Precise targeting spraying device and targeting spraying method thereof

Abstract

The invention discloses an accurate targeting spraying device and a targeting spraying method thereof.The device comprises a spraying frame, a reciprocating mechanism, a pesticide spraying assembly and a targeting assembly, the reciprocating mechanism is arranged on the spraying frame, and the tail end of a telescopic end is connected with an atomizing nozzle of the pesticide spraying assembly through the targeting assembly; the targeting assembly comprises an ultrasonic range finder and a self-adaptive adjusting assembly capable of keeping the atomization nozzle in the vertical direction, the upper end of the self-adaptive adjusting assembly is rotatably hinged to the lower portion of the telescopic end of the reciprocating mechanism, and the atomization nozzle and the ultrasonic range finder are both arranged at the lower end of the self-adaptive adjusting assembly; the ultrasonic range finder scans and measures the deviation value of the atomization nozzle and a target plant in real time, the deviation value is displayed in a cab in an image mode through signal transmission, and the control system enables the reciprocating mechanism to move so as to adjust the horizontal position of the atomization nozzle to achieve targeted spraying. The device has the advantages of being simple in structure, convenient to disassemble and assemble, capable of ensuring the accurate spraying position, improving the crop protection efficiency, reducing the pesticide use amount, protecting the environment and the like.

Description

Technical Field

[0001] The invention relates to the field of agricultural mechanization, and in particular to a precise target spraying device and a target spraying method thereof in the technology of spraying pesticides for plant protection machinery. Background Art

[0002] With the advancement of agricultural modernization, the automation and precision of plant protection operations have become key means to improve crop yield and quality. In the process of pesticide spraying, traditional spray devices often lead to waste of pesticides, environmental pollution and damage to non-target plants due to problems such as inaccurate spray position, unsatisfactory spray angle and excessive spray amplitude. This not only increases the cost of agricultural production, but may also have an adverse impact on the ecological environment and food safety. In addition, most of the existing spray devices use fixed nozzles or simple mechanical adjustment methods, which cannot be adjusted in real time according to the shape, position and growth stage of different crops. This makes it often impossible for the spray component to accurately aim at the target area during the spraying process, resulting in poor spraying effect. Therefore, the development of a precise target spray device is of great significance in improving crop protection efficiency, reducing pesticide use, and protecting the environment. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a precise target spraying device and a target spraying method thereof which have a simple structure, are easy to assemble and disassemble, can improve crop protection efficiency, reduce pesticide usage, and protect the environment.

[0004] In order to solve the above technical problems, the present invention discloses the following technical solutions: A precise target spray device comprises a spray frame, a reciprocating mechanism, a spraying component and a target component, the spraying component comprises an atomizing nozzle, the reciprocating mechanism is installed on the spray frame, the end of the telescopic end of the reciprocating mechanism is connected to the atomizing nozzle through the target component, the target component comprises an ultrasonic rangefinder and an adaptive adjustment component capable of keeping the atomizing nozzle in a vertical direction at all times, the upper end of the adaptive adjustment component is rotatably hinged below the end of the telescopic end of the reciprocating mechanism, the atomizing nozzle and the ultrasonic rangefinder are both installed at the lower end of the adaptive adjustment component, the ultrasonic rangefinder scans and measures the deviation between the atomizing nozzle and the target plant in real time, and displays the deviation in the form of an image in a cab of a plant protection machine through signal transmission, and a control system moves the reciprocating mechanism to adjust the horizontal position of the atomizing nozzle to achieve target spraying.

[0005] As a further improvement of the above technical solution: The adaptive adjustment component includes a square mounting plate, an L-shaped connecting plate and two plumb bobs of equal mass. The horizontal edge of the L-shaped connecting plate is mounted on the mounting plate, and the vertical edge is rotatably hinged to the bottom of the telescopic end of the reciprocating mechanism through a hinge assembly. The ultrasonic rangefinder and the atomizing nozzle are both vertically mounted on the mounting plate and arranged on both sides of the telescopic end; two plumb bobs are mounted below the mounting plate and symmetrically arranged on both sides of the L-shaped connecting plate, so that the vertical edge of the L-shaped connecting plate can adaptively rotate around its hinge point to maintain the plumb direction.

[0006] The targeting assembly also includes an angle sensor, which is installed on the horizontal side of the L-shaped connecting plate. The angle sensor measures the change in the angle between the vertical side of the L-shaped connecting plate and the movement direction of the reciprocating mechanism in real time, and transmits the data to the control system to adjust the telescopic movement of the reciprocating mechanism and correct the horizontal position of the atomizing nozzle.

[0007] The reciprocating mechanism includes a motor, a speed change mechanism, a crank, a fisheye joint assembly, a reciprocating shaft, a slider and a long groove guide bar. The motor and the speed change mechanism are both installed on the spray frame. The output shaft of the motor is connected to the input end of the speed change mechanism. One end of the crank is hinged to the output end of the speed change mechanism, and the other end is hinged to one end of the reciprocating shaft through the fisheye joint assembly. The other end of the reciprocating shaft slides through the slider arranged on the spray frame. One end of the long groove guide bar is provided with a sliding groove and slidingly cooperates with the M4 half-thread hexagon socket bolt installed on the slider. The other end of the long groove guide bar is fixedly connected to the other end of the reciprocating shaft passing through the slider. The top end of the L-shaped connecting plate is hinged to the end of the long groove guide bar. When the reciprocating shaft reciprocates, it drives the atomizing nozzle to move and change its horizontal position through the long groove guide bar.

[0008] The fisheye joint assembly comprises a fisheye joint shaft and a pair of fisheye joints, wherein the two ends of the fisheye joint shaft are respectively connected to a fisheye joint, wherein one fisheye joint is hinged to the crank through a fixing pin, and the other fisheye joint is hinged to the reciprocating shaft through a fixing pin.

[0009] The spray rack includes an upper cover and a bottom plate. The upper cover is arranged on the bottom plate to form a rectangular box-shaped structure for wrapping a reciprocating mechanism. A slot for the reciprocating mechanism to extend out is provided at one end of the upper cover close to the atomizing nozzle. A bracket perpendicular to the bottom plate is provided in the longitudinal direction at the upper middle part of the bottom plate. A U-shaped buckle for connecting to the plant protection machine is provided at the bottom of the bottom plate. The motor is installed on the bottom plate, the speed change mechanism is connected to one end of the bracket through a copper column, the slider is installed at the other end of the bracket, and the long groove guide bar and the reciprocating shaft extend out of the slot.

[0010] The hinge assembly includes an M6 half-thread hexagon socket bolt, a single-sided flange bearing, a deep groove ball bearing and a nut. The half-thread hexagon socket bolt is horizontally inserted into the through holes opened on the L-shaped connecting plate and the long groove guide bar and is fastened by the nut. The single-sided flange bearing and the deep groove ball bearing are both sleeved on the half-thread hexagon socket bolt. The single-sided flange bearing is located between the L-shaped connecting plate and the long groove guide bar, and the deep groove ball bearing is located between the L-shaped connecting plate and the nut.

[0011] The mounting plate is an aluminum plate, the ultrasonic rangefinder is clamped and fixed on the aluminum plate by a pair of hexagonal thin nuts, and the plumb bob is fixed on the aluminum plate by a screw plug.

[0012] The top end of the atomizing nozzle is communicated with the medicine liquid delivery pipe.

[0013] Based on the same technical concept, the present invention also provides a target spraying method of the above-mentioned precise target spraying device, comprising the following steps: S1. When the plant protection machine is spraying, the driver cannot observe the position of each vegetable accurately because he is in the cab. At this time, the ultrasonic rangefinder starts to work, scanning and measuring the deviation between the atomizing nozzle and the vegetables in real time, and displays it in the cab in the form of an image through signal transmission, reminding the operator how to correct it to ensure the accurate spray position. S2. When the plant protection machine is moving, the uneven ground causes the body and the liquid medicine delivery pipe to tilt, and the liquid medicine delivery pipe cannot remain horizontal. The adaptive adjustment component uses the plumb bob inside it to keep the atomizing nozzle always plumb downward and parallel to the surface of the vegetables in the vertical direction, thereby ensuring the stability of the spraying effect; S3. Due to the inclination of the liquid medicine delivery pipe and the downward plumbness of the atomizing nozzle, there will be a relative displacement between the atomizing nozzle and the target plant in the horizontal direction; at this time, the angle sensor measures the change in the angle between the L-shaped connecting plate and the long groove guide bar, and transmits the data to the control system, which then adjusts the telescopic movement of the reciprocating mechanism, and corrects the horizontal position of the atomizing nozzle by extending and retracting the reciprocating shaft to keep it always directly above the target vegetable. Through this adjustment process, the spray effect can be greatly improved.

[0014] Compared with the prior art, the advantages of the present invention are: The present invention uses an ultrasonic rangefinder to scan and measure the deviation between the atomizing nozzle and the vegetables in real time, and feeds back the data to the cab in the form of an image, so as to promptly remind the operator to make corrections. This function can overcome the limitation of the traditional spray device relying on manual observation, ensure the position accuracy during the spraying process, and effectively avoid the error caused by manual operation. The spray device of the present invention can effectively compensate for the inclination of the spray tube caused by the uneven ground through the adaptive adjustment component and the reciprocating mechanism, keep the nozzle perpendicular to the crop surface, ensure that the spray component can maintain a stable spraying effect under different terrain conditions, avoid excessive use of the agent and spraying in non-target areas, significantly reduce the waste of pesticides, and reduce the risk of environmental pollution, which meets the current agricultural demand for environmentally friendly spraying technology. The simple structure and a small number of electronic components make assembly and disassembly very simple, and the production and maintenance costs are low. Especially in a high humidity environment, the equipment failure rate can be reduced to ensure the efficient progress of agricultural production. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings constituting part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 It is a first stereoscopic structural schematic diagram of the precise target spray device of the present invention.

[0016] Figure 2 It is a second three-dimensional structural schematic diagram of the precise target spray device of the present invention after removing the upper cover.

[0017] Figure 3 It is a structural schematic diagram of the adaptive adjustment component in the present invention.

[0018] Legend: 1. Spray rack; 2. Ultrasonic rangefinder; 3. Mounting plate; 4. Plumb bob; 5. Angle sensor; 6. Atomizing nozzle; 7. Liquid delivery pipe; 8. U-shaped buckle; 9. Motor; 10. Copper column; 11. Speed ​​change mechanism; 12. Crank; 13. Fixing pin; 14. Fisheye joint assembly; 15. Fisheye joint shaft; 16. Reciprocating shaft; 17. Bracket; 18. Slider; 19. M4 half-thread hexagon socket bolt; 20. Long groove guide rail; 21. Hexagonal thin nut; 22. Screw plug; 23. L-shaped connecting plate; 24. M6 half-thread hexagon socket bolt; 25. Single-sided flange bearing; 26. Deep groove ball bearing; 27. Nut. DETAILED DESCRIPTION

[0019] In order to facilitate the understanding of the present invention, the present invention will be described more comprehensively and meticulously below in conjunction with the accompanying drawings and preferred embodiments of the present invention, but the protection scope of the present invention is not limited to the following specific embodiments.

[0020] Device Example: like Figure 1-Figure 3 As shown, an embodiment of the precision target spray device of the present invention comprises a spray frame 1, a reciprocating mechanism, a spraying assembly and a target assembly, the spraying assembly comprises a liquid medicine delivery pipe 7 and an atomizing nozzle 6 connected to the liquid medicine delivery pipe 7 at the top, the reciprocating mechanism is installed on the spray frame 1, and the end of its telescopic end is connected to the atomizing nozzle 6 through the target assembly, the target assembly comprises an ultrasonic rangefinder 2 and an adaptive adjustment assembly that can keep the atomizing nozzle 6 in a vertical direction, the upper end of the adaptive adjustment assembly can be rotatably hinged below the end of the telescopic end of the reciprocating mechanism, the atomizing nozzle 6 and the ultrasonic rangefinder 2 are both installed at the lower end of the adaptive adjustment assembly, the ultrasonic rangefinder 2 scans and measures the deviation between the atomizing nozzle 6 and the target plant in real time, and transmits signals to display the deviation in the form of an image in the cab, reminding the operator how to correct the horizontal position of the atomizing nozzle 6 to ensure the target spraying. The present invention can overcome the limitation of the traditional spray device relying on manual observation, ensure the position accuracy during the spraying process, and effectively avoid the error caused by manual operation. The adaptive adjustment components and reciprocating mechanism can effectively compensate for the inclination of the liquid medicine delivery pipe caused by uneven ground, keep the nozzle perpendicular to the crop surface, and ensure that the spraying components can maintain a stable spraying effect under different terrain conditions, avoiding excessive use of pesticides and spraying in non-target areas, significantly reducing the waste of pesticides, and reducing the risk of environmental pollution.

[0021] In this embodiment, the adaptive adjustment component includes a square mounting plate 3, an L-shaped connecting plate 23 and two plumb bobs 4 of equal mass. The horizontal side of the L-shaped connecting plate 23 is mounted on the mounting plate 3, and the vertical side is rotatably hinged to the bottom of the telescopic end of the reciprocating mechanism through a hinge assembly. The ultrasonic rangefinder 2 and the atomizing nozzle 6 are both vertically mounted on the mounting plate 3 and are arranged on both sides of the telescopic end; the two plumb bobs 4 are mounted below the mounting plate 3 and symmetrically arranged on both sides of the L-shaped connecting plate 23, so that the vertical side of the L-shaped connecting plate 23 can be adaptively rotated around its hinge point to maintain the plumb direction. In this embodiment, the mounting plate 3 is an aluminum plate, the ultrasonic rangefinder 2 is clamped and fixed on the aluminum plate by a pair of hexagonal thin nuts 21, and the plumb bob 4 is fixed to the aluminum plate by a screw plug 22. The adaptive adjustment component can ensure that the nozzle remains parallel to the surface of the vegetable in the vertical direction, thereby ensuring the stability and uniformity of the spraying effect.

[0022] In this embodiment, the target assembly also includes an angle sensor 5, which is installed on the horizontal edge of the L-shaped connecting plate 23. The angle sensor 5 measures the change in the angle between the vertical edge of the L-shaped connecting plate 23 and the movement direction of the reciprocating mechanism in real time, and transmits the data to the control system to adjust the telescopic movement of the reciprocating mechanism and correct the horizontal position of the atomizing nozzle 6.

[0023] In this embodiment, the reciprocating mechanism includes a motor 9, a speed change mechanism 11, a crank 12, a fisheye joint assembly 14, a reciprocating shaft 16, a slider 18 and a long groove guide rail 20. The motor 9 and the speed change mechanism 11 are both mounted on the spray rack 1. The output shaft of the motor 9 is connected to the input end of the speed change mechanism 11. One end of the crank 12 is hinged to the output end of the speed change mechanism 11, and the other end is hinged to one end of the fisheye joint assembly 14 through a fixing pin 13. The other end of the fisheye joint assembly 14 is hinged to one end of the reciprocating shaft 16. The other end of the reciprocating shaft 16 is hinged by the fixing pin 13, and slides through the slider 18 provided on the spray frame 1. One end of the long groove guide bar 20 is provided with a slide groove and slides with the M4 half-thread hexagon socket bolt 19 installed on the slider 18. The other end of the long groove guide bar 20 is fixedly connected to the other end of the reciprocating shaft 16. The top end of the L-shaped connecting plate 23 is hinged to the end of the long groove guide bar 20. When the reciprocating shaft 16 reciprocates, it drives the atomizing nozzle 6 to move and change its horizontal position through the long groove guide bar 20. The mechanical structure is simple, which can improve the adaptability and durability of the device, reduce the failure rate, and reduce the maintenance cost.

[0024] In this embodiment, the fisheye joint assembly 14 includes a fisheye joint shaft 15 and a pair of fisheye joints, and the two ends of the fisheye joint shaft 15 are respectively connected to a fisheye joint. One of the fisheye joints is hinged to the crank 12 through a fixing pin 13, and the other fisheye joint is hinged to the reciprocating shaft 16 through a fixing pin 13.

[0025] In this embodiment, the spray rack 1 includes an upper cover and a bottom plate. The upper cover is arranged on the bottom plate to form a rectangular box-shaped structure for wrapping the reciprocating mechanism. A notch for the reciprocating mechanism to extend is provided at one end of the upper cover close to the atomizing nozzle 6. A bracket 17 perpendicular to the bottom plate is provided in the longitudinal direction at the upper middle part of the bottom plate. A U-shaped buckle 8 for connecting with the plant protection machine is provided at the bottom of the bottom plate. The motor 9 is installed on the bottom plate. The speed change mechanism 11 is connected to one end of the bracket 17 through two copper columns 10. The slider 18 is installed at the other end of the bracket 17. The long groove guide bar 20 and the reciprocating shaft 16 pass through the notch. The assembly and disassembly of this structure are very simple, and at the same time, it can reduce the exposure of the device to a high humidity environment, reduce the equipment failure rate, and ensure the efficient conduct of agricultural production.

[0026] In this embodiment, the hinge assembly includes an M6 half-thread hexagon socket bolt 24, a single-sided flange bearing 25, a deep groove ball bearing 26 and a nut 27. The M6 ​​half-thread hexagon socket bolt 24 is horizontally inserted into the through holes provided on the L-shaped connecting plate 23 and the long groove guide bar 20 and is fastened by the nut 27. The single-sided flange bearing 25 and the deep groove ball bearing 26 are both sleeved on the M6 ​​half-thread hexagon socket bolt 24. The single-sided flange bearing 25 is located between the L-shaped connecting plate 23 and the long groove guide bar 20, and the deep groove ball bearing 26 is located between the L-shaped connecting plate 23 and the M8 nut 27. In this structure, the L-shaped connecting plate is separated from the long groove guide bar by the single-sided flange bearing, and is separated from the M8 nut by the deep groove ball bearing, which can ensure the smoothness of its rotation.

[0027] Method Example: The target spraying method of the precise target spraying device of this embodiment as described above comprises the following steps: S1. When the plant protection machine is moving and spraying, the driver is in the cab and cannot observe the position of each vegetable accurately; at this time, the ultrasonic rangefinder 2 starts to work, scanning and measuring the deviation between the atomizing nozzle 6 and the vegetables in real time, and displays it in the cab in the form of an image through signal transmission, reminding the operator how to correct it to ensure the accuracy of the spray position.

[0028] S2. When the plant protection machine is moving, the uneven ground causes the body and the liquid medicine delivery pipe 7 to tilt, and the liquid medicine delivery pipe 7 cannot remain horizontal. The adaptive adjustment component uses the plumb bob 4 inside it to keep the atomizing nozzle 6 always plumb downward and parallel to the surface of the vegetables in the vertical direction, thereby ensuring the stability of the spraying effect.

[0029] S3. Due to the inclination of the liquid medicine delivery pipe 7 and the downward vertical direction of the atomizing nozzle 6, a relative displacement will occur between the atomizing nozzle 6 and the target plant in the horizontal direction; at this time, the angle sensor 5 measures the change in the angle between the L-shaped connecting plate 23 and the long groove guide bar 20, and transmits the data to the control system, thereby adjusting the telescopic movement of the reciprocating mechanism, and correcting the horizontal position of the atomizing nozzle 6 by extending and retracting the reciprocating shaft 16 so that it always remains directly above the target vegetable. Through this adjustment process, the atomizing nozzle 6 always remains directly above the vegetables, thereby maximizing the spray effect.

[0030] Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. Any technician familiar with the art can make many possible changes and modifications to the technical solution of the present invention by using the technical content disclosed above without departing from the scope of the technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention should fall within the scope of protection of the technical solution of the present invention.

Claims

1. A precision target spray device, comprising a spray frame (1), a reciprocating mechanism, a spray assembly and a target assembly, the spray assembly comprising an atomizing nozzle (6), the reciprocating mechanism being mounted on the spray frame (1), the end of the telescopic end of the reciprocating mechanism being connected to the atomizing nozzle (6) via the target assembly, characterized in that: The target-aiming component comprises an ultrasonic rangefinder (2) and an adaptive adjustment component capable of keeping the atomizing nozzle (6) in a vertical direction at all times. The upper end of the adaptive adjustment component is rotatably hinged below the telescopic end of the reciprocating mechanism. The atomizing nozzle (6) and the ultrasonic rangefinder (2) are both mounted at the lower end of the adaptive adjustment component. The ultrasonic rangefinder (2) scans and measures the deviation between the atomizing nozzle (6) and the target plant in real time, and displays the deviation in the form of an image in the cab of the plant protection machine through signal transmission. The control system causes the reciprocating mechanism to move, so as to adjust the horizontal position of the atomizing nozzle (6) to achieve target spraying.

2. A precise target spray device according to claim 1, characterized in that: The adaptive adjustment component comprises a square mounting plate (3), an L-shaped connecting plate (23), and two plumb bobs (4) of equal mass; the horizontal side of the L-shaped connecting plate (23) is mounted on the mounting plate (3), and the vertical side is rotatably hinged to the bottom of the telescopic end of the reciprocating mechanism through a hinge assembly; the ultrasonic rangefinder (2) and the atomizing nozzle (6) are both vertically mounted on the mounting plate (3) and arranged on both sides of the telescopic end; the two plumb bobs (4) are mounted below the mounting plate (3) and symmetrically arranged on both sides of the L-shaped connecting plate (23), so that the vertical side of the L-shaped connecting plate (23) can adaptively rotate around its hinge point to maintain a plumb direction.

3. A precise target spray device according to claim 2, characterized in that: The target assembly further comprises an angle sensor (5), wherein the angle sensor (5) is mounted on the horizontal side of the L-shaped connecting plate (23), and the angle sensor (5) measures in real time the change in the angle between the vertical side of the L-shaped connecting plate (23) and the movement direction of the reciprocating mechanism, and transmits the data to a control system to adjust the telescopic movement of the reciprocating mechanism and correct the horizontal position of the atomizing nozzle (6).

4. A precise target spray device according to claim 3, characterized in that: The reciprocating mechanism comprises a motor (9), a speed change mechanism (11), a crank (12), a fisheye joint assembly (14), a reciprocating shaft (16), a slider (18) and a long groove guide rail (20). The motor (9) and the speed change mechanism (11) are both mounted on the spray frame (1). The output shaft of the motor (9) is connected to the input end of the speed change mechanism (11). One end of the crank (12) is hinged to the output end of the speed change mechanism (11), and the other end is hinged to one end of the reciprocating shaft (16) through the fisheye joint assembly (14). The reciprocating shaft The other end of (16) slides through a slider (18) provided on the spray frame (1), one end of the long groove guide bar (20) is provided with a slide groove and slides with an M4 half-thread hexagon socket bolt (19) installed on the slider (18), the other end of the long groove guide bar (20) is fixedly connected to the other end of the reciprocating shaft (16) passing through the slider (18), the top end of the L-shaped connecting plate (23) is hinged to the end of the long groove guide bar (20), and the reciprocating shaft (16) drives the atomizing nozzle (6) to move through the long groove guide bar (20) when the reciprocating shaft (16) reciprocates.

5. A precise target spray device according to claim 4, characterized in that: The fisheye joint assembly (14) comprises a fisheye joint shaft (15) and a pair of fisheye joints, wherein both ends of the fisheye joint shaft (15) are respectively connected to a fisheye joint, wherein one fisheye joint is hinged to the crank (12) via a fixing pin (13), and the other fisheye joint is hinged to the reciprocating shaft (16) via a fixing pin (13).

6. A precise target spray device according to claim 5, characterized in that: The spray rack (1) comprises an upper cover and a bottom plate, wherein the upper cover is arranged on the bottom plate to form a rectangular box-shaped structure for wrapping a reciprocating mechanism, a slot for the reciprocating mechanism to extend out is provided at one end of the upper cover close to the atomizing nozzle (6), a bracket (17) perpendicular to the bottom plate is provided in the longitudinal direction at the upper middle part of the bottom plate, a U-shaped buckle (8) for connecting to a plant protection machine is provided at the bottom of the bottom plate, the motor (9) is mounted on the bottom plate, the speed change mechanism (11) is connected to one end of the bracket (17) via a copper column (10), a slider (18) is mounted on the other end of the bracket (17), and a long groove guide rail (20) and a reciprocating shaft (16) extend out of the slot.

7. A precise target spray device according to claim 6, characterized in that: The hinge assembly comprises an M6 half-thread hexagon socket bolt (24), a single-sided flange bearing (25), a deep groove ball bearing (26) and a nut (27). The M6 ​​half-thread hexagon socket bolt (24) is horizontally inserted into through holes provided on the L-shaped connecting plate (23) and the long groove guide rail (20) and is fastened by the nut (27). The single-sided flange bearing (25) and the deep groove ball bearing (26) are both sleeved on the M6 ​​half-thread hexagon socket bolt (24). The single-sided flange bearing (25) is located between the L-shaped connecting plate (23) and the long groove guide rail (20), and the deep groove ball bearing (26) is located between the L-shaped connecting plate (23) and the nut (27).

8. A precise target spray device according to claim 7, characterized in that: The mounting plate (3) is an aluminum plate, the ultrasonic rangefinder (2) is clamped and fixed on the aluminum plate by a pair of hexagonal thin nuts (21), and the plumb bob (4) is fixed on the aluminum plate by a screw plug (22).

9. A precise target spray device according to claim 7, characterized in that: The top end of the atomizing nozzle (6) is connected to the liquid medicine delivery pipe (7).

10. A target spraying method of the precision target spraying device according to claim 9, characterized in that: The steps include: S1. When the plant protection machine is moving and spraying, the driver is in the cab and cannot observe the position of each vegetable accurately. At this time, the ultrasonic rangefinder (2) starts to work, scanning and measuring the deviation between the atomizing nozzle (6) and the vegetables in real time, and displays it in the cab in the form of an image through signal transmission, reminding the operator how to make corrections to ensure the spray position is accurate. S2. When the plant protection machine is moving, the body and the liquid medicine delivery pipe (7) are tilted due to uneven ground, and the liquid medicine delivery pipe (7) cannot remain horizontal. The adaptive adjustment component uses the plumb bob (4) inside it to keep the atomizing nozzle (6) always vertically downward and parallel to the surface of the vegetable in a vertical direction, thereby ensuring the stability of the spraying effect; S3. Due to the inclination of the liquid medicine delivery pipe (7) and the downward vertical position of the atomizing nozzle (6), a relative displacement will occur between the atomizing nozzle (6) and the target plant in the horizontal direction; at this time, the angle sensor (5) measures the change in the angle between the L-shaped connecting plate (23) and the long groove guide bar (20), and transmits the data to the control system, thereby adjusting the telescopic movement of the reciprocating mechanism, and correcting the horizontal position of the atomizing nozzle (6) by extending and retracting the reciprocating shaft (16) so that it always remains directly above the target plant.

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