Self-adaptive chassis mechanism and drip irrigation seeding winding inserter comprising same

Abstract

The invention discloses a self-adaptive chassis mechanism and a drip irrigation seeding winding inserter comprising the self-adaptive chassis mechanism. The self-adaptive chassis mechanism comprises an upper frame body, a lower frame body and a cross shaft mechanism connecting the upper frame body and the lower frame body, a first shaft is connected with the lower frame body through a bearing seat to achieve pitching compensation, and a second shaft is connected with the upper frame body through a connecting piece to achieve side inclination compensation. The lower frame body is provided with a limiting lantern ring, and a buffering piece is arranged below the second shaft to absorb operation impact. And the selectable transverse displacement mechanism is driven by a chain-guide rod. The drip irrigation and seeding winding inserter is integrated with the chassis, an adjustable drip irrigation tape / seed tape guide system is arranged on an upper frame body, a lower frame body is connected with a pressing roller and an adjustable ridging roller, and accurate laying and rapid line spacing adaptation are achieved through an arc-shaped hollow guide piece and a multi-hole-site adjusting mechanism. The terrain adaptability limitation of traditional equipment is broken through, the operation precision and the system reliability under the complex working condition are remarkably improved, and the method is suitable for efficient combined operation of field crops.

Description

Technical Field

[0001] The invention relates to the field of machinery, and in particular to an adaptive chassis mechanism and a drip irrigation seeding offline machine comprising the mechanism. Background Art

[0002] With the development of precision agriculture technology, combined operation machinery integrating ridging, sowing and drip irrigation has become an important equipment for modern farmland operations. Such equipment needs to maintain stable operation under complex terrain conditions, which places strict requirements on the adaptability of the chassis mechanism and the coordination of functional components. In existing technologies, there is a problem of insufficient chassis terrain adaptability. Traditional seeders mostly use rigidly connected fixed chassis. When operating on slopes or uneven ground, the functional components (such as pressure rollers and ridgers) have uneven contact pressure with the ground, resulting in twisted drip irrigation belt laying and inconsistent seed sowing depth. Although some equipment attempts to use a single-axis articulated structure to achieve pitch compensation, it cannot solve the roll problem simultaneously, and lacks rotation limit protection, which is easy to cause structural overload damage. In addition, there is also the problem of lack of multi-dimensional adjustment capability. Existing equipment generally lacks a lateral position adjustment mechanism. The row spacing adjustment requires manual movement of the entire machine or replacement of components after stopping the machine, which seriously restricts the operation efficiency. Although some models are equipped with a slide rail adjustment device, there are problems such as low positioning accuracy and poor resistance to lateral force, making it difficult to maintain stability in dynamic operations. At the same time, poor coordination of functional components is also a challenge. The drip irrigation belt and seed belt guidance system are mostly fixed installation methods, and the guidance angle and position cannot be quickly adjusted according to the crop type. The ridge height adjustment mechanism often relies on a screw lifting device, and the adjustment process is time-consuming and easily affected by soil jamming. In addition, there is a lack of mechanical linkage design between the functional modules, and the equipment is prone to vibration interference under complex working conditions, which reduces the quality of operation. In the prior art, a seeder chassis with a shock-absorbing spring is proposed, which realizes pitch compensation through a single-axis swing structure, but does not solve the problem of compensation for roll freedom, and lacks displacement expansion capability; a hydraulic cylinder is used to drive the lateral slide to adjust the row spacing. Although the convenience of adjustment is improved, the hydraulic system has defects such as complex maintenance and high cost, which is not suitable for small and medium-sized agricultural machinery; a modular sowing device realizes the replacement of functional components through a quick-release interface, but there is a lack of mechanical coordination design between modules, and the stability of the whole machine is not as expected. Therefore, in summary, the prior art fails to effectively integrate the requirements of three-dimensional motion compensation, precise lateral adjustment and multi-functional collaborative operation, resulting in the difficulty of the equipment in the operation quality, efficiency and reliability under complex terrain to meet the requirements of modern agriculture. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides an adaptive chassis mechanism and a drip irrigation seeding machine comprising the mechanism. The present invention is realized by the following technical scheme: an adaptive chassis mechanism of the present invention, the adaptive chassis mechanism comprises an upper frame and a lower frame; a cross-axis mechanism is fixedly connected to the lower frame; a connecting piece is fixedly connected to the cross-axis mechanism; the connecting piece is connected to the upper frame, so that the lower frame is connected to the upper frame through the cross-axis mechanism and the connecting piece in turn; the cross-axis mechanism enables the lower frame to rotate freely along the X-axis direction and the Y-axis direction relative to the upper frame. Further, the cross-axis mechanism comprises a first shaft and a second shaft arranged perpendicular to each other, and the two are fixedly connected to form a cross shaft; the two sides of the first shaft are respectively connected to bearing seats, and the bearing seats are fixedly connected to the lower frame; the second shaft is fixedly connected to the connecting piece. The first shaft adopts a stepped shaft design, and the diameters of the two ends are smaller than the diameter of the middle cross section to enhance the torsional strength. The second shaft is equipped with a sleeve, and the sleeve is fixedly welded to the connecting piece. The bearing seat is filled with lithium-based grease (NLGI grade 2), and a rotary skeleton oil seal (model SD 50×70×12) is arranged on the outside to prevent mud and sand from intruding. Furthermore, a buffer is arranged below the second shaft; the two ends of the buffer are respectively fixedly connected to the first shaft and the lower frame; the buffer is a hydraulic damper or a spring buffer device. Furthermore, a limit collar is rotatably connected to the lower frame; the limit collar is annular, one end of which is rotatably connected to the lower frame through a rotating sleeve, and the other end is sleeved on the upper frame; the limit collar makes the rotation angle range of the lower frame relative to the upper frame ±30°. Furthermore, the connecting member is fixedly connected to the upper frame; or: the connecting member and the upper frame are connected to each other through a lateral displacement mechanism, so that the connecting member, the cross-axis mechanism and the lower frame can be displaced as a whole along the X-axis relative to the upper frame. The fixed connection scheme uses welding to achieve rigid connection, which is suitable for conventional operation scenarios with terrain undulations of less than 10°; the lateral adjustment scheme is suitable for scenarios when the operation row spacing needs to be adjusted, and a ±250mm translation is achieved through a displacement mechanism to meet the operation requirements of different terrains. Furthermore, the lateral displacement mechanism includes a lateral chain, and the two ends of the lateral chain are respectively connected to support sprockets, and the support sprockets are respectively arranged on the upper frame; the connecting member is fixedly connected to the lateral chain and moves with the rotation of the lateral chain; the connecting member is slidingly connected to the guide rod; the two ends of the guide rod are respectively fixedly connected to the upper frame, and the axial direction is arranged parallel to the lateral chain; one of the two support sprockets is coaxially fixedly connected to the transmission rod; the transmission rod is synchronously meshed and connected with the operating wheel through a sprocket and a transmission chain; the upper frame is provided with a gantry arranged perpendicular to its body, and the operating wheel is arranged on the gantry.Furthermore, a support reinforcement rod is provided on the above-mentioned connecting member; one end of the above-mentioned support reinforcement rod is fixedly connected to the connecting member, and the other end is fixedly connected to the sliding sleeve; the above-mentioned sliding sleeve is slidingly connected to the cross bar provided on the gantry; the above-mentioned sliding sleeve is provided with a fastening bolt for temporary fixation. In summary, the basic structure of the adaptive chassis mechanism includes an upper frame and a lower frame, which are non-rigidly connected through a cross-axis mechanism and a connecting member; the cross-axis mechanism is composed of a first axis and a second axis fixedly connected to each other perpendicularly to form a cross axis, wherein: both ends of the first axis are fixed to the lower frame through a bearing seat, allowing rotation around the X-axis; the second axis is fixedly connected to the connecting member, so that the lower frame can rotate around the Y-axis relative to the upper frame. The cross-axis mechanism includes a first axis (X-axis) and a second axis (Y-axis) that are fixedly connected to each other vertically, forming a spatial dual-degree-of-freedom rotation hub. The two ends of the first axis are fixedly connected to the lower frame through bearing seats, allowing the lower frame to rotate around the X-axis to compensate for the pitch movement caused by the undulating terrain; the second axis is rigidly connected to the connecting piece, which extends to the upper frame, so that the lower frame can rotate around the Y-axis to absorb the roll sway; the power transmission path: the ground reaction force is transmitted through the lower frame → cross axis → connecting piece → upper frame, and the multi-dimensional force state is decomposed through the dual-axis rotation to avoid the distortion of the overall structure. The motion compensation extension structure of the adaptive chassis mechanism includes a buffer component, a rotation limit mechanism and a lateral displacement mechanism, among which the lateral displacement mechanism is an optional mechanism that can be used in scenarios where lateral adjustment of the lower frame is required. Buffer assembly: The buffer (such as a hydraulic damper or spring) is arranged below the second axis, and its two ends are connected to the first axis and the lower frame respectively, for absorbing the impact of operation; Rotation limit mechanism: A rotatable limit ring is arranged on the lower frame, one end of which is connected to the lower frame through a rotating sleeve, and the other end is sleeved on the upper frame, limiting the rotation angle of the lower frame to ±30°; Lateral displacement mechanism: The connecting member is connected to the upper frame through a lateral chain, a guide rod and a sprocket transmission assembly to achieve the overall translation of the lower frame along the X axis, wherein: the lateral chain is installed on the upper frame through a support sprocket; the connecting member is fixed to the chain and slidably sleeved on the guide rod; the operating wheel drives the sprocket through the transmission chain to achieve control translation. The adaptive chassis mechanism is provided with a structural reinforcement design, that is, the connecting member is provided with a support reinforcement rod, one end of which is fixed to the connecting member, and the other end is slidably connected to the crossbar of the upper frame through a sliding sleeve to form a support structure; the sliding sleeve is equipped with a fastening bolt to fix the position after lateral displacement.A drip irrigation seeding offline machine including the above-mentioned adaptive chassis mechanism, wherein a traveling mechanism is arranged below the upper frame of the above-mentioned adaptive chassis mechanism, and a functional component is arranged below the lower frame of the adaptive chassis mechanism; a plurality of drip irrigation belt support frames, a plurality of seed belt support frames and a pair of handles are arranged above the above-mentioned upper frame; drip irrigation belt guides and seed belt guides corresponding to the number of drip irrigation belt support frames and seed belt support frames are arranged on the above-mentioned upper frame; the above-mentioned drip irrigation belt guide is connected to a cross bar arranged on the upper frame, and the above-mentioned drip irrigation belt guide is connected to the upper frame through a sleeve , a fastening bolt is provided on the sleeve for temporary fixation; the above-mentioned drip irrigation belt guide is a hollow rod-shaped member with one end vertical, the other end curved in an arc shape, and openings at both ends; the size of the above-mentioned drip irrigation belt guide corresponds to the size of the drip irrigation belt; the above-mentioned seed belt guide is connected to another cross bar provided on the upper frame, and the above-mentioned seed belt guide is connected to the upper frame through the sleeve, and a fastening bolt is provided on the sleeve for temporary fixation; the above-mentioned seed belt guide is a hollow rod-shaped member with one end vertical, the other end curved in an arc shape, and openings at both ends; the size of the above-mentioned seed belt guide corresponds to the size of the seed belt. Furthermore, the above-mentioned functional component is a pressing roller; a ridging roller is arranged at the front end position of the above-mentioned adaptive chassis mechanism; the above-mentioned traveling mechanism is a crawler or wheel drive mechanism; the above-mentioned ridging roller is connected to the upper frame through a height-adjustable connecting member; the above-mentioned height-adjustable connecting member includes a connecting rod, a roller support frame and a sleeve, one end of the connecting rod is fixedly connected to the roller support frame, and the other end is sleeved with the sleeve, a number of corresponding through holes are arranged on the sleeve and the connecting rod, and fixing bolts are arranged in the through holes for temporary fixed connection. In summary, the overall layout of the drip irrigation seeding offline machine is as follows: a traveling mechanism (tracked / wheeled) is installed under the upper frame of the adaptive chassis mechanism, a pressing roller is connected to the lower frame, and a height-adjustable ridging roller is arranged at the front end; a drip irrigation belt support frame, a seed belt support frame, and corresponding guides and control handles are arranged on the upper part of the upper frame. The functional component optimization includes a guiding system and a ridging roller adjustment mechanism; the drip irrigation belt guide and the seed belt guide of the guiding system are both arc-shaped hollow rods, which are installed on the cross bar of the upper frame through a sleeve, and the position can be adjusted by tightening bolts; the ridging roller of the ridging roller adjustment mechanism is connected to the sleeve-type height adjustment component through a connecting rod, and the sleeve and the connecting rod are provided with multiple groups of through holes, which are fixed with bolts to achieve graded height adjustment. The adaptive chassis mechanism and the drip irrigation seeding offline machine described in the present invention have achieved significant technical breakthroughs through innovative structural design and system integration, and the specific beneficial effects are as follows: 1. The terrain adaptability is comprehensively improved. The cross-axis mechanism rotates through the X / Y-axis dual-degree-of-freedom, so that the lower frame can independently respond to the pitch and roll movements caused by the terrain undulations. The measured compensation angle range is ±30°, which is much better than the traditional single-axis articulated structure in terrain adaptability, ensuring that components such as the pressing roller and the ridging roller always maintain a stable ground pressure in complex terrain.The ground reaction force is decomposed into a rotational torque around the axis through the cross-axis mechanism, and the impact absorption function of the buffer component is used to greatly reduce the maximum stress of the frame, effectively extending the service life of the equipment. 2. Collaborative optimization of operation accuracy and efficiency The lateral displacement mechanism realizes translation adjustment through the chain-guide rod linkage to meet the needs of rapid switching of different crop planting modes. The arc-shaped bending section design of the drip irrigation belt and the seed belt guide, combined with the adjustable sleeve installation method, makes the pipe belt release angle deviation smaller and the conveying resistance lower, significantly reducing the operation defects such as pipe belt distortion and seed offset. 3. System reliability is significantly enhanced The mechanical stop of the limit collar and the energy dissipation synergy of the buffer component greatly reduce the peak impact load under extreme working conditions and avoid plastic deformation of key components. 4. Multi-function expansion and economic improvement The chassis mechanism is compatible with crawler and wheeled travel mechanisms, and the guidance system can be adapted to agricultural pipes of different specifications to meet the joint operation needs of various crops such as cotton, corn, and wheat. BRIEF DESCRIPTION OF THE DRAWINGS

[0004] Figure 1 : Schematic diagram of the three-dimensional structure of Example 1; Figure 2 : Another schematic diagram of the three-dimensional structure of Example 1; Figure 3 : A schematic structural diagram of the cross-axis mechanism of the present invention; Figure 4 : A three-dimensional structural diagram of the cross-axis mechanism of the present invention; Figure 5 : Schematic diagram of the three-dimensional structure of Example 2; Figure 6 : Another three-dimensional structural schematic diagram of Example 2; Figure 7 : A schematic diagram of the first three-dimensional structure of Example 3; Figure 8 : A schematic diagram of a second three-dimensional structure of Example 3; Fig. 9 : A third three-dimensional structural schematic diagram of Example 3; Fig.10 : The front view of Example 3; Fig.11 : Side view of Example 3; in the figure: 1-adaptive chassis mechanism, 11-upper frame, 12-lower frame, 13-cross axis mechanism, 14-connecting piece, 15-buffer, 16-limiting sleeve, lateral displacement mechanism, 171-lateral chain, 172-support sprocket, 173-guide rod, 174-transmission rod, 175-transmission chain, 176-operating wheel, 18-support reinforcement rod, 19-sliding sleeve, 2-travel mechanism, 3-suppression roller, 4-ridge forming roller, 5-drip irrigation belt support frame, 6-drip irrigation belt guide, 7-seed belt support frame, 8-seed belt guide, 9-handle. DETAILED DESCRIPTION

[0005] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments: Example 1: Figure 1-4As shown, an adaptive chassis mechanism, the adaptive chassis mechanism 1 includes an upper frame 11 and a lower frame 12; a cross-axis mechanism 13 is fixedly connected to the lower frame 12; a connecting member 14 is fixedly connected to the cross-axis mechanism 13; the connecting member 14 is connected to the upper frame 11, so that the lower frame 12 is connected to the upper frame 11 through the cross-axis mechanism 13 and the connecting member 14 in turn; the cross-axis mechanism 13 allows the lower frame 12 to rotate freely along the X-axis direction and the Y-axis direction relative to the upper frame 11. The cross-axis mechanism 13 includes a first axis and a second axis arranged perpendicular to each other, and the two are fixedly connected to form a cross axis; the two sides of the first axis are respectively connected to bearing seats, and the bearing seats are fixedly connected to the lower frame 12; the second axis is fixedly connected to the connecting member 14. A buffer 15 is arranged below the second axis; the two ends of the buffer 15 are respectively fixedly connected to the first axis and the lower frame 12; the buffer 15 is a hydraulic damper or a spring buffer device. The lower frame 12 is rotatably connected with a limiting collar 16; the limiting collar 16 is annular, one end of which is rotatably connected to the lower frame 12 through a rotating sleeve, and the other end is sleeved on the upper frame 11; the limiting collar 16 allows the lower frame 12 to rotate relative to the upper frame 11 within a range of ±30°. The connecting member 14 is fixedly connected to the upper frame 11. The basic structure of the adaptive chassis mechanism includes an upper frame 11 and a lower frame 12, which are non-rigidly connected through a cross-axis mechanism 13 and a connecting member 14; the cross-axis mechanism 13 is composed of a first axis and a second axis that are fixedly connected to each other perpendicularly to form a cross axis, wherein: both ends of the first axis are fixed to the lower frame 12 through a bearing seat, allowing rotation around the X axis; the second axis is fixedly connected to the connecting member 14, so that the lower frame 12 can rotate relative to the upper frame 11 around the Y axis. The motion compensation extension structure of the adaptive chassis mechanism includes a buffer component and a rotation limiting mechanism. Buffer assembly: A buffer member 15 such as a hydraulic damper or a spring is arranged below the second axis, and its two ends are respectively connected to the first axis and the lower frame 12, so as to absorb the impact of operation; Rotation limiting mechanism: A rotatable limiting ring 16 is arranged on the lower frame 12, one end of the ring is connected to the lower frame through a rotating sleeve, and the other end is sleeved on the upper frame 11, so as to limit the rotation angle of the lower frame to ±30°.In summary, the present embodiment provides an adaptive chassis mechanism with pitch and roll compensation functions, and the specific implementation methods are as follows: frame connection structure: the upper frame 11 adopts a rectangular steel tube welded frame; the lower frame 12 also adopts a rectangular steel tube welded frame, and the sizes of the two are similar. A cross-axis mounting base is welded near the center of gravity of the lower frame 12, and the cross-axis mounting base is connected to the cross-axis mechanism 3 to ensure that the lower frame 12 will not self-tilt in a free state; the cross-axis mechanism 13 is composed of a first axis 131 (X-axis) and a second axis 132 (Y-axis) made of 45# steel, which are orthogonally welded, and a reinforcing rib is provided at the intersection; both ends of the first axis 131 are installed in the bearing seat of the lower frame 12 through roller bearings 133 with sealing rings; the top end of the second axis 132 is fixed by welding to the connecting piece 14. Buffer and limit device: The buffer 15 uses a coil spring group, and two groups are symmetrically installed below the second shaft 132: the upper end of the spring is fixed to the sleeve of the first shaft 131 through a U-shaped buckle; the lower end of the spring is connected to the cross bar of the lower frame 12 by welding; the limit device is the limit collar 16. Connection method: The connecting member 14 is a square tube stamped from a steel plate with a thickness of 20 mm, which is sleeved with the horizontal axis set on the upper frame 11 and fixed by welding, and the lower end is welded and fixed to the cross shaft mechanism 3. Working principle: When the equipment is traveling on uneven ground: pitch compensation: the lower frame 12 rotates around the first axis 131 (X axis), with a maximum angle of ±30°, roll compensation: the lower frame 12 rotates around the second axis 132 (Y axis); during the compensation process, the limit ring 16 forms a mechanical limit; the compression or stretching of the buffer 15 provides a reset trend; impact absorption: the ground impact force is transmitted to the cross-axis mechanism 13 through the lower frame 12, and the buffer 15 performs buffering and attenuation, and the measured vibration acceleration is reduced by 55%-65%. Technical effect: verified by field tests (refer to GB / T 24675.2-2021): when operating on a 15° slope, the horizontal deviation of the upper frame 11 is ≤2°; the buffer system reduces the peak impact load of the functional component by 58.7%; the limit mechanism effectively prevents the twisting failure of the drip irrigation belt caused by excessive deflection. Example 2: Such as. Figure 5-6As shown, an adaptive chassis mechanism, the adaptive chassis mechanism 1 includes an upper frame 11 and a lower frame 12; a cross-axis mechanism 13 is fixedly connected to the lower frame 12; a connecting member 14 is fixedly connected to the cross-axis mechanism 13; the connecting member 14 is connected to the upper frame 11, so that the lower frame 12 is connected to the upper frame 11 through the cross-axis mechanism 13 and the connecting member 14 in turn; the cross-axis mechanism 13 allows the lower frame 12 to rotate freely along the X-axis direction and the Y-axis direction relative to the upper frame 11. The cross-axis mechanism 13 includes a first axis and a second axis arranged perpendicular to each other, and the two are fixedly connected to form a cross axis; the two sides of the first axis are respectively connected to bearing seats, and the bearing seats are fixedly connected to the lower frame 12; the second axis is fixedly connected to the connecting member 14. A buffer 15 is arranged below the second axis; the two ends of the buffer 15 are respectively fixedly connected to the first axis and the lower frame 12; the buffer 15 is a hydraulic damper or a spring buffer device. The lower frame 12 is rotatably connected with a limiting collar 16; the limiting collar 16 is annular, one end of which is rotatably connected to the lower frame 12 through a rotating sleeve, and the other end is sleeved on the upper frame 11; the limiting collar 16 allows the lower frame 12 to rotate relative to the upper frame 11 within a range of ±30°. The connecting member 14 and the upper frame 11 are connected to each other through a lateral displacement mechanism, so that the connecting member 14, the cross-axis mechanism 13 and the lower frame 12 can be displaced as a whole along the X-axis relative to the upper frame 11. The above-mentioned lateral displacement mechanism includes a lateral chain 171, and the two ends of the above-mentioned lateral chain 171 are respectively connected with support sprockets 172, and the above-mentioned support sprockets 172 are respectively arranged on the upper frame 11; the above-mentioned connecting member 14 is fixedly connected to the lateral chain 171, and moves with the rotation of the lateral chain 171; the above-mentioned connecting member 14 is slidingly assembled and connected with the guide rod 173; the two ends of the above-mentioned guide rod 173 are respectively fixedly connected to the upper frame 11, and the axial direction thereof is arranged parallel to the lateral chain 171; one of the two above-mentioned support sprockets 172 is coaxially fixedly connected with the transmission rod 174; the above-mentioned transmission rod 174 is synchronously meshed and assembled with the operating wheel 176 through the sprocket and the transmission chain 175; the above-mentioned upper frame 11 is provided with a gantry arranged perpendicular to its main body, and the above-mentioned operating wheel 176 is arranged on the gantry. A support reinforcement rod 18 is provided on the above-mentioned connecting member 14; one end of the above-mentioned support reinforcement rod 18 is fixedly connected to the connecting member 14, and the other end is fixedly connected to the sliding sleeve 19; the above-mentioned sliding sleeve 19 is slidingly assembled and connected to the cross bar provided on the gantry; the above-mentioned sliding sleeve 19 is provided with fastening bolts for temporary fixation.In summary, the basic structure of the adaptive chassis mechanism includes an upper frame 11 and a lower frame 12, which are non-rigidly connected through a cross-axis mechanism 13 and a connector 14; the cross-axis mechanism 13 is composed of a first axis and a second axis that are vertically fixedly connected to each other to form a cross axis, wherein: both ends of the first axis are fixed to the lower frame 12 through a bearing seat, allowing rotation around the X axis; the second axis is fixedly connected to the connector 14, so that the lower frame 12 can rotate around the Y axis relative to the upper frame 11. The motion compensation extension structure of the adaptive chassis mechanism includes a buffer assembly, a rotation limit mechanism and a lateral displacement mechanism, wherein the lateral displacement mechanism is an optional mechanism that can be selected in the scenario where the lateral adjustment of the lower frame 12 is required. Buffer assembly: A buffer member 15 such as a hydraulic damper or a spring is arranged below the second axis, and its two ends are respectively connected to the first axis and the lower frame 12 for absorbing operating impact; Rotational limiting mechanism: A rotatable limiting sleeve 16 is arranged on the lower frame 12, one end of the sleeve is connected to the lower frame through a rotating sleeve, and the other end is sleeved on the upper frame 11, limiting the rotation angle of the lower frame to ±30°; Transverse displacement mechanism: The connecting member 14 is connected to the upper frame 11 through a transverse chain 171, a guide rod 173 and a sprocket transmission assembly to realize the overall translation of the lower frame along the X-axis, wherein: the transverse chain 171 is installed on the upper frame through a supporting sprocket 172; the connecting member 14 is fixed to the chain and slidably sleeved on the guide rod 173; the operating wheel 176 drives the sprocket through the transmission chain 175 to realize the control translation. The adaptive chassis mechanism is provided with a structural reinforcement design, that is, the connecting member 14 is provided with a support reinforcement rod 18, one end of which is fixed to the connecting member, and the other end is slidably connected to the crossbar of the upper frame through a sliding sleeve 19 to form a support structure; the sliding sleeve 19 is equipped with a fastening bolt for fixing the position after lateral displacement. In summary, this embodiment adds a lateral displacement mechanism on the basis of embodiment 1, and the specific implementation method is as follows: lateral adjustment core component: the lateral chain 171 uses the 08B-1 roller chain of ISO 606 standard, with a pitch of 12.7mm, and is arranged in parallel on the inner side of the upper frame 11; the support sprocket 172 is a double-row tooth structure, which is installed on the upper frame 11 through a seat bearing; the guide rod 173 adopts a chrome-plated optical axis, which is installed in parallel on the inner side of the chain, and the two ends are fixed to the upper frame 11 through flanges; the transmission rod 174 is coaxially connected to the right support sprocket 172, and forms a 1:4 reduction transmission with the operating wheel 176 through the transmission chain 175. Working principle: When the working position needs to be adjusted laterally, loosen the butterfly bolt of the sliding sleeve 19 and rotate the operating wheel 176; the operating wheel 176 drives the supporting sprocket 172 to rotate through the transmission chain 175, driving the transverse chain 171 to make the connecting piece 14 slide along the guide rod 173; after adjusting to the right position, tighten the butterfly bolt, and the support reinforcement rod 18 and the sliding sleeve 19 form a rigid triangular support.Embodiment 3: A drip irrigation seeding offline machine comprising the adaptive chassis mechanism of the above-mentioned embodiment 1, wherein a traveling mechanism 2 is arranged below the upper frame 11 of the adaptive chassis mechanism 1, and a functional component is arranged below the lower frame 12 of the adaptive chassis mechanism 1; a plurality of drip irrigation belt support frames 5, a plurality of seed belt support frames 7 and a pair of handles 9 are arranged above the above-mentioned upper frame 11; drip irrigation belt guides 6 and seed belt guides 8 corresponding to the number of drip irrigation belt support frames 5 and seed belt support frames 7 are arranged on the above-mentioned upper frame 11; the above-mentioned drip irrigation belt guide 6 is connected to a cross bar arranged on the upper frame 11, and ... It is connected to the upper frame 11 through a sleeve, and a fastening bolt is provided on the sleeve for temporary fixation; the above-mentioned drip tape guide 6 is a hollow rod-shaped member with one end vertical, the other end curved in an arc shape, and open at both ends; the size of the above-mentioned drip tape guide 6 corresponds to the size of the drip tape; the above-mentioned seed tape guide 8 is connected to another cross bar provided on the upper frame 11, and the above-mentioned seed tape guide 8 is connected to the upper frame 11 through a sleeve, and a fastening bolt is provided on the sleeve for temporary fixation; the above-mentioned seed tape guide 8 is a hollow rod-shaped member with one end vertical, the other end curved in an arc shape, and open at both ends; the size of the above-mentioned seed tape guide 8 corresponds to the size of the seed tape. The functional component is a pressing roller 3; a ridging roller 4 is arranged at the front end of the adaptive chassis mechanism 1; the travel mechanism 2 is a crawler or wheel drive mechanism; the ridging roller 4 is connected to the upper frame 11 through a height-adjustable connector; the height-adjustable connector includes a connecting rod, a roller support frame and a sleeve, one end of the connecting rod is fixedly connected to the roller support frame, and the other end is sleeved with the sleeve, and the sleeve and the connecting rod are provided with a number of corresponding through holes, and the through holes are provided with fixing bolts for temporary fixed connection. In summary, the overall layout of the drip irrigation seeding offline machine is as follows: a crawler / wheel travel mechanism 2 is installed below the upper frame 11 of the adaptive chassis mechanism 1, a pressing roller 3 is connected below the lower frame 12, and a height-adjustable ridging roller 4 is arranged at the front end; a drip irrigation belt support frame 5, a seed belt support frame 7, and corresponding guides 6, 8 and a control handle 9 are arranged on the upper part of the upper frame 11. The functional component optimization includes the guide system and the ridging roller adjustment mechanism; the drip tape guide 6 and the seed tape guide 8 of the guide system are both arc-shaped hollow rods, which are installed on the cross bar of the upper frame through a sleeve, and the position can be adjusted by tightening bolts; the ridging roller 4 of the ridging roller adjustment mechanism is connected to the sleeve-type height adjustment component through a connecting rod, and the sleeve and the connecting rod are provided with multiple groups of through holes, and the height graded adjustment can be achieved by bolt fixing.In summary, the present embodiment provides a drip irrigation seeding machine integrating the adaptive chassis mechanism described in Embodiment 1, and the specific implementation method is as follows: the travel mechanism 2 adopts a rubber crawler drive, with a single-side crawler width of 200 mm and a ground contact length of 1200 mm, and is equipped with a 15kW diesel engine drive; a height-adjustable connector is welded to the front of the upper frame 11, which is connected to the ridging roller 4 through a connecting rod; the connecting rod is provided with adjustment holes (Φ12 mm) with a spacing of 50 mm, and is fixed to the sleeve by M10 bolts to achieve five-speed adjustment of the ridging height of 150-300 mm. The drip irrigation belt support frame 5 is an arc-shaped support with a maximum bearing diameter of Φ600mm. Two are provided and are installed at the front end of the upper frame 11 respectively. The drip irrigation belt guide 6 is formed by bending a Φ25×1.5mm stainless steel pipe with a bending radius of R=150mm, an inlet section length of 300mm, and an outlet section length of 200mm. The guide is installed on the crossbar through a Φ28mm sleeve 61, and the sleeve spacing can be adjusted in the range of 400-800mm. The seed belt support frame 7 is a rod-shaped structure with a plug that can be fixedly connected at the end, which is suitable for the standard seed belt winding core; the seed belt guide 8 has a bending radius of R=100mm, and a polyethylene wear-resistant bushing (thickness 2mm) is embedded in the inner wall. The handle 9 is a U-shaped steel pipe structure, and both ends are installed on the gantry of the upper frame 11 through quick-release joints; the pressure roller 3 is connected to the lower frame 12 through a bearing seat, and a diamond-shaped convex pattern is provided on the surface. Operation process: Terrain adaptation stage: When encountering a slope below 15°, the lower frame 12 automatically compensates for pitch / roll through the cross-axis mechanism 13 to keep the ground pressure of the pressure roller 3 stable; Tape laying and sowing stage: The drip irrigation belt is deployed through the arc section of the guide 6 to achieve angle control (exit angle 45°±5°); the seed belt reduces friction resistance through the wear-resistant bushing of the guide 8 (measured resistance ≤5N). Example 4: As. Figure 7-11As shown, a drip irrigation seeding offline machine including the adaptive chassis mechanism of the above-mentioned embodiment 2 is provided, a traveling mechanism 2 is arranged below the upper frame 11 of the adaptive chassis mechanism 1, and a functional component is arranged below the lower frame 12 of the adaptive chassis mechanism 1; a plurality of drip irrigation belt support frames 5, a plurality of seed belt support frames 7 and a pair of handles 9 are arranged above the above-mentioned upper frame 11; drip irrigation belt guides 6 and seed belt guides 8 corresponding to the number of drip irrigation belt support frames 5 and seed belt support frames 7 are arranged on the above-mentioned upper frame 11; the above-mentioned drip irrigation belt guide 6 is connected to a cross bar provided on the upper frame 11, and ... The sleeve is connected to the upper frame 11, and fastening bolts are provided on the sleeve for temporary fixation; the above-mentioned drip tape guide 6 is a hollow rod-shaped member with one end vertical, the other end curved in an arc shape, and both ends open; the size of the above-mentioned drip tape guide 6 corresponds to the size of the drip tape; the above-mentioned seed tape guide 8 is connected to another cross bar provided on the upper frame 11, and the above-mentioned seed tape guide 8 is connected to the upper frame 11 through the sleeve, and fastening bolts are provided on the sleeve for temporary fixation; the above-mentioned seed tape guide 8 is a hollow rod-shaped member with one end vertical, the other end curved in an arc shape, and both ends open; the size of the above-mentioned seed tape guide 8 corresponds to the size of the seed tape. The above functional component is a pressing roller 3; a ridging roller 4 is arranged at the front end of the above adaptive chassis mechanism 1; the above travel mechanism 2 is a crawler or wheel drive mechanism; the above ridging roller 4 is connected to the upper frame 11 through a height-adjustable connector; the above height-adjustable connector includes a connecting rod, a roller support frame and a sleeve, one end of the connecting rod is fixedly connected to the roller support frame, and the other end is sleeved with the sleeve, and a number of corresponding through holes are arranged on the sleeve and the connecting rod, and fixing bolts are arranged in the through holes for temporary fixed connection. In summary, this embodiment deeply integrates the lateral adjustment chassis mechanism of embodiment 2 with the seeding equipment to form an operating system with the position correction function of the lower frame 12, which has the same overall layout and working principle as the drip irrigation seeding offline machine of embodiment 3. Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An adaptive chassis mechanism, characterized in that: The adaptive chassis mechanism (1) comprises an upper frame (11) and a lower frame (12); a cross-axis mechanism (13) is fixedly connected to the lower frame (12); a connecting member (14) is fixedly connected to the cross-axis mechanism (13); the connecting member (14) is connected to the upper frame (11), so that the lower frame (12) is connected to the upper frame (11) in sequence through the cross-axis mechanism (13) and the connecting member (14); the cross-axis mechanism (13) enables the lower frame (12) to rotate freely along the X-axis direction and the Y-axis direction relative to the upper frame (11).

2. An adaptive chassis mechanism according to claim 1, characterized in that: The cross-axis mechanism (13) comprises a first axis and a second axis which are arranged perpendicular to each other and are fixedly connected to form a cross-axis; the first axis is connected to bearing seats on both sides respectively, and the bearing seats are fixedly connected to the lower frame (12); the second axis is fixedly connected to the connecting member (14).

3. An adaptive chassis mechanism as claimed in claim 2, characterized in that: A buffer member (15) is provided below the second shaft; two ends of the buffer member (15) are fixedly connected to the first shaft and the lower frame body (12) respectively.

4. The adaptive chassis mechanism according to claim 2, characterized in that: The lower frame body (12) is rotatably connected to a limiting collar (16); the limiting collar (16) is annular, one end of which is rotatably connected to the lower frame body (12) via a rotating sleeve, and the other end of which is sleeved on the upper frame body (11).

5. An adaptive chassis mechanism according to any one of claims 1 to 4, characterized in that: The connecting piece (14) is fixedly connected to the upper frame body (11).

6. An adaptive chassis mechanism according to any one of claims 1 to 4, characterized in that: The connecting member (14) and the upper frame body (11) are connected to each other via a lateral displacement mechanism, so that the connecting member (14), the cross-axis mechanism (13) and the lower frame body (12) can be displaced as a whole along the X-axis relative to the upper frame body (11).

7. An adaptive chassis mechanism according to claim 6, characterized in that: The transverse displacement mechanism comprises a transverse chain (171), the two ends of the transverse chain (171) are respectively connected to support sprockets (172), and the support sprockets (172) are respectively arranged on the upper frame (11); the connecting member (14) is fixedly connected to the transverse chain (171) and moves following the rotation of the transverse chain (171); the connecting member (14) is slidingly fitted and connected to a guide rod (173); the two ends of the guide rod (173) are respectively fixedly connected to the upper frame (11), and the axial direction of the guide rod (173) is arranged parallel to the transverse chain (171); one of the two support sprockets (172) is coaxially fixedly connected to a transmission rod (174); the transmission rod (174) is synchronously meshed and fitted and connected with an operating wheel (176) through a sprocket and a transmission chain (175); a gantry frame arranged perpendicular to the upper frame (11) is arranged on the upper frame, and the operating wheel (176) is arranged on the gantry frame.

8. An adaptive chassis mechanism as claimed in claim 7, characterized in that: The connecting member (14) is provided with a support reinforcement rod (18); one end of the support reinforcement rod (18) is fixedly connected to the connecting member (14), and the other end is fixedly connected to a sliding sleeve (19); the sliding sleeve (19) is slidingly assembled and connected to a crossbar provided on the gantry; the sliding sleeve (19) is provided with a fastening bolt for temporary fixing.

9. A drip irrigation seeding machine comprising the above-mentioned adaptive chassis mechanism, characterized in that: A travel mechanism (2) is arranged below the upper frame (11) of the adaptive chassis mechanism (1), and a functional component is arranged below the lower frame (12) of the adaptive chassis mechanism (1); a plurality of drip irrigation tape support frames (5), a plurality of seed tape support frames (7) and a pair of handles (9) are arranged above the upper frame (11); and drip irrigation tape guides (6) and seed tape guides (8) corresponding in number to the number of drip irrigation tape support frames (5) and seed tape support frames (7) are arranged on the upper frame (11); The drip irrigation tape guide (6) is connected to a crossbar provided on the upper frame (11); the drip irrigation tape guide (6) is connected to the upper frame (11) via a sleeve, and a fastening bolt is provided on the sleeve for temporary fixation; the drip irrigation tape guide (6) is a hollow rod-shaped member with one end vertical and the other end curved in an arc shape, and both ends open; the size of the drip irrigation tape guide (6) corresponds to the size of the drip irrigation tape; The seed belt guide (8) is connected to another cross bar provided on the upper frame (11); the seed belt guide (8) is connected to the upper frame (11) via a sleeve, and a fastening bolt is provided on the sleeve for temporary fixation; the seed belt guide (8) is a hollow rod-shaped member with one end vertical and the other end curved in an arc shape, and both ends open; the size of the seed belt guide (8) corresponds to the size of the seed belt.

10. An adaptive chassis mechanism according to claim 9, characterized in that: The functional component is a pressing roller (3); a ridging roller (4) is provided at the front end of the adaptive chassis mechanism (1); and the travel mechanism (2) is a crawler-type or wheel-type drive mechanism; The ridging roller (4) is connected to the upper frame (11) via a height-adjustable connecting piece; the height-adjustable connecting piece comprises a connecting rod, a roller support frame and a sleeve, one end of the connecting rod is fixedly connected to the roller support frame, and the other end is sleeved with the sleeve, a plurality of corresponding through holes are provided on the sleeve and the connecting rod, and fixing bolts are provided in the through holes for temporary fixing connection.

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