect the accuracy of the insertion depth adjustment. The second adjustable transverse seat 300 has a similar function to the first adjustable transverse seat 200, and will not be described in detail here.

[0022] This invention also discloses a system for monitoring and adjusting the depth of the picking teeth in an intelligent soil film residue picking device as described above. Figure 1 , 2As shown, the system includes two first vertical drive members 400, which are symmetrically mounted laterally between a first adjustable transverse seat 200 and a second adjustable transverse seat 300. An angle adjustment member 500 is hinged between the agricultural machine and each of the first vertical drive members 400, and each first vertical drive member 400 is hinged to the agricultural machine. A residual film cleaning mechanism 600 is provided at the end of the first adjustable transverse seat 200 near the ground. Second vertical drive members 700 are respectively mounted at both ends of the residual film cleaning mechanism 600, and the second vertical drive members 700 are connected to the corresponding first vertical drive members 400 via adapter arms 701. The working principle and advantages of this invention are as follows: When the first vertical drive member 400 is activated, the distance between the first adjustable horizontal seat 200 and the second adjustable horizontal seat 300 is adjusted, thereby adjusting the tilt angle of the pickup tooth 106; when the pickup tooth 106 is tilted towards the ground, the soil gripping angle of the pickup tooth 106 is adjusted, making it easier for the pickup tooth 106 to penetrate the soil and hook up the residual film; when the pickup tooth 106 is tilted away from the ground, the pickup tooth 106 changes to an angle that is detached from the soil, avoiding soil adhesion when not in operation. When farmland has slopes or uneven soil hardness, the operating angle adjustment component 500 is activated, causing it to push or pull the first vertical drive component 400 to rotate around the hinge point of the agricultural machinery, thereby causing the first adjustable transverse seat 200, the second adjustable transverse seat 300, and the entire picking mechanism to tilt. For example, for steep slopes, the mechanism can be adjusted to "tilt along the slope direction" to avoid the mechanism entering the soil vertically, resulting in "missed picking on the uphill side and excessive entry on the downhill side". For hard soil areas, the mechanism can be adjusted to "shallow entry at a small angle" (reducing soil entry resistance), and for soft soil areas, it can be adjusted to "deep entry at a large angle" (ensuring gripping depth). The residual film cleaning and removal mechanism 600 of this invention is used to periodically remove the residual film collected on the picking teeth 106. That is, by controlling the action of the second vertical drive component 700, the residual film cleaning and removal mechanism 600 moves along the length direction of the residual film picking mechanism 100, thereby removing the residual film on the picking teeth 106. In summary, this invention effectively removes residual plastic film from the soil, which not only avoids the long-term harm of plastic film to the soil, crops and ecological environment, but also provides a guarantee for subsequent cultivation and sustainable agricultural development.

[0023] As a preferred embodiment of the present invention, such as Figure 11-14As shown, the residual film cleaning and removal mechanism 600 includes multiple film cleaning units. These film cleaning units are arranged at intervals along the lateral side of the agricultural machinery and connected together in sequence. Fixed seats 605 are connected to the film cleaning units at both ends, and each fixed seat 605 is connected to the output end of the corresponding second vertical drive component 700. In this embodiment, the film cleaning unit includes an assembly ring 601 and multiple film cleaning teeth 603. The assembly ring 601 is fitted onto the corresponding follow-up pickup part. The multiple film cleaning teeth 603 are arranged at intervals along the circumference of the assembly ring 601. Multiple connecting sleeves 602 are constructed at intervals along the circumference of the peripheral wall of the assembly ring 601. One end of each film cleaning tooth 603 is threaded onto a connecting sleeve 602. By adjusting the connection position between the film cleaning tooth 603 and the connecting sleeve 602, the length of the film cleaning tooth 603 extending into the assembly ring 601 can be adjusted. In this embodiment, a connecting arm 604 or an adjusting arm 606 is constructed on the outer peripheral wall of the assembly ring 601. Two adjacent assembly rings 601 are fixedly connected by two closely spaced connecting arms 604, or two adjacent assembly rings 601 are detachably connected by two closely spaced adjusting arms 606. Each adjusting arm 606 has a seventh strip-shaped hole 607 extending laterally along the agricultural machinery. By adjusting the distance between the two adjusting arms 606, the distance between the two film cleaning units can be adjusted, thereby adapting to the distance between the residual film picking mechanisms 100. The working principle and advantages of this embodiment are: the residual film cleaning mechanism and the residual film picking mechanism 100 do not work synchronously, but through an alternating process of "residual film picking mechanism 100 rotating operation → residual film picking mechanism 100 stationary → residual film cleaning mechanism starting → residual film cleaning mechanism resetting → residual film picking mechanism 100 rotating again", the risk of interference is completely avoided. The specific coordination logic is as follows: 1. During the picking-up phase, the residual film picking mechanism 100 rotates, and the residual film cleaning mechanism is ready: When the device enters the farmland for operation, the power motor 111 drives the insertion rod 107 to rotate, which in turn drives the installation tube 101 (follow-up picking part) and the picking teeth 106 to rotate synchronously. During the rotation, the picking teeth 106 penetrates into the soil to hook up the residual film and wraps the residual film around the tooth body. At this time, the assembly ring 601 of the residual film cleaning mechanism is stationary on the outside of the installation tube 101, and the cleaning teeth 603 maintain a safe distance (non-contact) from the rotating picking teeth 106 to avoid collision or jamming between the cleaning teeth 603 and the picking teeth 106 due to synchronous movement.

[0024] 2. During the cleaning phase, the residual film picking mechanism 100 remains stationary while the residual film cleaning mechanism starts: After the picking teeth 106 have wrapped a certain amount of residual film (set by time), the power motor 111 stops, and the residual film picking mechanism 100 comes to a complete stop (the mounting tube 101 and the picking teeth 106 stop rotating). At this time, the second vertical drive component 700 starts, driving multiple film cleaning units to move unidirectionally or reciprocally along the length of the mounting tube 101 through the fixed seats 605 at both ends. During the follow-up motion, the film cleaning teeth 603 accurately scrape off the residual film wrapped on the picking teeth 106. After cleaning is completed, the residual film cleaning mechanism returns to its initial position under the drive of the second vertical drive component 700, and the residual film picking mechanism 100 starts rotating again, entering the next round of "picking-cleaning" cycle.

[0025] In this embodiment, multiple cleaning teeth 603 are spaced apart circumferentially along the assembly ring 601, with the number being twice the number of picking teeth 106 in a single ring (e.g., 4 picking teeth 106 per ring correspond to 8 cleaning teeth 603). Each picking tooth 106 is scraped on both sides by two cleaning teeth 603. This allows the cleaning teeth 603 to directly align with the residual film wrapped around the picking tooth 106, forcibly peeling off the residual film through physical contact during movement. In this embodiment, the cleaning teeth 603 are connected to the connecting sleeve 602 of the assembly ring 601 via a threaded connection, and their length extending into the assembly ring 601 can be adjusted by rotation. For picking teeth 106 that have shortened due to wear, the extension length of the cleaning teeth 603 can be increased to ensure contact force.

[0026] The first vertical drive component 400, the second vertical drive component 700, and the angle adjustment component 500 described in this invention are generally hydraulic cylinders or pneumatic cylinders.

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

Claims

1. A smart soil film residue collection device, characterized in that: The system includes multiple residual film picking mechanisms spaced laterally along the agricultural machinery. Each of these mechanisms has a power-driven adjustment unit that is mutually inserted and pulsatingly connected to the other, and a follower-type picking unit with multiple picking teeth. The follower-type picking unit is rotatably mounted on a first adjustable transverse seat, and the power-driven adjustment unit is rotatably mounted on a second adjustable transverse seat. The follower-type picking unit includes an installation tube with a regular polygonal insertion cavity. The installation tube is rotatably connected to the first adjustable transverse seat. The power-driven adjustment unit is movably inserted into the insertion cavity. The multiple picking teeth are divided into multiple picking tooth groups, which are spaced apart along the length of the installation tube. Multiple picking teeth in each picking tooth group are uniformly hinged to the installation tube circumferentially, and each picking tooth is pulsatingly connected to the power-driven adjustment unit. The power-driven adjustment unit includes... A movable insert rod is inserted into the insert cavity. The insert rod is drivenly connected to each pickup tooth. The end of the insert rod away from the ground is rotatably connected to a second adjustable transverse seat, and the end of the insert rod is coaxially connected to the output shaft of a power motor. The power motor is mounted on the second adjustable transverse seat. Multiple assembly port groups are provided on the mounting tube. These assembly port groups are spaced apart along the length of the mounting tube. Multiple assembly ports in each assembly port group are evenly arranged along the circumference of the mounting tube. Hinge ears are constructed on both sides of each assembly port. The transmission gears constructed at the ends of the pickup teeth are hinged to the hinge ears through hinge shafts. Multiple transmission racks are evenly fixed along the circumference of the outer circumference of the insert rod. Each transmission rack extends along the length of the insert rod, and the transmission racks mesh with the corresponding transmission gears.

2. The intelligent soil film residue collection device according to claim 1, characterized in that: The insertion rod extends from the installation tube near the ground and is fixedly fitted with a pointed cone.

3. The intelligent soil film residue collection device according to claim 1, characterized in that: The first adjustable transverse seat includes two first side seats symmetrically arranged along the transverse direction of the agricultural machinery. A plurality of first adapter seats are arranged between the two first side seats. A first adapter plate and a second adapter plate are respectively constructed on both sides of each first adapter seat. A first strip hole extending along its length is opened on the first adapter plate, and a second strip hole extending along its length is opened on the second adapter plate. The first adapter plates and second adapter plates close to each other on adjacent first adapter seats are detachably connected, and the follow-up pickup part is rotatably connected to the corresponding first adapter seat.

4. The intelligent soil film residue collection device according to claim 1, characterized in that: The second adjustable transverse seat includes two second side seats symmetrically arranged along the transverse direction of the agricultural machinery. A plurality of second adapter seats are arranged between the two second side seats. A third adapter plate and a fourth adapter plate are respectively constructed on both sides of each second adapter seat. A third strip-shaped hole extending along its length is opened on the third adapter plate, and a fourth strip-shaped hole extending along its length is opened on the fourth adapter plate. The third adapter plates and fourth adapter plates close to each other on adjacent second adapter seats are detachably connected, and the power adjustment part is connected to the corresponding second adapter seat.

5. A system for monitoring and adjusting the depth of the picking teeth of an intelligent soil residual film picking device as described in any one of claims 1-4, characterized in that: The system includes two first vertical drive components, which are symmetrically installed along the transverse direction of the agricultural machinery between a first adjustable transverse seat and a second adjustable transverse seat. An angle adjustment component is hinged between the agricultural machinery and each of the first vertical drive components, and each of the first vertical drive components is hinged to the agricultural machinery. A residual film cleaning and removal mechanism is provided at one end of the first adjustable transverse seat near the ground. Second vertical drive components are respectively installed at both ends of the residual film cleaning and removal mechanism. The second vertical drive components are connected to the corresponding first vertical drive components through an adapter arm.

6. The picking tooth depth monitoring and adjustment system of the intelligent soil residual film picking device according to claim 5, characterized in that: The residual film cleaning mechanism includes multiple film cleaning units arranged at horizontal intervals and connected in sequence along the agricultural machinery. Each film cleaning unit located at both ends is connected to a fixed seat, and the fixed seat is connected to the output end of the corresponding second vertical drive component.

7. The picking tooth depth monitoring and adjustment system of the intelligent soil residual film picking device according to claim 6, characterized in that: The film cleaning unit includes an assembly ring fitted outside a corresponding follow-up pickup unit. Multiple film cleaning teeth are detachably connected to the assembly ring at circumferential intervals. Each film cleaning tooth extends into the assembly ring. A connecting arm or adjusting arm is constructed on the outer peripheral wall of the assembly ring. Two adjacent assembly rings are fixedly connected by two closely spaced connecting arms, or two adjacent assembly rings are detachably connected by two closely spaced adjusting arms.

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