Abstract: At present, residue film recovery machine has become one of the main ways of residue film recovery in xinjiang cotton field. In the process of recovering residual film by residual film recovery machine, due to the complex and changeable environment of cotton field, and the existing residual film recovery machine does not have the function of copying, resulting in the instability of the soil depth of the buried parts, which causes the problems that the residue film clean rate can not reach the expected results and  so on. In order to solve this problem, a set of automatic profiling system with mechanicalelectrohydraulic coordination for the 4JSM-2.1A cotton straw returning and residual film recovery combined operation machine was designed to analyze the motion of profiling sensing mechanism on the ground, and determine the key parameters of mechanical components. Finally, the evaluation of the site test and the field test of the copying system showed that the whole machine worked stably and reliably. When the working speed of the machine was 6.5-7 km/h, the average depth of the buried parts was 91.6 mm, and the standard deviation was 3.13 mm. The cleaning rate of residual film reached 89.5%.

Key words: residual film recovery machine, grave parts, electrohydraulic fit, automatic copying

摘要： 目前残膜回收机已经成为新疆棉田回收残膜的主要方式之一。在残膜回收机回收残膜的过程中，由于棉田的环境复杂多变，而现有的残膜回收机无仿形功能，导致入土部件的入土深度不稳定，这就造成残膜拾净率达不到预期结果等问题。4JSM-2.1A型棉秸秆还田及残膜回收联合作业机存在同样问题，所以根据此机型设计一套机—电—液配合的自动仿形系统，对地面仿形传感机构的运动进行分析，确定机械部件的关键参数，并对仿形系统进行场地试验和田间试验。结果表明，该机工作稳定可靠，整体仿形稳定，在机具作业速度为6.5~7 km/h时，其入土部件的入土深度平均值为91.6mm，其标准差为3.13 mm，残膜拾净率达89.5%。

关键词: 残膜回收机, 入土部件, 机—电—液配合, 自动仿形