1. Introduction
Mulch has been widely used in the cultivation of cotton, peanut, and corn crops because of its significant effects on soil warming, moisture retention, soil structure maintenance, and weed growth inhibition [
1,
2]. Mulch is a polyethylene hydrocarbon organic polymer compound, which is extremely difficult to degrade under natural conditions and can remain in the soil for 200–400 years. A large amount of mulch is buried in the soil tillage layer and, over time, the amount of mulch residue increases, reducing soil quality, affecting crop growth and even death [
3,
4,
5,
6], resulting in lower crop yields and reduced farm income, and also causing serious “white pollution” to the agroecological environment. In addition, the buried residual film decomposes into fine particles in the soil, polluting groundwater and seriously threatening human health, so it is urgent to study the problem of residual film pollution in the cultivated layer.
Mulching technology is widely used in countries such as the United States and Japan, which started to develop mulch-back machinery in the early 1960s with the use of a mulch thickness of ≥ 0.02 mm, high tensile strength of the mulch, ease of mechanical recovery, and high recovery rate [
7,
8,
9]. In addition, these countries have made important progress in research on biodegradable mulch, so there is less deep burial of soil tillage mulch and less serious pollution. The thickness of the mulch used in China is 0.008 mm and its tensile strength is lower, resulting in incomplete recycling of the mulch, causing a large amount of mulch to be buried in the soil layer and causing serious “white pollution” to the agro-ecological environment. In China, there are some areas where the problem of residual film pollution is particularly prominent, with the average amount of residual film on farmland being about 206.46 kg/hm
2 and the average value of residual film in some seriously polluted areas exceeding 275.63 kg/hm
2, which far exceeds the limit value for residual film on farmland (GB/T 25413-2010) of the the limit value of 75 kg/hm
2 in GB/T 25413-2010 [
10]. Therefore, the research focus of tillage layer residual film recycling machinery is concentrated in China. Due to the differentiation of the residual film, the tensile property is reduced and easily broken, and it is mixed with crop roots, stems and soil after tillage operations, which makes mechanized recovery difficult and seriously restricts the pollution management of the residual film in the farmland tillage layer.
In response to the problem of residual film pollution in agricultural fields, research institutes, universities and enterprises have conducted a lot of research and developed hundreds of residual film recycling machines. According to the working principle, these residual film recovery machines can be classified as pop-tine, nail-tine, clamping, chain-tine, and telescopic rod-tine machines [
6,
11,
12,
13]. At present, machines suitable for residual film recovery in the tillage layer mainly include the rotating tillage tine residual film recovery machine researched by Zhang et al. (2018), which can recover residual film at 150 mm depth in the tillage layer [
14,
15]; however, the residual film easily accumulates on the tines, and the unloading effect is not ideal. Jin et al. researched an automatic unloading residual film recovery machine with an operating depth of 80 mm [
16], but it does not reach the operating depth needed for residual film recovery in the tillage layer. Shi et al. analyzed the motion of nail tines gathering residual film, the critical speed of collecting residual film and the effective picking area [
17]. Zhen researched and designed a comb tine tillage machine for the recovery of residual film and optimized the operating parameters, but the performance of film gathering and film-soil separation was unstable due to the complex soil environment and considerable fragmentation of residual film [
18]. The average gathering rate in field tests was 55.04% [
19,
20], and the collecting effectiveness was low. The Zhang team developed a chain drive tillage machine for residual film recycling that can recover residual film buried 150 mm deep in tillage and which is suitable for recycling residual film before spring sowing after tillage [
21,
22,
23]. The quality of the tillage operation and the operating parameters of chain driven tines have a great influence on the performance of film-soil separation, which causes the problem of difficult separation of soil and residual film. Zhang et al. (2019a) studied a chain-driven harrow tillage machine for residual film recovery, which can crush, loosen and turn soil in the tillage layer to a depth of 150 mm by using a mechanism for loosening and turning deep soil and complete the residual film collection operation to tillage depths of 80–100 mm [
24,
25].
The chain drive mechanism for residual film recovery is more widely used in research of tillage machinery for recovery of layers of residual film, and it has been more widely used in conveyors in machines for the recovery of surface layers of residual film and residual film balers [
26,
27]. At present, research on chain drive residual film recovery mechanisms mainly focuses on structural design, force analysis of popping teeth on residual films, and experimental research on field operation performance. Li studied the key mechanism and parameters of a chain drive rake-type residual film recovery machine and analyzed the operating speed characteristics of chain drive rakes using ADAMS software; however, the study used a belt drive instead of a chain drive, which failed to reflect the jitter characteristics of chain drive movement [
28]. Present studies of the chain drive residual film recovery mechanism do not provide a theoretical analysis of the separation mechanism in the film-soil separation process and, in particular, they do not include an analytical study of the jitter characteristics of the chain drive mechanism.
To this end, by analyzing the motion characteristics of the film shovel and the tines of a chain drive soil-separation mechanism and studying the shaking characteristics of the mechanism with ADAMS software, we provide a theoretical reference and technical basis for further research on tillage film recovery machines.
4. Simulation Analysis of the Chain-Drive Film-Soil Separation Mechanism
4.1. Model and Simplification
The chain module of ADAMS software was used to model and analyze the chain drive soil separation mechanism. In the operation toolbox of ADAMS/View, components such as the frame, driven chain roller, upper carrier roller, chain and shaking roller were created, and constraints were added between the components [
32,
33]. The model built in this study is shown in
Figure 9.
To accurately simulate the actual movement of the film-soil separation mechanism, the material properties of the components were added to each of its parts according to the actual situation. To improve the speed of the simulation and to facilitate the analysis of the Chain module, the separation mechanism was suitably simplified by removing the lower carrier rollers and replacing the upper carrier rollers and the rollers of the shaking frame with sprockets of different tooth numbers.
The translation drive speed added to the frame was calculated to be 700 mm/s, the rotational drive acting on the active chain roller was 29.7 rad/s, and the rotational drive acting on the shaking frame was 42.5 rad/s.
4.2. Calculations
When performing the ADAMS solution calculations, the simulation was set to 1.0 s and 100 steps.
4.3. Simulation Studies
To shorten the simulation analysis time of the chain drive film-soil separation mechanism, it is necessary to focus on the movement of the chain teeth in the part above the shaking roller. As the chain drive film-soil separation mechanism has multiple chain sections, the chain plate was selected as the research object during the analysis. After the simulation, the chain plate link_1 was selected as the object from the post-processor, and a series of simulation results were output.
Figure 10 shows the displacement graph of link_1 vs. time, and
Figure 11 shows the displacement of link_1 in the y-direction on the vertical axis vs. the displacement in the x direction on the horizontal axis, to obtain the trajectory curve of the link_1 mass point.
Figure 12 and
Figure 13 show the velocity and acceleration graph of the chain plate link_1 center of mass.
Figure 14 and
Figure 15 show the variation of the link_1 mass in the y-direction (vertical axis) vs. the displacement of the link_1 mass in the x-direction (horizontal axis).
According to
Figure 10, the maximum amplitude of the motion of link_1 is 64.45 mm in the x-direction and 81 mm in the y-direction. According to
Figure 11, the amplitude of the trajectory of link_1is 63.67 mm in the x-direction, and its maximum amplitude in the y-direction is 81 mm. According to
Figure 11, link_1 effectively jerks in the x-direction between 27 mm and 726 mm in the chain tensioning section during the analysis time of 1 s. In combination with
Figure 10, the effective jerks of link_1 are between 0.19 s and 0.74 s. Therefore, the time period 0.19–0.74 s was used for the analysis of the movement of link_1 in the chain tensioning section. Using the Animation Control function, the contact time between link_1 and the jitter rollers was found to be between 0.52 s and 0.56 s. According to
Figure 10, when link_1 and the jitter rollers are in contact, their displacements are 426 mm and 462.35 mm in the x-direction and 554.59 mm and 545.73 mm in the y-direction, respectively.
According to
Figure 12 and
Figure 13, the start time of the action of the jitter roller on link_1 is 0.52 s and the end time is 0.56 s, corresponding to when the maximum and minimum velocities of the center of mass of link_1 in the x-direction, are 3256.58 mm/s and −973.82 mm/s, and the maximum and minimum accelerations are 1.1 × 10
7 mm/s
2 and −9.74 × 10
5 mm/s
2, respectively. The velocities in the x- and y-directions are 524.39 mm/s and −919.06 mm/s, respectively, with accelerations of 1.03 × 10
7 mm/s
2 and −3.71 × 10
6 mm/s
2, respectively. The maximum and minimum velocities of the link_1 center of mass in the x- and y-directions at other times outside the jitter roll action are 4744.18 mm/s and −1207.34 mm/s, respectively, corresponding to times of 0.34 s, 0.36 s. The maximum and minimum accelerations in the x-direction were 1.69 × 10
7 mm/s
2 and −8.27 × 10
6 mm/s
2,corresponding to 0.45~0.62 s; the maximum and minimum velocities of the link_1 center of mass in the y-direction were 7038.6 mm/s, −4841.26 mm/s, corresponding to 0.59 s, 0.34 s. The maximum and minimum accelerations in the y-direction are 1.03 × 10
7 mm/s
2 and 9.73 × 10
6 mm/s
2, corresponding to 0.53 s and 0.73 s, respectively.
According to
Figure 14 and
Figure 15, the maximum velocities of the center of mass of link_1 in the x-direction and y-direction are 4744.72 mm/s and 7308.59 mm/s, respectively, and the minimum velocities are −1270.34 mm/s and −4841.26 mm/s, respectively, for the displacement of link_1 in the x-direction effective jitter section from 27 mm to 726 mm; when the displacement of link_1 in the x-direction moves from 426 mm to 462.35 mm, link_1’s center of mass in the x-direction changes from 2312.93 to 489.75 with a more drastic change and a larger magnitude. The y-direction velocity changes from −411.08 mm/s to −6.79 mm/s with a smaller overall change.
Figure 14 and
Figure 15 show that in the displacement band from 123.47 mm to 264.40 mm, after a minimum in the x- and y-directions for the same x-direction displacement, the velocity starts to increase, while the displacement in the x-direction moves in the opposite direction, with a maximum movement of 12.2 mm.
4.4. Analysis of the Results
The simulation analysis showed that the shaking displacement of link_1 in the tensioning zone of the chain was in the range of 27–726 mm in the x-direction, and the trajectory of link_1 in this zone basically varied in a cosine curve, indicating that the results of the kinematic analysis of the theoretical analysis of the chain drive film-soil separation mechanism were consistent with the results of the simulation analysis.
The maximum and minimum values of the velocity of the link_1 center of mass in the x-direction and y-direction did not appear in the time period of 0.52–0.56 s when the jitter rollers were in contact with link_1 for the displacement of link_1 in the x-direction in the range of 27–726 mm. In the time period of 0.52–0.56 s, the velocity changes in the x-direction and y-direction were flat. However, when the shaking roller and link_1 were not in contact, the flexible characteristics of the chain were used to drive its movement in the x- and y-directions, and the movement speed in the y-direction was faster than that in the x-direction, which was conducive to the shaking separation of the film-soil mixture.
The maximum and minimum values of acceleration in the x-direction of link_1 occurred before 0.52 s, while the maximum and minimum values of acceleration in the y-direction occurred exactly between 0.52 s and 0.56 s. The overall acceleration in the x-direction was greater than that in the y-direction. According to Newton’s second law, when the shaking roller is in contact with link_1, the force in the y-direction is the greatest, which has an upward impact on the soil clods to break them and increase the film collection rate. When the shaking roller is not in contact with link_1, the force in the x-direction is the greatest, which has a stronger effect on the backward transport of the soil mixture and is less likely to produce film congestion.
To further the film-soil separation performance of the chain drive film-soil separation mechanism, the data in
Figure 14 and
Figure 15 were exported using the table function of Export to form a velocity variation graph with the velocity of link_1 in the y-direction as the vertical axis vs. the velocity of link_1 in the x-direction on the horizontal axis, as shown in
Figure 16.
To analyze the velocity variation of link_1 within the effective jitter band between 27 mm and 726 mm, combined with the fact that the velocity variation is divided into two trends, upward and downward, as shown in
Figure 16, the velocity variation Equation (11) was constructed as shown in
Figure 17.
where
is the velocity at any point on the velocity change curve (mm/s),
is the velocity at the point on the velocity change curve after the relative
(mm/s),
is the velocity difference in the y-analysis, (mm/s), and
is the velocity difference in the x-direction (mm/s).
When , the chain drive film-soil separation mechanism has the same effect on the horizontal and vertical transport of the film-soil mixture.
When , the chain drive film soil separation mechanism has a greater effect on the vertical transport of the film-soil mixture than the horizontal one.
When , the conveying effect of the chain drive film-soil separation mechanism on the film-soil mixture in the horizontal direction is greater than that in the vertical direction.
After analysis, the maximum value of was 93.65, corresponding to a velocity difference of 30.2 mm/s in the x-direction and 2.83 × 103 mm/s in the y-direction. The minimum value of was 0.15, corresponding to a velocity difference of −1.48 × 103 mm/s in the x-direction and −2.25 × 102 mm/s in the y-direction; the positive and negative values of cross. This shows that the chain drive film-soil separation mechanism is useful for transporting and throwing the film-soil mixture in the horizontal and vertical directions and that the alternating positive and negative velocity differences during its motion are not only beneficial to the continuous backward transport of the film-soil mixture but also beneficial to the shaking separation of the film-soil mixture, revealing the film-soil separation mechanism and the change of the chain drive film-soil separation mechanism and providing theoretical guidance for the design and optimization of the chain drive film-soil separation mechanism. This study provides theoretical guidance for the design and optimization of the chain drive soil separation mechanism.
5. Field Trials
To verify the operational performance of the chain drive film-soil separation mechanism, a physical prototype of the complete machine was tested. In June 2020, operational performance tests were carried out in a test field of the 6th Mission in Wensu County, Aksu, Xinjiang [
34,
35]. This is shown in
Figure 18. The test field was selected from a flat cotton field after plowing. The equipment was powered by a John Deere 754 tractor operating at a speed of 2.5–3.0 km/h. The speed of the active chain roller of the chain tine tiller was 283.75 r/min, and the speed of the shaking roller was 406.5 r/min.
When testing the operational performance of the film gathering mechanism, the measured area was divided into two areas, before and after the operation, and the measuring points were measured using the five-point method. The samples were taken before and after the operation according to the depth of the tillage layer of 150 mm. The mass was weighed after removing the dust and moisture, and the average value was calculated. The collection rate of the tilled layer was calculated according to Equation (12):
where
J is the gathering rate (%),
W is the mass of residue in the 150 mm deep tillage layer after the operation (g), and
W0 is the mass of residue in the 150 mm deep tillage layer before the operation (g).
The extent of residual film left on the surface after film-soil separation was expressed as the surface residual rate and was calculated according to Equation (13):
where
C is the residual percentage on the surface (%),
m1 is the mass of residual film in the 150 mm deep tillage layer before operation (g), and
m2 is the mass of residual film on the scattered surface after operation (g).
Residual film gathering and separation indexes were measured in accordance with the test requirements of the standard GB/T 25412-2010 “Residual Film Recycling Machine”. The results of the field tests are shown in
Table 1.
7. Conclusions
The shaking roller is a key component of the chain drive film-soil separation mechanism, and its shaking action on the chain directly determines the performance of film-soil separation. Through a kinematic analysis of the film-soil separation mechanism, the velocity vy of the action of the separation mechanism on the mixture in the y-direction can indicate the change in the shaking characteristics and the separation capacity of the separation mechanism. The key parameters affecting the film-soil separation performance of the chain drive film-soil separation mechanism are the chain movement velocity v and the angle between vd and the x-axis. A kinematic simulation analysis of the film-soil separation mechanism by ADAMS software provided the motion displacement, velocity, acceleration and trajectory of the chain plate. The derivation of the mechanism in the whole movement process was accurately calculated, as well as its effect on membrane soil separation, which showed that the trajectory of the center of mass of the chain plate link_1 changed in a sine curve during the jittering operation section, which is consistent with the results of the kinematic analysis for the chain drive film-soil separation mechanism.
Simulation results showed that the chain drive film-soil separation mechanism made use of the flexible characteristics of the chain, and drove the chain to both sides of the excitation point through the excitation of the shaking roller. When the velocity in the y-direction reached the maximum, the displacement along the x-direction decreased to achieve the collision and crushing of the film-soil mixture and facilitated film-soil separation. The mechanism and change of film-soil separation by the chain drive film-soil separation device were revealed, which provided theoretical guidance for the design and optimization of chain drive film-soil separation equipment.
Our research analyzed and simulated the key components of, and conducted field experiments on, the operational performance of the chain drive film-soil separation equipment. The field test showed that the collection rate of the chain drive film-soil separation mechanism reached 68% when the tillage depth reached 150 mm, and the surface residue reached 6%. The values were 3% higher than the performance index of the industry standard NY/T 1277-2006. All the test indexes met the requirements of national and industry standards, the test results met the design requirements, and the results of field experiments were basically consistent with the results of the simulation analysis. Our research objectives were met.