Self-propelled water-saving irrigation seeder suitable for sloping field

Abstract

The self-propelled water-saving irrigation seeder comprises a vehicle body, the vehicle body comprises a controller with a touch screen, a storage battery, a water tank, a water pump, a digging mechanism, a seeding mechanism and a soil covering mechanism, lifting mechanisms are fixed to the left portion and the right portion of the vehicle body respectively, and lifting frames are connected to the left portion and the right portion in an up-down sliding mode respectively; the lifting mechanism is used for driving the lifting frame to move up and down and brake, horizontal first servo motors with a braking function are fixed to the middle of the lifting frame in the left-right direction, supporting shafts are fixed to the front portion and the rear portion of the lifting frame in the left-right horizontal direction respectively, and gears are coaxially fixed to rotating shafts of the two first servo motors respectively. The controller is used for controlling the two first servo motors to rotate forwards and backwards, namely, forward and backward rotation of the rolling wheels can be achieved through cooperation of the gears and the gear rings, and therefore the device can advance and retreat on the ground, and when the two first servo motors are controlled to rotate at different speeds, turning can be achieved, and self-walking is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural sowing, in particular to a self-propelled water-saving irrigation seeder suitable for sloping land. Background Art

[0002] Compared with planting on flat land, planting on slopes can make greater use of land resources and expand total grain production, which is of great significance for ensuring food security in some areas with scarce arable land resources. However, compared with planting on flat land, planting on slopes has many characteristics. For example, planting on slopes often has poor water retention, rapid water loss, and inconvenient irrigation. Therefore, water-saving irrigation is of great significance for planting on slopes. Since the ground on slopes is in an inclined state, traditional sowing mechanisms are prone to uneven digging depths during automatic sowing operations, which has a negative impact on crop growth. It is also difficult to irrigate during sowing, which reduces the seed germination rate and crop survival rate. Therefore, sowing is mostly done manually, which results in low work efficiency. Traditional irrigation equipment is also not suitable for water-saving irrigation on slopes because the planting area is limited. If traditional laid irrigation equipment is used for irrigation, it is difficult to make efficient use of the irrigation equipment, resulting in waste. In addition, it is affected by gravitational potential energy, which easily affects the uneven flow of water and causes uneven irrigation effects and waste of water resources, thereby reducing the seed germination rate and crop survival rate, highlighting the shortcomings of the existing technology. Summary of the Invention

[0003] The purpose of the present invention is to provide a self-propelled water-saving irrigation seeder suitable for slope land, so as to solve the technical problems of uneven digging depth and inability to irrigate when sowing on slope land in the existing technology, as well as the technical problems of low equipment response efficiency, uneven irrigation effect and waste of water resources when irrigating on slope land.

[0004] To achieve the above-mentioned purpose, the present invention adopts the following technical solutions: A self-propelled water-saving irrigation seeder suitable for sloping land includes a body, the body includes a controller with a touch screen, a battery, a water tank, a water pump, a digging mechanism, a sowing mechanism and a covering mechanism, the left and right parts of the body are each fixed with a lifting mechanism, and the left and right parts are each slidably connected to a lifting frame, the lifting mechanism is used to drive the lifting frame to move up and down and brake, a horizontal No. 1 servo motor with a braking function is fixed to the middle part of the lifting frame along the left and right directions, and a support shaft is fixed to the front and rear parts along the left and right horizontal directions, the rotating shafts of the two No. 1 servo motors are respectively coaxially fixed with gears, and each of the support shafts is respectively coaxially connected to a roller, and the axial ends of each roller are respectively coaxially fixed with a gear ring, the gear is meshed with the gear rings on the front and rear sides, and the two lifting frames are each fixed with a No. 1 distance measuring sensor, and the No. 1 distance measuring sensor is used to measure the distance the lifting frame moves up and down, the water pump is arranged on the lower side of the water tank, and the water suction pipe is connected to the water tank. The water distribution pipe is connected with the main water pipe of the water distributor through a pipe. The water distributor is fixed to the vehicle body, and the water distribution pipe is sealed and threadedly connected with a detachable No. 1 screw cap. A vertical No. 1 electric push rod is fixed to the front of the vehicle body, and a round pancake-shaped support plate is coaxially fixed to the bottom end of the push rod of the No. 1 electric push rod. The support plate is radially slidably connected with a slider at equal angles around the circumference, and a distance adjustment mechanism is installed. The distance adjustment mechanism is used to adjust the position of the slider relative to the support plate. Each of the sliders is fastened with a detachable and vertical ground plug, and each of the ground plugs is provided with a penetrating water injection hole. The upper part of the water injection hole penetrates upward and the bottom penetrates to the side and above. The water injection hole is detachably connected to the water distribution pipe of the water distributor through a hose. The controller, battery, water pump, No. 1 servo motor, No. 1 distance measuring sensor, and No. 1 electric push rod are electrically connected. A spirit level is fixed on the top of the vehicle body along the left and right directions to detect whether the left and right directions are level.

[0005] On the basis of the above technical solution, the distance adjustment mechanism includes a guide light rod, a tension spring, a light ball, a guide cover, and a regular hexagonal tube. Each of the sliders is respectively fixed with a horizontal guide light rod and a horizontal tension spring. The tension spring gap is inserted outside the guide light rod, and the other end is fixed to the outer peripheral part of the support plate. The guide light rod and the tension spring are parallel to the sliding direction of the slider. Each of the sliders has a tendency to move away from each other under the elastic tension of the tension spring. The axial end of the guide light rod is fixed with a light ball. The push rod of the No. 1 electric push rod is coaxially threaded with a truncated cone shell-shaped guide cover. The light ball can contact the conical surface of the inner wall of the guide cover under the indirect pull of the tension spring. The upper part of the guide cover is coaxially fixed with a regular hexagonal tube. The regular hexagonal tube and the No. 1 electric push rod The push rods are connected with the same axis thread, and each of the ground plugs has two water injection holes, and the penetration points at the bottom of the two water injection holes are respectively located at the bottom of the ground plug and the lower middle part of the ground plug. The outer wall of the ground plug is coaxially fixed with a hexagonal limiting nut, and the bottom end of each slider is provided with a limiting groove matching the limiting nut. The upper outer wall of each ground plug is coaxially threaded with a detachable fastening nut, and the ground plug is gap-plugged with the slider, and the limiting nut is plugged into the limiting groove, and the bottom end of the fastening nut conflicts with the top end of the slider. A vertical No. 2 ranging sensor is fixed to the front of the vehicle body, and a No. 2 baffle is radially fixed to the push rod of the No. 1 electric push rod. The No. 2 ranging sensor can measure the vertical distance to the No. 2 baffle and is electrically connected to the controller.

[0006] On the basis of the above technical solution, the lifting mechanism includes a No. 1 baffle, a No. 2 servo motor, a No. 2 screw rod, a No. 2 electric push rod, and a No. 2 socket. A horizontal No. 1 baffle is fixed on each of the left and right ends of the vehicle body, and a vertical No. 2 servo motor is fixed on the top of the two No. 1 baffles respectively. The rotating shafts of the two No. 2 servo motors are coaxially fixed with vertical No. 2 screw rods. The rotating shafts of the No. 2 servo motors are rotatably connected to the No. 1 baffle, and the two No. 2 screw rods are respectively threaded through the two lifting frames. The two No. 1 ranging sensors can respectively measure the vertical distance between the No. 1 baffles. The front and rear parts of the two lifting frames are each fixed with a horizontal No. 2 electric push rod along the left and right directions. A plurality of No. 2 sockets are opened on the left and right ends of the vehicle body along the left and right horizontal directions. The No. 2 sockets are arranged equidistantly from top to bottom. The No. 2 electric push rods are respectively electrically connected to the controller, and their push rods can be plugged in and out of the No. 2 sockets.

[0007] On the basis of the above technical scheme, the excavation mechanism includes a No. 3 electric push rod, a rear sliding frame, a No. 4 electric push rod, a No. 5 electric push rod, a No. 4 socket, a support frame, a sliding seat, a tightening bolt, a rubber pad, a plow head, a No. 3 distance measuring sensor, and a No. 3 baffle. A vertical No. 3 electric push rod is fixed to the rear of the vehicle body, and the rear is connected to the rear sliding frame for up and down sliding. The bottom end of the push rod of the No. 3 electric push rod is fixed to the bottom of the rear sliding frame. The left and right parts of the rear sliding frame are each fixed with a horizontal No. 4 electric push rod along the front and back directions, and the left and right parts are each fixed with a vertical No. 5 electric push rod. A plurality of horizontal No. 4 sockets are opened along the front and back directions at the rear end of the vehicle body, and the No. 4 sockets are arranged equidistantly from top to bottom, and the push rod of the No. 4 electric push rod can be plugged in and out of the No. 4 socket. The push rod of the rod is inserted into the gap through the upper and lower parts of the rear sliding frame, and a support frame is hinged on the left and right middle parts of the rear sliding frame, and the support frame is slidably connected to a plurality of detachable sliding seats, each of the sliding seats is fixed with a tightening bolt, and the support frame is fixed with a rubber pad along the left and right directions, and the tightening bolt can be tightened on the rubber pad to limit the sliding seat, and each of the sliding seats is fixed with a plow head extending rearward and downward, and the push rods of each of the No. 5 electric push rods respectively contact the top of the support frame, and a No. 3 distance measuring sensor is fixed to the rear of the vehicle body, and a horizontal No. 3 baffle is fixed to the rear of the rear sliding frame. The No. 3 distance measuring sensor can measure the vertical distance between the No. 3 baffles, and the No. 3 electric push rod, No. 4 electric push rod, No. 5 electric push rod and No. 3 distance measuring sensor are electrically connected to the controller respectively.

[0008] On the basis of the above technical solution, the soil covering mechanism includes a No. 6 electric push rod, a front sliding frame, a soil covering bucket, a No. 4 baffle, and a No. 4 distance measuring sensor. A vertical No. 6 electric push rod is fixed to the front of the vehicle body. The bottom end of the No. 6 electric push rod is hinged to the left and right with a vertical front sliding frame. A vertical soil covering bucket is fixed to the bottom end of the front sliding frame, and a horizontal No. 4 baffle is fixed at the front end. A vertical No. 4 distance measuring sensor is fixed to the front of the vehicle body. The No. 4 distance measuring sensor is used to measure the vertical distance to the No. 4 baffle. The No. 6 electric push rod, the No. 4 distance measuring sensor and the controller are electrically connected.

[0009] On the basis of the above technical solution, the sowing mechanism includes a storage tank, a cover plate, a receiving tank, a support plate, a No. 3 servo motor, a sowing roller, a carrying hole, and a sowing channel. A vertical storage tank is opened on the top of the vehicle body, the storage tank extends in the left and right directions, and the bottom is gathered. The upper part of the storage tank is covered with a detachable cover plate, and a horizontal receiving tank is passed through the front and rear of the vehicle body. A vertical support plate is fixed to the left part of the receiving tank, and a No. 3 servo motor with a braking function is fixed to the left end of the support plate. The rotating shaft of the No. 3 servo motor is rotatably connected to the support plate, and the sowing roller is coaxially installed on its rotating shaft. The sowing roller is rotatably connected to the receiving tank, and a plurality of carrying holes are opened on the outer circumferential wall. A plurality of vertical sowing channels are provided at the bottom of the vehicle body, the upper part of the sowing channel is connected to the bottom of the receiving tank, and the bottom passes through the bottom end of the vehicle body, the No. 3 servo motor is electrically connected to the controller, and when the No. 3 servo motor rotates to a certain angle, the carrying hole can be connected to the bottom of the storage tank and the upper part of the sowing channel.

[0010] On the basis of the above technical scheme, the sowing mechanism also includes a regular hexagonal rod, a limit plate, a No. 5 socket, a slot, a blocking rod, a push plate, a main top block, a secondary top block, and an adjusting slot, the right part of the accommodating slot is threadedly connected to a detachable limit plate, the limit plate is coaxially rotatably connected to the regular hexagonal rod, and the rotating shaft of the No. 3 servo motor is also coaxially fixed with the regular hexagonal rod, the left and right parts of the sowing roller are each provided with a coaxial No. 5 socket matching the regular hexagonal rod, the two No. 5 sockets are respectively plugged into the same axis with the two regular hexagonal rods, the sowing roller can be detached from the accommodating slot from left to right, the aperture of the outer circumference carrying hole of the sowing roller increases successively in the circumferential direction, the aperture of the carrying holes of the outer circumference of the sowing roller is arranged in sequence with the same size in the axial direction, the right end of the sowing roller is coaxially provided with a regular polygonal cylindrical slot, the number of external side edges of the slot is the same as the number of carrying holes in the same circumferential direction of the sowing roller, and each of the carrying holes is radially arranged compared to the sowing roller The cam is connected with the slotted hole in the center of the slotted hole, and the cam is connected with the slotted hole in the center of the slotted hole, and the cam is connected with the slotted hole in the center of the slotted hole, and the cam is connected with the slotted hole in the center of the slotted hole, and the cam is connected with the slotted hole in the center of the slotted hole, and the cam is connected with the slotted hole in the center of the slotted hole, and the cam is connected with the

[0011] On the basis of the above technical solution, a plurality of water supply channels are provided in the vehicle body, the left part of the water supply channel is horizontal, and the right part is inclined to the lower right, and the lower right part of each water supply channel is connected with the upper part of the sowing channel respectively, and a plurality of electric valves are fixed in the vehicle body, and the electric valves are used to control the on and off of water, and the water outlet of the electric valve is connected with the left part of the water supply channel, and the water inlet is connected with the bottom of the water tank cavity, and each electric valve is electrically connected to the controller respectively, and the water tank is fixedly connected with a water injection pipe, and the water injection pipe is sealed and threaded with a No. 2 sealing cap.

[0012] On the basis of the above technical solution, a vertical guide cylinder is fixed to the bottom of the vehicle body, and a plurality of guide channels are passed through the guide cylinder from top to bottom, and each of the guide channels is connected to the sowing channel respectively. A valve cavity connected to each guide channel is provided in the middle of the guide cylinder, and the valve cavity is cylindrical in the left and right horizontal directions, and a valve core is coaxially sealed and rotatably connected inside. A plurality of valve holes are radially passed through the valve core, and each of the valve holes is arranged in sequence from left to right and can be respectively connected to the upper and lower parts of the guide channel, and the valve core can block the guide channel. A No. 4 servo motor with a braking function is fixed to the right part of the guide cylinder, and the rotating shaft of the No. 4 servo motor is rotatably connected to the guide cylinder seal, the rotating shaft of the No. 4 servo motor is coaxially fixed with the valve core, and the No. 4 servo motor is electrically connected to the controller.

[0013] On the basis of the above technical solution, a left placement groove is provided in the vehicle body, and the left placement groove is located on the upper left of the accommodating groove and is connected to the accommodating groove. Multiple left ranging sensors are fixed in sequence from left to right in the left placement groove, and the left ranging sensors are electrically connected to the controller. When the sowing roller rotates, the left ranging sensor can measure the straight-line distance of the axial end of the blocked light rod in each carrying hole, and each left ranging sensor corresponds to each electric valve one by one.

[0014] Compared with the prior art, the present invention has the following advantages: the present invention controls the two No. 1 servo motors to rotate forward and reverse through a controller, and the forward and reverse rotation of the roller can be achieved by utilizing the cooperation between the gear and the ring gear, thereby achieving the forward and backward movement of the device on the ground; and when the two No. 1 servo motors are controlled to rotate at different speeds, a turn can be achieved, thereby achieving self-propelled walking; The self-propelled device with a distance adjustment mechanism can change the orientation of the bottom of the water injection hole relative to the support plate, thereby changing the drainage angle after the water injection hole is drained, thereby changing the irrigation effect and achieving fixed-point irrigation to meet irrigation needs and improve equipment utilization and irrigation effect; During self-propelled operation, since the support frame and the rear sliding frame are hinged left and right, the depth of the plow head inserted into the soil can automatically adapt to the slope of the slope due to the resistance, making the digging depth uniform. By controlling the extension of the No. 5 electric push rod to different degrees and using the push rod to tighten the support frame, the inclination angle of the support frame relative to the rear sliding frame can be actively limited, thereby actively ensuring a uniform digging depth. During the sowing process, the controller controls the opening and closing of the corresponding electric valves, and can use the water delivery channel and the sowing channel to inject water into the corresponding soil ditch, that is, sowing and irrigation are achieved simultaneously. Since the irrigation is directly underground and acts on the seeds, it can save water and retain moisture, thereby improving the seed germination rate and crop survival rate. By timely controlling the forward and reverse rotation of the No. 4 servo motor, the valve hole can be connected to the guide channel or the valve core can block the guide channel, so that the mixture of seeds and water can be controlled to be discharged from the guide channel, which can improve the water absorption effect of the seeds, save water resources, and increase the germination rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the axonometric structure of the present invention.

[0016] Figure 2 It is a schematic diagram of the rear structure of the present invention.

[0017] Figure 3 It is a schematic diagram of the cooperation between the support plate and the guide cover of the present invention.

[0018] Figure 4 It is a schematic diagram of the partially enlarged structure of point A of the present invention.

[0019] Figure 5 It is a schematic diagram of the cooperation between the limiting plate and the accommodating groove of the present invention.

[0020] Figure 6 It is a partial right sectional schematic diagram of the present invention.

[0021] Figure 7 It is a schematic diagram of the cooperation between the slot of the present invention and the main top block and the auxiliary top block.

[0022] Figure 8 It is a schematic diagram of the partially enlarged structure of point B of the present invention.

[0023] In the figure: 1. Car body, 2. Controller, 3. Battery, 4. Water tank, 5. Water pump, 10. Lifting frame, 11. Servo motor No. 1, 12. Support shaft, 13. Gear, 14. Roller, 15. Ring gear, 16. Distance sensor No. 1, 17. Water distributor, 18. Screw cover No. 1, 19. Electric push rod No. 1, 20. Support plate, 21. Slider, 23. Ground plug, 24. Water injection hole, 25. Level, 26. Guide light rod, 27. Tension spring, 28. Light ball, 29. Guide cover, 30. Hexagonal tube, 31. Limit nut, 32. Limit slot, 33. Fastening nut, 34. Distance sensor No. 2, 35. Baffle No. 2, 42. Baffle No. 1, 43. Servo motor No. 2, 44. Screw No. 2, 45. Electric push rod No. 2, 46. Socket No. 2, 47. Electric push rod No. 3, 48. Rear sliding frame, 49. Electric push rod No. 4, 50. Electric push rod No. 5, 51. Socket No. 4, 52 , support frame, 53, sliding seat, 54, tightening bolt, 55, plowshare, 56, No. 3 distance sensor, 57, No. 3 baffle, 58, No. 6 electric push rod, 59, front sliding frame, 60, covering bucket, 61, No. 4 baffle, 62, No. 4 distance sensor, 63, storage tank, 64, cover plate, 65, receiving tank, 66, support plate, 67, No. 3 servo motor, 68, sowing roller, 69, carrying hole, 70, sowing channel, 71, regular hexagonal rod , 72. Limit plate, 74. No. 5 jack, 75. Slot, 76. Blocking rod, 77. Push plate, 78. Main top block, 79. Sub-top block, 80. Adjusting groove, 81. Water supply channel, 82. Electric valve, 83. Water injection pipe, 84. No. 2 cover, 85. Guide cylinder, 86. Guide channel, 87. Valve cavity, 88. Valve core, 89. Valve hole, 90. No. 4 servo motor, 91. Left placement slot, 92. Left distance sensor, 93. Rubber pad. DETAILED DESCRIPTION

[0024] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] like Figures 1-8As shown, a self-propelled water-saving irrigation seeder suitable for sloped land includes a body 1, the body 1 includes a controller 2 with a touch screen, a battery 3, a water tank 4, a water pump 5, a digging mechanism, a sowing mechanism and a covering mechanism, the left and right parts of the body 1 are each fixed with a lifting mechanism, and the left and right parts are each connected to a lifting frame 10 for sliding up and down, the lifting mechanism is used to drive the lifting frame 10 to move up and down and brake, the middle part of the lifting frame 10 is fixed with a horizontal No. 1 servo motor with a braking function along the left and right directions, and the front and rear parts are fixed along the left and right directions. A support shaft 12 is fixed in the horizontal direction, and the rotating shafts of the two No. 1 servo motors 11 are coaxially fixed with gears 13. Each of the support shafts 12 is coaxially connected to a roller 14, and the axial ends of each roller 14 are coaxially fixed with a gear ring 15. The gear 13 is meshed with the gear rings 15 on the front and rear sides. The two lifting frames 10 are each fixed with a No. 1 distance sensor 16, which is used to measure the distance the lifting frame 10 moves up and down. The water pump 5 is arranged on the lower side of the water tank 4, and the water suction pipe is connected to the inner cavity of the water tank 4. The outlet pipe of the water pump 5 is connected to the main water pipe of the water distributor 17 through a pipe. The water distributor 17 is fixed to the vehicle body 1, and the water distributor is sealed and threaded with a detachable No. 1 screw cap 18. A vertical No. 1 electric push rod 19 is fixed to the front of the vehicle body 1. The bottom end of the push rod of the No. 1 electric push rod 19 is coaxially fixed with a round pancake-shaped support plate 20. The support plate 20 is connected to a slider 21 with radial sliding at equal angles around the circumference, and is equipped with a distance adjustment mechanism. The distance adjustment mechanism is used to adjust the position of the slider 21 relative to the support plate 20. The sliders 21 are respectively fastened with detachable and vertical ground plugs 23, and each of the ground plugs 23 is respectively provided with a penetrating water injection hole 24. The upper part of the water injection hole 24 penetrates upward, and the bottom penetrates to the side and upward. The water injection hole 24 is detachably connected to the water distribution pipe of the water distributor 17 through a hose. The controller 2, battery 3, water pump 5, No. 1 servo motor 11, No. 1 distance sensor 16, and No. 1 electric push rod 19 are electrically connected. A level 25 for detecting whether the left and right directions are horizontal is fixed on the top of the vehicle body 1 along the left and right directions.

[0026] During use, the controller 2 is used to control the appropriate movement of the lifting mechanisms of the left and right parts of the vehicle body 1 according to the slope of the slope, so that the lifting frame 10 can be moved up and down, and the rollers 14 are used to support the ground to adjust the left and right states of the vehicle body 1 until the observation level 25 tends to be horizontal. By further controlling the lifting and lowering of the lifting mechanism to the same degree, the height of the vehicle body 1 from the ground can be changed to adapt to crops of different heights without maintaining the left and right tilted state of the vehicle body 1, and then the braking function of the lifting mechanism is used to maintain it. In this process, the distance measurement function of the No. 1 distance sensor 16 can be used to indirectly calculate the height of the vehicle body 1 from the ground due to the inconvenience of the size of the vehicle body 1 and the size of the lifting frame 10, and it can be displayed on the touch screen of the controller 2. The two No. 1 servo motors 11 are controlled by the controller 2 to rotate forward and reverse, and the forward and reverse rotation of the roller 14 can be achieved by the cooperation of the gear 13 and the ring gear 15. , thereby realizing the forward and backward movement of the device on the ground, and when the two No. 1 servo motors 11 are controlled to rotate at different speeds, turning can be achieved, thereby realizing self-propelled walking; when the No. 1 electric push rod 19 is retracted, the ground plug 23 is off the ground. At this time, by controlling the water pump 5 to pump water, water can be sprinkled through the water distributor 17 and the water injection hole 24, thereby realizing above-ground irrigation; and by controlling the No. 1 electric push rod 19 to extend the push rod, the ground plug 23 can be inserted into the soil through the support plate 20 and the slider 21, thereby performing underground irrigation; and whether it is above-ground irrigation or underground irrigation, by controlling the distance between each plug 23 to adjust the distance between each plug 23, and then making each plug 23 surround the crop in a surrounding shape, and then performing irrigation work, it can be closer to the root of the crop, that is, root irrigation is achieved; and root irrigation and underground irrigation, compared with traditional above-ground irrigation, can save more water resources and reduce waste.

[0027] The distance adjustment mechanism includes a guide light rod 26, a tension spring 27, a light ball 28, a guide cover 29, and a regular hexagonal tube 30. Each of the sliders 21 is respectively fixed with a horizontal guide light rod 26 and a horizontal tension spring 27. The tension spring 27 is gap-insulated outside the guide light rod 26, and the other end is fixed to the outer peripheral part of the support plate 20. The guide light rod 26 and the tension spring 27 are parallel to the sliding direction of the slider 21. Each of the sliders 21 has a tendency to move away from each other under the elastic tension of the tension spring 27. The axial end of the guide light rod 26 is fixed with a light ball 28. The push rod of the No. 1 electric push rod 19 is coaxially threaded with a truncated cone-shaped guide cover 29. The light ball 28 can contact the conical surface of the inner wall of the guide cover 29 under the indirect pull of the tension spring 27. The upper part of the guide cover 29 is coaxially fixed with a regular hexagonal tube 30. The regular hexagonal tube 30 and the push rod of the No. 1 electric push rod 19 The rods are coaxially threadedly connected, and each of the ground plugs 23 is penetrated by two water injection holes 24. The penetration points at the bottom of the two water injection holes 24 are respectively located at the bottom of the ground plug 23 and the lower middle part of the ground plug 23. The outer wall of the ground plug 23 is coaxially fixed with a hexagonal limiting nut 31, and the bottom end of each slider 21 is respectively provided with a limiting groove 32 matching the limiting nut 31. The upper outer wall of each ground plug 23 is coaxially threaded with a detachable fastening nut 33. The ground plug 23 is gap-plugged with the slider 21, and the limiting nut 31 is plugged into the limiting groove 32. The bottom end of the fastening nut 33 conflicts with the top of the slider 21. A vertical No. 2 distance measuring sensor 34 is fixed to the front of the vehicle body 1, and a No. 2 baffle 35 is radially fixed to the push rod of the No. 1 electric push rod 19. The No. 2 distance measuring sensor 34 can measure the vertical distance to the No. 2 baffle 35 and is electrically connected to the controller 2.

[0028] Furthermore, by manually rotating the regular hexagonal cylinder 30 using a wrench or other tool, the height position of the guide cover 29 relative to the support plate 20 can be adjusted. Under the elastic tension of the tension spring 27, the light ball 28 contacts the inner wall of the guide cover 29, thereby adjusting the spacing between the sliders 21. By removing the fastening nut 33, the ground plug 23 can be separated from the slider 21, that is, the number of ground plugs 23 for irrigation operations can be adjusted. By changing the insertion angle of the limit nut 31 and the limit groove 32, the orientation position of the bottom penetration of the water injection hole 24 relative to the support plate 20 can be changed, thereby changing the drainage angle of the water injection hole 24 after drainage, thereby changing the irrigation effect to meet irrigation needs. For example, when the bottom penetration of the water injection hole 24 expands outward compared to the support plate 20, the irrigation area is more dispersed and larger, while when it gathers inward, the irrigation area is more concentrated and smaller. The distance between the ground plug 23 and the ground can be indirectly obtained through the No. 2 ranging sensor 34 and the No. 2 baffle 35.

[0029] The lifting mechanism includes a No. 1 baffle 42, a No. 2 servo motor 43, a No. 2 screw rod 44, a No. 2 electric push rod 45, and a No. 2 jack 46. A horizontal No. 1 baffle 42 is fixed to each of the left and right ends of the vehicle body 1. A vertical No. 2 servo motor 43 is fixed to the top of the two No. 1 baffles 42. The rotating shafts of the two No. 2 servo motors 43 are coaxially fixed with vertical No. 2 screw rods 44. The rotating shafts of the No. 2 servo motors 43 are connected to the No. 1 baffle 42 for rotation. The two No. 2 screw rods 44 are connected to the two lifting The lowering frames 10 are threadedly connected, and the two No. 1 distance measuring sensors 16 can respectively measure the vertical distance between the No. 1 baffles 42. The front and rear parts of the two lifting frames 10 are each fixed with a horizontal No. 2 electric push rod 45 along the left and right directions. The left and right ends of the vehicle body 1 are provided with multiple No. 2 sockets 46 along the left and right horizontal directions. The No. 2 sockets 46 are arranged equidistantly from top to bottom. The No. 2 electric push rods 45 are respectively electrically connected to the controller 2, and their push rods can be plugged in and out of the No. 2 sockets 46.

[0030] Furthermore, by controlling the No. 2 servo motor 43 to rotate forward and reverse, the No. 2 screw rod 44 can be used to make use of the threaded connection with the lifting frame 10 to realize the up and down movement of the lifting frame 10. When braking is required, the No. 2 electric push rod 45 is controlled to extend and plug into the corresponding No. 2 socket 46, so as to share the load at the threaded connection between the No. 2 screw rod 44 and the lifting frame 10 and reduce thread damage.

[0031] The digging mechanism 6 includes a No. 3 electric push rod 47, a rear sliding frame 48, a No. 4 electric push rod 49, a No. 5 electric push rod 50, a No. 4 jack 51, a support frame 52, a sliding seat 53, a tightening bolt 54, a rubber pad 93, a plow head 55, a No. 3 distance sensor 56, and a No. 3 baffle 57. The rear part of the vehicle body 1 is fixed with a vertical No. 3 electric push rod 47, and the rear part is connected to the rear sliding frame 48 for sliding up and down. The bottom end of the push rod of the No. 3 electric push rod 47 is connected to the rear sliding frame 48. The bottom of the movable frame 48 is fixed, and the left and right parts of the rear sliding frame 48 are each fixed with a horizontal No. 4 electric push rod 49 along the front and rear directions, and the left and right parts are each fixed with a vertical No. 5 electric push rod 50. The rear end of the vehicle body 1 is opened with a plurality of horizontal No. 4 sockets 51 along the front and rear directions. Each of the No. 4 sockets 51 is arranged equidistantly from top to bottom, and the push rod of the No. 4 electric push rod 49 can be plugged in and out of the No. 4 socket 51. The push rod of the No. 5 electric push rod 50 is connected to the rear The sliding frames 48 are inserted through the gaps in the upper and lower parts. A support frame 52 is hingedly connected to the middle part of the rear sliding frame 48. The support frame 52 is slidably connected to a plurality of detachable sliding seats 53. Each sliding seat 53 is fixed with a tightening bolt 54. The support frame 52 is fixed with a rubber pad 93 in the left and right directions. The tightening bolt 54 can be tightened on the rubber pad 93 to limit the sliding seat 53. Each sliding seat 53 is fixed with a plowshare 55 extending backward and downward. The push rods of each of the No. 5 electric push rods 50 respectively contact the top of the support frame 52. A No. 3 distance measuring sensor 56 is fixed to the rear part of the vehicle body 1. A horizontal No. 3 baffle 57 is fixed to the rear part of the rear sliding frame 48. The No. 3 distance measuring sensor 56 can measure the vertical distance between the No. 3 baffles 57. The No. 3 electric push rod 47, the No. 4 electric push rod 49, the No. 5 electric push rod 50, and the No. 3 distance measuring sensor 56 are electrically connected to the controller 2 respectively.

[0032] Furthermore, by measuring the vertical distance of the No. 3 baffle 57 by the No. 3 distance-measuring sensor 56, the distance between the support frame 52 and the ground can be indirectly inferred. By controlling the No. 3 electric push rod 47 to extend and retract by the controller 2, the rear sliding frame 48 can be moved up and down, thereby adjusting the distance between the support frame 52 and the ground. When braking is required, the No. 4 electric push rod 49 is controlled to extend and connect with the corresponding No. 4 socket 51 to limit the position of the rear sliding frame 48 relative to the vehicle body 1. The tightening position of the tightening bolt 54 relative to the rubber pad 93 can be manually adjusted using a wrench. The spacing between the plowshares 55 can be adjusted. When the plowshares 55 are inserted into the soil and the device moves backward, digging and trenching can be carried out to facilitate subsequent sowing. Since the support frame 52 and the rear sliding frame 48 are hinged left and right, the depth of the plowshares 55 inserted into the soil can automatically adapt to the slope of the slope under the action of resistance, so that the digging depth is uniform. By controlling the extension of the No. 5 electric push rod 50 to different degrees and using its push rod to tighten the support frame 52, the inclination angle of the support frame 52 relative to the rear sliding frame 48 can be actively limited, thereby actively ensuring that the digging depth is uniform.

[0033] The covering mechanism includes a No. 6 electric push rod 58, a front sliding frame 59, a covering bucket 60, a No. 4 baffle 61, and a No. 4 distance measuring sensor 62. The front part of the vehicle body 1 is fixed with a vertical No. 6 electric push rod 58. The bottom end of the push rod of the No. 6 electric push rod 58 is hinged to the left and right with a vertical front sliding frame 59. The bottom end of the front sliding frame 59 is fixed with a vertical covering bucket 60, and the front end is fixed with a horizontal No. 4 baffle 61. The front part of the vehicle body 1 is fixed with a vertical No. 4 distance measuring sensor 62. The No. 4 distance measuring sensor 62 is used to measure the vertical distance between the No. 4 baffle 61, and the No. 6 electric push rod 58 and the No. 4 distance measuring sensor 62 are electrically connected to the controller 2.

[0034] Furthermore, after sowing is completed, the controller 2 controls the No. 6 electric push rod 58 to extend the push rod, so that the bottom end of the covering bucket 60 hinged to the left and right of the push rod actively contacts and is flush with the ground. Then, by using the backward movement of this device, the soil generated by the trenching can be pushed back and the seeds at the bottom of the trench can be covered, thereby realizing the covering operation. By using the No. 4 distance measuring sensor 62 to measure the vertical distance to the No. 4 baffle 61, the height position of the covering bucket 60 relative to the ground can be known.

[0035] The sowing mechanism includes a storage tank 63, a cover plate 64, a receiving tank 65, a support plate 66, a No. 3 servo motor 67, a sowing roller 68, a carrying hole 69, and a sowing channel 70. A vertical storage tank 63 is opened at the top of the vehicle body 1. The storage tank 63 extends in the left and right directions, and the bottom is gathered. The upper part of the storage tank 63 is covered with a detachable cover plate 64. The vehicle body 1 is penetrated by a horizontal receiving tank 65 from front to back. A vertical support plate 66 is fixed to the left of the receiving tank 65. A No. 3 servo motor 67 with a braking function is fixed to the left end of the support plate 66. The rotating shaft of the motor 67 is rotatably connected to the support plate 66, and a sowing roller 68 is coaxially mounted on the rotating shaft. The sowing roller 68 is rotatably connected to the receiving groove 65, and a plurality of carrying holes 69 are opened on the outer circumferential wall. The bottom of the vehicle body 1 is provided with a plurality of vertical sowing channels 70. The upper part of the sowing channel 70 is connected to the bottom of the receiving groove 65, and the bottom passes through the bottom end of the vehicle body 1. The No. 3 servo motor 67 is electrically connected to the controller 2. When the No. 3 servo motor 67 rotates to a certain angle, the carrying hole 69 can be connected to the bottom of the storage groove 63 and the upper part of the sowing channel 70.

[0036] Furthermore, during the furrowing process, as the device moves backward, by controlling the rotation of the No. 3 servo motor 67, different carrying holes 69 can be connected to the bottom of the receiving groove 65, so that the seeds in the receiving groove 65 fall into the carrying holes 69 under the action of gravity. Subsequently, during the rotation of the sowing roller 68, the carrying holes 69 are gradually connected to the sowing channel 70, so that the seeds are discharged through the sowing channel 70 under the action of gravity and fall into the bottom of the opened furrow. By controlling the moving speed of the device and the rotation speed of the No. 3 servo motor 67, the spacing between crops after sowing can be controlled.

[0037] The sowing mechanism also includes a regular hexagonal rod 71, a limit plate 72, a No. 5 jack 74, a slot 75, a blocking rod 76, a push plate 77, a main top block 78, a secondary top block 79, and an adjustment slot 80. The right part of the accommodating slot 65 is threadedly connected to a detachable limit plate 72, and the limit plate 72 is coaxially connected to the regular hexagonal rod 71. The rotating shaft of the No. 3 servo motor 67 is also coaxially fixed with the regular hexagonal rod 71. The left and right parts of the sowing roller 68 are each provided with a coaxial No. 5 jack 74 that matches the regular hexagonal rod 71. The two No. 5 jacks 74 are respectively The sowing roller 68 is coaxially connected to the two regular hexagonal rods 71, and can be disengaged from the accommodating groove 65 from left to right. The apertures of the carrying holes 69 on the outer circumference of the sowing roller 68 increase in sequence along the circumferential direction. The apertures of the carrying holes 69 on the outer circumference of the sowing roller 68 are arranged in sequence with the same size along the axial direction. A regular polygonal cylindrical slot 75 is coaxially opened at the right end of the sowing roller 68. The number of external side edges of the slot 75 is the same as the number of the carrying holes 69 in the same circumferential direction of the sowing roller 68. Each of the carrying holes 69 is radially arranged compared to the sowing roller 68, and They are respectively connected to the slots 75, the carrying holes 69 are stepped, and are thick near the outer circumference of the sowing roller 68 and thin near the virtual axis of the sowing roller 68. Each of the carrying holes 69 is slidably connected to a blocking rod 76 with the same diameter as the carrying hole 69, and each of the blocking rods 76 is fixed with a push plate 77 at the axial end near the slot 75. A plurality of detachable main top blocks 78 or auxiliary top blocks 79 are inserted into the slot 75, and each of the blocking rods 76 is perpendicular to the side edge of the slot 75. The main top block 78 and the auxiliary top block 79 are respectively perpendicular to the side edge of the slot 75. They are respectively in the shape of regular polygonal cylinders that match the slots 75, and their side edges can contact the push plate 77 to push the blocking rod 76 to completely block the carrying hole 69. The outside of the auxiliary top block 79 is also provided with an adjustment groove 80 that matches the push plate 77. The adjustment groove 80 can be inserted into the push plate 77 with a gap to allow the blocking rod 76 where the push plate 77 is located to slide axially along the carrying hole 69. The outer edge of the left end of the main top block 78 and the outer edge of the left end of the auxiliary top block 79 are respectively provided with chamfers to facilitate the insertion of the push plate 77.

[0038] Furthermore, in order to adapt to the spacing between the furrows opened by the plowshare 55, by adjusting the position of the main top block 78 and the auxiliary top block 79 in the slot 75, the push plate 77 directly above the furrow can be inserted into the adjustment slot 80 with a gap, then there is a blocking light rod 76 directly above the furrow that can slide axially along the carrying hole 69, and the push plates 77 in the remaining parts are all conflicted by the side edges of the main top block 78 or the auxiliary top block 79, then the carrying holes 69 in the remaining parts are always blocked by the blocking light rod 76, as the sowing roller 68 rotates, the carrying hole 69 where the blocking light rod 76 that allows axial sliding is located is gradually connected to the storage tank 63, at this time, under the action of gravity, the blocking light rod 76 slides down and allows the seed to enter the carrying hole 69, and when the carrying hole 69 is aligned with the sowing channel When 70 is connected, under the action of gravity, the blocking rod 76 and the seeds move downward, so that the seeds are discharged through the sowing channel 70, that is, sowing is achieved, so that every time the No. 3 servo motor 67 rotates one circle, sowing can be done once, and not all carrying holes 69 can carry seeds, thereby achieving the effect of adjustable adaptation to the spacing of the soil furrows; and by changing the plug-in angle of the auxiliary top block 79 and the slot 75, the adjustment groove 80 and the different push plates 77 in the same circumferential direction of the sowing roller 68 can be plugged in with gaps, thereby changing the blocking state of the blocking rod 76 on the carrying hole 69, that is, selecting the push plate 77 corresponding to the carrying hole 69 of the appropriate aperture size to be plugged into the adjusting groove 80, thereby matching the size of the seed and the sowing quantity, realizing the sowing of different crops and enhancing practicality.

[0039] A plurality of water supply channels 81 are provided in the vehicle body 1. The left portion of the water supply channel 81 is horizontal, and the right portion is inclined toward the lower right. The lower right portion of each water supply channel 81 is respectively connected to the upper portion of the sowing channel 70. A plurality of electric valves 82 are fixed in the vehicle body 1. The electric valves 82 are used to control the flow of water. The water outlet of the electric valve 82 is connected to the left portion of the water supply channel 81, and the water inlet is connected to the bottom of the inner cavity of the water tank 4. Each of the electric valves 82 is electrically connected to the controller 2 respectively. The water tank 4 is fixedly connected to a water injection pipe 83, and the water injection pipe 83 is sealed and threadedly connected to a No. 2 sealing cover 84.

[0040] Furthermore, during the sowing process, the corresponding electric valve 82 is opened and closed by the controller 2, and water can be injected into the corresponding soil ditch using the water supply channel 81 and the sowing channel 70, so as to realize sowing and irrigation at the same time. Since the irrigation is directly underground and acts on the seeds, it can save water and retain moisture, thereby improving the seed germination rate and crop survival rate.

[0041] A vertical guide cylinder 85 is fixed to the bottom of the vehicle body 1, and a plurality of guide channels 86 are passed through the guide cylinder 85 from top to bottom. Each of the guide channels 86 is connected to the sowing channel 70 respectively. A valve cavity 87 connected to each guide channel 86 is provided in the middle of the guide cylinder 85. The valve cavity 87 is cylindrical in the left and right horizontal directions, and a valve core 88 is coaxially sealed and rotatably connected inside. A plurality of valve holes 89 are radially passed through the valve core 88, and each of the valve holes 89 is arranged in sequence from left to right and can be connected to the upper and lower parts of the guide channel 86 respectively. The valve core 88 can block the guide channel 86. A No. 4 servo motor 90 with a braking function is fixed to the right part of the guide cylinder 85. The rotating shaft of the No. 4 servo motor 90 is sealed and rotatably connected to the guide cylinder 85. The rotating shaft of the No. 4 servo motor 90 is coaxially fixed with the valve core 88, and the No. 4 servo motor 90 is electrically connected to the controller 2.

[0042] Furthermore, when the seeds are lowered into the sowing channel 70 and the guide channel 86, the valve core 88 is kept blocking the guide channel 86 during this process, and then the electric valve 82 is controlled to open and close once to inject water into the guide channel 86 and the sowing channel 70, so as to soak the seeds for a short time. Then, the No. 4 servo motor 90 is controlled to reverse so that the valve hole 89 is connected to the guide channel 86, so that the mixture of seeds and water can be discharged, which can improve the water absorption effect of the seeds, save water resources, and increase the germination rate.

[0043] A left placement slot 91 is provided in the vehicle body 1. The left placement slot 91 is located at the upper left of the accommodating slot 65 and is communicated with the accommodating slot 65. A plurality of left ranging sensors 92 are fixed in sequence from left to right in the left placement slot 91. The left ranging sensor 92 is electrically connected to the controller 2. When the sowing roller 68 rotates, the left ranging sensor 92 can measure the straight-line distance of the axial end of the blocking light rod 76 in each carrying hole 69. Each of the left ranging sensors 92 corresponds to each electric valve 82 one by one. The No. 1 ranging sensor, the No. 2 ranging sensor, the No. 3 ranging sensor, the No. 4 ranging sensor and the left ranging sensor are existing technologies, such as a laser ranging sensor.

[0044] Furthermore, by controlling the No. 3 servo motor 67 to rotate clockwise (from a right-side perspective), the distance to the blocking light rod 76 is measured by the left distance measuring sensor 92. By identifying the distance difference to the blocking light rod 76 (because the blocking light rod 76 has a tendency to slide down under the action of gravity at this position, thereby opening the carrying hole 69 that is not completely blocked), it is possible to determine which carrying hole 69 is not completely blocked by the blocking light rod 76, that is, the carrying hole 69 is next ready to carry seeds. When the difference is identified, the No. 4 servo motor 90 is automatically controlled by the controller 2 to reverse, so that the valve hole 89 is aligned with the guide channel 86, thereby achieving water After the mixture with seeds is lowered, after a short period of time, the controller 2 automatically controls the No. 4 servo motor 90 to rotate forward, so that the valve core 88 blocks the guide channel 86, and then controls the corresponding electric valve 82 to be turned on for a period of time according to the ranging result of the left ranging sensor 92, and then closes, and water can be injected into the guide channel 86 and the sowing channel 70. Then, as the sowing roller 68 rotates, the seeds can be lowered into the water in the sowing channel 70 to achieve seed soaking. When the carrying hole 69 is recognized by the left ranging sensor 92 again, the above action can be repeated, thereby realizing automatic seed soaking and automatic control of the electric valve 82, which is more convenient to use.

[0045] The above is a preferred embodiment of the present invention. For ordinary technicians in this field, based on the teachings of the present invention, without departing from the principles and spirit of the present invention, changes, modifications, substitutions and variations made to the implementation methods are still within the scope of protection of the present invention.

Claims

1. A self-propelled water-saving irrigation seeder suitable for sloping land, comprising a body (1), wherein the body (1) comprises a controller (2) with a touch screen, a battery (3), a water tank (4), a water pump (5), a soil digging mechanism, a seeding mechanism, and a soil covering mechanism, characterized in that: The left and right parts of the vehicle body (1) are each fixed with a lifting mechanism, and the left and right parts are each connected to a lifting frame (10) for sliding up and down. The lifting mechanism is used to drive the lifting frame (10) to move up and down and brake. A horizontal No. 1 servo motor (11) with a braking function is fixed in the middle part of the lifting frame (10) along the left and right directions, and a support shaft (12) is fixed to the front and rear parts along the left and right horizontal directions. The rotating shafts of the two No. 1 servo motors (11) are respectively coaxially fixed with gears (13), and each of the support shafts (12) is respectively coaxially connected with a roller (14) for rotation. ), a gear ring (15) is coaxially fixed to the axial end of each roller (14), the gear (13) is meshed with the gear rings (15) on the front and rear sides, each of the two lifting frames (10) is fixed with a No. 1 distance sensor (16), the No. 1 distance sensor (16) is used to measure the distance of the lifting frame (10) moving up and down, the water pump (5) is arranged on the lower side of the water tank (4), and the water suction pipe is connected to the inner cavity of the water tank (4), the water outlet pipe of the water pump (5) is connected to the main water pipe of the water distributor (17) through a pipe, and the water distributor (17) The vehicle body (1) is fixed, and the water distribution pipe is sealed and threadedly connected with a detachable No. 1 screw cap (18). The front part of the vehicle body (1) is fixed with a vertical No. 1 electric push rod (19). The bottom end of the push rod of the No. 1 electric push rod (19) is coaxially fixed with a round pancake-shaped support plate (20). The support plate (20) is connected to a slider (21) with radial sliding at equal angles around the circumference, and is equipped with a distance adjustment mechanism. The distance adjustment mechanism is used to adjust the position of the slider (21) relative to the support plate (20). Each of the sliders (21) is respectively fastened with a detachable and vertical ground plug ( 23), each of the ground plugs (23) is provided with a water injection hole (24) passing through, the upper portion of the water injection hole (24) passes through upward, and the bottom portion passes through sideways and upward, the water injection hole (24) is detachably connected to the water distribution pipe of the water distributor (17) through a hose, the controller (2), the battery (3), the water pump (5), the No. 1 servo motor (11), the No. 1 distance sensor (16), and the No. 1 electric push rod (19) are electrically connected, and a level (25) for detecting whether the left and right directions are level is fixed to the top of the vehicle body (1) along the left and right directions.

2. The self-propelled water-saving irrigation seeder suitable for slope land according to claim 1, characterized in that: The distance adjustment mechanism includes a guide light rod (26), a tension spring (27), a light ball (28), a guide cover (29), and a regular hexagonal tube (30). Each of the sliders (21) is respectively fixed with a horizontal guide light rod (26) and a horizontal tension spring (27). The tension spring (27) is inserted outside the guide light rod (26) and the other end is fixed to the outer peripheral portion of the support plate (20). The guide light rod (26) and the tension spring (27) are parallel to the sliding direction of the slider (21). Each of the sliders ( 21) have a tendency to move away from each other under the elastic tension of the tension spring (27), the axial end of the guide light rod (26) is fixed with a light ball (28), the push rod of the No. 1 electric push rod (19) is coaxially threadedly connected with a truncated cone shell-shaped guide cover (29), the light ball (28) can contact the conical surface of the inner wall of the guide cover (29) under the indirect pulling of the tension spring (27), the upper part of the guide cover (29) is coaxially fixed with a regular hexagonal tube (30), the regular hexagonal tube (30) and the No. 1 electric push rod (19) The push rods are connected by the same axis thread, each of the ground plugs (23) is respectively penetrated by two water injection holes (24), and the penetration points of the bottom of the two water injection holes (24) are respectively located at the bottom of the ground plug (23) and the lower middle part of the ground plug (23), and the outer wall of the ground plug (23) is coaxially fixed with a hexagonal limiting nut (31), and the bottom end of each slider (21) is respectively opened with a limiting groove (32) matching the limiting nut (31), and the upper outer wall of each ground plug (23) is respectively coaxially threaded with a detachable fastening nut ( 33), the ground plug (23) and the slider (21) are interspaced, the limiting nut (31) is interspaced with the limiting groove (32), the bottom end of the fastening nut (33) is in contact with the top end of the slider (21), a vertical No. 2 distance sensor (34) is fixed to the front of the vehicle body (1), and a No. 2 baffle (35) is radially fixed to the push rod of the No. 1 electric push rod (19), the No. 2 distance sensor (34) can measure the vertical distance to the No. 2 baffle (35), and is electrically connected to the controller (2).

3. The self-propelled water-saving irrigation seeder suitable for sloping land according to claim 1, characterized in that: The lifting mechanism comprises a No. 1 baffle (42), a No. 2 servo motor (43), a No. 2 screw rod (44), a No. 2 electric push rod (45), and a No. 2 jack (46). A horizontal No. 1 baffle (42) is fixed to the left and right ends of the vehicle body (1). A vertical No. 2 servo motor (43) is fixed to the top of each of the two No. 1 baffles (42). A vertical No. 2 servo motor (43) is coaxially fixed to the rotating shafts of the two No. 2 servo motors (43). The rotating shaft of the No. 2 servo motor (43) is connected to the No. 1 baffle (42) in rotation. The two No. 2 screw rods (44) are respectively fixed to the top of the No. 1 baffles (42). The two lifting frames (10) are threadedly connected, and the two No. 1 distance measuring sensors (16) can respectively measure the vertical distance between the No. 1 baffles (42). The front and rear parts of the two lifting frames (10) are each fixed with a horizontal No. 2 electric push rod (45) along the left and right directions. The left and right ends of the vehicle body (1) are provided with a plurality of No. 2 sockets (46) along the left and right horizontal directions. The No. 2 sockets (46) are arranged equidistantly from top to bottom. The No. 2 electric push rods (45) are respectively electrically connected to the controller (2), and the push rods can be plugged into and out of the No. 2 sockets (46).

4. The self-propelled water-saving irrigation seeder suitable for sloping land according to claim 1, characterized in that: The excavation mechanism (6) includes a No. 3 electric push rod (47), a rear sliding frame (48), a No. 4 electric push rod (49), a No. 5 electric push rod (50), a No. 4 socket (51), a support frame (52), a sliding seat (53), a tightening bolt (54), a rubber pad (93), a plow head (55), a No. 3 distance sensor (56), and a No. 3 baffle (57). A vertical No. 3 electric push rod (47) is fixed to the rear of the vehicle body (1), and the rear portion is connected to the rear sliding frame (48) in an upward and downward sliding manner. The No. 3 electric push rod (47) is fixed to the rear of the vehicle body (1). The bottom end of the push rod is fixed to the bottom of the rear sliding frame (48), and the left and right parts of the rear sliding frame (48) are each fixed with a horizontal No. 4 electric push rod (49) along the front-back direction, and the left and right parts are each fixed with a vertical No. 5 electric push rod (50), and the rear end of the vehicle body (1) is provided with a plurality of horizontal No. 4 sockets (51) along the front-back direction, and the No. 4 sockets (51) are arranged in equal intervals from top to bottom, and the push rod of the No. 4 electric push rod (49) can be plugged in and out of the No. 4 socket (51), and the push rod of the No. 5 electric push rod (50) can be plugged in and out of the No. 4 socket (51). The sliding frames (48) are connected with each other through the gaps up and down, and the middle of the rear sliding frame (48) is hinged with a support frame (52) on the left and right sides. The support frame (52) is connected to a plurality of detachable sliding seats (53) by sliding left and right. Each of the sliding seats (53) is fixed with a tightening bolt (54). The support frame (52) is fixed with a rubber pad (93) along the left and right directions. The tightening bolt (54) can be tightened on the rubber pad (93) to limit the sliding seat (53). Each of the sliding seats (53) is fixed with a plow head extending backward and downward. (55), the push rods of each of the five electric push rods (50) are respectively in contact with the top of the support frame (52), the rear part of the vehicle body (1) is fixed with a No. 3 distance sensor (56), the rear part of the rear sliding frame (48) is fixed with a horizontal No. 3 baffle (57), the No. 3 distance sensor (56) can measure the vertical distance between the No. 3 baffles (57), and the No. 3 electric push rod (47), the No. 4 electric push rod (49), the No. 5 electric push rod (50), and the No. 3 distance sensor (56) are respectively electrically connected to the controller (2).

5. The self-propelled water-saving irrigation seeder suitable for sloping land according to claim 1, characterized in that: The soil covering mechanism comprises a No. 6 electric push rod (58), a front sliding frame (59), a soil covering bucket (60), a No. 4 baffle (61), and a No. 4 distance measuring sensor (62). The front part of the vehicle body (1) is fixed with a vertical No. 6 electric push rod (58). The bottom end of the push rod of the No. 6 electric push rod (58) is hinged to the left and right sides with a vertical front sliding frame (59). The bottom end of the front sliding frame (59) is fixed with a vertical soil covering bucket (60), and the front end is fixed with a horizontal No. 4 baffle (61). The front part of the vehicle body (1) is fixed with a vertical No. 4 distance measuring sensor (62). The No. 4 distance measuring sensor (62) is used to measure the vertical distance between the No. 4 baffle (61). The No. 6 electric push rod (58), the No. 4 distance measuring sensor (62) and the controller (2) are electrically connected.

6. A self-propelled water-saving irrigation seeder suitable for sloping land according to any one of claims 1 to 5, characterized in that: The sowing mechanism includes a storage tank (63), a cover plate (64), a receiving tank (65), a support plate (66), a No. 3 servo motor (67), a sowing roller (68), a carrying hole (69), and a sowing channel (70). The top of the vehicle body (1) is provided with a vertical storage tank (63). The storage tank (63) extends in the left and right directions, and the bottom is in a clustered shape. The upper part of the storage tank (63) is covered with a detachable cover plate (64). The vehicle body (1) is penetrated by a horizontal receiving tank (65) from front to back. A vertical support plate (66) is fixed to the left of the receiving tank (65). A No. 3 servo motor (67) with a braking function is fixed to the left end of the support plate (66). The rotating shaft of the servo motor (67) is connected to the support plate (66) for rotation, and a sowing roller (68) is coaxially mounted on the rotating shaft. The sowing roller (68) is connected to the receiving groove (65) for rotation, and a plurality of carrying holes (69) are opened on the outer circumferential wall. The bottom of the vehicle body (1) is provided with a plurality of vertical sowing channels (70). The upper part of the sowing channel (70) is connected to the bottom of the receiving groove (65), and the bottom passes through the bottom end of the vehicle body (1). The third servo motor (67) is electrically connected to the controller (2). When the third servo motor (67) rotates to a certain angle, the carrying hole (69) can be connected to the bottom of the storage groove (63) and the upper part of the sowing channel (70).

7. The self-propelled water-saving irrigation seeder suitable for sloping land according to claim 6, characterized in that: The sowing mechanism further comprises a regular hexagonal rod (71), a limiting plate (72), a No. 5 jack (74), a slot (75), a blocking rod (76), a push plate (77), a main top block (78), a secondary top block (79), and an adjustment slot (80). The right portion of the accommodating slot (65) is threadedly connected to a detachable limiting plate (72). The limiting plate (72) is coaxially connected to the regular hexagonal rod (71). The rotating shaft of the No. 3 servo motor (67) is also coaxially fixed to the regular hexagonal rod (71). The left and right portions of the sowing roller (68) each have a coaxial No. 5 jack (74) matching the regular hexagonal rod (71). The two No. 5 jacks ( 74) are respectively plugged into the same axis with the two regular hexagonal rods (71), the sowing roller (68) can be separated from the accommodating groove (65) from left to right, the aperture of the outer circumference carrying hole (69) of the sowing roller (68) increases in sequence along the circumferential direction, the aperture of the carrying holes (69) on the outer circumference of the sowing roller (68) are arranged in sequence with the same size along the axial direction, the right end of the sowing roller (68) is coaxially opened with a regular polygonal cylindrical slot (75), the number of the external side edges of the slot (75) is the same as the number of the carrying holes (69) in the same circumferential direction of the sowing roller (68), and each of the carrying holes (69) is arranged radially relative to the sowing roller (68). And they are respectively connected to the slots (75), the carrying holes (69) are in the shape of stepped holes, and are thick near the outer circumference of the sowing roller (68) and thin near the virtual axis of the sowing roller (68), each of the carrying holes (69) is slidably connected to a blocking rod (76) with the same diameter as the carrying hole (69), and each of the blocking rods (76) is fixed with a push plate (77) at the axial end near the slot (75), and a plurality of detachable main top blocks (78) or auxiliary top blocks (79) are inserted into the slot (75), and each of the blocking rods (76) is perpendicular to the side edge of the slot (75), and the main top block (78) and the auxiliary top block ( 79) are respectively in the form of regular polygonal cylindrical structures that match the slots (75), and their side edges can contact the push plate (77) to push the blocking rod (76) so as to completely block the carrying hole (69). The auxiliary top block (79) is also provided with an adjustment groove (80) that matches the push plate (77). The adjustment groove (80) can be plugged into the push plate (77) at a gap to allow the blocking rod (76) where the push plate (77) is located to slide axially along the carrying hole (69). The outer edge of the left end of the main top block (78) and the outer edge of the left end of the auxiliary top block (79) are respectively provided with chamfers that facilitate the insertion of the push plate (77).

8. The self-propelled water-saving irrigation seeder suitable for sloping land according to claim 7, characterized in that: The vehicle body (1) is provided with a plurality of water delivery channels (81), the left portion of the water delivery channel (81) is horizontal, and the right portion is inclined toward the lower right. The lower right portion of each water delivery channel (81) is respectively connected to the upper portion of the sowing channel (70). The vehicle body (1) is fixed with a plurality of electric valves (82), the electric valves (82) are used to control the on-off of water, the water outlet of the electric valve (82) is connected to the left portion of the water delivery channel (81), and the water inlet is connected to the bottom of the inner cavity of the water tank (4). Each electric valve (82) is electrically connected to the controller (2). The water tank (4) is fixedly connected with a water injection pipe (83), and the water injection pipe (83) is sealed and threadedly connected to a No. 2 sealing cap (84).

9. The self-propelled water-saving irrigation seeder suitable for sloping land according to claim 8, characterized in that: A vertical guide cylinder (85) is fixed to the bottom of the vehicle body (1), and a plurality of guide channels (86) are passed through the guide cylinder (85) from top to bottom. Each of the guide channels (86) is connected to the sowing channel (70). A valve cavity (87) connected to each of the guide channels (86) is provided in the middle of the guide cylinder (85). The valve cavity (87) is cylindrical in the horizontal direction and is coaxially sealed and rotatably connected to a valve core (88) inside. The valve core (88) is radially passed through a plurality of valve holes (89). Each of the valve holes (89) is connected to the guide channels (86). The holes (89) are arranged in sequence from left to right and can be connected to the upper and lower parts of the guide channel (86) respectively. The valve core (88) can block the guide channel (86). A No. 4 servo motor (90) with a braking function is fixed to the right part of the guide cylinder (85). The rotating shaft of the No. 4 servo motor (90) is rotationally connected to the guide cylinder (85) in a sealed manner. The rotating shaft of the No. 4 servo motor (90) is coaxially fixed with the valve core (88), and the No. 4 servo motor (90) is electrically connected to the controller (2).

10. The self-propelled water-saving irrigation seeder suitable for sloping land according to claim 9, characterized in that: A left placement groove (91) is provided in the vehicle body (1). The left placement groove (91) is located at the upper left of the accommodating groove (65) and is connected to the accommodating groove (65). A plurality of left distance measuring sensors (92) are fixed in sequence from left to right in the left placement groove (91). The left distance measuring sensors (92) are electrically connected to the controller (2). When the seeding roller (68) rotates, the left distance measuring sensors (92) can measure the linear distance to the axial end of the blocking light rod (76) in each carrying hole (69). Each left distance measuring sensor (92) corresponds to each electric valve (82).

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