Adjustable seeder adapting to postures of hills and mountains

Abstract

The invention provides a hill and mountainous region posture-adjustable seeding machine which is used for solving the problems that in the prior art, the seeding posture and the vehicle body posture cannot be adjusted in real time according to the terrain, and the planting distance cannot be fixed. Comprising a vehicle body posture regulation and control mechanism, a seeding mechanism, a collecting mechanism and a monitoring mechanism, the vehicle body posture regulation and control mechanism comprises a vehicle frame, two walking modules symmetrically arranged along the vehicle frame left and right, and a gravity center regulation and control module arranged at the bottom of the vehicle frame and used for regulating and controlling the gravity center of the vehicle frame; the two groups of walking modules and the gravity center regulation and control module are matched to enable the frame to be parallel to the horizontal plane all the time; the seeding mechanism comprises two groups of suspension modules, a spacing regulation and control module, a seeding module and a soil covering module; the acquisition mechanism is used for acquiring road surface information and road surface flatness in a path track passed by the vehicle body posture regulation and control mechanism; the monitoring mechanism is used for measuring the inclination angle between the frame and the horizontal plane in the advancing direction and the left-right direction in real time. The machine not only can adjust the seeding posture and the vehicle body posture, but also can adjust the seeding spacing.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology, and in particular relates to a seeder with adjustable posture adapted to hilly and mountainous terrain. Background Technology

[0002] With the increasing automation of agriculture, more and more automated machinery is being used in agricultural production. Examples include ditching machines, harvesters, seeders, and crop spreaders. Among these, seeders, which are planting machines used to sow crop seeds, have made significant progress in improving agricultural work efficiency and reducing operating costs.

[0003] Currently, in southwestern my country, the terrain is mainly mountainous and hilly, with uneven distribution of arable land and significant undulations. Traditional seeders still have some problems in use, such as: 1. When seeders work in complex hilly and mountainous environments, they usually do not adjust the posture of the vehicle body according to changes in terrain. The tilt of the vehicle body not only affects the operation quality of the seeding equipment and causes uneven tillage depth, but also makes it easy to slip and overturn. 2. During use, the seeding spacing of the seeder is fixed, which makes it inconvenient to adjust the seeding spacing for different varieties of seeds, making it difficult for the equipment to meet the planting needs of different varieties. Summary of the Invention

[0004] In view of the shortcomings of the prior art described above, the purpose of this invention is to provide a seeder with adjustable posture adapted to hilly and mountainous terrain, in order to solve the problems in the prior art that it is impossible to adjust the sowing posture, vehicle posture and planting spacing in real time according to the terrain.

[0005] To achieve the above and other related objectives, the present invention provides a seeder with adjustable posture adapted to hilly and mountainous terrain, comprising: The vehicle body posture control mechanism includes a vehicle frame, two sets of walking modules symmetrically arranged along the left and right sides of the vehicle frame, and a center of gravity control module located at the bottom of the vehicle frame for adjusting the center of gravity of the vehicle frame. The two sets of walking modules and the center of gravity control module work together to ensure that the vehicle frame is always parallel to the horizontal plane. The center of gravity control module includes a frame, a lateral movement part, a longitudinal movement part, and a weight plate fixed to the bottom of the frame. The frame has a moving space and a U-shaped drive groove. The lateral movement part and the longitudinal movement part are located in the U-shaped drive groove to drive the weight plate to move in the moving space along the left-right and front-back directions of the frame. The seeding mechanism includes two sets of suspension modules, a spacing adjustment module, a seeding module, and a soil covering module. The spacing adjustment module is connected to the discharge port of the seeding module. The spacing adjustment module and the seeding module are connected to the bottom of the frame through one of the suspension modules. The soil covering module is connected to the bottom of the frame through the other suspension module and is located behind the seeding module. A data acquisition mechanism is located at the front of the vehicle frame to acquire road surface information and road surface smoothness in the trajectory of the vehicle body posture control mechanism. A monitoring mechanism is mounted on the vehicle frame to measure in real time the tilt angle between the vehicle frame and the horizontal plane in the direction of travel, as well as the tilt angle between the horizontal planes in the left and right directions.

[0006] Optionally, the transverse movement part includes: two mounting seats, which are respectively fixedly installed in the U-shaped drive groove; Two transverse screws, one end of each of the two transverse screws is rotatably installed in the U-shaped drive groove, and the other end passes through the two mounting seats and is rotatably connected; Two transverse sliding bodies, each of which is threadedly engaged with one of the two transverse screws; The longitudinal arm is connected to the moving space via a transverse sliding groove. Both ends of the longitudinal arm pass through the transverse sliding groove and are fixedly connected to the two transverse sliding bodies. The length direction of the longitudinal arm is perpendicular to the central axis of the screw. A linkage rod, one end of which is rotatably mounted in the U-shaped drive groove, and the other end of which passes through a mounting base and is rotatably connected. The central axis of the linkage rod is parallel to the central axis of the transverse screw. A sliding sleeve is provided on a transverse sliding body, and the linkage rod is slidably engaged with the sliding sleeve. The pulley assembly and the transverse drive are connected via the pulley assembly, with the output end of the transverse drive and the two transverse screws being connected by transmission.

[0007] Optionally, the longitudinal moving part includes a plurality of transverse protrusions, which are evenly spaced along the circumference of the linkage rod, and the inner wall of the sliding sleeve has a plurality of grooves that slide and engage with the transverse protrusions respectively. A longitudinal screw, wherein the longitudinal arm has a dovetail groove along its own length direction, and both ends of the longitudinal screw are respectively rotatably connected to two transverse sliding bodies, and the longitudinal screw is located in the dovetail groove; A longitudinal sliding body is threadedly engaged with the longitudinal screw. A through hole is provided on the weight plate to slide with the longitudinal arm. The longitudinal sliding body slides with the dovetail groove and is fixedly connected to the inner wall of the through hole. The first helical gear is coaxially and fixedly engaged with the outer wall of the sliding sleeve; The second helical gear is coaxially and fixedly engaged with the longitudinal screw, and the second helical gear meshes with the first helical gear for transmission. A longitudinal drive component is provided to drive the linkage rod to rotate, thereby causing the sliding sleeve to rotate and thus rotating the first helical gear.

[0008] Optionally, the walking module includes two walking parts, which are respectively located on the front and rear ends of one side of the vehicle frame; A power unit, which is mounted on the frame to drive the movement of the two running gears; By controlling the power units of the two walking modules to independently drive the differential movement of the two walking units on one side of the frame, the frame can be steered in the walking direction.

[0009] Optionally, the traveling part includes: a fixed vertical arm, which is fixedly connected to the vehicle frame; A telescopic vertical arm, wherein the fixed vertical arm has a telescopic cavity, and the telescopic vertical arm slides in conjunction with the inner wall of the telescopic cavity of the fixed vertical arm; A lifting assembly, which is disposed within the telescopic cavity to control the height of the vehicle frame relative to the ground; The transmission assembly and the wheel, wherein the rotation axis of the wheel is perpendicular to the central axis of the telescopic vertical arm, and the transmission assembly is used to transmit the power of the power unit to the wheel.

[0010] Optionally, the lifting assembly includes a fixed plate, which is coaxially fixedly fitted with the inner wall of the telescopic cavity; Multiple sliding protrusions are arranged at intervals along the circumferential direction of the outer wall of the telescopic vertical arm, and the inner wall of the telescopic cavity has multiple telescopic grooves that respectively slide and engage with the sliding protrusions. The lifting power component has its two ends fixedly connected to the fixed plate and the top of the telescopic vertical arm, respectively.

[0011] Optionally, the transmission assembly includes a first transmission shaft, which is coaxially rotatably coupled with the fixed vertical arm, and one end of the first transmission shaft passes through the top of the telescopic cavity and is connected to the power unit; The second drive shaft is coaxially rotatably coupled with the telescopic vertical arm. The other end of the first drive shaft has a blind hole that is recessed inward along its own axial direction. One end of the second drive shaft is slidably coupled with the inner wall of the blind hole at the other end of the first drive shaft. A transmission cavity is provided on the telescopic vertical arm, and the other end of the second drive shaft extends into the transmission cavity. Multiple rotating protrusions are spaced apart circumferentially along the second drive shaft, and the inner wall of the blind hole has multiple rotating vertical grooves that are adapted to the rotating protrusions respectively. A drive bevel gear, which is coaxially and fixedly fitted with the second drive shaft; The driven bevel gear meshes with the driving bevel gear, and rotates coaxially with the wheel.

[0012] Optionally, the suspension module includes a tension plate and a telescopic part, the telescopic part being used to control the height of the tension plate relative to the ground; A distance measuring unit is provided on the pull plate for measuring the distance between the pull plate and the ground; Two sets of auxiliary pull parts are symmetrically arranged along the pull plate. Each set of auxiliary pull parts includes a first support arm, a second support arm, a third support arm, and a fourth support arm. The two ends of the first support arm are respectively hinged to the bottom of the frame and the first end of the second support arm. The second end of the second support arm is hinged to the pull plate. The two ends of the third support arm are respectively hinged to the bottom of the frame and the first end of the fourth support arm. The second end of the fourth support arm is hinged to the pull plate.

[0013] Optionally, the spacing adjustment module includes a first discharge pipe, which is connected to the discharge port of the seeding module; A spiral tube, one end of which is connected to the first discharge tube; The second discharge pipe is connected to the spiral pipe; A gas collecting sleeve is sleeved on the outer wall of the first discharge pipe. A gas collecting space is formed between the inner wall of the gas collecting sleeve and the outer wall of the first discharge pipe. The side wall of the first discharge pipe has a number of inclined gas outlet holes that are inclined at an angle to the central axis of the first discharge pipe and discharge gas downwards. An air source is connected to the bottom of the suspension mechanism via a connecting frame for blowing air into the air collection space. The air source is controlled to open or close via a solenoid valve. The speed measuring unit is used to measure the speed of the seed movement within the first discharge pipe and the spiral tube.

[0014] Optionally, the soil covering module includes two connecting arms, which are symmetrically fixed to both sides of the suspension mechanism; A rotating roller, the two ends of which are rotatably mounted on the two connecting arms; A plurality of first covering blades are arranged at intervals along the outer wall of the rotating roller. Each first covering blade consists of a plate-shaped positive spiral soil guide arm and a first blade. A number of second covering blades are provided, each corresponding to and positioned opposite to a number of first covering blades to form a covering space. Each second covering blade consists of a plate-shaped anti-spiral soil guide arm and a second blade. Both the first and second blades are wider at the front and narrower at the back.

[0015] As described above, the present invention provides a seeder with adjustable posture for hilly and mountainous terrain, which has at least the following beneficial effects: The system acquires real-time information on the road surface and its smoothness via a data acquisition mechanism. Based on this data, and considering the current speed and posture of the walking module, the control mechanism predicts the shape of the road surface the walking module will soon traverse. Simultaneously, it adjusts the walking module's posture and speed. The control mechanism compares the predicted target posture with the actual posture of the monitoring unit to derive a center of gravity adjustment command. Through the coordinated movement of the longitudinal and lateral components, the load plate moves along the left-right and front-back directions of the chassis within the movement space to the target position. This movement of the load plate alters the chassis's center of gravity to counteract the overturning torque caused by road inclination. The combined action of the two walking modules and the center of gravity adjustment module ensures the chassis remains level. The parallel surface design allows for adaptation to complex road surfaces, ensuring vehicle stability, guaranteeing operational accuracy, and improving traffic capacity. Simultaneously, the seeding and covering modules suspended below the frame, through the vertical freedom provided by the suspension modules and controlled by the control mechanism, can float up and down following the ground contour, ensuring good seeding depth and covering effect. This not only enables vehicle posture adjustment to solve the problem of vehicle tilt leading to slippage and rollover, but also allows for seeding posture adjustment when working on uneven or sloping hilly terrain, reducing tillage difficulty and cost, and improving tillage quality. Furthermore, it addresses the issue of vehicle tilt affecting the operation quality of the seeding equipment and causing uneven tillage depth when working in complex hilly environments. Attached Figure Description

[0016] Figure 1 The diagram shown is a three-dimensional structural schematic of the present invention. Figure 2 The diagram shown is a schematic representation of the internal structure of the center of gravity control module of the present invention. Figure 3 This is a schematic diagram of the internal structure of the center of gravity control module of the present invention from another perspective. Figure 4 The diagram shown is a schematic representation of the internal structure of the center of gravity control module frame of the present invention. Figure 5 The diagram shown is a three-dimensional structural schematic of the vehicle posture control mechanism of the present invention. Figure 6 The image shown is a cross-sectional view of the walking module of the present invention. Figure 7 The diagram shown is a three-dimensional structural schematic of the telescopic vertical arm of the present invention. Figure 8The diagram shown is a three-dimensional structural schematic of the seeding mechanism of the present invention. Figure 9 The diagram shown is a three-dimensional structural diagram of the seeding module and the spacing control module of the present invention. Figure 10 The diagram shown is a three-dimensional structural schematic of the soil covering module of the present invention. Figure 11 The diagram shown is a three-dimensional structural schematic of the spacing adjustment module of the present invention. Figure 12 The image shown is a cross-sectional view of the gas collecting sleeve of the present invention.

[0017] Component designation explanation Vehicle body posture control mechanism 1, frame 11, walking module 12, walking part 121, fixed vertical arm 1211, telescopic cavity 12111, telescopic vertical arm 1212, transmission cavity 12121, lifting assembly 1213, fixed plate 12131, sliding protrusion 12132, lifting power component 12133, telescopic slide 12134, transmission assembly 1214, first drive shaft 12141, blind hole 121411, second drive shaft 12142, rotating protrusion 12143, driving bevel gear 12144, driven bevel gear 12145, wheel 1215, power part 122, center of gravity control module 13. Frame 131, Moving space 1311, U-shaped drive groove 1312, Transverse groove 1313, Transverse part 132, Mounting base 1321, Transverse screw 1322, Transverse slide 1323, Longitudinal arm 1324, Dovetail groove 13241, Linkage rod 1325, Sliding sleeve 1326, Pulley assembly 1327, Transverse drive component 1328, Longitudinal part 133, Transverse protrusion 1331, Longitudinal screw 1332, Longitudinal slide 1333, First helical gear 1334, Second helical gear 1335, Longitudinal drive component 1336, Weight plate 134, Through hole 1341, Ball bearing 1342; Seeding mechanism 2, suspension module 21, pull plate 211, telescopic part 212, distance measuring part 213, auxiliary pull part 214, first support arm 2141, second support arm 2142, third support arm 2143, fourth support arm 2144, spacing adjustment module 22, first discharge pipe 221, spiral pipe 222, second discharge pipe 223, air collecting sleeve 224, air source 225, speed measuring part 226, air collecting space 227, inclined air outlet 228, solenoid valve 229, seeding Module 23, stabilizing wheel 231, stabilizing shaft 232, hopper 233, drive shaft 234, material tray 235, connecting plate 236, furrow opener 237, seeding frame 238, stabilizing frame 239, soil covering module 24, connecting arm 241, rotating roller 242, first soil covering knife 243, plate-shaped positive spiral soil guide arm 2431, first blade 2432, second soil covering knife 244, plate-shaped negative spiral soil guide arm 2441, second blade 2442, soil covering space 245; Acquisition mechanism 3, image acquisition unit 31, lidar 32; Monitoring agency 4, control agency 5. Detailed Implementation

[0018] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0019] Please see Figures 1 to 12 It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and to facilitate understanding. They are not intended to limit the scope of the invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of the invention, should still fall within the scope of the technical content disclosed herein. Furthermore, the terms "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention.

[0020] The following embodiments are for illustrative purposes only. These embodiments can be combined and are not limited to the content shown in any single embodiment below.

[0021] In this embodiment, please refer to Figures 1 to 12 This invention provides a seeder with adjustable posture adapted to hilly and mountainous terrain, comprising: The vehicle body posture control mechanism 1 includes a vehicle frame 11, two sets of walking modules 12 symmetrically arranged on the left and right sides of the vehicle frame 11, and a center of gravity control module 13 located at the bottom of the vehicle frame 11 for adjusting the center of gravity of the vehicle frame 11. The two sets of walking modules 12 and the center of gravity control module 13 cooperate to ensure that the vehicle frame 11 is always parallel to the horizontal plane. The center of gravity adjustment module 13 includes a frame 131 fixed to the bottom of the frame 11, a lateral movement part 132, a longitudinal movement part 133, and a weight plate 134. The frame 131 has a moving space 1311 and a U-shaped drive groove 1312. The lateral movement part 132 and the longitudinal movement part 133 are disposed in the U-shaped drive groove 1312 to drive the weight plate 134 to move in the moving space 1311 along the left-right and front-back directions of the frame 11. The bottom of the weight plate 134 has several movable ball bearings 1342 to reduce friction, facilitate the movement of the weight plate 134, and improve the smoothness of center of gravity adjustment. There can be multiple center of gravity adjustment modules 13, which are arranged vertically. The rollers at the bottom of the weight plate 134 of the previous center of gravity adjustment module 13 are in contact with the top of the weight plate 134 of the next center of gravity adjustment module 13. The sowing mechanism 2 includes two sets of suspension modules 21, a spacing adjustment module 22, a sowing module 23, and a soil covering module 24. The spacing adjustment module 22 is connected to the discharge port of the sowing module 23. The spacing adjustment module 22 and the sowing module 23 are connected to the bottom of the frame 131 through one of the suspension modules 21. The soil covering module 24 is connected to the bottom of the frame 131 through the other suspension module 21 and is located behind the sowing module 23. A collection mechanism 3 is located in front of the vehicle frame 11 to acquire the trajectory of the vehicle body attitude control mechanism 1. Road surface information and road surface smoothness; the acquisition mechanism 3 includes an image acquisition unit 31 and a lidar 32. Both the image acquisition unit 31 and the lidar 32 are connected to the triangular frame in front of the vehicle frame 11. The image acquisition unit 31 is used to acquire road surface information of the vehicle body posture control mechanism 1 in the direction of travel. The image acquisition unit 31 can be a depth camera or a camera. The lidar 32 acquires the road surface smoothness of the vehicle body posture control mechanism 1 in real time. After processing, it predicts the unevenness of the road surface, the position coordinate information of the target object, and the spatial shape data in the route trajectory that the walking module 12 will pass through. The target object refers to the bumps and potholes of the road surface. Monitoring mechanism 4 is mounted on the vehicle frame 11 to measure in real time the tilt angle between the vehicle frame 11 and the horizontal plane in the direction of travel, as well as the tilt angle between the vehicle frame 11 and the horizontal plane in the left and right directions. Monitoring mechanism 4 is a tilt sensor, such as the SINDT-485, installed at the center of the vehicle frame 11. This sensor measures static gravitational acceleration through a built-in accelerometer, converts it into angular changes, and uses this to measure the tilt angle relative to the horizontal plane, i.e., the tilt angle.

[0022] It also includes a control mechanism 5, which is connected to the walking module 12, the center of gravity adjustment module 13, the two sets of suspension modules 21, and the spacing adjustment module 22.

[0023] The acquisition mechanism 3 acquires real-time information on the road surface and its smoothness. Based on the data acquired by the acquisition mechanism 3, and combined with the speed and posture of the current walking module 12, the control mechanism 5 predicts the shape of the road surface that the walking module 12 will soon cross. Simultaneously, it adjusts the posture and speed of the walking module 12. The control mechanism 5 compares the predicted target posture with the actual posture of the monitoring mechanism 4 to obtain a center of gravity adjustment command. Through the cooperation of the longitudinal movement unit 133 and the lateral movement unit 132, the driving plate 134 moves along the left-right and front-back directions of the frame 11 within the movement space 1311 to the target position. The movement of the plate 134 changes the center of gravity position of the frame 11 to counteract the overturning torque caused by the road surface inclination. This is achieved through the two walking modules 12 and the center of gravity adjustment module 13. The system is designed to keep the frame 11 parallel to the horizontal plane, enabling it to adapt to complex road surfaces, ensure vehicle stability, guarantee operational accuracy, and improve traffic capacity. Meanwhile, the seeding module 23 and the soil covering module 24, suspended below the frame 131, can move up and down following the ground contour through the vertical freedom provided by the suspension module 21 and the control mechanism 5, ensuring good seeding depth and soil covering effect. This not only enables vehicle posture adjustment to solve the problem of vehicle tilting causing slippage and rollover, but also allows for seeding posture adjustment when working on uneven or sloping hilly terrain to reduce tillage difficulty and cost and improve tillage quality. In turn, it solves the problem of uneven tillage depth caused by vehicle tilting when working in complex hilly environments.

[0024] In this embodiment, please refer to Figures 2 to 4 The transverse movement part 132 includes two mounting seats 1321, which are respectively fixedly installed in the U-shaped drive groove 1312; Two transverse screws 1322, one end of each transverse screw 1322 is rotatably installed in the U-shaped drive groove 1312, and the other end passes through the two mounting bases 1321 and is rotatably connected. Two transverse sliding bodies 1323 are respectively threaded into two transverse screws 1322; The longitudinal arm 1324 is connected to the U-shaped drive groove 1312 and the moving space 1311 through the transverse sliding groove 1313. Both ends of the longitudinal arm 1324 pass through the transverse sliding groove 1313 and are fixedly connected to the two transverse sliding bodies 1323. The length direction of the longitudinal arm 1324 is perpendicular to the direction of the screw's central axis. Linkage rod 1325, one end of which is rotatably installed in the U-shaped drive groove 1312, and the other end passes through the mounting base 1321 and is rotatably connected. The central axis of the linkage rod 1325 is parallel to the central axis of the transverse screw 1322. A sliding sleeve 1326 is provided on a transverse sliding body 1323, and the linkage rod 1325 is slidably engaged with the sliding sleeve 1326; The pulley assembly 1327 and the transverse drive component 1328 are included. The transverse drive component 1328 can be an electric motor or a hydraulic motor. The output end of the transverse drive component 1328 and the two transverse screws 1322 are connected by the pulley assembly 1327. The pulley assembly 1327 includes a first pulley coaxially fixedly engaged with one transverse screw 1322, a second pulley coaxially fixedly engaged with another transverse screw 1322, and a belt connecting the first pulley and the second pulley.

[0025] A transverse screw 1322 is driven to rotate by a transverse drive component 1328, which in turn drives another transverse screw 1322 to rotate synchronously in the same direction via a pulley set 1327. The transverse slide body 1323 is threadedly engaged with the transverse screw 1322. The two transverse slide bodies 1323 move synchronously in the same direction along the axis of the transverse screw 1322. The longitudinal arm 1324 moves along the length of the transverse groove 1313 under the drive of the transverse slide body 1323. The sliding sleeve 1326 slides axially along the linkage rod 1325, thereby driving the weight plate 134 to move laterally. The synchronous drive of the two transverse screws 1322 provides strong stability and high motion accuracy. The synchronous rotation via the pulley set 1327 ensures that the two transverse screws 1322 rotate synchronously in the same direction and at the same speed, thus ensuring that the two transverse slide bodies 1323 move strictly synchronously in the same direction and at the same speed.

[0026] In this embodiment, please refer to Figures 2 to 4 The longitudinal moving part 133 includes a plurality of transverse protrusions 1331, which are evenly spaced along the circumferential direction of the linkage rod 1325. The inner wall of the sliding sleeve 1326 has a plurality of grooves that slide and engage with the transverse protrusions 1331 respectively. The longitudinal screw 1332 has a dovetail groove 13241 along its own length direction. The two ends of the longitudinal screw 1332 are respectively rotatably connected to the two transverse sliding bodies 1323. The longitudinal screw 1332 is located in the dovetail groove 13241. A longitudinal sliding body 1333 is threadedly engaged with the longitudinal screw 1332. A through hole 1341 is provided on the weight plate 134 to slide with the longitudinal arm 1324. The longitudinal sliding body 1333 slides with the dovetail groove 13241 and is fixedly connected to the inner wall of the through hole 1341. There is at least one longitudinal sliding body 1333. When there are multiple longitudinal sliding bodies 1333, there are multiple contact points with the weight plate 134, which increases the contact area. The first helical gear 1334 is coaxially and fixedly engaged with the outer wall of the sliding sleeve 1326; The second helical gear 1335 is coaxially fixedly engaged with the longitudinal screw 1332, and the second helical gear 1335 meshes with the first helical gear 1334 for transmission. The longitudinal drive component 1336 includes an electric motor or a hydraulic motor. The longitudinal drive component 1336 is used to drive the linkage rod 1325 to rotate, thereby causing the sliding sleeve 1326 to rotate and thus causing the first helical gear 1334 to rotate.

[0027] The longitudinal drive member 1336 drives the linkage rod 1325 to rotate around its own axis. The transverse convex strip 1331 of the linkage rod 1325 in the circumferential direction forms a sliding fit with the groove on the inner wall of the sliding sleeve 1326. This not only transmits the torque of the linkage rod 1325 to drive the sliding sleeve 1326 to rotate synchronously, but also allows the sliding sleeve 1326 to slide freely along the axial direction of the linkage rod 1325 to adapt to the positional changes when the transverse part 132 drives the longitudinal arm 1324 to move laterally. When the sliding sleeve 1326 rotates, the first helical gear 1334, which is coaxially fixed on its outer wall, rotates synchronously, and through the interaction with the second helical gear 1335... The meshing of the longitudinal screw 1332 transmits power to the longitudinal screw 1332, causing the longitudinal screw 1332 to rotate. The longitudinal screw 1332 is located in the dovetail groove 13241 of the longitudinal arm 1324. The longitudinal sliding body 1333 is threadedly engaged with the longitudinal screw 1332 and is restricted by the dovetail groove 13241 to slide only longitudinally. When the longitudinal screw 1332 rotates, the longitudinal sliding body 1333 moves axially along the longitudinal screw 1332, and then drives the weight plate 134 to move longitudinally through the fixed connection with the inner wall of the through hole 1341 of the weight plate 134. This results in strong transmission stability, compact structure, and space saving.

[0028] In this embodiment, please refer to Figure 1 , Figures 5 to 7 The walking module 12 includes two walking parts 121, which are respectively located on the front and rear ends of one side of the frame 11. A power unit 122 is provided on the frame 11 for driving the movement of the two walking units 121; By controlling the power units 122 of the two walking modules 12 to independently drive the two walking units 121 on one side of the frame 11 to move differentially, the frame 11 is turned in the walking direction.

[0029] The power unit 122 includes a drive sprocket rotatably mounted on the frame 11, two driven sprockets coaxially fixedly connected to the two travel units 121 respectively, a chain that drives the drive sprocket and the two driven sprockets, and a travel power component that drives the drive sprocket to rotate. The travel power component includes an electric motor or a hydraulic motor.

[0030] By controlling the power unit 122 of the two walking modules 12 to independently drive the two walking units 121 on one side of the frame 11 to move at different speeds, the frame 11 can be turned in the walking direction. The two walking modules 12 are driven independently, and the seeder can turn with different radii by utilizing the speed difference and different turns of the two walking modules 12. The turning is flexible and adaptable to the complex terrain of hilly and mountainous areas.

[0031] In this embodiment, please refer to Figures 5 to 7 The walking part 121 includes: a fixed vertical arm 1211, which is fixedly connected to the frame 11; The telescopic vertical arm 1212 has a telescopic cavity 12111 on the fixed vertical arm 1211, and the telescopic vertical arm 1212 slides in cooperation with the inner wall of the telescopic cavity 12111 of the fixed vertical arm 1211. A lifting assembly 1213 is disposed within the telescopic cavity 12111 to control the height of the vehicle frame 11 relative to the ground. The transmission assembly 1214 and the wheel 1215 are provided. The rotation axis of the wheel 1215 is perpendicular to the central axis of the telescopic vertical arm 1212. The transmission assembly 1214 is used to transmit the power of the power unit 122 to the wheel 1215.

[0032] The lifting assembly 1213 is installed in the telescopic cavity 12111 of the fixed vertical arm 1211. The telescopic movement pushes or pulls the telescopic vertical arm 1212 to slide up and down along the inner wall of the telescopic cavity 12111, changing the vertical distance between the wheel 1215 and the frame 11, thereby adjusting the overall height of the frame 11 to adapt to the complex terrain of hilly and mountainous areas. The power of the power unit 122 is transmitted to the wheel 1215 through the transmission assembly 1214, driving the wheel 1215 to rotate around an axis perpendicular to the central axis of the telescopic vertical arm 1212, realizing the forward or backward movement of the seeder. The monitoring mechanism 4 detects the tilt angle of the frame 11 in real time. The control mechanism 5 controls the lifting assembly 1213 of different walking parts 121 individually or synchronously according to the detection results. In conjunction with the center of gravity adjustment module 13, the frame 11 is ultimately kept horizontal.

[0033] In this embodiment, please refer to Figure 6 The lifting assembly 1213 includes a fixed plate 12131, which is coaxially fixedly engaged with the inner wall of the telescopic cavity 12111. Multiple sliding protrusions 12132 are arranged circumferentially along the outer wall of the telescopic vertical arm 1212. The inner wall of the telescopic cavity 12111 has multiple telescopic grooves 12134 that slide and engage with the sliding protrusions 12132 respectively. The lifting power component 12133 includes a hydraulic cylinder, a pneumatic cylinder, or an electric push rod, wherein the lifting power component 12133 has at least one, and both ends of the lifting power component 12133 are fixedly connected to the top end of the fixed plate 12131 and the telescopic vertical arm 1212, respectively.

[0034] When the lifting power component 12133 extends or retracts, it generates axial thrust or tension. One end acts on the fixed plate 12131, and the other end acts on the top of the telescopic vertical arm 1212, causing the telescopic vertical arm 1212 to move axially. Multiple sliding protrusions 12132 on the outer wall of the telescopic vertical arm 1212 slide and cooperate with the telescopic grooves 12134 on the inner wall of the telescopic cavity 12111 to form multiple sets of guide structures. This can effectively constrain the movement trajectory of the telescopic vertical arm 1212, making the guidance stable and the movement precise. It can also distribute the radial force borne by the telescopic vertical arm 1212 to multiple contact points. The extension length of the telescopic vertical arm 1212 is controlled by the extension amount of the lifting power component 12133, thereby changing the distance between the wheel 1215 and the frame 11, and finally realizing the adjustment of the height of the frame 11 from the ground.

[0035] In this embodiment, please refer to Figure 6 The transmission assembly 1214 includes a first transmission shaft 12141, which is coaxially rotatably engaged with the fixed vertical arm 1211. One end of the first transmission shaft 12141 passes through the top of the telescopic cavity 12111 and is connected to the power unit 122. The first transmission shaft 12141 passes through the top of the telescopic cavity 12111 and is coaxially fixedly engaged with the driven sprocket of the power unit 122. The first transmission shaft 12141 can be coaxially rotatably engaged with the fixed disk 12131. The second drive shaft 12142 is coaxially rotatably coupled with the telescopic vertical arm 1212. The other end of the first drive shaft 12141 has a blind hole 121411 that is recessed inward along its own axial direction. One end of the second drive shaft 12142 is slidably coupled with the inner wall of the blind hole 121411 at the other end of the first drive shaft 12141. The telescopic vertical arm 1212 is provided with a transmission cavity 12121, and the other end of the second drive shaft 12142 extends into the transmission cavity 12121. Multiple rotating protrusions 12143 are arranged circumferentially along the second drive shaft 12142. The inner wall of the blind hole 121411 has multiple rotating vertical grooves that are adapted to the rotating protrusions 12143 respectively. The active bevel gear 12144 is coaxially and fixedly engaged with the second transmission shaft 12142. Driven bevel gear 12145 meshes with driving bevel gear 12144, and driven bevel gear 12145 rotates coaxially with wheel 1215.

[0036] The driven sprocket of the power unit 122 rotates, driving the first drive shaft 12141, which is fixed coaxially with it, to rotate. The first drive shaft 12141 is adapted to the rotating protrusion 12143 and the rotating vertical groove, so that the second drive shaft 12142 can slide along the length of the blind groove, and can also transmit rotational torque through the cooperation of the rotating protrusion 12143 and the rotating vertical groove. The rotation of the second drive shaft 12142 drives the driving bevel gear 12144 to rotate. The driving bevel gear 12144 meshes with the driven bevel gear 12145 to convert the rotational power in the vertical direction into the horizontal direction, and finally drives the wheel 1215 to rotate.

[0037] In this embodiment, please refer to Figure 8 and Figure 9 The suspension module 21 includes a pull plate 211 and a telescopic part 212. The telescopic part 212 is used to control the height of the pull plate 211 from the ground. The telescopic part 212 has at least one component and can be a hydraulic cylinder, a pneumatic cylinder, or an electric push rod. The ranging unit 213 is disposed on the pull plate 211 for measuring the distance between the pull plate 211 and the ground. The ranging unit 213 is a laser ranging sensor. There can be three laser ranging sensors, which are arranged in a triangle on the pull plate 211. The measurement values ​​of multiple points can be averaged to obtain a more reliable measurement of the overall height of the pull plate 211 above the ground. The laser ranging sensor includes a phase-type laser ranging sensor or an interferometric laser ranging sensor.

[0038] Two sets of auxiliary pull parts 214 are symmetrically arranged on the left and right sides along the pull plate 211. Each set of auxiliary pull parts 214 includes: a first support arm 2141, a second support arm 2142, a third support arm 2143, and a fourth support arm 2144. The two ends of the first support arm 2141 are respectively hinged to the bottom of the frame 131 and the first end of the second support arm 2142. The second end of the second support arm 2142 is hinged to the pull plate 211. The two ends of the third support arm 2143 are respectively hinged to the bottom of the frame 131 and the first end of the fourth support arm 2144. The second end of the fourth support arm 2144 is hinged to the pull plate 211.

[0039] The telescopic section 212 is extended and retracted according to the operational requirements by the control mechanism 5. The extension and retraction of the telescopic section 212 drives the pull plate 211 to rise and fall. At the same time, two sets of symmetrical auxiliary pull sections 214 move synchronously with the rise and fall of the pull plate 211. The movement trajectory of the pull plate 211 is restricted by the hinge of the support arm. This not only helps to maintain the horizontal posture of the pull plate 211, but also shares the load of the pull plate 211. The laser range sensor on the pull plate 211 measures the distance between the pull plate 211 and the ground in real time and feeds the data back to the control system to realize closed-loop control of the telescopic section 212 and ensure that the height of the pull plate 211 is accurately controllable.

[0040] In this embodiment, please refer to Figure 11 and Figure 12 The spacing adjustment module 22 includes a first discharge pipe 221, which is connected to the discharge port of the seeding module 23. Spiral tube 222, one end of which is connected to the first discharge tube 221; The second discharge pipe 223 is connected to the spiral pipe 222; A gas collecting sleeve 224 is sleeved on the outer wall of the first discharge pipe 221. A gas collecting space 227 is formed between the inner wall of the gas collecting sleeve 224 and the outer wall of the first discharge pipe 221. The side wall of the first discharge pipe 221 has a plurality of inclined gas outlet holes 228 that are inclined at an angle to the central axis of the first discharge pipe 221 and downward. The diameter of the inclined gas outlet hole 228 at the end near the central axis of the first discharge pipe 221 is smaller than the diameter at the end away from the central axis of the first discharge pipe 221. An air source 225 is connected to the bottom of the suspension mechanism via a connecting frame for blowing air into the air collection space 227. The air source 225 is controlled to open or close via a solenoid valve 229. The speed measuring unit 226 is used to measure the speed of the seeds moving within the first discharge pipe 221 and the spiral tube 222. The speed measuring unit 226 is a speed sensor, and there are three speed sensors. The three speed sensors are respectively located near the connection points of the first discharge pipe 221 and the sowing module 23, the first discharge pipe 221 and the spiral tube 222, and the spiral tube 222 and the second discharge pipe 223.

[0041] Seeds discharged through the sowing module 23 enter the first discharge pipe 221. Air source 225 supplies air to the air collection space 227. The airflow is ejected through the inclined air outlet 228 of the first discharge pipe 221, forming an inclined downward thrust, so that different seeds move for different times in the spiral tube 222, thereby realizing the control of the sowing spacing of different seeds. Through the design of the speed measuring unit 226, the speed change of the seeds can be obtained in real time to form a closed-loop control.

[0042] In this embodiment, please refer to Figures 8 to 10 The soil covering module 24 includes two connecting arms 241, which are symmetrically fixed to both sides of the suspension mechanism. A rotating roller 242 is rotatably mounted on two connecting arms 241 at both ends; A plurality of first covering blades 243 are arranged circumferentially along the outer wall of the rotating roller 242. Each first covering blade 243 is composed of a plate-shaped positive spiral soil guide arm 2431 and a first blade 2432. A plurality of second covering blades 244 are arranged in a one-to-one correspondence with a plurality of first covering blades 243 to form covering spaces 245. Each second covering blade 244 consists of a plate-shaped anti-spiral soil guide arm 2441 and a second blade 2442. Both the first blade 2432 and the second blade 2442 are wider at the front and narrower at the back, which enables them to loosen and break up the soil. The covering spaces 245 correspond to the furrows opened by the sowing module 23.

[0043] As the walking module 12 moves forward, the rotating roller 242 rotates passively due to friction with the ground. The plate-shaped positive spiral soil guide arm 2431 and the plate-shaped negative spiral soil guide arm 2441 guide the soil on both sides of the ditch toward the middle of the ditch to form a soil flow that gathers toward the middle of the ditch. The first blade 2432, which is wider at the front and narrower at the back, and the second blade 2442 cut the soil and break up the soil clods while rotating. The soil breaking effect is good and the adaptability is strong. At the same time, the broken soil is pushed by the spiral arm and the blade to guide the broken soil to the covering space 245. The gathered broken soil covers the seeds. The covering efficiency is high and the coverage is uniform, thus completing the covering operation. The sowing module 23 includes a stabilizing wheel 231, a stabilizing shaft 232, a hopper 233, a drive shaft 234, a feed tray 235, a connecting plate 236, a furrow opener 237, and a sowing frame 238. The stabilizing shaft 232 is rotatably mounted below and behind the pull plate 211 via the stabilizing frame 239. The connecting plate 236 is vertically mounted at the bottom front of the pull plate 211. The connecting plate 236 has multiple mounting holes that can be detachably connected to the furrow opener 237, facilitating adjustment of the furrow depth according to actual sowing needs. The stabilizing wheel 231... 31 has two stabilizing wheels 231, which are coaxially fixedly engaged with both ends of the stabilizing shaft 232. The seeding frame 238 is mounted on the pull plate 211. The drive shaft 234 is rotatably mounted on the seeding frame 238. The material tray 235 is coaxially fixedly engaged with the drive shaft 234. The side wall of the material tray 235 has multiple troughs that can hold seeds spaced apart in the circumferential direction. The hopper 233 is located on the seeding frame 238 and is connected above the material tray 235. The drive shaft 234 and the stabilizing shaft 232 are connected by a sprocket set.

[0044] The trencher 237 is driven by the walking module 12 to open trenches. The stabilizing wheel 231 contacts the ground and rotates with the walking module 12, driving the coaxial stabilizing shaft 232 to rotate. The stabilizing shaft 232 transmits power to the drive shaft 234 through the sprocket set, so that the drive shaft 234 rotates synchronously with the stabilizing wheel 231. The seeds in the hopper 233 fall naturally to the top of the material tray 235. When the material tray 235 rotates with the drive shaft 234, the material trough on its side wall holds the seeds. When the material trough rotates to the bottom, the seeds are released from the material trough by gravity and fall into the first discharge pipe 221.

[0045] Working principle: During sowing, the data acquisition mechanism 3 acquires real-time information on the road surface and its flatness. The control mechanism 5, based on the data acquired by the acquisition mechanism 3 and combined with the speed and posture of the current walking module 12, predicts the shape of the road surface that the walking module 12 will soon pass over. Simultaneously, it adjusts the posture and speed of the walking module 12. When the lifting power component 12133 extends or retracts, it generates axial thrust or pull, one end acting on the fixed plate 12131 and the other end acting on the top of the telescopic vertical arm 1212, causing the telescopic vertical arm 1212 to move axially. Multiple sliding protrusions 12132 on the outer wall of the telescopic vertical arm 1212 slide and cooperate with the telescopic grooves 12134 on the inner wall of the telescopic cavity 12111 to form multiple sets of guide structures. The extension length of the telescopic vertical arm 1212 is controlled by the extension amount of the lifting power component 12133, thereby changing the distance between the wheel 1215 and the frame 11, ultimately achieving the adjustment of the height of the frame 11 above the ground. The driven sprocket of part 122 rotates, driving the first drive shaft 12141, which is fixed coaxially with it, to rotate. The first drive shaft 12141 is adapted with a rotating protrusion 12143 and a rotating vertical groove, so that the second drive shaft 12142 can slide along the length of the blind groove, and can also transmit rotational torque through the rotating protrusion 12143 and the rotating vertical groove. The rotation of the second drive shaft 12142 drives the active bevel gear 12144 to rotate. The active bevel gear 12144 meshes with the driven bevel gear 12145 to convert the rotational power in the vertical direction into the horizontal direction, and finally drives the wheel 1215 to rotate. By controlling the power part 122 of the two walking modules 12 to independently drive the two walking parts 121 on one side of the frame 11 to move at different speeds, the frame 11 can be turned in the walking direction. The two walking modules 12 are driven independently. By using the speed difference and different turns of the two walking modules 12, the seeder can turn with different radii, which is flexible and adaptable to the complex terrain of hilly and mountainous areas. Control mechanism 5 compares the predicted target posture with the actual posture of monitoring mechanism 4 to obtain a center of gravity adjustment command. Through the lateral drive component 1328, it drives one lateral screw 1322 to rotate, which in turn drives another lateral screw 1322 to rotate synchronously in the same direction via the pulley set 1327. The lateral sliding body 1323 is threadedly engaged with the lateral screw 1322, and the two lateral sliding bodies 1323 move synchronously in the same direction along the axis of the lateral screw 1322. The longitudinal arm 1324 moves along the length of the lateral groove 1313 under the drive of the lateral sliding bodies 1323. The sliding sleeve 1326 slides axially along the linkage rod 1325, thereby driving the weight plate 134 to move laterally. Through the longitudinal drive component 1336, the linkage rod 1325 is driven to rotate around its own axis. The circumferential lateral protrusion 1331 of the linkage rod 1325 forms a sliding engagement with the groove on the inner wall of the sliding sleeve 1326, which can transmit the torque of the linkage rod 1325 to drive the sliding sleeve 1326. The 26 rotates synchronously, allowing the sliding sleeve 1326 to slide freely along the axis of the linkage rod 1325 to adapt to the positional changes when the transverse part 132 drives the longitudinal arm 1324 to move laterally. When the sliding sleeve 1326 rotates, the first helical gear 1334, which is coaxially fixed on its outer wall, rotates synchronously. Through meshing with the second helical gear 1335, it transmits power to the longitudinal screw 1332, causing the longitudinal screw 1332 to rotate. The longitudinal screw 1332 is located in the dovetail groove 13241 of the longitudinal arm 1324. The longitudinal sliding body 1333 is threadedly engaged with the longitudinal screw 1332 and is restricted by the dovetail groove 13241 to slide only longitudinally. When the longitudinal screw 1332 rotates, the longitudinal sliding body 1333 moves along the axis of the longitudinal screw 1332, and then, through the fixed connection with the inner wall of the through hole 1341 of the weight plate 134, it drives the weight plate 134 to move longitudinally, so that the frame 11 is always in a horizontal state. The telescopic part 212 is extended and retracted according to the operational requirements by the control mechanism 5. The extension and retraction of the telescopic part 212 drives the pull plate 211 to rise and fall, so that the soil covering module 24 and the seeding module 23 are always at the initial height of contact with the ground. The furrow opener 237 of the walking module 12 opens furrows. The stabilizing wheel 231 contacts the ground and rotates with the walking module 12, driving the coaxial stabilizing shaft 232 to rotate. The stabilizing shaft 232 transmits power to the drive shaft 234 through the sprocket set, so that the drive shaft 234 rotates synchronously with the stabilizing wheel 231. The seeds in the hopper 233 fall naturally to the top of the material tray 235. When the material tray 235 rotates with the drive shaft 234, the material trough on its side wall holds the seeds. When the material trough rotates to the bottom, the seeds are released from the material trough by gravity and fall into the first discharge. Inside pipe 221, air source 225 supplies air to air collection space 227. The airflow is ejected through the inclined air outlet 228 of the first discharge pipe 221, forming an inclined downward thrust, which makes different seeds move at different times in the spiral tube 222, thereby achieving control of the sowing spacing of different seeds. The rotating roller 242 rotates passively due to friction with the ground. The plate-shaped positive spiral soil guide arm 2431 and the plate-shaped negative spiral soil guide arm 2441 guide the soil on both sides of the ditch towards the middle of the ditch to form a soil flow that gathers towards the middle of the ditch. The first blade 2432, which is wider at the front and narrower at the back, and the second blade 2442 cut the soil and break up the soil clods while rotating. At the same time, with the push of the spiral arm and the blade, the broken soil is guided to the soil covering space 245. The gathered broken soil covers the seeds, resulting in high soil covering efficiency and uniform coverage, thus completing the soil covering operation.

[0046] In summary, this invention uses the acquisition mechanism 3 to acquire real-time information on the road surface and its smoothness. The control mechanism 5, based on the data acquired by the acquisition mechanism 3 and combined with the speed and posture of the current walking module 12, predicts the shape of the road surface that the walking module 12 will soon cross. Simultaneously, it adjusts the posture and speed of the walking module 12. The control mechanism 5 compares the predicted target posture with the actual posture of the monitoring mechanism 4 to obtain a center of gravity adjustment command. Through the cooperation of the longitudinal movement unit 133 and the lateral movement unit 132, the heavy plate 134 moves along the left-right and front-back directions of the frame 11 within the movement space 1311 to the target position. The movement of the heavy plate 134 changes the center of gravity position of the frame 11 to counteract the overturning torque caused by the road surface inclination. This is achieved through the two sets of walking modules 12 and center of gravity adjustment. Module 13 works in conjunction to keep the frame 11 parallel to the horizontal plane, enabling it to adapt to complex road surfaces, ensuring vehicle stability, guaranteeing operational accuracy, and improving traffic capacity. Simultaneously, the sowing module 23 and the soil-covering module 24, suspended below the frame 131, utilize the vertical freedom provided by the suspension module 21 and are controlled by the control mechanism 5 to float up and down following the ground contour, ensuring good sowing depth and soil-covering effect. This not only achieves vehicle posture control to solve the problem of vehicle tilt leading to slippage and rollover, but also allows for sowing posture control on uneven or sloping hilly terrain to reduce tillage difficulty and cost, and improve tillage quality. Furthermore, it solves the problem of uneven sowing depth caused by vehicle tilt affecting the operation quality of the sowing equipment when working in complex hilly environments. Therefore, this invention effectively overcomes the various shortcomings of existing technologies and has high industrial application value.

[0047] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A seeder with adjustable posture adapted to hilly and mountainous terrain, characterized in that, include: The vehicle body posture control mechanism includes a vehicle frame, two sets of walking modules symmetrically arranged along the left and right sides of the vehicle frame, and a center of gravity control module located at the bottom of the vehicle frame for adjusting the center of gravity of the vehicle frame. The two sets of walking modules and the center of gravity control module work together to ensure that the vehicle frame is always parallel to the horizontal plane. The center of gravity control module includes a frame, a lateral movement part, a longitudinal movement part, and a weight plate fixed to the bottom of the frame. The frame has a moving space and a U-shaped drive groove. The lateral movement part and the longitudinal movement part are located in the U-shaped drive groove to drive the weight plate to move in the moving space along the left-right and front-back directions of the frame. The seeding mechanism includes two sets of suspension modules, a spacing adjustment module, a seeding module, and a soil covering module. The spacing adjustment module is connected to the discharge port of the seeding module. The spacing adjustment module and the seeding module are connected to the bottom of the frame through one of the suspension modules. The soil covering module is connected to the bottom of the frame through the other suspension module and is located behind the seeding module. A data acquisition mechanism is located at the front of the vehicle frame to acquire road surface information and road surface smoothness in the trajectory of the vehicle body posture control mechanism. A monitoring mechanism is mounted on the vehicle frame to measure in real time the tilt angle between the vehicle frame and the horizontal plane in the direction of travel, as well as the tilt angle between the horizontal planes in the left and right directions.

2. The seeder with adjustable posture for hilly and mountainous terrain according to claim 1, characterized in that: The transverse movement part includes: two mounting seats, which are respectively fixedly installed in the U-shaped drive groove; Two transverse screws, one end of each of the two transverse screws is rotatably installed in the U-shaped drive groove, and the other end passes through the two mounting seats and is rotatably connected; Two transverse sliding bodies, each of which is threadedly engaged with one of the two transverse screws; The longitudinal arm is connected to the moving space via a transverse sliding groove. Both ends of the longitudinal arm pass through the transverse sliding groove and are fixedly connected to the two transverse sliding bodies. The length direction of the longitudinal arm is perpendicular to the central axis of the screw. A linkage rod, one end of which is rotatably mounted in the U-shaped drive groove, and the other end of which passes through a mounting base and is rotatably connected. The central axis of the linkage rod is parallel to the central axis of the transverse screw. A sliding sleeve is provided on a transverse sliding body, and the linkage rod is slidably engaged with the sliding sleeve. The pulley assembly and the transverse drive are connected via the pulley assembly, with the output end of the transverse drive and the two transverse screws being connected by transmission.

3. The seeder with adjustable posture for hilly and mountainous terrain according to claim 2, characterized in that: The longitudinal moving part includes a plurality of transverse protrusions, which are evenly spaced along the circumference of the linkage rod. The inner wall of the sliding sleeve has a plurality of grooves that slide and engage with the transverse protrusions respectively. A longitudinal screw, wherein the longitudinal arm has a dovetail groove along its own length direction, and both ends of the longitudinal screw are respectively rotatably connected to two transverse sliding bodies, and the longitudinal screw is located in the dovetail groove; A longitudinal sliding body is threadedly engaged with the longitudinal screw. A through hole is provided on the weight plate to slide with the longitudinal arm. The longitudinal sliding body slides with the dovetail groove and is fixedly connected to the inner wall of the through hole. The first helical gear is coaxially and fixedly engaged with the outer wall of the sliding sleeve; The second helical gear is coaxially and fixedly engaged with the longitudinal screw, and the second helical gear meshes with the first helical gear for transmission. A longitudinal drive component is provided to drive the linkage rod to rotate, thereby causing the sliding sleeve to rotate and thus rotating the first helical gear.

4. The seeder with adjustable posture for hilly and mountainous terrain according to claim 1, characterized in that: The walking module includes two walking parts, which are respectively located on the front and rear ends of one side of the vehicle frame; A power unit, which is mounted on the frame to drive the movement of the two running gears; By controlling the power units of the two walking modules to independently drive the differential movement of the two walking units on one side of the frame, the frame can be steered in the walking direction.

5. The seeder with adjustable posture for hilly and mountainous terrain according to claim 4, characterized in that: The walking unit includes: a fixed vertical arm, which is fixedly connected to the vehicle frame; A telescopic vertical arm, wherein the fixed vertical arm has a telescopic cavity, and the telescopic vertical arm slides in conjunction with the inner wall of the telescopic cavity of the fixed vertical arm; A lifting assembly, which is disposed within the telescopic cavity to control the height of the vehicle frame relative to the ground; The transmission assembly and the wheel, wherein the rotation axis of the wheel is perpendicular to the central axis of the telescopic vertical arm, and the transmission assembly is used to transmit the power of the power unit to the wheel.

6. The seeder with adjustable posture for hilly and mountainous terrain according to claim 5, characterized in that: The lifting assembly includes a fixed plate, which is coaxially and fixedly fitted with the inner wall of the telescopic cavity. Multiple sliding protrusions are arranged at intervals along the circumferential direction of the outer wall of the telescopic vertical arm, and the inner wall of the telescopic cavity has multiple telescopic grooves that respectively slide and engage with the sliding protrusions. The lifting power component has its two ends fixedly connected to the fixed plate and the top of the telescopic vertical arm, respectively.

7. The seeder with adjustable posture for hilly and mountainous terrain according to claim 5, characterized in that: The transmission assembly includes a first transmission shaft, which is coaxially rotatably coupled with the fixed vertical arm, and one end of the first transmission shaft passes through the top of the telescopic cavity and is connected to the power unit. The second drive shaft is coaxially rotatably coupled with the telescopic vertical arm. The other end of the first drive shaft has a blind hole that is recessed inward along its own axial direction. One end of the second drive shaft is slidably coupled with the inner wall of the blind hole at the other end of the first drive shaft. A transmission cavity is provided on the telescopic vertical arm, and the other end of the second drive shaft extends into the transmission cavity. Multiple rotating protrusions are spaced apart circumferentially along the second drive shaft, and the inner wall of the blind hole has multiple rotating vertical grooves that are adapted to the rotating protrusions respectively. A drive bevel gear, which is coaxially and fixedly fitted with the second drive shaft; The driven bevel gear meshes with the driving bevel gear, and rotates coaxially with the wheel.

8. The seeder with adjustable posture for hilly and mountainous terrain according to claim 1, characterized in that: The suspension module includes a tension plate and a telescopic part, the telescopic part being used to control the height of the tension plate relative to the ground; A distance measuring unit is provided on the pull plate for measuring the distance between the pull plate and the ground; Two sets of auxiliary pull parts are symmetrically arranged along the pull plate. Each set of auxiliary pull parts includes a first support arm, a second support arm, a third support arm, and a fourth support arm. The two ends of the first support arm are respectively hinged to the bottom of the frame and the first end of the second support arm. The second end of the second support arm is hinged to the pull plate. The two ends of the third support arm are respectively hinged to the bottom of the frame and the first end of the fourth support arm. The second end of the fourth support arm is hinged to the pull plate.

9. The seeder with adjustable posture for hilly and mountainous terrain according to claim 1, characterized in that: The spacing control module includes a first discharge pipe, which is connected to the discharge port of the seeding module; A spiral tube, one end of which is connected to the first discharge tube; The second discharge pipe is connected to the spiral pipe; A gas collecting sleeve is sleeved on the outer wall of the first discharge pipe. A gas collecting space is formed between the inner wall of the gas collecting sleeve and the outer wall of the first discharge pipe. The side wall of the first discharge pipe has a number of inclined gas outlet holes that are inclined at an angle to the central axis of the first discharge pipe and discharge gas downwards. An air source is connected to the bottom of the suspension mechanism via a connecting frame for blowing air into the air collection space. The air source is controlled to open or close via a solenoid valve. The speed measuring unit is used to measure the speed of the seed movement within the first discharge pipe and the spiral tube.

10. The seeder with adjustable posture for hilly and mountainous terrain according to claim 1, characterized in that: The soil covering module includes two connecting arms, which are symmetrically fixed to both sides of the suspension mechanism. A rotating roller, the two ends of which are rotatably mounted on the two connecting arms; A plurality of first covering blades are arranged at intervals along the outer wall of the rotating roller. Each first covering blade consists of a plate-shaped positive spiral soil guide arm and a first blade. A number of second covering blades are provided, each corresponding to and positioned opposite to a number of first covering blades to form a covering space. Each second covering blade consists of a plate-shaped anti-spiral soil guide arm and a second blade. Both the first and second blades are wider at the front and narrower at the back.

Images