Orchard multi-air-duct spraying machine capable of adjusting adaptive tree form and crown height

Abstract

The invention belongs to the field of sprayers, and discloses an orchard multi-air-duct sprayer capable of adjusting adaptive tree form and crown height, the orchard multi-air-duct sprayer comprises a movable chassis, a vertical frame, a centrifugal fan and a liquid supply assembly are arranged on the chassis, and a spraying assembly and a lifting assembly are arranged on the vertical frame; the spraying assembly comprises a spraying nozzle, a flexible connector, an air conveying pipe fitting used for conveying air flow and an air supply hose which are horizontally communicated in sequence, the air supply hose is communicated with the centrifugal fan, and the liquid supply assembly is communicated with the spraying nozzle. A first guide rail parallel to the axis of the air conveying pipe fitting, an adjusting sliding block arranged on the first guide rail and a first driving assembly used for driving the first sliding block to move along the first guide rail are arranged on the air conveying pipe fitting, the first driving assembly is in transmission fit with the adjusting sliding block, and a push-pull piece used for changing the orientation of the flexible connector is arranged on the adjusting sliding block; the push-pull piece is hinged with the flexible joint; according to the scheme, the spraying machine can be matched with the row spacing, the tree shape posture and the crown height of trees on site by adjusting the spraying nozzles so as to accurately spray the crowns.

Description

Technical Field

[0001] This invention relates to the field of sprayers, and in particular to an orchard multi-duct sprayer that can be adjusted to adapt to tree shape and canopy height. Background Technology

[0002] Currently, many regions in my country still use backpack sprayers for plant protection and pesticide application, which has low operational efficiency and requires a huge amount of human resources. Therefore, people prefer to use sprayers that can move automatically on the ground, thereby reducing labor costs and improving operational efficiency.

[0003] Existing conventional spraying devices, with their simply fixed spray nozzles, cannot meet the operational needs of different trees. For example, they cannot adjust the left and right movement of the spray nozzles on both sides when dealing with trees with different row spacing, resulting in inaccurate spraying onto the tree canopy. Similarly, they cannot adjust the spray angle according to the tree's shape and canopy height, again hindering accurate spraying. Therefore, while orchard sprayers are highly efficient in orchard plant protection, their application in different orchards still cannot adjust the position, height, and orientation of the spray nozzles on-site based on tree row spacing, tree shape, and canopy height. This results in incompatibility with different tree types, limiting their application scenarios and leading to relatively low production practicality and economy, necessitating further structural improvements. Summary of the Invention

[0004] The purpose of this invention is to provide an orchard multi-duct sprayer that can be adjusted to adapt to tree shape and canopy height. This allows the sprayer to accurately spray the tree canopy by adjusting the spray nozzles to match the tree row spacing, tree shape, and canopy height, thereby improving the quality and effect of spraying.

[0005] The technical solution provided by this invention is as follows: an orchard multi-duct sprayer that can be adjusted to adapt to tree shape and canopy height, including a movable chassis. The chassis is equipped with a stand, a centrifugal fan, and a liquid supply assembly. The stand is equipped with a spray assembly and a lifting assembly. The spray assembly includes a spray nozzle, a flexible joint, an air supply pipe for conveying airflow, and an air supply hose connected horizontally in sequence. The air supply hose is connected to the centrifugal fan. The liquid supply assembly is connected to the spray nozzle. The air supply pipe is equipped with a first guide rail parallel to the axis of the air supply pipe, an adjusting slider on the first guide rail, and a first drive assembly for driving the first slider to move along the first guide rail. The first drive assembly is in transmission cooperation with the adjusting slider. The adjusting slider is equipped with a push-pull member for changing the orientation of the flexible joint. The push-pull member is hinged to the flexible joint.

[0006] The lifting assembly includes two vertically arranged lifting racks on opposite sides of the gas supply pipe, two rotatable lifting gears on the gas supply pipe, and two second drive components for driving the rotation of a single lifting gear. The two second drive components correspond one-to-one with and are connected to the two lifting gears, and the two lifting gears correspond one-to-one with and are meshed with the two lifting racks. The two lifting racks are symmetrically arranged, and telescopic sleeves are also provided on the upper and lower sides of the gas supply pipe. The two telescopic sleeves are slidably engaged with the upright frame.

[0007] In the above-mentioned orchard multi-duct sprayer that is adjustable to adapt to tree shape and canopy height, the air supply pipe is a sleeve expansion joint, and the upright is also equipped with an expansion assembly. The expansion assembly includes two second guide rails located on the upper side of the lifting rack, two lead screws located on the lower side of the lifting rack, and two third drive components for driving the lead screws to rotate forward and backward. The power output end of the third drive component corresponds to and is connected to the lead screw. The two lead screws correspond to and slide with the two lifting racks. The two second guide rails and the two lead screws are all horizontally arranged along the axis of the air supply pipe, and the two lead screws slide with the two lifting racks.

[0008] In the above-mentioned orchard multi-duct sprayer that can be adjusted to adapt to tree shape and canopy height, the frame includes a first fixed bracket, a second fixed bracket, and a support mounted on the chassis. The second guide rail is mounted on the first fixed bracket, and the lead screw is mounted on the support and rotates with the support. One of the telescopic sleeves of the air supply pipe is mounted on the support, and the other telescopic sleeve of the air supply pipe is mounted on the fixed bracket.

[0009] In the above-mentioned orchard multi-duct sprayer that can be adjusted to adapt to tree shape and canopy height, the spraying components are arranged in an array at intervals along the height direction of the support frame; the telescopic sleeve is slidably engaged with the telescopic sleeve of the adjacent spraying component.

[0010] In the above-mentioned orchard multi-duct sprayer that can be adjusted to adapt to tree shape and canopy height, both the spraying component and the lifting component are respectively set on the left and right sides of the frame, with the spraying components on both sides being mirror images of each other, and the lifting components on both sides being mirror images of each other.

[0011] In the above-mentioned orchard multi-duct sprayer that can be adjusted to adapt to tree shape and canopy height, the spray nozzle includes an air inlet, an air guide, and an air outlet connected in sequence; the width of the air inlet is greater than the width of the air guide and less than the width of the air outlet; the air outlet has a fan-shaped structure, the air outlet and the air guide are arranged in an arc transition, and the air inlet is connected to the air delivery pipe.

[0012] In the above-mentioned orchard multi-duct sprayer that can be adjusted to adapt to tree shape and canopy height, the air intake is provided with several diverter plates, and the several diverter plates are arranged in a spaced array around the axis of the air intake on the inner circumferential surface of the air intake.

[0013] In the above-mentioned orchard multi-duct sprayer that can be adjusted to adapt to tree shape and canopy height, the middle part of the air outlet is provided with a mounting bracket for fixing the nozzle, and the side of the air inlet is provided with a mounting hole for the water inlet hose to pass through the mounting bracket.

[0014] In the above-mentioned orchard multi-duct sprayer that can be adjusted to adapt to tree shape and canopy height, the air supply pipe is also equipped with a centrifugal blower for supplementing airflow. The output end of the centrifugal blower is connected to the air supply pipe, and the input end of the centrifugal blower is used to draw in external air.

[0015] In the above-mentioned orchard multi-duct sprayer that can be adjusted to adapt to tree shape and canopy height, the liquid supply component includes a water tank and a water pump. The water pump is connected to the water tank. The centrifugal fan is equipped with a drive shaft for starting operation. The chassis is equipped with a gasoline engine. The power output end of the gasoline engine is equipped with a transmission mechanism. The transmission mechanism is connected to the water pump and the drive shaft respectively.

[0016] The beneficial effects of this invention after adopting the above technical solution are as follows:

[0017] This technical solution uses a first drive component to drive an adjusting slider to reciprocate along the axial direction of the air supply pipe, causing the push-pull component to bend the flexible joint. This causes the flexible joint to bend and swing, indirectly adjusting the angle of the spray nozzles and thus changing their spray direction. Additionally, a lifting gear on the air supply pipe meshes with a lifting rack. Under the self-locking of the second drive component, the lifting gear fixes the air supply pipe to the two lifting racks. When the second drive component drives the lifting gear to rotate, the lifting gear moves up and down on the lifting racks, thereby causing the spray nozzles to rise and fall. Through its own lifting and angle adjustment, the spray nozzles allow the sprayer to accurately spray the tree canopy by adjusting the spray nozzles to match the tree row spacing, tree shape, and canopy height, thus improving the spraying quality and effect. Attached Figure Description

[0018] Figure 1 This is a front view schematic diagram of an orchard multi-duct sprayer that can be adjusted to adapt to tree shape and canopy height according to Embodiment 1 of the present invention;

[0019] Figure 2 This is a rear-view perspective view of the orchard multi-duct sprayer with adjustable tree shape and canopy height according to Embodiment 1 of the present invention;

[0020] Figure 3 This is the invention Figure 2 A magnified view of a portion of A;

[0021] Figure 4 This is the invention Figure 2 A magnified view of part B;

[0022] Figure 5 This is the invention Figure 2 A magnified view of part C;

[0023] Figure 6 This is the invention Figure 2 A magnified view of part D;

[0024] Figure 7 This is a perspective view of the structure of the spray nozzle of Embodiment 1 of the present invention.

[0025] Reference numerals: 1. Chassis; 2. Centrifugal fan; 3. Telescopic assembly; 4. Spray assembly; 5. Lifting assembly; 6. Stand; 7. Electrical control box; 8. Water tank; 9. LiDAR sensor; 10. Plunger pump; 11. Blower;

[0026] 201. Air duct distributor; 202. Drive shaft; 301. Second guide rail; 302. Lead screw; 303. Third motor; 304. Slide block;

[0027] 401. Gas supply pipe fittings; 402. Flexible joint; 403. Sprinkler head; 404. Telescopic sleeve; 405. Gas supply hose; 406. Push-pull component; 407. First motor; 408. Angle adjustment gear; 409. Angle adjustment rack; 410. First guide rail; 411. Adjusting slider;

[0028] 4031, Inlet section; 40311, Split plate; 40312, Mounting hole; 4032, Air guide section; 4033, Air outlet section; 40331, Mounting bracket;

[0029] 501. Lifting rack; 502. Lifting gear; 503. Second motor; 601. Fixed bracket; 602. Support. Detailed Implementation

[0030] The technical solution of the present invention will be further described in detail below with reference to specific embodiments, but this does not constitute any limitation on the present invention.

[0031] Example 1:

[0032] like Figures 1-7As shown, an orchard multi-duct sprayer that can be adjusted to adapt to tree shape and canopy height includes a movable chassis 1. The chassis 1 is equipped with a stand 6, a centrifugal fan 2, and a liquid supply assembly. The stand 6 is equipped with a spray assembly 4 and a lifting assembly 5. The spray assembly 4 includes a spray nozzle 403, a flexible joint 402, an air supply pipe 401 for conveying airflow, and an air supply hose 405 connected horizontally in sequence. The air supply hose 405 is connected to the centrifugal fan 2. The liquid supply assembly is connected to the spray nozzle 403. The air supply pipe 401 is equipped with a first guide rail 410 parallel to the axis of the air supply pipe 401, an adjusting slider 411 on the first guide rail 410, and a first drive assembly for driving the first slider to move along the first guide rail 410. The first drive assembly is in transmission cooperation with the adjusting slider 411. The adjusting slider 411 is equipped with a push-pull member 406 for changing the orientation of the flexible joint 402. The push-pull member 406 is hinged to the flexible joint 402.

[0033] The lifting assembly 5 includes two vertically arranged lifting racks 501 on opposite sides of the gas supply pipe 401, two rotatable lifting gears 502 on the gas supply pipe 401, and two second drive assemblies for driving the rotation of a single lifting gear 502. The two second drive assemblies correspond one-to-one with and are connected to the two lifting gears 502, and the two lifting gears 502 correspond one-to-one with and are meshed with the two lifting racks 501. The two lifting racks 501 are symmetrically arranged, and telescopic sleeves 404 are also provided on the upper and lower sides of the gas supply pipe 401. The two telescopic sleeves 404 are slidably engaged with the upright frame 6.

[0034] The specific working principle is as follows: the first drive component drives the adjusting slider 411 to reciprocate along the axial direction of the air supply pipe 401, which in turn drives the push-pull component 406 to bend the flexible joint 402, causing the flexible joint 402 to bend and swing, indirectly driving the spray nozzle 403 to adjust its angle up and down, thereby changing its spraying direction. In addition, the lifting gear 502 on the air supply pipe 401 is meshed with the lifting rack 501. Under the self-locking of the second drive component, the lifting gear 502 fixes the air supply pipe 401 to the two lifting racks 501. When the second drive component drives the lifting gear 502 to rotate, the lifting gear 502 moves up and down on the lifting rack 501, thereby driving the spray nozzle 403 to move up and down. Through its own lifting and angle adjustment, the spray nozzle 403 enables the sprayer to accurately spray the tree canopy by adjusting the spray nozzle 403 to match the tree row spacing, tree shape and canopy height on site, thereby improving the spraying quality and effect.

[0035] In the specific configuration, the flexible joint 402 includes a first ring, a flexible air duct, and a second ring connected in sequence. The first ring is connected to the sprinkler head 403, and the second ring is connected to the air supply pipe 401.

[0036] The specific structure of the first drive module is as follows: the first drive module includes a first motor 407 fixed on the gas supply pipe 401 and an angle adjustment gear 408 provided on the power output end of the first motor 407. An angle adjustment rack 409 is provided on the adjustment slider 411, and the angle adjustment rack 409 is meshed with the angle adjustment gear 408.

[0037] In the specific configuration, the first motor 407 is a small brushless DC motor. The first motor 407 drives the angle adjustment gear 408 to rotate, converting the rotational motion of the angle adjustment gear 408 into the linear reciprocating motion of the angle adjustment rack 409. At the same time, the angle adjustment rack 409 is fixed on the adjustment slider 411. The bottom of the adjustment slider 411 is connected to the small slide rail (i.e., the first guide rail 410). The small slide rail provides linear reciprocating displacement guidance for the adjustment slider 411 above it. The adjustment slider 411 is connected to the push-pull member 406. By converting the linear reciprocating motion of the adjustment slider 411 into the vertical rotational motion of the spray head 403, the angle of the spray head 403 is finally changed. An angle sensor is also installed to provide feedback on the angle parameters of the spray head 403, making the angle change more accurate.

[0038] In this embodiment, the push-pull member 406 is provided with a swing corner, so that the two ends of the push-pull member 406 can swing relative to each other, so as to avoid motion interference between the middle part of the push-pull member 406 and the gas transmission pipe 401.

[0039] In some embodiments, when the first drive assembly and the first guide rail 410 are fixed on the top or bottom of the gas supply pipe 401, the reciprocating motion of the push-pull member 406 can drive the spray nozzle 403 to swing up and down.

[0040] In some other embodiments, when the first drive assembly and the first guide rail 410 are fixed on one of the left or right sides of the gas supply pipe 401, the reciprocating motion of the push-pull member 406 can drive the spray nozzle 403 to swing left and right.

[0041] The second drive assembly includes a motor mount fixed on the air supply pipe 401 and a second motor 503 mounted on the motor mount. A lifting gear 502 is fixed on the power output end of the second motor 503. The lifting gear 502 is driven by the second motor 503 to move relative to the lifting rack 501, thereby realizing the reciprocating motion of a single spray nozzle 403 in the vertical direction. At the same time, a displacement sensor is installed at the telescopic sleeve 404 on the inner side of each spray nozzle 403. The displacement sensor is used to provide feedback on the vertical displacement of a single spray nozzle 403 to achieve more precise control.

[0042] The second motor 503 is also a small brushless DC motor. Both the second motor 503 and the first motor 407 can be self-locked when not in operation.

[0043] The telescopic sleeve 404 forms a quadrilateral structure with the air supply pipe 401, the lifting rack 501, the stand 6, and the telescopic sleeve 404. The lifting gear 502 acts as the driving component, while the telescopic sleeve 404 acts as the driven component, maintaining the lifting balance of the air supply pipe 401 on the stand 6. Since the spray assembly 4 itself does not have a water channel and is only used for air guidance, the spray assembly 4 itself adopts a material and structural design with low load and light weight, which can be easily raised and lowered under the drive of a small power source. This reduces energy consumption, increases range, reduces manufacturing and maintenance costs, and improves economy.

[0044] The spraying principle of the sprinkler head 403 is as follows: the water supply component enters from the outside of the sprinkler head 403 through the water inlet hose and connects to the nozzle at the end (i.e. the outlet) of the sprinkler head 403. The spray liquid at the nozzle is quickly sprayed toward the tree canopy with the assistance of the airflow.

[0045] Further improvements include a gas transmission pipe fitting 401 that is a sleeve expansion joint, and a telescopic assembly 3 is also provided on the support frame 6. The telescopic assembly 3 includes two second guide rails 301 located on the upper side of the lifting rack 501, two lead screws 302 located on the lower side of the lifting rack 501, and two third drive assemblies for driving the lead screws 302 to rotate forward and backward. The power output end of the third drive assembly corresponds to and is connected to the lead screws 302 one by one. The two lead screws 302 correspond to and slide with the two lifting racks 501 one by one. The two second guide rails 301 and the two lead screws 302 are all horizontally arranged along the axis of the gas transmission pipe fitting 401, and the two lead screws 302 correspond to and slide with the two lifting racks 501 one by one.

[0046] In its specific configuration, this spraying device compensates for spraying errors caused by different tree row spacing by adjusting the vertical reciprocating motion and orientation angle of each spray nozzle 403. It also eliminates the impact on spraying accuracy caused by larger tree row spacing by changing the left and right displacement of each side spray nozzle 403, thus meeting the needs of more operational scenarios.

[0047] The third drive assembly includes a third motor 303 (specifically a stepper motor) and a coupling. The power output end of the third motor 303, the coupling, and the lead screw 302 are connected in sequence. The lifting rack 501 is provided with a slide 304 with a threaded hole, and the slide 304 is engaged with the lead screw 302.

[0048] In practical operation, the telescopic sleeve 404 is fixed to the air supply pipe 401 by a collar. The telescopic sleeve 404 is horizontally fixed relative to the upright frame 6, that is, the end of the air supply pipe 401 away from the spray nozzle 403 is horizontally fixed. The third motor 303 drives the lead screw 302 to move the base along the lead screw 302. The top of the rack moves on the upright frame 6 by means of a slider guide rail to cooperate with the base displacement, thereby driving the spray nozzle 403 located on the lifting rack 501 to move horizontally back and forth. In addition, a displacement sensor is installed on each of the two slides 304 to provide feedback on the left and right position information.

[0049] The specific structure of the support frame 6 is as follows: the support frame 6 includes a fixed bracket 601 and a support 602 mounted on the chassis 1; a second guide rail 301 is mounted on the first fixed bracket; a lead screw 302 is mounted on the support 602 and rotates with the support 602; a telescopic sleeve 404 on the gas transmission pipe 401 is mounted on the support 602; and the other telescopic sleeve 404 of the gas transmission pipe 401 is mounted on the fixed bracket 601.

[0050] Preferably, the spraying components 4 are arranged in an array at intervals along the height direction of the support frame 6; the telescopic sleeve 404 is in sliding engagement with the telescopic sleeve 404 of the adjacent spraying component 4.

[0051] Multiple spray components 4 are arranged in an array along the height direction, so that the tree canopy located in different height areas can select the corresponding spray component 4. During use, the corresponding spray component 4 only needs to be finely adjusted with small amplitude, without the need for large displacement and angle adjustment, which improves adjustment efficiency, adjustment accuracy and movement stability.

[0052] In specific configurations, to avoid interference between the guide posts of adjacent spray components 4 after they are aligned in the height direction, they slide against each other by inserting the guide posts of the spray components 4 into the guide posts of the adjacent spray components 4. In some embodiments, the guide posts of the adjacent spray components 4 can also be misaligned horizontally to avoid assembly interference. The telescopic sleeves 404 that are misaligned are independently connected to the uprights 6.

[0053] Another preferred embodiment is that the spraying assembly 4 and the lifting assembly 5 are respectively arranged on the left and right sides of the upright frame 6, with the spraying assemblies 4 on both sides being mirror images of each other, and the lifting assemblies 5 on both sides being mirror images of each other.

[0054] The spraying components 4 are located on the left and right sides, so that the spraying device can spray the trees on both sides of the row spacing at the same time. Each spraying component 4 can be adjusted independently to match the different tree postures and crown heights on both sides. In addition, in some embodiments, the telescopic component 3 is also mirrored on the left and right sides of the frame 6, along with the spraying component 4 and the lifting component 5.

[0055] Correspondingly, when the telescopic component 3 is set to be a left-right mirror image, the support 602 is also set to be a left-right mirror image.

[0056] The specific structure of the spray nozzle 403 is as follows: the spray nozzle 403 includes an air inlet 4031, an air guide 4032, and an air outlet 4033 connected in sequence; the width of the air inlet 4031 is greater than the width of the air guide 4032 and less than the width of the air outlet 4033; the air outlet 4033 has a fan-shaped structure, and the air outlet 4033 and the air guide 4032 are arranged in an arc transition; the air inlet 4031 is connected to the air supply pipe 401.

[0057] Further improvements include the inclusion of several splitter plates 40311 within the air intake section 4031, which are arranged in a spaced array around the axis of the air intake section 4031 on the inner circumferential surface of the air intake section 4031.

[0058] In a specific implementation, the middle part of the air outlet 4033 is provided with a mounting bracket 40331 for fixing the nozzle, and the side of the air inlet 4031 is provided with a mounting hole 40312 for the water inlet hose to pass through the mounting bracket 40331.

[0059] In its specific configuration, the spray nozzle 403 consists of a cylindrical section (i.e., the air inlet 4031), a scattering section (i.e., the air guide 4032), and a fan-shaped spray nozzle section 403 (i.e., the air outlet 4033). The cylindrical section is 100mm long, the scattering section is 130mm long, and the fan-shaped spray nozzle section 403 is 100mm long. The cylindrical section contains four flow dividers 40311, each with the same length as the cylindrical section. These flow dividers are designed to improve the airflow from the duct to the air outlet, effectively reducing energy loss caused by eddies. The fluid cross-section of the layout section first shrinks and then expands. The fluid velocity increases and the pressure decreases in the contraction section, and the velocity increases and the pressure decreases in the expansion section, which increases the airflow velocity. The structural parameters of the fan-shaped spray nozzle 403 section were analyzed through simulation experiments, and its opening angle was finally determined to be 70° and the width of the spray nozzle 403 was 50mm. The fan-shaped spray nozzle 403 section is used to increase the flow amplitude in the vertical direction of the airflow while shrinking the fluid cross-section to ensure the flow velocity of the spray nozzle 403. The resulting wind field can effectively cover the target canopy.

[0060] In another improvement of this embodiment, the gas supply pipe 401 is also provided with a centrifugal blower 2 for supplementing the airflow. The output end of the centrifugal blower 2 is connected to the gas supply pipe, and the input end of the centrifugal blower 2 is used to draw in external air.

[0061] In this embodiment, the airflow velocity and volume of the spray nozzle 403 are enhanced by using a centrifugal blower 2. The mechanism consists of a ring-shaped interface component and a centrifugal blower 2. First, an opening is made on the air duct, and then the corresponding ring-shaped interface component is aligned with this opening and fixed. To improve the air supply efficiency, the interface component adopts an oblique design (specifically, it forms a preset angle with the output axis of the centrifugal blower 2 and the axis of the air supply pipe 401, such as forming an acute angle with the side of the air supply pipe 401 away from the spray nozzle 403). This allows the airflow of the centrifugal blower 2 to flow better into the air supply pipe 401. The ring-shaped interface component and the centrifugal blower 2 are connected and sealed by a flange fitting at both ends.

[0062] In this embodiment, the liquid supply assembly includes a water tank 8 and a water pump. The water pump is connected to the water tank 8. The centrifugal fan 2 is equipped with a drive shaft 202 for starting operation. The chassis 1 is equipped with a gasoline engine. The power output end of the gasoline engine is equipped with a transmission mechanism. The transmission mechanism is connected to the water pump and the drive shaft 202 respectively.

[0063] In summary, this spraying device mainly consists of a tracked chassis 1, a water tank 8, an electrical control box 7, a gasoline engine, a plunger pump 10, a water distributor, a lidar sensor 9, a spraying assembly 4, a lifting assembly 5, a telescopic assembly 3, and a blower 11. When the spraying device is working, the gasoline engine drives a pulley to transmit power to the drive shaft 202 of the centrifugal fan 2, thereby rotating the centrifugal fan 2 and generating a high-speed airflow. The airflow is divided by the air duct distributor 201, then flows through multiple air supply hoses, and finally is blown out through the corresponding spray nozzles 403. Simultaneously, the pulley also drives the power input end of the plunger pump 10 to rotate, driving the plunger pump 10 to deliver the liquid from the water tank 8 to the nozzles. Each spray nozzle 403 has a nozzle fixed at its outlet via a mounting bracket 40331. The nozzles spray the liquid from the water tank 8 at high pressure, forming atomized droplets, which, after mixing with the airflow, are blown into the tree canopy. The lidar sensor 9 senses the surrounding tree canopy information and then controls different mechanisms to achieve corresponding actions. Specifically, the lidar sensor 9 is located on top of the liquid supply assembly (specifically, on top of the water tank 8). By utilizing the height of the liquid supply assembly, the height difference between the lidar sensor 9 and the tree canopy is reduced, thereby improving the accuracy and range of perception.

[0064] In this embodiment, the base has its own power source, such as gasoline, diesel, or a battery. Specifically, the tracked chassis 1 is a common structure and existing technology in the industry, and can be found in the tracked chassis 1 structures of patent documents CN110510021A, CN120003603A, and CN109421832A.

[0065] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. An orchard multi-duct sprayer adjustable to suit tree shape and canopy height, comprising a movable chassis, wherein the chassis is equipped with a support frame, a centrifugal fan, and a liquid supply assembly, characterized in that, The upright frame is equipped with a spray assembly and a lifting assembly. The spray assembly includes a spray nozzle, a flexible joint, an air supply pipe and a gas supply hose connected horizontally in sequence. The gas supply hose is connected to the centrifugal fan. The liquid supply assembly is connected to the spray nozzle. The air supply pipe is equipped with a first guide rail parallel to the axis of the air supply pipe, an adjusting slider on the first guide rail, and a first drive assembly for driving the first slider to move along the first guide rail. The first drive assembly is in transmission cooperation with the adjusting slider. The adjusting slider is equipped with a push-pull member for changing the orientation of the flexible joint. The push-pull member is hinged to the flexible joint. The lifting assembly includes two vertically arranged lifting racks on opposite sides of the gas supply pipe, two rotatable lifting gears on the gas supply pipe, and two second drive components for driving the rotation of a single lifting gear. The two second drive components correspond one-to-one with and are connected to the two lifting gears, and the two lifting gears correspond one-to-one with and are meshed with the two lifting racks. The two lifting racks are symmetrically arranged, and telescopic sleeves are also provided on the upper and lower sides of the gas supply pipe. The two telescopic sleeves are slidably engaged with the upright frame.

2. The orchard multi-duct sprayer with adjustable tree shape and canopy height according to claim 1, characterized in that, The gas transmission pipe is a sleeve expansion joint. The upright is also equipped with an expansion assembly. The expansion assembly includes two second guide rails located on the upper side of the lifting rack, two lead screws located on the lower side of the lifting rack, and two third drive assemblies for driving the lead screws to rotate forward and backward. The power output end of the third drive assembly corresponds to and is connected to the lead screw. The two lead screws correspond to and slide with the two lifting racks. The two second guide rails and the two lead screws are all horizontally arranged along the axis of the gas transmission pipe. The two lead screws slide with the two lifting racks.

3. The orchard multi-duct sprayer with adjustable tree shape and canopy height according to claim 2, characterized in that, The support frame includes a fixed bracket and a support mounted on the chassis. The second guide rail is mounted on the fixed bracket. The lead screw is mounted on the support and rotates with the support. One of the telescopic sleeves of the gas transmission pipe is mounted on the support, and the other telescopic sleeve of the gas transmission pipe is mounted on the fixed bracket.

4. The orchard multi-duct sprayer with adjustable tree shape and canopy height according to claim 3, characterized in that, The spraying components are arranged in an array at intervals along the height direction of the support frame; the telescopic sleeve is slidably engaged with the telescopic sleeve of the adjacent spraying component.

5. The orchard multi-duct sprayer with adjustable tree shape and canopy height according to claim 1, characterized in that, Both the spraying assembly and the lifting assembly are respectively arranged on the left and right sides of the upright frame, with the spraying assemblies on both sides being mirror images of each other, and the lifting assemblies on both sides being mirror images of each other.

6. The orchard multi-duct sprayer with adjustable tree shape and canopy height according to any one of claims 1-5, characterized in that, The spray nozzle includes an air inlet, an air guide, and an air outlet connected in sequence; the width of the air inlet is greater than the width of the air guide and less than the width of the air outlet; the air outlet has a fan-shaped structure, the air outlet and the air guide are arranged in an arc transition, and the air inlet is connected to the air supply pipe.

7. The orchard multi-duct sprayer with adjustable tree shape and canopy height according to claim 6, characterized in that, The air intake section is provided with a plurality of flow dividers, which are arranged in a spaced array around the axis of the air intake section on the inner circumferential surface of the air intake section.

8. The orchard multi-duct sprayer with adjustable tree shape and canopy height according to claim 6, characterized in that, The air outlet is provided with a mounting bracket for fixing the nozzle in the middle, and the air inlet is provided with a mounting hole on the side for the water inlet hose to pass through the mounting bracket.

9. The orchard multi-duct sprayer adjustable to adapt to tree shape and canopy height according to any one of claims 1-5, characterized in that, The gas supply pipe is also equipped with a centrifugal blower for supplementing airflow. The output end of the centrifugal blower is connected to the gas supply pipe, and the input end of the centrifugal blower is used to draw in external air.

10. The orchard multi-duct sprayer adjustable to adapt to tree shape and canopy height according to any one of claims 1-5, characterized in that, The liquid supply assembly includes a water tank and a water pump, the water pump being connected to the water tank, a drive shaft for starting operation being provided on the centrifugal fan, a gasoline engine being provided on the chassis, and a transmission mechanism being provided at the power output end of the gasoline engine, the transmission mechanism being connected to the water pump and the drive shaft respectively.

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