Multi-ridge self-propelled weeding and spraying all-in-one machine and using method thereof

Abstract

The invention discloses a multi-ridge self-propelled weeding and spraying all-in-one machine and a using method thereof, and belongs to the field of agricultural equipment. The multi-ridge self-propelled weeding and spraying all-in-one machine comprises a walking mechanism, a steering mechanism, lifting mechanisms, a ridge distance adjusting mechanism, a swing type spraying mechanism and a weeding mechanism, the left side and the right side of the ridge distance adjusting mechanism are each provided with a set of lifting mechanism, and a gantry structure with the adjustable width and height is formed; the front side and the rear side of the bottom of each lifting mechanism are each provided with one walking mechanism. The steering mechanisms are arranged at the bottoms of the two lifting mechanisms correspondingly and are in transmission connection with the walking mechanisms on the corresponding sides. One group of weeding mechanism is arranged below each group of swing type spraying mechanism, so that the weeding and spraying operation of plants with different heights and ridge distances can be adapted, the combined operation of weeding and spraying is realized, and the operation efficiency is improved; moreover, the swing type spraying mechanism is adopted to perform vertical swing spraying operation, so that the spraying uniformity can be improved, and the mechanical pesticide spraying and fertilizing effects are improved.

Description

Technical Field

[0001] The invention relates to agricultural equipment, and more particularly to a multi-ridge self-propelled weeding and spraying integrated machine and a use method thereof. Background Art

[0002] In agricultural planting, weeding and spraying are important and arduous tasks in field management. The purpose is to remove weeds in the ridges and ditch and spray and fertilize the plants. Therefore, improving the automation of weeding and spraying operations has far-reaching significance.

[0003] At present, spraying equipment and weeding equipment work independently and need to operate independently. It is impossible to realize the combined operation function of weeding and spraying at the same time. Therefore, the operation efficiency is not high, and it is necessary to purchase a variety of agricultural equipment, which not only increases the cost of agricultural planting, but also increases the difficulty of operating field management equipment. In addition, the wheelbase and operation spacing of existing spraying equipment and weeding equipment are mostly fixed, and agricultural arable land usually adjusts the plant ridge spacing according to the actual crop type and planting needs. Therefore, agricultural equipment with fixed wheelbase and operation spacing is difficult to meet the crop management needs of different ridge spacing. In addition, the height of plants at different growth stages is different, and equipment with fixed spraying height cannot meet the uniform spraying requirements of crops of different heights, which can easily cause unsatisfactory spraying and fertilization effects and serious waste.

[0004] In view of the above problems, there are also related solutions disclosed in the prior art, such as an agricultural field ridge weeding device with publication number CN113303043A, an agricultural planting fertilizer spraying device with publication number CN115104419A, and an agricultural sowing fertilizer spraying device and its spraying method with publication number CN116746356A, etc. These prior arts can change the weeding and spraying spacing, thereby meeting the operation requirements of different plant ridge spacings, and improving the adaptability and operation accuracy of the device. However, the above prior arts still have the following deficiencies:

[0005] 1) It is impossible to achieve the combined operation of weeding and spraying, the function is relatively single and the operation efficiency is low;

[0006] 2) The angle of the spray nozzle is fixed. Although some spray nozzles can be adjusted up and down, they cannot simulate manual up and down swing spraying during operation, resulting in poor spraying uniformity. Summary of the invention

[0007] 1. Technical problem to be solved by the invention

[0008] The object of the present invention is to overcome the above-mentioned shortcomings of the prior art and to provide a multi-ridge self-propelled weeding and spraying machine and a method for using the same. By adopting the technical solution of the present invention, the multi-ridge self-propelled weeding and spraying machine has an overall gantry structure with adjustable width and height, which can adapt to the weeding and spraying operations of plants of different heights and ridge distances, realizes the combined operation of weeding and spraying, and improves the operation efficiency; and, by adopting a swinging spraying mechanism, the up and down swinging spraying operation can be performed, and the spraying direction of the nozzle is biased to the left and right sides of the walking direction, which can improve the spraying uniformity and improve the mechanical spraying and fertilizing effects.

[0009] 2. Technical solution

[0010] In order to achieve the above object, the technical solution provided by the present invention is:

[0011] The multi-ridge self-propelled weeding and spraying integrated machine of the present invention comprises a walking mechanism, a steering mechanism, a lifting mechanism, a ridge spacing adjustment mechanism, a swing-type spraying mechanism and a weeding mechanism. A group of lifting mechanisms are respectively provided on the left and right sides of the ridge spacing adjustment mechanism to form a gantry structure with adjustable width and height. A group of walking mechanisms for movement are respectively provided on the front and rear sides of the bottom of the two groups of lifting mechanisms. The steering mechanisms are respectively provided at the bottom of the two groups of lifting mechanisms and are transmission-connected to the walking mechanisms on the corresponding sides to drive the walking mechanisms to turn.

[0012] The ridge spacing adjustment mechanism adopts a horizontally arranged scissor-type telescopic structure, and more than two groups of the swing-type spraying mechanisms are evenly spaced below the ridge spacing adjustment mechanism, and the distance between two adjacent groups of swing-type spraying mechanisms can be synchronously adjusted by the telescopic movement of the ridge spacing adjustment mechanism; a group of weeding mechanisms is arranged below each group of the swing-type spraying mechanisms; the swing-type spraying mechanism comprises a mounting frame, a swing arm that can swing up and down relative to the mounting frame, a nozzle mounted on the swing arm, and a swing control assembly for driving the swing arm to swing up and down, and the spraying direction of the nozzle is arranged on the left and right sides of the walking direction.

[0013] Furthermore, the swing control assembly includes a spraying drive motor, a transmission screw, a lifting guide rod, a fixed connecting plate and a lifting connecting plate. The fixed connecting plate is fixedly mounted on the lower part of the mounting frame through the lifting guide rod. The lifting connecting plate is slidably arranged on the lifting guide rod. The transmission screw and the lifting guide rod are installed in parallel between the mounting frame and the fixed connecting plate, and the lifting connecting plate is threadedly matched with the transmission screw. The spraying drive motor is connected to the transmission screw, and the lifting connecting plate is driven to reciprocate up and down by driving the transmission screw to rotate. The end of the swing rod away from the nozzle is hinged on the lifting connecting plate, and the swing rod has a slide groove. The corresponding side bottom of the mounting frame has a stop pin that can slide in the slide groove. The nozzle swings up and down as the lifting connecting plate reciprocates up and down.

[0014] Furthermore, the weeding mechanism includes a mounting plate, a connecting rod, a weeding motor and a weeding head. The mounting plate is fixedly mounted below the lifting connecting plate through the connecting rod. The weeding head is mounted on the lower part of the mounting plate and is transmission-connected to the weeding motor to drive the weeding head to rotate to remove weeds in the ditch.

[0015] Furthermore, the ridge spacing adjustment mechanism includes a first lateral bracket, a ridge spacing adjustment motor, a ridge spacing adjustment screw, a first lateral guide rod, a first lateral slide, a horizontal scissors assembly, a second lateral bracket, a second lateral guide rod and a second lateral slide. The first lateral bracket and the second lateral bracket are respectively and relatively mounted on the upper part of the lifting mechanism on the corresponding side. The first lateral guide rod is horizontally mounted on the first lateral bracket, and the second lateral guide rod is horizontally mounted on the second lateral bracket. One end of the horizontal scissors assembly is mounted on the first lateral guide rod through two groups of first lateral slides, and the other end of the horizontal scissors assembly is mounted on the second lateral guide rod through two groups of second lateral slides. The ridge spacing adjustment screw is mounted on the first lateral bracket in parallel with the first lateral guide rod, and the ridge spacing adjustment screw is a double-rotation screw. The two groups of the first lateral slides are respectively threadedly matched with the corresponding threaded sections of the ridge spacing adjustment screw. The ridge spacing adjustment motor is mounted on the first lateral bracket and is transmission connected to one end of the ridge spacing adjustment screw.

[0016] Furthermore, the ridge spacing adjustment mechanism also includes a first middle plate, a second middle plate and a horizontal center pull rod, the first middle plate is fixed to the middle part of the first lateral bracket, the second middle plate is fixed to the middle part of the second lateral bracket, and the first middle plate and the second middle plate are respectively connected to the middle part of the adjacent scissor rods in the horizontal scissors assembly through the horizontal center pull rod.

[0017] Furthermore, the top of the mounting frame is respectively provided with an axial hole and a guide hole, and the top of each mounting frame is suspended on the corresponding scissor rod of the horizontal scissors assembly at intervals through two connecting shafts, wherein one connecting shaft is rotatably connected to the axial hole, and the other connecting shaft is slidably matched with the guide hole.

[0018] Furthermore, the lifting mechanism adopts a vertically arranged scissor-type telescopic structure, including a lower mounting frame, a lifting control motor, a lifting drive screw, a lower guide rod, a lower slide seat, a lifting scissor assembly, an upper mounting frame, an upper guide rod, an upper slide seat, a lower support plate, an upper support plate and a vertical center pull rod. The lower mounting frame and the upper mounting frame are arranged relative to each other up and down, the lower guide rod is horizontally installed on the lower mounting frame, and the upper guide rod is horizontally installed on the upper mounting frame. The lower end of the lifting scissor assembly is installed on the lower guide rod through two sets of lower slide seats, and the other end of the lifting scissor assembly is installed on the lower guide rod through two sets of lower slide seats. Two groups of upper slides are installed on the upper guide rod, the lifting drive screw is installed on the lower mounting frame in parallel with the lower guide rod, and the lifting drive screw is a double-rotation screw. The two groups of lower slides are respectively threadedly matched with the corresponding threaded sections of the lifting drive screw, and the lifting control motor is installed on the lower mounting frame and is transmission-connected to one end of the lifting drive screw; the lower support plate is fixed to the middle part of the lower mounting frame, and the upper support plate is fixed to the middle part of the upper mounting frame, and the lower support plate and the upper support plate are respectively connected to the middle part of the scissor rod in the lifting scissors assembly through vertical center pull rods.

[0019] Furthermore, the walking mechanism includes a wheel frame, a walking wheel and a walking drive motor. The wheel frame is axially rotatably installed at the bottom of the lifting mechanism and is transmission connected to the steering mechanism. The walking wheel is rotatably installed on the wheel frame. The walking drive motor is installed on one side of the wheel frame and is transmission connected to the walking wheel.

[0020] Furthermore, the steering mechanism includes a bottom support plate, a steering drive motor, a chain transmission mechanism, a worm, a worm wheel and a steering column. The bottom support plate is installed at the bottom of the corresponding lifting mechanism. The two groups of wheel frames of the walking mechanism are respectively rotatably installed on the front and rear ends of the bottom support plate through the steering column. Each steering column is provided with a worm wheel. The front and rear ends of the bottom support plate are respectively provided with worms meshing with the worm wheels at the corresponding ends. The steering drive motor is installed on the bottom support plate and cooperates with the worm transmission on both sides through the chain transmission mechanism.

[0021] A method for using a multi-ridge self-propelled weeding and spraying integrated machine of the present invention comprises the following steps:

[0022] S1. Height adjustment: According to the height of the plant, the height of each group of swing-type spraying mechanisms is synchronously adjusted through the lifting mechanisms on both sides, so as to keep each nozzle at a suitable spraying height; at the same time, the height of each group of weeding mechanisms from the ground is adjusted through each group of swing-type spraying mechanisms;

[0023] S2, ridge spacing adjustment: First, at least one side of the steering mechanism is used to control the walking mechanism on the corresponding side to turn to the lateral movement direction; then, according to the ridge spacing between plants, the distance between the lifting mechanisms on both sides is adjusted by the ridge spacing adjustment mechanism, and then the distance between adjacent swing-type spraying mechanisms is adjusted to match the ridge spacing between plants; then, the steering mechanism is used to control the walking mechanism to turn to the walking direction, and the walking mechanism is moved so that the walking mechanisms on both sides and each group of weeding mechanisms move in the ridge furrow;

[0024] S3. Weeding and spraying: Through the cooperation of the walking mechanism and the steering mechanism, the multi-ridge self-propelled weeding and spraying machine moves along the ridge ditch, and the swinging spraying mechanism and the weeding mechanism are started at the same time. The swinging spraying mechanism is used to swing the plants up and down, and the weeding mechanism is used to clean the weeds in the ridge ditch.

[0025] 3. Beneficial effects

[0026] Compared with the existing known technologies, the technical solution provided by the present invention has the following significant effects:

[0027] (1) A multi-ridge self-propelled weeding and spraying integrated machine and a method of using the same, comprising a walking mechanism, a steering mechanism, a lifting mechanism, a ridge spacing adjustment mechanism, a swing-type spraying mechanism and a weeding mechanism. A set of lifting mechanisms are respectively provided on the left and right sides of the ridge spacing adjustment mechanism to form a gantry structure with adjustable width and height. A set of weeding mechanisms is provided below each set of swing-type spraying mechanisms, which can adapt to weeding and spraying operations of plants of different heights and ridge spacings, realize weeding and spraying combined operations, and improve operation efficiency. In addition, the swing-type spraying mechanism can be used to perform up and down swing spraying operations, and the spraying direction of the nozzle is arranged on the left and right sides of the walking direction, which can improve spraying uniformity and improve mechanical spraying and fertilization effects.

[0028] (2) The multi-ridge self-propelled weeding and spraying machine of the present invention has a steering mechanism and a traveling mechanism, which can not only flexibly and stably move along the ridge direction, but also can make the traveling mechanism turn to the sideways direction during the ridge distance adjustment process, so as to facilitate and flexibly adjust the ridge distance, and is simple and convenient to operate;

[0029] (3) A multi-ridge self-propelled weeding and spraying machine of the present invention, wherein the swing control assembly comprises a spraying drive motor, a transmission screw, a lifting guide rod, a fixed connecting plate and a lifting connecting plate, wherein the end of the swing arm away from the nozzle is hinged on the lifting connecting plate, and the reciprocating up and down movement of the lifting connecting plate is used to drive the swing arm to swing up and down, thereby realizing the up and down swing control of the nozzle, which can simulate the manual up and down swing spraying action, improve the spraying uniformity, and the swing control assembly has a simple and compact structure and stable and reliable operation;

[0030] (4) The present invention provides a multi-ridge self-propelled weeding and spraying machine, whose weeding mechanism includes a mounting plate, a connecting rod, a weeding motor and a weeding head. The weeding head rotates at a high speed to clean the weeds in the ridge ditch, with high weeding efficiency and low walking resistance, thereby ensuring the working efficiency and stability of the weeding and spraying machine. At the same time, the weeding mechanism is installed on the lifting connecting plate of the swing control component. During operation, the weeding head can float up and down slightly with the up and down swing of the nozzle, which is convenient for the weeding head to overcome obstacles. At the same time, the swing weeding principle of the weeding head can also efficiently weed and reduce the absorption of fertilizer by weeds. ; In addition, the weeding mechanism is designed in linkage with the swing-type spraying mechanism. When the distance of the weeding mechanism from the ground is adjusted according to the height of the plant, the swing-type spraying mechanism can be used to further adjust the up and down movement range of the weeding mechanism. When the lifting mechanism is lowered, the swing-type spraying mechanism can drive the weeding mechanism to rise to ensure its distance from the ground, and the initial height of the nozzle is lowered, which is suitable for spraying shorter plants; conversely, when the lifting mechanism is raised, the swing-type spraying mechanism can drive the weeding mechanism to fall to ensure its distance from the ground, and the initial height of the nozzle is moved up, which is suitable for spraying taller plants;

[0031] (5) The multi-ridge self-propelled weeding and spraying machine of the present invention has a ridge spacing adjustment mechanism that adopts a horizontal scissor-type telescopic structure controlled by a screw rod, so that the entire gantry structure of the weeding and spraying machine is more stable, the ridge spacing adjustment is stable, the ridge spacing adjustment range is large, and the structure is more compact;

[0032] (6) In the multi-ridge self-propelled weeding and spraying integrated machine of the present invention, the top of the mounting frame of the swing-type spraying mechanism is respectively provided with an axis hole and a guide hole, and the top of each mounting frame is hoisted on the corresponding scissor rod of the horizontal scissor assembly at intervals through two connecting shafts, so that the swing-type spraying mechanism can stably maintain its orientation in the integrated machine, and can synchronously adjust the spacing between adjacent swing-type spraying mechanisms with the ridge spacing adjustment mechanism, thereby ensuring the working stability of the swing-type spraying mechanism;

[0033] (7) The multi-ridge self-propelled weeding and spraying machine of the present invention has a lifting mechanism that adopts a vertically arranged scissor-type telescopic structure, has good lifting movement stability, a large lifting height adjustment range, and a compact structure;

[0034] (8) A multi-ridge self-propelled weeding and spraying machine of the present invention has a travel mechanism including a wheel frame, a travel wheel and a travel drive motor, which has a stronger travel drive power and a higher transmission efficiency; at the same time, the steering mechanism adopts a worm gear design, which has a stable rotation control, and can utilize the reverse self-locking characteristics of the worm gear to ensure the accuracy of the travel direction of the travel wheel and reduce shaking during the walking process;

[0035] (9) The present invention provides a method for using a multi-ridge self-propelled weeding and spraying integrated machine, which can adjust the height and width of the integrated machine according to the plant height and ridge spacing. The adjustment operation is simple and convenient, the adaptability to field use is strong, and the use is flexible and convenient, with high operating efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a three-dimensional structural schematic diagram of a multi-ridge self-propelled weeding and spraying integrated machine of the present invention;

[0037] Figure 2 It is a front structural schematic diagram of a multi-ridge self-propelled weeding and spraying integrated machine of the present invention;

[0038] Figure 3 It is a schematic diagram of the gantry structure formed by the lifting mechanism and the ridge spacing adjustment mechanism in the present invention;

[0039] Figure 4 It is a schematic diagram of the structure of the unilateral walking mechanism, the steering mechanism and the lifting mechanism in the present invention;

[0040] Figure 5 It is a structural schematic diagram of the lifting mechanism in the present invention;

[0041] Figure 6 It is a schematic diagram of the assembly structure of the walking mechanism and the steering mechanism in the present invention;

[0042] Figure 7 It is a schematic diagram of the composition structure of the ridge spacing adjustment mechanism, the swing-type spraying mechanism, and the weeding mechanism in the present invention;

[0043] Figure 8 It is a schematic diagram of the assembly structure of the swing-type spraying mechanism and the weeding mechanism in the present invention.

[0044] Explanation of the symbols in the schematic diagram:

[0045] 1. Traveling mechanism; 1-1. Wheel frame; 1-2. Traveling wheel; 1-3. Traveling drive motor;

[0046] 2. Steering mechanism; 2-1. Bottom support plate; 2-2. Steering drive motor; 2-3. Chain transmission mechanism; 2-4. Worm; 2-5. Worm wheel; 2-6. Steering column;

[0047] 3. Lifting mechanism; 3-1. Lower mounting frame; 3-2. Lifting control motor; 3-3. Lifting drive screw; 3-4. Lower guide rod; 3-5. Lower slide seat; 3-6. Lifting scissor assembly; 3-7. Upper mounting frame; 3-8. Upper guide rod; 3-9. Upper slide seat; 3-10. Lower support plate; 3-11. Upper support plate; 3-12. Vertical center pull rod;

[0048] 4. Ridge distance adjustment mechanism; 4-1. First lateral support; 4-2. Ridge distance adjustment motor; 4-3. Ridge distance adjustment screw rod; 4-4. First lateral guide rod; 4-5. First lateral slide; 4-6. Horizontal scissor assembly; 4-7. Second lateral support; 4-8. Second lateral guide rod; 4-9. Second lateral slide; 4-10. First middle plate; 4-11. Second middle plate; 4-12. Horizontal center pull rod;

[0049] 5. Swinging spraying mechanism; 5-1. Mounting frame; 5-1a. Shaft hole; 5-1b. Guide hole; 5-2. Connecting shaft; 5-3. Spraying drive motor; 5-4. Transmission screw rod; 5-5. Lifting guide rod; 5-6. Fixed connecting plate; 5-7. Lifting connecting plate; 5-8. Swinging rod; 5-8a. Slide groove; 5-9. Nozzle;

[0050] 6. Weeding mechanism; 6-1. Mounting plate; 6-2. Connecting rod; 6-3. Weeding motor; 6-4. Mowing head. DETAILED DESCRIPTION

[0051] In order to further understand the content of the present invention, the present invention is described in detail in conjunction with the accompanying drawings and embodiments.

[0052] [Example]

[0053] Combination Figure 1 and Figure 2 As shown, the multi-ridge self-propelled weeding and spraying all-in-one machine of this embodiment includes a traveling mechanism 1, a steering mechanism 2, a lifting mechanism 3, a ridge spacing adjustment mechanism 4, a swing-type spraying mechanism 5 and a weeding mechanism 6. A group of lifting mechanisms 3 are respectively provided on the left and right sides of the ridge spacing adjustment mechanism 4 to form a gantry structure with adjustable width and height, wherein the lifting mechanism 3 is used to adjust the height of the all-in-one machine, and the ridge spacing adjustment mechanism 4 is used to adjust the width of the all-in-one machine; a group of traveling mechanisms 1 for movement are respectively provided on the front and rear sides of the bottom of the two groups of lifting mechanisms 3, and the steering mechanisms 2 are respectively provided at the bottom of the two groups of lifting mechanisms 3 and are transmission-connected with the traveling mechanisms 1 on the corresponding side to drive the traveling mechanisms 1 to turn; the steering mechanism 2 cooperates with the traveling mechanism 1 to drive the all-in-one machine to move stably in the ridge furrow. The above-mentioned ridge spacing adjustment mechanism 4 adopts a horizontally arranged scissors-type telescopic structure, and the number of "X" telescopic units of the scissors-type telescopic structure can be set as needed. Figures 1 to 3 Taking two sets of "X" telescopic units as an example, the telescopic length can be changed by changing the angle of the two connecting rods in the "X" telescopic unit, thereby adjusting the distance between the two lifting mechanisms 3. Two or more sets of swing spraying mechanisms 5 are arranged at equal intervals below the ridge spacing adjustment mechanism 4, and the distance between two adjacent sets of swing spraying mechanisms 5 can be synchronously adjusted by the telescopic movement of the ridge spacing adjustment mechanism 4, such as Figure 1 and Figure 2As shown, there are four groups of oscillating spraying mechanisms 5, which are installed at different positions of the scissor-type telescopic structure of the ridge spacing adjustment mechanism 4, so that the spacing between the four groups of oscillating spraying mechanisms 5 can be adjusted synchronously; a group of weeding mechanisms 6 is arranged below each group of oscillating spraying mechanisms 5, and the weeding mechanisms 6 are located below the oscillating spraying mechanisms 5 and are located in the ridge ditch when working, and are used to clean the weeds in the ridge ditch. Figure 8 As shown, the above-mentioned swing-type spraying mechanism 5 comprises a mounting frame 5-1, a swing arm 5-8 which can swing up and down relative to the mounting frame 5-1, a nozzle 5-9 mounted on the swing arm 5-8 and a swing control assembly for driving the swing arm 5-8 to swing up and down, and the spraying direction of the nozzle 5-9 is arranged on the left and right sides of the walking direction, and the swing control assembly can drive the swing arm 5-8 to swing up and down, thereby driving the nozzle 5-9 to swing up and down; since the nozzle 5-9 is located above the ridge, the spraying direction of the nozzle 5-9 is arranged on the left and right sides of the walking direction, so that the spraying direction of the nozzle 5-9 is just aimed at the plant, thereby improving the uniformity of spraying. In general, the multi-ridge self-propelled weeding and spraying machine has an overall gantry structure with adjustable width and height, which can adapt to weeding and spraying operations of plants of different heights and ridge distances, realize the combined operation of weeding and spraying, and improve the operation efficiency; and, the swing-type spraying mechanism 5 can perform up and down swing spraying operations, and the spraying direction of the nozzles 5-9 is biased to the left and right sides of the walking direction, which can improve the spraying uniformity and improve the mechanical spraying and fertilization effects.

[0054] Reference Figure 8As shown, in the above-mentioned swing type spraying mechanism 5, its swing control assembly includes a spraying driving motor 5-3, a transmission screw 5-4, a lifting guide rod 5-5, a fixed connecting plate 5-6 and a lifting connecting plate 5-7. The fixed connecting plate 5-6 is fixedly installed on the lower part of the mounting frame 5-1 through the lifting guide rod 5-5. The lifting connecting plate 5-7 is slidably arranged on the lifting guide rod 5-5 so that the lifting connecting plate 5-7 can move up and down along the lifting guide rod 5-5. The transmission screw 5-4 and the lifting guide rod 5-5 are installed parallel to each other between the mounting frame 5-1 and the fixed connecting plate 5-6, and the lifting connecting plate 5-7 is threadedly matched with the transmission screw 5-4. The spraying driving motor 5-3 is connected to the transmission screw 5-4, and the lifting connecting plate 5-7 is driven to reciprocate up and down by driving the transmission screw 5-4 to rotate, that is, the spraying driving motor 5- 3 drives the transmission screw rod 5-4 to rotate. Due to the threaded fit between the lifting connection plate 5-7 and the transmission screw rod 5-4, the lifting connection plate 5-7 can move up and down; the end of the swing rod 5-8 away from the nozzle 5-9 is hinged on the lifting connection plate 5-7, and the swing rod 5-8 is provided with a slide groove 5-8a. The bottom of the corresponding side of the mounting frame 5-1 is provided with a stop pin that can slide in the slide groove 5-8a. During the up and down movement of the lifting connection plate 5-7, the angle of the swing rod 5-8 can be changed. By controlling the reciprocating up and down movement of the lifting connection plate 5-7, the swing rod 5-8 can be driven to swing back and forth. As a result, the nozzle 5-9 swings up and down with the up and down reciprocating movement of the lifting connection plate 5-7, which can simulate the manual up and down swinging spraying action, improve the spraying uniformity, and the swing control component has a simple and compact structure and stable and reliable operation. It should be understood that the multi-ridge self-propelled weeding and spraying machine also has a liquid storage tank and related spraying pipelines and pump groups. A solenoid valve can be set on the connecting pipeline of each nozzle 5-9 to control its working state, or a solenoid valve can be used to control the working state of all nozzles 5-9. The nozzle 5-9 is preferably a fan-shaped atomizing nozzle, which can improve the uniformity of atomizing spraying.

[0055] catch Figure 8As shown, in this embodiment, the weeding mechanism 6 includes a mounting plate 6-1, a connecting rod 6-2, a weeding motor 6-3 and a weeding head 6-4. The mounting plate 6-1 is fixedly mounted below the lifting connecting plate 5-7 through the connecting rod 6-2, and can move with the up and down movement of the lifting connecting plate 5-7. The weeding head 6-4 is mounted on the lower part of the mounting plate 6-1 and is transmission-connected to the weeding motor 6-3, and is used to drive the weeding head 6-4 to rotate to remove the weeds in the furrow. The weeding head 6-4 can adopt a rope-throwing weeding structure or a knife-throwing weeding structure, and preferably adopts a safer rope-throwing weeding structure. The high-speed rotating weeding head 6-4 is used to clean the weeds in the furrow, with high weeding efficiency and low walking resistance, thereby ensuring the working efficiency and stability of the weeding and spraying machine. At the same time, since the weeding mechanism 6 is installed on the lifting connecting plate 5-7 of the swing control component, during operation, the weeding head 6-4 can float up and down slightly with the up and down swing of the nozzle 5-9, which is convenient for the weeding head to cross obstacles. At the same time, the swing weeding principle of the weeding head 6-4 can also efficiently weed and reduce the absorption of fertilizer by weeds. In addition, the weeding mechanism 6 is designed in linkage with the swing spraying mechanism 5. When the ground distance of the weeding mechanism 6 is adjusted according to the height of the plant, the swing spraying mechanism 5 can be used to further adjust the up and down movement range of the weeding mechanism 6. When the lifting mechanism 3 is lowered, the swing spraying mechanism 5 can drive the weeding mechanism 6 to rise to ensure its ground clearance, and the initial height of the nozzle 5-9 is lowered, which is suitable for spraying shorter plants; on the contrary, when the lifting mechanism 3 is lifted, the swing spraying mechanism 5 can drive the weeding mechanism 6 to fall to ensure its ground clearance, and the initial height of the nozzle 5-9 is moved up, which is suitable for spraying taller plants.

[0056] like Figure 3As shown, in this embodiment, the ridge spacing adjustment mechanism 4 includes a first lateral bracket 4-1, a ridge spacing adjustment motor 4-2, a ridge spacing adjustment screw rod 4-3, a first lateral guide rod 4-4, a first lateral slide 4-5, a horizontal scissor assembly 4-6, a second lateral bracket 4-7, a second lateral guide rod 4-8 and a second lateral slide 4-9. The first lateral bracket 4-1 and the second lateral bracket 4-7 are respectively relatively installed on the upper part of the lifting mechanism 3 on the corresponding side, the first lateral guide rod 4-4 is horizontally installed on the first lateral bracket 4-1, the second lateral guide rod 4-8 is horizontally installed on the second lateral bracket 4-7, and the horizontal scissor assembly One end of the component 4-6 is installed on the first side guide rod 4-4 through two groups of first side slides 4-5, and the other end of the horizontal scissor assembly 4-6 is installed on the second side guide rod 4-8 through two groups of second side slides 4-9. The ridge spacing adjustment screw rod 4-3 is installed on the first lateral bracket 4-1 in parallel with the first side guide rod 4-4, and the ridge spacing adjustment screw rod 4-3 is a double-rotation screw rod. The two groups of first side slides 4-5 are respectively threaded with the corresponding threaded sections of the ridge spacing adjustment screw rod 4-3. The ridge spacing adjustment motor 4-2 is installed on the first lateral bracket 4-1 and is connected to one end of the ridge spacing adjustment screw rod 4-3. When working, the ridge spacing adjustment motor 4-2 drives the ridge spacing adjustment screw rod 4-3 to rotate, and at this time, it can drive the two groups of first side slides 4-5 to move toward or relative to each other, thereby driving the horizontal scissor assembly 4-6 to telescopic movement. In order to further improve the structural stability of the ridge spacing adjustment mechanism 4, the ridge spacing adjustment mechanism 4 also includes a first middle plate 4-10, a second middle plate 4-11 and a horizontal center rod 4-12. The first middle plate 4-10 is fixed to the middle of the first lateral bracket 4-1, and the second middle plate 4-11 is fixed to the middle of the second lateral bracket 4-7. The first middle plate 4-10 and the second middle plate 4-11 are respectively connected to the middle of the scissor rods in the horizontal scissor assembly 4-6 through the horizontal center rod 4-12. There are two horizontal center rods 4-12 on each side, and both ends are hinged structures, which can prevent the second lateral slide 4-9 from sliding on the second side guide rod 4-8. The above-mentioned ridge spacing adjustment mechanism 4 adopts a horizontal scissor telescopic structure controlled by a screw rod, so that the entire gantry structure of the weeding and spraying machine is more stable, and the ridge spacing adjustment stability is good, the ridge spacing adjustment range is large, and the structure is more compact.

[0057] catch Figure 7 and Figure 8As shown, in the above-mentioned swing-type spraying mechanism 5, the top of the mounting frame 5-1 is respectively provided with an axial hole 5-1a and a guide hole 5-1b, and the guide hole 5-1b is a long waist hole structure. The top of each mounting frame 5-1 is suspended on the corresponding scissor rod of the horizontal scissor assembly 4-6 through two connecting shafts 5-2 at intervals, wherein one connecting shaft 5-2 is rotatably connected to the axial hole 5-1a, and the other connecting shaft 5-2 is slidably matched with the guide hole 5-1b. The two connecting shafts 5-2 limit the relative position of the swing-type spraying mechanism 5 and the ridge spacing adjustment mechanism 4, and during the telescopic movement of the ridge spacing adjustment mechanism 4, one connecting shaft 5-2 can slide in the guide hole 5-1b, ensuring that the ridge spacing adjustment mechanism 4 can be freely adjusted. The distance between the horizontal scissor assembly 4-6 and the upper side wall of the mounting frame 5-1 can be eliminated by a sleeve provided on the connecting shaft 5-2, thereby reducing the shaking of the swing-type spraying mechanism 5. By adopting the above-mentioned connection structure, the oscillating spraying mechanism 5 can stably maintain its orientation in the integrated machine, and can synchronously adjust the distance between adjacent oscillating spraying mechanisms 5 with the ridge spacing adjustment mechanism 4, thereby ensuring the working stability of the oscillating spraying mechanism 5.

[0058] Reference Figures 3 to 5As shown, in this embodiment, the lifting mechanism 3 adopts a vertically arranged scissor-type telescopic structure, including a lower mounting frame 3-1, a lifting control motor 3-2, a lifting drive screw 3-3, a lower guide rod 3-4, a lower slide seat 3-5, a lifting scissor assembly 3-6, an upper mounting frame 3-7, an upper guide rod 3-8, an upper slide seat 3-9, a lower support plate 3-10, an upper support plate 3-11 and a vertical center pull rod 3-12. The lower mounting frame 3-1 and the upper mounting frame 3-7 are arranged opposite to each other up and down, the lower guide rod 3-4 is horizontally installed on the lower mounting frame 3-1, and the upper guide rod 3-8 is horizontally installed on the upper mounting frame 3-7. The lower end of the lifting scissor assembly 3-6 is installed on the lower guide rod 3-4 through two sets of lower slide seats 3-5. The lifting scissor assembly 3-6 The other end is mounted on the upper guide rod 3-8 through two groups of upper slides 3-9, the lifting drive screw 3-3 is mounted on the lower mounting frame 3-1 in parallel with the lower guide rod 3-4, and the lifting drive screw 3-3 is a double-rotation screw, the two groups of lower slides 3-5 are respectively threadedly matched with the corresponding threaded sections of the lifting drive screw 3-3, the lifting control motor 3-2 is mounted on the lower mounting frame 3-1, and is transmission connected to one end of the lifting drive screw 3-3; the lower support plate 3-10 is fixed in the middle of the lower mounting frame 3-1, and the upper support plate 3-11 is fixed in the middle of the upper mounting frame 3-7, and the lower support plate 3-10 and the upper support plate 3-11 are respectively connected to the middle of the scissor rod in the lifting scissors assembly 3-6 through the vertical center pull rod 3-12. During the lifting and lowering adjustment, the lifting control motor 3-2 drives the lifting drive screw 3-3 to rotate, thereby driving the two sets of lower slide seats 3-5 to move relative to or downward, thereby changing the angle of the lifting scissor assembly 3-6 to achieve the height adjustment of the lifting mechanism 3. The vertical center pull rod 3-12 ensures the position stability of the lifting scissor assembly 3-6 and the upper and lower mounting frames. The lifting mechanism 3 has good lifting and lowering movement stability, a large lifting height adjustment range, and a compact structure. Of course, in this embodiment, the lifting mechanism 3 is not limited to the above-mentioned scissor-type telescopic structure, and other existing lifting structure designs can also be adopted.

[0059] like Figure 3 , Figure 4 and Figure 6 As shown, in this embodiment, the walking mechanism 1 includes a wheel frame 1-1, a walking wheel 1-2 and a walking drive motor 1-3. The wheel frame 1-1 is axially rotatably mounted at the bottom of the lifting mechanism 3 and is connected to the steering mechanism 2. The walking wheel 1-2 is rotatably mounted on the wheel frame 1-1. The walking drive motor 1-3 is mounted on one side of the wheel frame 1-1 and is connected to the walking wheel 1-2. The walking drive motor 1-3 directly acts on the walking wheel 1-2, and the walking drive power is stronger and the transmission efficiency is higher. In addition, each walking wheel 1-2 can be driven separately, and can also walk stably on uneven ground in the field. Figure 4 and Figure 6As shown, the above-mentioned steering mechanism 2 includes a bottom support plate 2-1, a steering drive motor 2-2, a chain transmission mechanism 2-3, a worm 2-4, a worm wheel 2-5 and a steering column 2-6. The bottom support plate 2-1 is installed at the bottom of the corresponding lifting mechanism 3. The wheel frames 1-1 of the two sets of walking mechanisms 1 are respectively rotatably installed at the front and rear ends of the bottom support plate 2-1 through the steering column 2-6, and a thrust bearing or the like can be provided between the steering column 2-6 and the bottom support plate 2-1 to improve the load-bearing stability of the walking mechanism 1. A worm wheel 2-5 is provided on each steering column 2-6, and a worm 2-4 meshing with the worm wheel 2-5 at the corresponding end is respectively provided at the front and rear ends of the bottom support plate 2-1. The steering drive motor 2-2 is installed on the bottom support plate 2-1 and is respectively driven and matched with the worm 2-4 on both sides through the chain transmission mechanism 2-3. The steering drive motor 2-2 can drive the worm 2-4 on both sides to rotate synchronously through the chain transmission mechanism 2-3, thereby realizing the synchronous steering of the walking wheels 1-2 at both ends. The chain transmission mechanism 2-3 has stable transmission and can ensure the reliability of transmission under adverse conditions. In order to prevent weeds etc. from being rolled into the chain transmission mechanism 2-3, a cover plate etc. can be provided on the side of the bottom support plate 2-1 to protect the chain transmission mechanism 2-3.

[0060] This embodiment also discloses a method for using a multi-ridge self-propelled weeding and spraying machine. Figure 1 and Figure 2 As shown, the method for using the multi-ridge self-propelled weeding and spraying machine includes the following steps:

[0061] S1. Height adjustment: According to the height of the plant, the height of each group of swing spraying mechanism 5 is synchronously adjusted through the lifting mechanism 3 on both sides, so as to keep each nozzle 5-9 at a suitable spraying height; at the same time, the height of each group of weeding mechanism 6 from the ground is adjusted through each group of swing spraying mechanism 5; for the bottom surface with a certain slope, the lifting mechanism 3 on both sides can be adjusted separately to maintain the overall walking stability of the integrated machine on the slope, and the height of each group of swing spraying mechanism 5 is also adjusted independently, and the height of each group of weeding mechanism 6 from the ground in the corresponding furrow can be adjusted separately. When making specific adjustments, the relative height between the weeding mechanism 6 and the corresponding nozzle 5-9 can be adjusted first according to the height of the plant relative to the bottom of the furrow, and then the lifting mechanism 3 can be used to adjust the height of the weeding mechanism 6 from the bottom of the furrow to the ground. When adjusting the relative height between the weeding mechanism 6 and the corresponding nozzle 5-9, the spraying drive motor 5-3 is controlled to drive the transmission screw 5-4 to rotate, and drive the lifting connecting plate 5-7 to move. At this time, the weeding mechanism 6 moves together with the lifting connecting plate 5-7, and the up and down movement direction of the nozzle 5-9 is opposite to the movement direction of the lifting connecting plate 5-7, that is, the weeding mechanism 6 descends, the nozzle 5-9 rises, the weeding mechanism 6 is lifted, and the nozzle 5-9 descends; when the height is controlled by the lifting mechanism 3, the lifting control motor 3-2 drives the lifting drive screw 3-3 to rotate, and then drives the lifting scissors assembly 3-6 to telescope and adjust the relative height of the entire integrated machine.

[0062] S2. Adjustment of ridge spacing: First, the steering mechanism 2 on at least one side is used to control the walking mechanism 1 on the corresponding side to turn to the lateral movement direction, so that when the ridge spacing adjustment mechanism 4 is extended or retracted, the lateral movement of the walking mechanism 1 can be used to flexibly adjust the distance in the width direction; then, according to the ridge spacing size between plants, the distance between the lifting mechanisms 3 on both sides is adjusted by the ridge spacing adjustment mechanism 4, and then the distance between adjacent swing-type spraying mechanisms 5 is adjusted to match the ridge spacing between plants; thereafter, the walking mechanism 1 is controlled to turn to the walking direction by the steering mechanism 2, and the walking mechanism 1 is moved to make the walking mechanisms 1 on both sides and each group of weeding mechanisms 6 move in the ridge ditch.

[0063] S3, weeding and spraying: through the cooperation of the walking mechanism 1 and the steering mechanism 2, the multi-ridge self-propelled weeding and spraying machine moves along the ridge ditch, and the swinging spraying mechanism 5 and the weeding mechanism 6 are started at the same time, and the swinging spraying mechanism 5 is used to perform an up and down swing spraying operation on the plants, and the weeding mechanism 6 is used to clean the weeds in the ridge ditch. During the spraying process, the spraying drive motor 5-3 rotates alternately in forward and reverse directions, driving the lifting connecting plate 5-7 to move up and down. Since the hinge position between the swing rod 5-8 and the lifting connecting plate 5-7 is close to the stop pin on the mounting frame 5-1, the lifting connecting plate 5-7 only needs to move in a small range to drive the nozzle 5-9 at the other end of the swing rod 5-8 to swing up and down in a large range, so that the effect of the small size of the weeding mechanism 6 floating up and down and the large size of the nozzle 5-9 swinging up and down can be achieved, ensuring the weeding and spraying effect.

[0064] The multi-ridge self-propelled weeding and spraying integrated machine and the use method thereof of the present invention have an overall gantry structure with adjustable width and height, which can adapt to weeding and spraying operations of plants of different heights and ridge distances, realize the combined operation of weeding and spraying, and improve the operation efficiency; and the swing-type spraying mechanism can be used to perform up and down swing spraying operations, and the spraying direction of the nozzle is set on the left and right sides of the walking direction, which can improve the spraying uniformity and improve the mechanical spraying and fertilization effects. When in use, the height and width of the integrated machine can be adjusted according to the plant height and ridge distance, the adjustment operation is simple and convenient, the adaptability to field use is strong, and the use is flexible and convenient, and the operation efficiency is high.

[0065] The present invention and its embodiments are described schematically above, which is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. Therefore, if a person skilled in the art is inspired by it and creatively designs a structure and an embodiment similar to the technical solution without departing from the purpose of the invention, they shall all fall within the protection scope of the present invention.

Claims

1. Multi-ridge self-propelled weeding and spraying machine, characterized by: The invention comprises a walking mechanism (1), a steering mechanism (2), a lifting mechanism (3), a ridge spacing adjustment mechanism (4), a swing-type spraying mechanism (5) and a weeding mechanism (6); a group of lifting mechanisms (3) are respectively arranged on the left and right sides of the ridge spacing adjustment mechanism (4) to form a gantry structure with adjustable width and height; a group of walking mechanisms (1) for movement are respectively arranged on the front and rear sides of the bottom of the two groups of lifting mechanisms (3); the steering mechanisms (2) are respectively arranged at the bottom of the two groups of lifting mechanisms (3) and are transmission-connected to the walking mechanisms (1) on the corresponding sides to drive the walking mechanisms (1) to turn; The ridge spacing adjustment mechanism (4) adopts a horizontally arranged scissor-type telescopic structure; two or more groups of the swing-type spraying mechanisms (5) are arranged at equal intervals below the ridge spacing adjustment mechanism (4); the distance between two adjacent groups of the swing-type spraying mechanisms (5) can be synchronously adjusted through the telescopic movement of the ridge spacing adjustment mechanism (4); a group of weeding mechanisms (6) is arranged below each group of the swing-type spraying mechanisms (5); the swing-type spraying mechanism (5) comprises a mounting frame (5-1), a swing arm (5-8) capable of swinging up and down relative to the mounting frame (5-1), a nozzle (5-9) mounted on the swing arm (5-8), and a swing control assembly for driving the swing arm (5-8) to swing up and down; the spraying direction of the nozzle (5-9) is arranged to be biased to the left and right sides of the walking direction.

2. The multi-ridge self-propelled weeding and spraying integrated machine according to claim 1, characterized in that: The swing control assembly comprises a spraying drive motor (5-3), a transmission screw (5-4), a lifting guide rod (5-5), a fixed connection plate (5-6) and a lifting connection plate (5-7), wherein the fixed connection plate (5-6) is fixedly mounted on the lower part of the mounting frame (5-1) through the lifting guide rod (5-5), and the lifting connection plate (5-7) is slidably mounted on the lifting guide rod (5-5), the transmission screw (5-4) and the lifting guide rod (5-5) are parallelly mounted between the mounting frame (5-1) and the fixed connection plate (5-6), and the lifting connection plate (5-7) and the transmission screw (5-4 ... lifting guide rod (5-7) are parallelly mounted between the transmission screw (5-4) and the lifting guide rod (5-5), and the lifting connection plate (5-7) and the lifting guide rod (5-5) are parallelly mounted between the transmission screw (5-4) and the lifting guide rod (5-5), and the lifting connection plate (5-7) and the lifting guide rod (5-5) are parallelly mounted between the transmission screw (5-4) and the lifting guide rod (5-5), and the lifting connection plate (5-7) and the lifting guide rod ( The spraying drive motor (5-3) is connected to the transmission screw (5-4), and the transmission screw (5-4) is driven to rotate to drive the lifting connecting plate (5-7) to move back and forth up and down. The end of the swing rod (5-8) away from the nozzle (5-9) is hinged on the lifting connecting plate (5-7), and the swing rod (5-8) has a slide groove (5-8a). The bottom of the corresponding side of the mounting frame (5-1) has a stop pin that can slide in the slide groove (5-8a). The nozzle (5-9) swings up and down as the lifting connecting plate (5-7) moves back and forth up and down.

3. The multi-ridge self-propelled weeding and spraying integrated machine according to claim 2, characterized in that: The weeding mechanism (6) comprises a mounting plate (6-1), a connecting rod (6-2), a weeding motor (6-3) and a weeding head (6-4); the mounting plate (6-1) is fixedly mounted below the lifting connecting plate (5-7) via the connecting rod (6-2); the weeding head (6-4) is mounted on the lower part of the mounting plate (6-1) and is transmission-connected to the weeding motor (6-3) to drive the weeding head (6-4) to rotate to remove weeds in the furrow.

4. The multi-ridge self-propelled weeding and spraying integrated machine according to claim 2, characterized in that: The ridge spacing adjustment mechanism (4) comprises a first lateral support (4-1), a ridge spacing adjustment motor (4-2), a ridge spacing adjustment screw rod (4-3), a first lateral guide rod (4-4), a first lateral slide (4-5), a horizontal scissor assembly (4-6), a second lateral support (4-7), a second lateral guide rod (4-8) and a second lateral slide (4-9), wherein the first lateral support (4-1) and the second lateral support (4-7) are respectively and relatively mounted on the upper part of the lifting mechanism (3) on the corresponding side, the first lateral guide rod (4-4) is horizontally mounted on the first lateral support (4-1), the second lateral guide rod (4-8) is horizontally mounted on the second lateral support (4-7), and the horizontal scissor assembly ( One end of the horizontal scissor assembly (4-6) is installed on the first lateral guide rod (4-4) through two groups of first lateral slides (4-5), and the other end of the horizontal scissor assembly (4-6) is installed on the second lateral guide rod (4-8) through two groups of second lateral slides (4-9). The ridge spacing adjustment screw rod (4-3) is installed on the first lateral bracket (4-1) in parallel with the first lateral guide rod (4-4), and the ridge spacing adjustment screw rod (4-3) is a double-rotation screw rod. The two groups of the first lateral slides (4-5) are respectively threadedly matched with the corresponding threaded sections of the ridge spacing adjustment screw rod (4-3). The ridge spacing adjustment motor (4-2) is installed on the first lateral bracket (4-1) and is transmission-connected to one end of the ridge spacing adjustment screw rod (4-3).

5. The multi-ridge self-propelled weeding and spraying integrated machine according to claim 4, characterized in that: The ridge spacing adjustment mechanism (4) also includes a first middle plate (4-10), a second middle plate (4-11) and a horizontal center pull rod (4-12), wherein the first middle plate (4-10) is fixed to the middle part of the first lateral support (4-1), and the second middle plate (4-11) is fixed to the middle part of the second lateral support (4-7), and the first middle plate (4-10) and the second middle plate (4-11) are respectively connected to the middle part of the adjacent scissor rods in the horizontal scissor assembly (4-6) through the horizontal center pull rod (4-12).

6. The multi-ridge self-propelled weeding and spraying integrated machine according to claim 4, characterized in that: The top of the installation frame (5-1) is respectively provided with an axial hole (5-1a) and a guide hole (5-1b), and the top of each installation frame (5-1) is suspended on the corresponding scissor rod of the horizontal scissor assembly (4-6) at intervals through two connecting shafts (5-2), wherein one connecting shaft (5-2) is rotatably connected to the axial hole (5-1a), and the other connecting shaft (5-2) is slidably matched with the guide hole (5-1b).

7. The multi-ridge self-propelled weeding and spraying integrated machine according to any one of claims 1 to 6, characterized in that: The lifting mechanism (3) adopts a vertically arranged scissor-type telescopic structure, comprising a lower mounting frame (3-1), a lifting control motor (3-2), a lifting drive screw (3-3), a lower guide rod (3-4), a lower slide seat (3-5), a lifting scissor assembly (3-6), an upper mounting frame (3-7), an upper guide rod (3-8), an upper slide seat (3-9), a lower support plate (3-10), an upper support plate (3-11) and a vertical center pull rod (3-12). The lower mounting frame (3-1) and the upper mounting frame (3-7) are arranged relative to each other in the upper and lower directions. The lower guide rod (3-4) is horizontally mounted on the lower mounting frame (3-1), and the upper guide rod (3-8) is horizontally mounted on the upper mounting frame (3-7). The lower end of the lifting scissor assembly (3-6) is mounted on the lower guide rod (3-4) through two sets of lower slide seats (3-5). The other end is mounted on the upper guide rod (3-8) through two groups of upper slides (3-9); the lifting drive screw (3-3) is mounted on the lower mounting frame (3-1) in parallel with the lower guide rod (3-4); the lifting drive screw (3-3) is a double-rotation screw; the two groups of lower slides (3-5) are respectively threadedly matched with the corresponding threaded sections of the lifting drive screw (3-3); the lifting control motor (3-2) is mounted on the lower mounting frame (3-1) and is transmission-connected to one end of the lifting drive screw (3-3); the lower support plate (3-10) is fixed to the middle part of the lower mounting frame (3-1); the upper support plate (3-11) is fixed to the middle part of the upper mounting frame (3-7); the lower support plate (3-10) and the upper support plate (3-11) are respectively connected to the middle part of the scissor rod in the lifting scissor assembly (3-6) through the vertical center pull rod (3-12).

8. The multi-ridge self-propelled weeding and spraying integrated machine according to claim 7, characterized in that: The walking mechanism (1) comprises a wheel frame (1-1), a walking wheel (1-2) and a walking drive motor (1-3); the wheel frame (1-1) is axially rotatably mounted at the bottom of the lifting mechanism (3) and is drivingly connected to the steering mechanism (2); the walking wheel (1-2) is rotatably mounted on the wheel frame (1-1); and the walking drive motor (1-3) is mounted on one side of the wheel frame (1-1) and is drivingly connected to the walking wheel (1-2).

9. The multi-ridge self-propelled weeding and spraying integrated machine according to claim 8, characterized in that: The steering mechanism (2) comprises a bottom support plate (2-1), a steering drive motor (2-2), a chain transmission mechanism (2-3), a worm (2-4), a worm wheel (2-5) and a steering column (2-6); the bottom support plate (2-1) is mounted on the bottom of the corresponding lifting mechanism (3); the wheel frames (1-1) of the two groups of walking mechanisms (1) are rotatably mounted on the front and rear ends of the bottom support plate (2-1) through the steering columns (2-6); each steering column (2-6) is provided with a worm wheel (2-5); the front and rear ends of the bottom support plate (2-1) are respectively provided with a worm (2-4) meshing with the worm wheel (2-5) at the corresponding end; the steering drive motor (2-2) is mounted on the bottom support plate (2-1) and is respectively driven and matched with the worm (2-4) at both sides through the chain transmission mechanism (2-3).

10. A method for using the multi-ridge self-propelled weeding and spraying machine according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. Height adjustment: according to the height of the plant, the height of each group of swing-type spraying mechanisms (5) is synchronously adjusted through the lifting mechanisms (3) on both sides, so as to keep each nozzle (5-9) at a suitable spraying height; at the same time, the height of each group of weeding mechanisms (6) from the ground is adjusted through each group of swing-type spraying mechanisms (5); S2, ridge spacing adjustment: First, the steering mechanism (2) on at least one side is used to control the walking mechanism (1) on the corresponding side to turn to the lateral movement direction; then, according to the ridge spacing between plants, the distance between the lifting mechanisms (3) on both sides is adjusted by the ridge spacing adjustment mechanism (4), and then the distance between adjacent swing-type spraying mechanisms (5) is adjusted to match the ridge spacing between plants; then, the steering mechanism (2) is used to control the walking mechanism (1) to turn to the walking direction, and the walking mechanism (1) is moved, so that the walking mechanisms (1) on both sides and each group of weeding mechanisms (6) move in the ridge furrow; S3, weeding and spraying: by cooperating with the walking mechanism (1) and the steering mechanism (2), the multi-ridge self-propelled weeding and spraying machine moves along the ridge furrow, and at the same time, the swing-type spraying mechanism (5) and the weeding mechanism (6) are started, the swing-type spraying mechanism (5) is used to perform an up and down swing spraying operation on the plants, and the weeding mechanism (6) is used to clean the weeds in the ridge furrow.

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