A contour-forming furrowing self-adaptive seeding and covering machine and use method thereof

Abstract

The present invention provides a contoured furrowing self-adaptive sowing and covering machine and a method for using the same, which are used to solve the problems in the prior art that the furrow depth and soil covering cannot be self-adaptively adjusted according to the uneven ground, the planting spacing is fixed, and the turning radius is large. The machine comprises a walking mounting device and a contoured sowing and covering device, the contoured sowing and covering device being mounted on the walking mounting device; the contoured sowing and covering device comprises a support frame, at least two groups of contoured furrowing mechanisms located at the front bottom of the support frame, at least two groups of contoured covering mechanisms located at the rear bottom of the support frame, and a plurality of rotating connection mechanisms for respectively connecting the contoured furrowing mechanisms and the contoured covering mechanisms, the contoured furrowing mechanisms and the contoured covering mechanisms are both rotationally connected to the support frame through the rotating connection mechanism, and the number of at least two groups of contoured furrowing mechanisms and at least two groups of contoured covering mechanisms is equal and one-to-one corresponding. The machine can not only self-adaptively furrow and cover soil according to the ground conditions, but also adjust the planting spacing and turning radius.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery, and in particular relates to a contour-forming furrowing self-adaptive sowing and covering machine and a use method thereof. Background Art

[0002] With the improvement of agricultural automation, more and more automated equipment is used in agricultural production, such as trenchers, harvesters, seed drills, shovel throwers, etc. Among them, seed drills are planting machines used to sow crop seeds, which have made significant progress in improving the work efficiency of agricultural work and reducing operating costs.

[0003] At present, in the southwest of my country, the landforms are mainly mountainous and hilly. The hilly and mountainous areas have complex terrain and uneven ground. The traditional furrowing and sowing covering device still has some problems in use, such as:

[0004] 1. During use, the position of the plow blade is fixed when sowing and furrowing, and the furrowing depth cannot be adjusted adaptively according to the uneven ground. In places with large slopes, the plowing is too deep, and in low-lying places, it is too shallow, which affects the sowing quality, making the seeds easily affected and reducing the germination rate;

[0005] 2. During use, the soil covering disk of the furrow sowing and covering device squeezes and merges the soil to the middle, and cannot be adaptively adjusted according to the uneven ground in hilly and mountainous areas. Insufficient soil flow and too much or too little soil covering will occur, resulting in high or low soil density after covering, which is not conducive to seed germination and growth;

[0006] 3. During use, the sowing spacing of the furrowing sowing and covering device is fixed, which makes it difficult to adjust the sowing spacing of different varieties of seeds, making it difficult for the equipment to meet the planting needs of different varieties;

[0007] 4. Traditional trenching and soil covering devices have limited steering angles and large turning ranges, making it difficult to turn flexibly in a small space, limiting their ability to operate in hilly and mountainous areas. At the same time, due to their large turning radius when turning at the edge of a field, agricultural machinery repeatedly crushes the soil during turning, which can lead to soil compaction and reduced crop yields. In addition, during the crop growth cycle, multiple types of agricultural machinery need to be used in combination to complete the operation, resulting in low operating efficiency and poor economy. Summary of the invention

[0008] In view of the shortcomings of the prior art described above, the purpose of the present invention is to provide a contoured furrowing adaptive seeding and covering machine and a method of use, which are used to solve the problems in the prior art of being unable to adaptively adjust furrow depth and soil covering according to uneven ground, fixed planting spacing and large turning radius.

[0009] In order to achieve the above-mentioned and other related purposes, the present invention provides a contour-forming furrowing self-adaptive seeding and covering machine, comprising:

[0010] A walking mounting device and a contour sowing and soil covering device, wherein the contour sowing and soil covering device is mounted on the walking mounting device;

[0011] The profiling sowing and soil covering device comprises a support frame, at least two groups of profiling furrowing mechanisms located at the front bottom of the support frame, at least two groups of profiling soil covering mechanisms located at the rear bottom of the support frame, and a plurality of rotating connection mechanisms used to respectively rotatably connect the profiling furrowing mechanisms and the profiling soil covering mechanisms, the profiling furrowing mechanisms and the profiling soil covering mechanisms are both rotatably connected to the support frame through the rotating connection mechanisms, and the number of at least two groups of the profiling furrowing mechanisms and at least two groups of the profiling soil covering mechanisms is equal and corresponds one to one;

[0012] The contoured ditching mechanism includes a traction roller, a linkage module, a depth seat vertically and fixedly installed at the bottom of the support frame, a first gear, a sector gear meshing with the first gear, a first rotating arm with one end fixedly connected to the surface of the sector gear, a second rotating arm with one end hinged to the other end of the first rotating arm, a slide rail vertically arranged on the depth seat, a slider slidingly matched with the slide rail, a balancing elastic member for balancing the displacement and weight of the linkage module, and a plow. The other end of the second rotating arm is hinged on the slider, and the slider is provided with a plurality of mounting holes detachably connected to the plow along its own vertical direction. The traction roller is located above and in front of the plow and is rotatably connected to the support frame through the rotating connection mechanism. The linkage module drives the first gear to rotate through the movement of the traction roller.

[0013] Optionally, the linkage module includes a first support arm, a second support arm, a third support arm, a fourth support arm, a fifth support arm and a cross beam arm, the first ends of the first support arm and the second support arm are respectively hinged at two ends of the traction roller, the second end of the first support arm, the first end of the cross beam arm and the first end of the third support arm are hinged, the second end of the second support arm, the second end of the cross beam arm and the first end of the fourth support arm are hinged, the second ends of the third support arm and the fourth support arm are respectively hinged to the support frame, the first end of the fifth support arm is hinged between the first end and the second end of the cross beam arm, the second end of the second support arm is rotatably connected to the depth seat, and the second end of the second support arm is provided with a first gear groove fixedly connected to the first gear.

[0014] Optionally, the balancing elastic member includes a spring, one end of the spring is fixedly connected to the sliding block, and the other end of the spring is fixedly connected to the depth seat or one end of the sliding rail.

[0015] Optionally, the rotating connection mechanism includes a connecting sleeve, a connecting rod, and two universal joints. The connecting sleeve is open at one end and closed at the other end. The connecting sleeve is slidably matched with the connecting rod. One end of the two universal joints is coaxially fixedly connected to the closed end of the connecting sleeve and one end of the connecting rod, respectively. A plurality of grooves are provided on the circumference of the inner wall of the connecting sleeve, and a plurality of protrusions are provided on the circumference of the outer wall of the connecting rod, and the grooves are slidably matched with the protrusions.

[0016] Optionally, the contoured sowing and covering device further comprises a transmission mechanism, the transmission mechanism comprising a driving sprocket, a driven sprocket, a chain and a sowing shaft, the sowing shaft is rotatably mounted above the support frame, the driven sprocket is coaxially fixedly matched with the sowing shaft, and the chain drives and connects the driving sprocket and the driven sprocket;

[0017] The contoured soil covering mechanism comprises a roller, a forward and reverse spiral group, a seeding box, and a spacing adjustment module. The roller is connected to the support frame through the rotating connection mechanism. The forward and reverse spiral group is fixedly mounted on the roller. There are at least two groups of the forward and reverse spiral groups in the circumferential direction of the roller. The driving sprocket rotates coaxially with the roller. The seeding box is arranged on the support frame and is rotationally connected to the seeding shaft. The spacing adjustment module is used to adjust the seeding spacing of the seeding box.

[0018] The forward and reverse spiral groups include a forward spiral plate, a reverse spiral plate, a forward spiral covering plate and a reverse spiral covering plate. The forward spiral plate and the reverse spiral plate are both fixedly mounted on the circumference of the roller. The forward spiral plate is arranged opposite to the reverse spiral plate. The forward spiral covering plate and the reverse spiral covering plate are respectively vertically fixedly connected to the forward spiral plate and the reverse spiral plate.

[0019] Optionally, the spacing adjustment module includes a conveying cylinder, a clockwork spring, a covering sheet, a discharge pipe, and a spacing telescopic assembly, the conveying cylinder being vertically arranged with a closed top and an open bottom to form a spacing adjustment space, a spiral groove being provided on an inner wall of the conveying cylinder, the spiral groove on the closed end of the conveying cylinder being communicated with an outlet of the seeding box, the open end of the conveying cylinder being connected to the back of the plow blade through a conveying pipe, a sliding groove being provided on an upper side wall of the spiral groove to slide with the covering sheet, the outer end of the clockwork spring being fixedly connected to one end of the covering sheet, the other end of the covering sheet being fixedly connected to a side wall of the discharge pipe, the covering sheet having toughness, the spiral groove and the covering sheet forming a seed conveying space, and the discharge pipe being communicated with the seed conveying space;

[0020] The distance telescopic assembly is used to adjust the distance between the discharge pipe and the top of the distance adjustment space;

[0021] The spacing telescopic assembly includes a fixed sleeve, a telescopic rod and a spacing driving member rotatably mounted on the closed end of the conveying cylinder. The clockwork spring is coaxially fixedly matched with the fixed sleeve, the bottom end of the telescopic rod is fixedly connected to the side wall of the discharge pipe, the telescopic rod is slidably matched with the fixed sleeve, and the spacing driving member drives the telescopic rod to move in the vertical direction.

[0022] Optionally, the traveling mounting device comprises a frame, a mounting adjustment mechanism arranged at the bottom of the frame, two sets of linear power steering mechanisms arranged at the left and right sides of the frame, and four sets of lateral distance adjustment mechanisms arranged around the frame to extend and retract the linear power steering mechanisms at the left and right sides to both sides;

[0023] The linear power steering mechanism comprises a vehicle side frame, two sets of linear power steering modules arranged at the front and rear sides of the vehicle side frame, the vehicle side frame is slidably matched with the vehicle frame, the linear power steering module comprises a linear power assembly and a motion assembly, and the linear power assembly drives the motion assembly to steer;

[0024] The motion assembly includes a fixed frame hinged to the telescopic end of the linear power assembly, a rotating shaft vertically and rotatably installed in the fixed frame, a first bevel gear coaxially fixedly fitted at the bottom end of the rotating shaft, a second bevel gear meshing with the first bevel gear, a wheel rotating coaxially with the second bevel gear, and a power member driving the rotating shaft to rotate, the fixed end of the linear power assembly is hinged to the vehicle side frame, and one side of the fixed frame is rotatably connected to the vehicle side frame.

[0025] Optionally, the mounting adjustment mechanism includes a linear telescopic module, a first bracket, a second bracket, a first mounting arm, a second mounting arm, a third mounting arm, a fourth mounting arm and a rectangular mounting frame, the first bracket and the second bracket are symmetrically arranged along the frame and fixedly connected by a support arm, the first ends of the first mounting arm and the second mounting arm are both hinged to the first bracket, the second ends of the first mounting arm and the second mounting arm are both hinged to the rectangular mounting frame, the first bracket, the first mounting arm, the second mounting arm and the rectangular mounting frame form a parallelogram structure, the first ends of the third mounting arm and the fourth mounting arm are both hinged to the second bracket, the second ends of the third mounting arm and the fourth mounting arm are both hinged to the rectangular mounting frame, and the second bracket, the third mounting arm, the fourth mounting arm and the rectangular mounting frame form a parallelogram structure;

[0026] One end of the linear telescopic module is hinged to the bottom of the frame, and the other end of the linear telescopic module is hinged to the rectangular mounting frame;

[0027] The support frame is provided with a connection module which is detachably connected to the rectangular mounting frame.

[0028] Optionally, the lateral distance adjusting mechanism includes an electric push rod, a hydraulic cylinder or a pneumatic cylinder, and each set of the lateral distance adjusting mechanism fixed ends are fixedly connected to the vehicle frame, and each set of the lateral distance adjusting mechanism telescopic ends are fixedly connected to the vehicle side frame.

[0029] A method for using a contour-forming furrowing and self-adaptive sowing and covering machine, using the contour-forming furrowing and self-adaptive sowing and covering machine, including an automatic contour-forming process of sowing depth and an automatic contour-forming process of covering soil:

[0030] The automatic profiling process of sowing depth comprises: when the profiling sowing soil covering device is mounted on the walking mounting device and moves, the traction roller is located above and in front of the coulter, the traction roller contacts the uneven ground, the traction roller moves up and down through the linkage module to drive the first gear to rotate, the first gear is meshed with the sector gear for transmission, the first rotating arm fixedly connected to the sector gear drives the second rotating arm to rotate, the deformation of the balancing elastic member is balanced with the up and down displacement and weight of the linkage module, so that the slider slides up and down on the slide rail, thereby realizing that the coulter can adaptively adjust the furrowing depth according to the uneven ground;

[0031] The automatic soil covering process: the at least two groups of soil covering mechanisms are connected by the rotating connection mechanism, the soil covering mechanism is connected to the support frame by the rotating connection mechanism, and the at least two groups of soil covering mechanisms and / or the soil covering mechanism and the support frame rotate coaxially while adaptively adjusting the soil covering according to the ground conditions.

[0032] As described above, the contour-forming furrowing self-adaptive seeding and covering machine and the use method of the present invention have at least the following beneficial effects:

[0033] 1. The traction roller contacts the uneven ground, and the up and down movement of the traction roller drives the first arm and the second arm hinged at both ends of the traction roller to rotate, and then drives the hinged third arm and the fourth arm to rotate, so that the whole structure has high flexibility during the movement and can adapt to the changes in different ground terrains. The up and down movement of the crossbeam arm drives the first end of the fifth arm to move up and down, and then drives the first gear fixedly connected to the second end of the fifth arm to rotate, the first gear is meshed with the fan gear for transmission, and the first rotating arm fixedly connected to the fan gear drives the second rotating arm to rotate, so that the slider slides up and down on the slide rail, so that the plow cutter can adaptively adjust the furrowing depth according to the uneven ground, thereby solving the problem that the plow cutter is fixed in position and cannot adaptively adjust the furrowing depth according to the uneven ground, and the plowing is too deep in places with large slopes and too shallow in low-lying places.

[0034] 2. The rotating connection mechanism can realize coaxial rotation between at least two groups of contoured trenching mechanisms and at least two groups of contoured soil covering mechanisms, and can also independently move and adaptively adjust at least two groups of contoured soil covering mechanisms and at least two groups of contoured trenching mechanisms according to the ground terrain conditions. The connecting sleeve and the connecting rod are slidably matched, so that the length of the rotating connection mechanism can be adjusted, which increases the flexibility and practicality of use. One end of the two universal joints is coaxially fixedly connected to the closed end of the connecting sleeve and one end of the connecting rod respectively. The connecting sleeve and the connecting rod can rotate freely in multiple directions to meet different movement requirements. The groove and the convex block are slidably matched, which can effectively prevent the connecting rod from rotating or deflecting in the connecting sleeve, thereby enhancing the stability and reliability of the connection.

[0035] 3. The roller rolls to drive the active sprocket to rotate, and the chain drives the active sprocket to connect with the driven sprocket, and then drives the sowing shaft coaxially fixed with the driven sprocket to rotate, and the seeds in the sowing box move downward. When the sowing spacing needs to be adjusted, the spacing driving member drives the shortening or extension of the telescopic rod to drive the discharge pipe fixedly connected to the bottom of the telescopic rod to move up and down, and then pulls the covering sheet to move up and down along the spiral groove. At this time, the spring spring is compressed or extended, and the time for the seeds to be transported from the seed conveying space formed by the spiral groove and the covering plane through the discharge pipe and the conveying pipe to the opened furrow can be accurately controlled, thereby realizing the precise adjustment of the sowing spacing and meeting the planting requirements of different crops. While the roller rolls, it drives the positive spiral plate, the reverse spiral plate, the positive spiral covering plate and the reverse spiral covering plate to cooperate with each other so that the soil on both sides after the furrowing of the coulter is evenly close to the middle to form ridges and furrows, thereby realizing uniform soil covering of the seeds, solving the problem of uneven soil covering, and facilitating seed growth and germination.

[0036] 4. The power part drives the rotating shaft to rotate, driving the first bevel gear coaxially fixed at the bottom of the rotating shaft to rotate. The first bevel gear meshes with the second bevel gear for transmission. The rotation of the second bevel gear drives the wheel to rotate, so that the power is distributed and transmitted smoothly, ensuring the stability and reliability of the wheel during the steering process. When steering is required, the linear power component drives the motion component to achieve steering. Four sets of linear power steering modules set on the left and right side frames of the vehicle move independently. Each linear power steering module cooperates with each other to achieve two-wheel, four-wheel, and in-situ steering according to the application environment, which can better adapt to the complex environment of hilly and mountainous areas, improve work efficiency, and reduce the compaction of soil and crop yield reduction caused by repeated rolling. The height can be adjusted by moving the rectangular mounting frame upward or downward through the extension and retraction of the linear telescopic module. The parallelogram structure formed by the first bracket, the first mounting arm, the second mounting arm, the rectangular mounting frame and the second bracket, the third mounting arm, the fourth mounting arm and the rectangular mounting frame ensures that the rectangular mounting frame always remains horizontal during the movement, and even under complex road conditions or working conditions, it can ensure the stability of other functional mechanisms of the mounting and reduce the risk of shaking and tilting. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 Shown is a three-dimensional structural schematic diagram of the contour-forming furrowing self-adaptive seeding and covering machine of the present invention;

[0038] Figure 2 Shown is a schematic diagram of the stereoscopic structure of the contour-forming furrowing self-adaptive seeding and covering machine of the present invention from another perspective;

[0039] Figure 3 It shows a three-dimensional structural schematic diagram of the contour seeding and covering device of the present invention;

[0040] Figure 4 Shown is a schematic diagram of the three-dimensional structure of the contour trenching mechanism of the present invention;

[0041] Figure 5 Shown is a three-dimensional structural schematic diagram of the contour trenching mechanism of the present invention from another viewing angle;

[0042] Figure 6 Shown is a three-dimensional structural schematic diagram of the rotary connection mechanism of the present invention;

[0043] Figure 7 Shown is a three-dimensional structural schematic diagram of the spacing adjustment module of the present invention;

[0044] Figure 8 Shown is an exploded view of the spacing adjustment module of the present invention;

[0045] Fig. 9 Shown is a schematic diagram of the three-dimensional structure of the walking mounting device of the present invention;

[0046] Fig.10 Shown is a schematic diagram of the internal structure of the walking mounting device of the present invention.

[0047] Component number description

[0048] Travel mounting device 1, vehicle frame 11, mounting adjustment mechanism 12, linear telescopic module 121, first bracket 122, second bracket 123, first mounting arm 124, second mounting arm 125, third mounting arm 126, fourth mounting arm 127, rectangular mounting frame 128, support arm 129, linear power steering mechanism 13, vehicle side frame 131, linear power steering module 132, linear power assembly 1321, motion assembly 1322, fixed frame 13221, wheel 13222, power piece 13223;

[0049] A contour seeding and covering device 2, a support frame 21, and a connecting module 211;

[0050] The contour trenching mechanism 22, the traction roller 221, the linkage module 222, the first arm 2221, the second arm 2222, the third arm 2223, the fourth arm 2224, the fifth arm 2225, the crossbeam arm 2226, the depth seat 223, the first gear 224, the sector gear 225, the first rotating arm 226, the second rotating arm 227, the slide rail 228, the slider 229, the balancing elastic member 2210, the plow 2211,

[0051] The contour covering mechanism 23, the roller 231, the positive and negative spiral groups 232, the positive spiral plate 2321, the negative spiral plate 2322, the positive spiral covering plate 2323, the negative spiral covering plate 2324, the seeding box 233, the spacing adjustment module 234, the conveying cylinder 2341, the spiral groove 23411, the slide groove 23412, the spring spring 2342, the covering sheet 2343, the discharge pipe 2344, the spacing telescopic assembly 2345, the fixed sleeve 23451, the telescopic rod 23452, the spacing driving member 23453, the spacing adjustment space 2346, and the conveying pipe 2347;

[0052] Rotating connecting mechanism 24, connecting sleeve 241, connecting rod 242, protrusion 2421, universal joint 243;

[0053] Transmission mechanism 25 , driving sprocket 251 , driven sprocket 252 , chain 253 , and sowing shaft 254 . DETAILED DESCRIPTION

[0054] The following is a description of the implementation of the present invention by means of specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0055] See also Figures 1 to 10. It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the effects and purposes that can be achieved by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. Changes or adjustments in their relative relationships should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0056] The following embodiments are only for illustration purposes and can be combined with each other, and are not limited to the contents presented in the following single embodiments.

[0057] In this embodiment, please refer to Figures 1 to 10 The present invention provides a contour-forming furrowing adaptive seeding and covering machine, comprising: a walking mounting device 1 and a contour-forming seeding and covering device 2, wherein the contour-forming seeding and covering device 2 is mounted on the walking mounting device 1; the contour-forming seeding and covering device 2 comprises a support frame 21, at least two groups of contour-forming furrowing mechanisms 22 located at the front bottom of the support frame 21, at least two groups of contour-forming covering mechanisms 23 located at the rear bottom of the support frame 21, and a plurality of rotating connection mechanisms 24 for respectively rotatingly connecting the contour-forming furrowing mechanisms and the contour-forming covering mechanisms 23, wherein the contour-forming furrowing mechanisms 22 and the contour-forming covering mechanisms 23 are connected by the contour-forming furrowing mechanisms 22 and the contour-forming covering mechanisms 23. The rotating connection mechanism 24 is rotatably connected to the support frame 21. The contoured ditching mechanism 22 and the contoured soil covering mechanism 23 both adjust the ditching and soil covering adaptively according to the ground conditions. The number of at least two groups of contoured ditching mechanisms 22 and at least two groups of contoured soil covering mechanisms 23 are equal and one-to-one corresponding, which can improve the work efficiency and enable each group of contoured ditching mechanisms 22 and contoured soil covering mechanisms 23 to work together to ensure that the ditching depth, width and soil covering thickness of each working area are adaptively adjusted according to the ground conditions, thereby facilitating the growth of crops.

[0058] The contour ditching mechanism 22 includes a traction roller 221, a linkage module 222, a depth seat 223 vertically and fixedly installed at the bottom of the support frame 21, a first gear 224, a sector gear 225 meshing with the first gear 224, a first rotating arm 226 fixedly connected to the surface of the sector gear 225 at one end, a second rotating arm 227 hinged at one end to the other end of the first rotating arm 226, a slide rail 228 vertically arranged on the depth seat 223, a slider 229 slidingly matched with the slide rail 228, and a balance for balancing the displacement and weight of the linkage module 222. Elastic member 2210, plow blade 2211, the other end of the second rotating arm 227 is hinged on the slider 229, and the slider 229 is provided with a plurality of mounting holes detachably connected to the plow blade 2211 along its own vertical direction. When in use, the plow blade 2211 can be adjusted on different mounting holes of the slider 229 according to the furrowing depth of sowing seeds. The traction roller 221 is located above and in front of the plow blade 2211 and is rotatably connected to the support frame 21 through the rotating connection mechanism 24. The linkage module 222 drives the first gear 224 to rotate through the movement of the traction roller 221.

[0059] The traction roller 221 contacts the uneven ground, and the up and down movement of the traction roller 221 drives the first gear 224 to rotate through the linkage module 222. The first gear 224 is meshed with the fan gear 225 for transmission, and the second rotating arm 227 is driven to rotate by the first rotating arm 226 fixedly connected to the fan gear 225, so that the slider 229 slides up and down on the slide rail 228, so that the plow 2211 can adaptively adjust the furrowing depth according to the uneven ground, thereby solving the problem that the plow 2211 is fixed in position and cannot adaptively adjust the furrowing depth according to the uneven ground, and the plowing is too deep in places with large slopes and too shallow in low-lying places.

[0060] In this embodiment, please refer to Figures 3 to 5The linkage module 222 includes a first arm 2221, a second arm 2222, a third arm 2223, a fourth arm 2224, a fifth arm 2225 and a cross beam arm 2226. The first ends of the first arm 2221 and the second arm 2222 are respectively hinged to the two ends of the traction roller 221. The second end of the first arm 2221, the first end of the cross beam arm 2226 and the first end of the third arm 2223 are hinged. The second end of the second arm 2222, the second end of the cross beam arm 2226 and the first end of the third arm 2223 are hinged. The second end of the beam arm 2226 and the first end of the fourth arm 2224 are hinged, the second ends of the third arm 2223 and the fourth arm 2224 are hinged to the support frame 21 respectively, the first end of the fifth arm 2225 is hinged between the first end and the second end of the beam arm 2226, the second end of the second arm 2222 is rotatably connected to the depth seat 223, and the second end of the second arm 2222 is provided with a first gear 224 groove fixedly connected to the first gear 224. During operation, the up and down movement of the traction roller 221 drives the first arm 2221 and the second arm 2222 hinged at both ends of the traction roller 221 to rotate, and then drives the hinged third arm 2223 and the fourth arm 2224 to rotate, so that the whole structure has high flexibility during the movement and can adapt to changes in different ground terrains. The up and down movement of the crossbeam arm 2226 drives the first end of the fifth arm 2225 to move up and down, and then drives the first gear 224 fixedly connected to the second end of the fifth arm 2225 to rotate. The first gear 224 is meshed with the fan gear 225 for transmission, so that the operating depth of the plow 2211 can be accurately controlled and adjusted, thereby solving the problem that the plow 2211 is fixed in position and cannot adaptively adjust the furrowing depth according to the uneven ground, and the plowing is too deep in places with large slopes and too shallow in low-lying areas.

[0061] In this embodiment, please refer to Figure 4 and Figure 5 The balancing elastic member 2210 includes a spring, one end of which is fixedly connected to the slider 229, and the other end of which is fixedly connected to the depth seat 223 or one end of the slide rail 228. The compression or extension deformation of the spring is balanced with the displacement and weight of the first end of the fifth arm 2225 moving up and down, thereby improving the overall stability and reliability.

[0062] In this embodiment, please refer to Figure 6The rotating connection mechanism 24 includes a connecting sleeve 241, a connecting rod 242, and two universal joints 243. One end of the connecting sleeve 241 is open and the other end is closed. The connecting sleeve 241 and the connecting rod 242 are slidably matched, so that the length of the rotating connection mechanism 24 can be adjusted, which increases the flexibility and practicality of use. One end of the two universal joints 243 is coaxially fixedly connected to the closed end of the connecting sleeve 241 and one end of the connecting rod 242 respectively. The connecting sleeve 241 and the connecting rod 242 can rotate freely in multiple directions to adapt to different movement requirements. A plurality of grooves are provided on the circumference of the inner wall of the connecting sleeve 241, and a plurality of protrusions 2421 are provided on the circumference of the outer wall of the connecting rod 242. The grooves and the protrusions 2421 are slidably matched, which can effectively prevent the connecting rod 242 from rotating or deflecting in the connecting sleeve 241, thereby enhancing the stability and reliability of the connection. The rotating connection mechanism 24 can not only realize the coaxial rotation between at least two groups of contouring trenching mechanisms 22 and at least two groups of contouring soil covering mechanisms 23, but also enable the at least two groups of contouring soil covering mechanisms 23 and at least two groups of contouring trenching mechanisms 22 to move independently and adaptively according to the ground terrain conditions.

[0063] In this embodiment, please refer to Figure 3 The contour seeding and covering device 2 also includes a transmission mechanism 25, which includes a driving sprocket 251, a driven sprocket 252, a chain 253 and a seeding shaft 254. The seeding shaft 254 is rotatably mounted above the support frame 21, the driven sprocket 252 is coaxially fixedly matched with the seeding shaft 254, and the chain 253 drives and connects the driving sprocket 251 and the driven sprocket 252;

[0064] The contoured soil covering mechanism 23 includes a roller 231, a forward and reverse spiral group 232, a seeding box 233, and a spacing adjustment module 234. The roller 231 is connected to the support frame 21 through the rotating connection mechanism 24. The forward and reverse spiral group 232 is fixedly installed on the roller 231. There are at least two groups of the forward and reverse spiral groups 232 in the circumferential direction of the roller 231, which can effectively solve the problem of soil accumulation in the forward and reverse spiral groups 232 and the lack of soil. The active sprocket 251 rotates coaxially with the roller 231, and the seeding box 233 rotates coaxially with the roller 231. 33 is arranged on the support frame 21 and is rotatably connected with the sowing shaft 254. The spacing adjustment module 234 is used to adjust the sowing spacing of the sowing box 233; the driving sprocket 251 is driven to rotate by the rolling of the roller 231, and the chain 253 drives the driving sprocket 251 and the driven sprocket 252 to be connected, thereby driving the sowing shaft 254 coaxially fixed with the driven sprocket 252 to rotate, and the seeds in the sowing box 233 move downward, and the falling time of the seeds is adjusted by the spacing adjustment module 234, thereby realizing the adjustment of the sowing spacing.

[0065] The positive and negative spiral group 232 includes a positive spiral plate 2321, a negative spiral plate 2322, a positive spiral soil covering plate 2323 and a negative spiral soil covering plate 2324. The positive spiral plate 2321 and the negative spiral plate 2322 are fixedly installed on the circumference of the roller. The positive spiral plate 2321 and the negative spiral plate 2322 are arranged opposite to each other. The positive spiral soil covering plate 2323 and the negative spiral soil covering plate 2324 are respectively vertically fixedly connected to the positive spiral plate 2321 and the negative spiral plate 2322. The positive spiral plate 2321, the negative spiral plate 2322, the positive spiral soil covering plate 2323 and the negative spiral soil covering plate 2324 are driven by the roller 231 to roll and cooperate with each other so that the soil on both sides after the furrowing of the plow 2211 is evenly moved to the middle to form ridges and furrows, thereby achieving uniform soil covering of seeds, solving the problem of uneven soil covering, and facilitating seed growth and germination.

[0066] In this embodiment, please refer to Figure 3 , Figure 7 and Figure 8 The spacing adjustment module 234 includes a conveying cylinder 2341, a clockwork spring 2342, a cover sheet 2343, a discharge pipe 2344, and a spacing telescopic assembly 2345. The conveying cylinder 2341 is vertically arranged with a closed top and an open bottom to form a spacing adjustment space 2346. A spiral groove 23411 is provided on the inner wall of the conveying cylinder 2341. The spiral groove 23411 on the closed end of the conveying cylinder 2341 is connected to the outlet of the seed box 233. The open end of the conveying cylinder 2341 is connected to the back of the coulter 2211 through a conveying pipe 2347. A sliding groove 23412 that slidably cooperates with the cover sheet 2343 is provided on the upper side wall of the spiral groove 23411. The outer end of the clockwork spring 2342 is fixedly connected to one end of the cover sheet 2343, and the other end of the cover sheet 2343 is fixedly connected to the side wall of the discharge pipe 2344. The cover sheet 2343 has toughness and can change along the spiral groove 23411. The spiral groove 23411 and the cover sheet 2343 constitute a seed conveying space, and the discharge pipe 2344 is connected to the seed conveying space.

[0067] The distance telescopic assembly 2345 is used to adjust the distance between the discharge pipe 2344 and the top of the distance adjustment space 2346;

[0068] The spacing telescopic assembly 2345 includes a fixed sleeve 23451, a telescopic rod 23452 and a spacing driving member 23453 rotatably mounted on the closed end of the conveying cylinder 2341, the clockwork spring 2342 is coaxially fixedly matched with the fixed sleeve 23451, the bottom end of the telescopic rod 23452 is fixedly connected to the side wall of the discharge pipe 2344, the telescopic rod 23452 is slidably matched with the fixed sleeve 23451, and the spacing driving member 23453 drives the telescopic rod 23452 to move in the vertical direction, and the spacing driving member 23453 includes a motor.

[0069] When adjusting the spacing, the spacing driving member 23453 drives the telescopic rod 23452 to shorten or lengthen, driving the discharge pipe 2344 fixedly connected to the bottom end of the telescopic rod 23452 to move up and down, and then pulls the covering sheet 2343 to move up and down along the spiral groove 23411. At this time, the clockwork spring 2342 is compressed or extended, which can accurately control the time for the seeds to be transported from the seed conveying space formed by the spiral groove 23411 and the covering plane through the discharge pipe 2344 and the conveying pipe to the opened furrow, thereby realizing precise adjustment of the sowing spacing and meeting the planting requirements of different crops.

[0070] In this embodiment, please refer to Figure 1 , Figure 2 , Fig. 9 and Fig.10 The walking mounting device 1 includes a frame 11, a mounting adjustment mechanism 12 arranged at the bottom of the frame 11, two groups of linear power steering mechanisms 13 arranged on the left and right sides of the frame 11, and four groups of lateral distance adjustment mechanisms arranged around the frame 11 to extend and retract the linear power steering mechanisms 13 on the left and right sides to both sides; the frame 11 is provided with an unmanned driving operating system, which can realize automatic operation without continuous manual control, thereby saving manpower and time, making the work more efficient, and can also realize point-to-point automatic navigation. The point-to-point automatic navigation function can ensure that the working platform travels according to the preset precise path, reduce the errors caused by human operation, and improve the accuracy and consistency of the operation; the mounting adjustment mechanism 12 can be hung on the contoured sowing and covering device 2, and can also be mounted with different other functional mechanisms, such as: corn sowing device, film covering device, spraying device, etc., so as to realize the functions of sowing, film covering, spraying, etc., and improve the practicality of the walking mounting device 1.

[0071] The linear power steering mechanism 13 includes a vehicle side frame 131, two sets of linear power steering modules 132 arranged on the front and rear sides of the vehicle side frame 131, the vehicle side frame 131 is slidably matched with the vehicle frame 11, the linear power steering module 132 includes a linear power component 1321 and a motion component 1322, the linear power component 1321 drives the motion component 1322 to steer, the linear power component 1321 includes an electric push rod, a hydraulic cylinder or a cylinder; the motion component 1322 includes a hinge connected to the telescopic end of the linear power component 1321 A fixed frame 13221 connected to the vehicle side frame 131, a rotating shaft vertically and rotatably installed in the fixed frame 13221, a first bevel gear coaxially fixedly fitted at the bottom of the rotating shaft, a second bevel gear meshing with the first bevel gear, a wheel 13222 coaxially rotating with the second bevel gear, and a power member 13223 driving the rotating shaft to rotate, the power member 13223 includes a motor or an internal combustion engine, the fixed end of the linear power assembly 1321 is hinged on the vehicle side frame 131, and one side of the fixed frame 13221 is rotatably connected to the vehicle side frame 131.

[0072] The power member 13223 drives the rotating shaft to rotate, driving the first bevel gear coaxially fixed at the bottom of the rotating shaft to rotate. The first bevel gear meshes with the second bevel gear for transmission. The rotation of the second bevel gear drives the wheel 13222 to rotate, so that the power is distributed and transmitted smoothly, ensuring the stability and reliability of the wheel 13222 during the steering process. When steering is required, the linear power component 1321 drives the motion component 1322 to achieve steering. The four groups of linear power steering modules 132 arranged on the left and right side frames 131 move independently, and each linear power steering module 132 cooperates with each other to achieve two-wheel, four-wheel, in-situ steering, etc. according to the application environment, which can better adapt to the complex environment of hilly and mountainous areas, improve work efficiency, and reduce the occurrence of problems such as soil compaction and crop yield reduction caused by repeated rolling of the soil.

[0073] In this embodiment, please refer to Fig. 9 and Fig.10The mounting adjustment mechanism 12 includes a linear telescopic module 121, a first bracket 122, a second bracket 123, a first mounting arm 124, a second mounting arm 125, a third mounting arm 126, a fourth mounting arm 127 and a rectangular mounting frame 128. The first bracket 122 and the second bracket 123 are symmetrically arranged along the frame 11 and are fixedly connected by a support arm 129. The first ends of the first mounting arm 124 and the second mounting arm 125 are both hinged to the first bracket 122, and the second ends of the first mounting arm 124 and the second mounting arm 125 are both hinged to the rectangular mounting frame 128. The first bracket 122, the first mounting arm 124, the second mounting arm 125 125 and the rectangular mounting frame 128 form a parallelogram structure, the first ends of the third mounting arm 126 and the fourth mounting arm 127 are both hinged to the second bracket 123, the second ends of the third mounting arm 126 and the fourth mounting arm 127 are both hinged to the rectangular mounting frame 128, the second bracket 123, the third mounting arm, the fourth mounting arm and the rectangular mounting frame 128 form a parallelogram structure; one end of the linear telescopic module 121 is hinged to the bottom of the frame 11, and the other end of the linear telescopic module 121 is hinged to the rectangular mounting frame 128; the support frame 21 is provided with a connecting module 211 which is detachably connected to the rectangular mounting frame 128.

[0074] The height can be adjusted by moving the rectangular mounting frame 128 upward or downward through the extension and retraction of the linear telescopic module 121. The parallelogram structure formed by the first bracket 122, the first mounting arm 124, the second mounting arm 125, the rectangular mounting frame 128 and the second bracket 123, the third mounting arm, the fourth mounting arm and the rectangular mounting frame 128 ensures that the rectangular mounting frame 128 always remains in a horizontal state during the movement, and even under complex road conditions or working conditions, it can ensure the stability of other functional mechanisms mounted, reducing the risk of shaking and tilting.

[0075] In this embodiment, the lateral distance adjustment mechanism includes an electric push rod, a hydraulic cylinder or a pneumatic cylinder, and each set of the lateral distance adjustment mechanism fixed end is fixedly connected to the vehicle frame 11, and each set of the lateral distance adjustment mechanism telescopic end is fixedly connected to the vehicle side frame 131. The four sets of lateral distance adjustment mechanisms work independently, so that the vehicle side frames 131 on the left and right sides can adjust the left and right distances, thereby realizing that the working platform is more adaptable to various complex hilly and mountainous environments.

[0076] In this embodiment, please refer to Figures 1 to 10 A method for using a contour-forming furrowing self-adaptive sowing and covering machine, using the contour-forming furrowing self-adaptive sowing and covering machine, including an automatic contour-forming process of sowing depth and an automatic contour-forming process of covering soil:

[0077] The automatic profiling process of sowing depth includes: the profiling sowing soil covering device 2 is mounted on the rectangular mounting frame 128 of the walking mounting device 1 through the connecting module 211. During the movement, the traction roller 221 is located above and in front of the plow blade 2211, and the traction roller 221 contacts the uneven ground. The traction roller 221 moves up and down to drive the first arm 2221 and the second arm 2222 hinged at both ends of the traction roller 221 to rotate, and then drives the hinged third arm 2223 and the fourth arm 2224 to rotate, so that the whole structure has high flexibility during the movement and can adapt to changes in different ground terrains. The up-and-down movement of the cross beam arm 2226 drives the first end of the fifth support arm 2225 to move up and down, and then drives the first gear 224 fixedly connected to the second end of the fifth support arm 2225 to rotate, and the first gear 224 is meshed with the fan gear 225 for transmission, and the second rotating arm 227 is driven to rotate by the first rotating arm 226 fixedly connected to the fan gear 225, and the deformation of the balancing elastic member 2210 is balanced with the up-and-down displacement and weight of the linkage module 222, so that the slider 229 slides up and down on the slide rail 228, so that the plow blade 2211 can adaptively adjust the furrowing depth according to the uneven ground;

[0078] The automatic soil covering process: the at least two groups of profiling soil covering mechanisms 23 are connected through the rotating connection mechanism 24, the rollers 231 are coaxially fixedly connected with the two universal joints on the same rotating connection mechanism 24, the profiling soil covering mechanism 23 is connected to the support frame 21 through the rotating connection mechanism 24, and the two universal joints on the other rotating connection mechanism 24 are coaxially fixedly connected with the rollers 231 and the support frame 21, respectively, and the at least two groups of profiling soil covering mechanisms 23 and / or the profiling soil covering mechanism 23 and the support frame 21 rotate coaxially while adaptively adjusting the soil covering according to the ground conditions.

[0079] Working principle: the contoured sowing and covering device 2 is mounted on the rectangular mounting frame 128 of the walking mounting device 1 through the connecting module 211. The frame 11 can realize automatic operation through an unmanned driving operating system without the need for continuous manual control. The power member 13223 drives the rotating shaft to rotate, thereby driving the first bevel gear coaxially fixed at the bottom end of the rotating shaft to rotate. The first bevel gear meshes with the second bevel gear for transmission. The rotation of the second bevel gear drives the wheel 13222 to rotate, thereby ensuring the smooth distribution and transmission of power, thereby ensuring the stability and reliability of the wheel 13222 during the steering process. When steering is required, the linear power component 1321 drives the motion component 1322 to achieve steering. Four groups of linear power steering modules 132 arranged on the left and right vehicle side frames 131 move independently, and each linear power steering module 132 cooperates with each other to realize two-wheel, four-wheel, in-situ steering, etc. according to the application environment; the rectangular mounting frame 128 is moved upward or downward by the extension of the linear telescopic module 121, and the height can be adjusted. The parallelogram structure formed by the first bracket 122, the first mounting arm 124, the second mounting arm 125, the rectangular mounting frame 128 and the second bracket 123, the third mounting arm, the fourth mounting arm, and the rectangular mounting frame 128 ensures that the rectangular mounting frame 128 always maintains a horizontal state during the movement, even under complex road conditions or working conditions, it can ensure that other functional mechanisms mounted are stable and reduce the risk of shaking and tilting; the four groups of lateral distance adjustment mechanisms work independently, so that the left and right distances of the vehicle side frames 131 on the left and right sides can be adjusted, so that the working platform can be more adaptable to various complex hilly and mountainous environments;

[0080] The traction roller 221 contacts the uneven ground, and the up and down movement of the traction roller 221 drives the first arm 2221 and the second arm 2222 hinged at both ends of the traction roller 221 to rotate, and then drives the hinged third arm 2223 and the fourth arm 2224 to rotate, so that the whole structure has high flexibility during the movement and can adapt to the changes of different ground terrains. The up and down movement of the crossbeam arm 2226 drives the first end of the fifth arm 2225 to move up and down, and then drives the first gear 224 fixedly connected to the second end of the fifth arm 2225 to rotate. The first gear 224 is meshed with the fan gear 225 for transmission, and the second rotating arm 227 is driven to rotate by the first rotating arm 226 fixedly connected to the fan gear 225. The deformation of the spring compression or extension is balanced with the displacement and weight of the up and down movement of the first end of the fifth arm 2225, so that the slider 229 slides up and down on the slide rail 228, so that the working depth of the plow 2211 can be accurately controlled and adjusted.

[0081] The roller 231 rotates to drive the driving sprocket 251, and the chain 253 drives the driving sprocket 251 to be connected with the driven sprocket 252, which in turn drives the sowing shaft 254 coaxially fixed with the driven sprocket 252 to rotate, and the seeds in the sowing box 233 move downward, and the spacing driving member 23453 drives the telescopic rod 23452 to shorten or lengthen, driving the discharge pipe 2344 fixedly connected to the bottom end of the telescopic rod 23452 to move up and down, and then pulls the covering sheet 2343 to move up and down along the spiral groove 23411, at this time, the clockwork spring 2342 is compressed or extended, which can The time for seeds to be transported from the seed conveying space formed by the spiral groove 23411 and the covering plane through the discharge pipe 2344 and the conveying pipe to the dug furrow can be accurately controlled, thereby realizing precise adjustment of the sowing spacing to meet the planting requirements of different crops. The roller 231 rolls to drive the positive spiral plate 2321, the reverse spiral plate 2322, the positive spiral covering plate 2323 and the reverse spiral covering plate 2324 to cooperate with each other so that the soil on both sides of the furrow opened by the plow 2211 evenly moves toward the middle to form ridges and furrows, thereby realizing soil covering of seeds and solving the problem of uneven soil covering, which is beneficial to seed growth and germination.

[0082] In summary, the present invention contacts the uneven ground through the traction roller 221, and the up and down movement of the traction roller 221 drives the first arm 2221 and the second arm 2222 hinged at both ends of the traction roller 221 to rotate, and then drives the hinged third arm 2223 and the fourth arm 2224 to rotate, so that the whole structure has high flexibility during the movement process and can adapt to the changes of different ground terrains. The up and down movement of the cross beam arm 2226 drives the first end of the fifth arm 2225 to move up and down, and then drives the second end of the fifth arm 2225 to move up and down. The first gear 224 fixedly connected rotates, the first gear 224 meshes with the sector gear 225 for transmission, and the first rotating arm 226 fixedly connected to the sector gear 225 drives the second rotating arm 227 to rotate, so that the slider 229 slides up and down on the slide rail 228, and the plow 2211 can adjust the furrowing depth adaptively according to the uneven ground, thereby solving the problem that the plow 2211 is fixed in position and cannot adaptively adjust the furrowing depth according to the uneven ground, and the plowing is too deep in places with large slopes and too shallow in low-lying places. The rotating connection mechanism 24 can not only realize the coaxial rotation between at least two groups of contoured furrowing mechanisms 22 and at least two groups of contoured soil covering mechanisms 23, but also can independently move and adaptively adjust between at least two groups of contoured soil covering mechanisms 23 and at least two groups of contoured furrowing mechanisms 22 according to the ground terrain conditions. The connecting sleeve 241 and the connecting rod 242 are slidably matched, so that the length of the rotating connection mechanism 24 can be adjusted, which increases the flexibility and practicality of use. One end of the two universal joints 243 is coaxially fixedly connected to the closed end of the connecting sleeve 241 and one end of the connecting rod 242 respectively. The connecting sleeve 241 and the connecting rod 242 can rotate freely in multiple directions to adapt to different movement requirements. The groove and the protrusion 2421 are slidably matched, which can effectively prevent the connecting rod 242 from rotating or deflecting in the connecting sleeve 241, thereby enhancing the stability and reliability of the connection. The roller 231 rotates to drive the driving sprocket 251, and the chain 253 drives the driving sprocket 251 to be connected with the driven sprocket 252, thereby driving the sowing shaft 254 coaxially fixed with the driven sprocket 252 to rotate, and the seeds in the sowing box 233 move downward. When the sowing spacing needs to be adjusted, the spacing driving member 23453 drives the shortening or extension of the telescopic rod 23452 to drive the discharge pipe 2344 fixedly connected to the bottom end of the telescopic rod 23452 to move up and down, and then pulls the covering sheet 2343 to move up and down along the spiral groove 23411. At this time, the clockwork spring 2342 is compressed or extended, which can accurately control the time for the seeds to be transported from the seed conveying space formed by the spiral groove 23411 and the covering plane through the discharge pipe 2344 and the conveying pipe to the opened ditch, thereby realizing accurate adjustment of the sowing spacing to meet the planting requirements of different crops.While the roller 231 is rolling, it drives the positive spiral plate 2321, the reverse spiral plate 2322, the positive spiral covering plate 2323 and the reverse spiral covering plate 2324 to cooperate with each other so that the soil on both sides after the furrowing by the plow 2211 is evenly moved to the middle to form ridges and furrows, thereby achieving uniform soil covering of the seeds, solving the problem of uneven soil covering, and facilitating the growth and germination of the seeds. The power member 13223 drives the rotating shaft to rotate, driving the first bevel gear coaxially fixed at the bottom of the rotating shaft to rotate, the first bevel gear meshes with the second bevel gear for transmission, and the rotation of the second bevel gear drives the wheel 13222 to rotate, so that the power is distributed and transmitted smoothly, ensuring the stability and reliability of the wheel 13222 during the steering process. When steering is required, the linear power component 1321 drives the motion component 1322 to achieve steering. Through four groups of linear power steering modules 132 arranged on the left and right side frames 131, they move independently. Each linear power steering module 132 cooperates with each other to realize two-wheel, four-wheel, in-situ steering, etc. according to the application environment, that is, it can better adapt to the complex environment of hilly and mountainous areas, and can also improve work efficiency, reduce the occurrence of problems such as soil compaction and crop yield reduction caused by repeated rolling of the soil. The rectangular mounting frame 128 can be moved upward or downward by the telescopic linear telescopic module 121, and the height can be adjusted. The parallelogram structure formed by the first bracket 122, the first mounting arm 124, the second mounting arm 125, the rectangular mounting frame 128 and the second bracket 123, the third mounting arm, the fourth mounting arm, and the rectangular mounting frame 128 ensures that the rectangular mounting frame 128 always maintains a horizontal state during the movement process, and even under complex road conditions or working conditions, it can ensure that other functional mechanisms mounted are stable and reduce the risk of shaking and tilting. Therefore, the present invention effectively overcomes the various shortcomings of the prior art and has a high industrial utilization value.

[0083] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A contour-forming furrowing adaptive seeding and covering machine, characterized in that: include: A walking mounting device and a contour sowing and soil covering device, wherein the contour sowing and soil covering device is mounted on the walking mounting device; The profiling sowing and soil covering device comprises a support frame, at least two groups of profiling furrowing mechanisms located at the front bottom of the support frame, at least two groups of profiling soil covering mechanisms located at the rear bottom of the support frame, and a plurality of rotating connection mechanisms used to respectively rotatably connect the profiling furrowing mechanisms and the profiling soil covering mechanisms, the profiling furrowing mechanisms and the profiling soil covering mechanisms are both rotatably connected to the support frame through the rotating connection mechanisms, and the number of at least two groups of the profiling furrowing mechanisms and at least two groups of the profiling soil covering mechanisms is equal and corresponds one to one; The contoured ditching mechanism includes a traction roller, a linkage module, a depth seat vertically and fixedly installed at the bottom of the support frame, a first gear, a sector gear meshing with the first gear, a first rotating arm with one end fixedly connected to the surface of the sector gear, a second rotating arm with one end hinged to the other end of the first rotating arm, a slide rail vertically arranged on the depth seat, a slider slidingly matched with the slide rail, a balancing elastic member for balancing the displacement and weight of the linkage module, and a plow. The other end of the second rotating arm is hinged on the slider, and the slider is provided with a plurality of mounting holes detachably connected to the plow along its own vertical direction. The traction roller is located above and in front of the plow and is rotatably connected to the support frame through the rotating connection mechanism, and the linkage module drives the first gear to rotate through the movement of the traction roller; The linkage module includes a first support arm, a second support arm, a third support arm, a fourth support arm, a fifth support arm and a cross beam arm. The first ends of the first support arm and the second support arm are respectively hinged at two ends of the traction roller, the second end of the first support arm, the first end of the cross beam arm and the first end of the third support arm are hinged, the second end of the second support arm, the second end of the cross beam arm and the first end of the fourth support arm are hinged, the second ends of the third support arm and the fourth support arm are respectively hinged to the support frame, the first end of the fifth support arm is hinged between the first end and the second end of the cross beam arm, the second end of the second support arm is rotatably connected to the depth seat, and the second end of the second support arm is provided with a first gear groove fixedly connected to the first gear.

2. The self-adaptive seeding and covering machine according to claim 1, characterized in that: The balancing elastic member comprises a spring, one end of the spring is fixedly connected to the sliding block, and the other end of the spring is fixedly connected to the depth seat or one end of the sliding rail.

3. The self-adaptive seeding and covering machine according to claim 1, characterized in that: The rotating connection mechanism includes a connecting sleeve, a connecting rod, and two universal joints. The connecting sleeve is open at one end and closed at the other end. The connecting sleeve is slidably matched with the connecting rod. One end of the two universal joints is coaxially fixedly connected to the closed end of the connecting sleeve and one end of the connecting rod respectively. A plurality of grooves are provided on the circumference of the inner wall of the connecting sleeve, and a plurality of protrusions are provided on the circumference of the outer wall of the connecting rod. The grooves are slidably matched with the protrusions.

4. The self-adaptive seeding and covering machine according to claim 1, characterized in that: The contour seeding and soil covering device also includes a transmission mechanism, which includes a driving sprocket, a driven sprocket, a chain and a seeding shaft, wherein the seeding shaft is rotatably mounted above the support frame, the driven sprocket is coaxially fixedly matched with the seeding shaft, and the chain transmits and connects the driving sprocket and the driven sprocket; The contoured soil covering mechanism comprises a roller, a forward and reverse spiral group, a seeding box, and a spacing adjustment module. The roller is connected to the support frame through the rotating connection mechanism. The forward and reverse spiral group is fixedly mounted on the roller. There are at least two groups of the forward and reverse spiral groups in the circumferential direction of the roller. The driving sprocket rotates coaxially with the roller. The seeding box is arranged on the support frame and is rotationally connected to the seeding shaft. The spacing adjustment module is used to adjust the seeding spacing of the seeding box. The forward and reverse spiral groups include a forward spiral plate, a reverse spiral plate, a forward spiral covering plate and a reverse spiral covering plate. The forward spiral plate and the reverse spiral plate are both fixedly mounted on the circumference of the roller. The forward spiral plate is arranged opposite to the reverse spiral plate. The forward spiral covering plate and the reverse spiral covering plate are respectively vertically fixedly connected to the forward spiral plate and the reverse spiral plate.

5. The self-adaptive seeding and covering machine according to claim 4, characterized in that: The spacing adjustment module includes a conveying cylinder, a clockwork spring, a covering sheet, a discharge pipe, and a spacing telescopic assembly, the conveying cylinder being vertically arranged with a closed top and an open bottom to form a spacing adjustment space, a spiral groove being provided on the inner wall of the conveying cylinder, the spiral groove on the closed end of the conveying cylinder being communicated with the outlet of the seeding box, the open end of the conveying cylinder being connected to the back of the coulter through a conveying pipe, a sliding groove being provided on the upper side wall of the spiral groove to slide with the covering sheet, the outer end of the clockwork spring being fixedly connected to one end of the covering sheet, the other end of the covering sheet being fixedly connected to the side wall of the discharge pipe, the covering sheet having toughness, the spiral groove and the covering sheet forming a seed conveying space, and the discharge pipe being communicated with the seed conveying space; The distance telescopic assembly is used to adjust the distance between the discharge pipe and the top of the distance adjustment space; The spacing telescopic assembly includes a fixed sleeve, a telescopic rod and a spacing driving member rotatably mounted on the closed end of the conveying cylinder. The clockwork spring is coaxially fixedly matched with the fixed sleeve, the bottom end of the telescopic rod is fixedly connected to the side wall of the discharge pipe, the telescopic rod is slidably matched with the fixed sleeve, and the spacing driving member drives the telescopic rod to move in the vertical direction.

6. The self-adaptive seeding and covering machine according to claim 1, characterized in that: The traveling mounting device comprises a frame, a mounting adjustment mechanism arranged at the bottom of the frame, two sets of linear power steering mechanisms arranged at the left and right sides of the frame, and four sets of lateral distance adjustment mechanisms arranged around the frame to extend and retract the linear power steering mechanisms at the left and right sides to both sides; The linear power steering mechanism comprises a vehicle side frame, two sets of linear power steering modules arranged at the front and rear sides of the vehicle side frame, the vehicle side frame is slidably matched with the vehicle frame, the linear power steering module comprises a linear power assembly and a motion assembly, and the linear power assembly drives the motion assembly to steer; The motion assembly includes a fixed frame hinged to the telescopic end of the linear power assembly, a rotating shaft vertically and rotatably installed in the fixed frame, a first bevel gear coaxially fixedly fitted at the bottom end of the rotating shaft, a second bevel gear meshing with the first bevel gear, a wheel rotating coaxially with the second bevel gear, and a power member driving the rotating shaft to rotate, the fixed end of the linear power assembly is hinged to the vehicle side frame, and one side of the fixed frame is rotatably connected to the vehicle side frame.

7. The self-adaptive seeding and covering machine according to claim 6, characterized in that: The mounting adjustment mechanism comprises a linear telescopic module, a first bracket, a second bracket, a first mounting arm, a second mounting arm, a third mounting arm, a fourth mounting arm and a rectangular mounting frame, the first bracket and the second bracket are symmetrically arranged along the frame and fixedly connected by a support arm, the first ends of the first mounting arm and the second mounting arm are both hinged to the first bracket, the second ends of the first mounting arm and the second mounting arm are both hinged to the rectangular mounting frame, the first bracket, the first mounting arm, the second mounting arm and the rectangular mounting frame form a parallelogram structure, the first ends of the third mounting arm and the fourth mounting arm are both hinged to the second bracket, the second ends of the third mounting arm and the fourth mounting arm are both hinged to the rectangular mounting frame, and the second bracket, the third mounting arm, the fourth mounting arm and the rectangular mounting frame form a parallelogram structure; One end of the linear telescopic module is hinged to the bottom of the frame, and the other end of the linear telescopic module is hinged to the rectangular mounting frame; The support frame is provided with a connection module which is detachably connected to the rectangular mounting frame.

8. The self-adaptive seeding and covering machine according to claim 6, characterized in that: The lateral distance adjusting mechanism comprises an electric push rod, a hydraulic cylinder or a pneumatic cylinder. The fixed end of each group of the lateral distance adjusting mechanism is fixedly connected to the vehicle frame, and the telescopic end of each group of the lateral distance adjusting mechanism is fixedly connected to the vehicle side frame.

9. A method for using a contour-forming furrowing self-adaptive seeding and covering machine, characterized in that: The use of the contour-forming furrowing self-adaptive seeding and covering machine described in claim 1 includes an automatic contour-forming process for seeding depth and an automatic contour-forming process for covering soil: The automatic profiling process of sowing depth comprises: when the profiling sowing soil covering device is mounted on the walking mounting device and moves, the traction roller is located above and in front of the coulter, the traction roller contacts the uneven ground, the traction roller moves up and down through the linkage module to drive the first gear to rotate, the first gear is meshed with the sector gear for transmission, the first rotating arm fixedly connected to the sector gear drives the second rotating arm to rotate, the deformation of the balancing elastic member is balanced with the up and down displacement and weight of the linkage module, so that the slider slides up and down on the slide rail, thereby realizing that the coulter can adaptively adjust the furrowing depth according to the uneven ground; The automatic soil covering process: the at least two groups of soil covering mechanisms are connected by the rotating connection mechanism, the soil covering mechanism is connected to the support frame by the rotating connection mechanism, and the at least two groups of soil covering mechanisms and / or the soil covering mechanism and the support frame rotate coaxially while adaptively adjusting the soil covering according to the ground conditions.

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