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I'm trying to scheme a PVC pipe to push a hole in the soil and drop seeds down the pipe and then cover up the seeds.

Take a 1/2" dia pipe, and zip-tie it to an ice chopper. (An ice chopper looks like a hoe, but the blade is in line with the handle instead of at an angle.) If planting small seeds, you'll need to encapsulate them somehow to give them more weight, but large seeds can slide through the tube as-is. Stick the ice-chopper into the ground at a slight angle, tilt it the other way to open a hole in the soil. Drop a seed down the tube, then use the ice-chopper to open a second hole right next to it in a way that pushes the first hole closed.

I've tried this with narrower blades, but they made too small an opening. It was easy to miss the hole.

For giving small seeds more weight, I've tried several things, some more complicated than others. The simplest is to make little paper pouches, using low-quality paper so it breaks down easily. If it still needs more weight, add some dry dirt, sand, or other plant-friendly weights in with the seed. You can go fancy with origami, or just wrap it up like a burrito, or any other method you like. Just try not to let them leak too much. If you decide to use glue to seal them shut, use biodegradable or water-soluble glues, and try not to let the glue touch the seed itself. I don't recommend using tape.