Array type air-conveying precision sprayer for orchard

Abstract

The invention discloses an orchard array type air-conveying precision spraying machine which comprises a complete machine frame, a three-degree-of-freedom mechanical array structure, a precision pesticide applying device, a crawler walking system and a plurality of electric barrel type air-conveying nozzles. The electric cylinder type air-conveying nozzles are mounted on the three-degree-of-freedom mechanical array structure in an array form, and the array layout, direction and height of the electric cylinder type air-conveying nozzles can be adjusted according to the density and canopy form of fruit trees in an orchard; the three-degree-of-freedom mechanical array structure is mounted at the tail part of the complete machine frame and can complete height and angle adjustment; the precise pesticide applying device is installed on the whole machine frame, provides needed precise pesticide for each electric cylinder type air supply spray head and controls the air volume of each electric cylinder type air supply spray head. The whole machine frame is installed on the crawler walking system. The spraying machine provided by the invention can realize precise air-conveying spraying based on canopy characteristics, and the fog drop coverage rate and the fog drop deposition rate are improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of agricultural machinery and equipment spraying machines, in particular to a orchard electric cylinder array air-assisted precision spraying machine suitable for pesticide spraying. BACKGROUND

[0002] In current orchard pesticide application operations, large-scale fan continuous spraying mode is generally used. Both the spraying machine designed in the application and the traditional spraying machine belong to air-assisted pesticide application, but the traditional equipment has technical limitations such as non-adjustable air volume, non-uniform wind speed, and constant pesticide application amount, which makes it difficult to dynamically adjust the spraying direction and flow distribution according to different fruit tree characteristics, resulting in poor droplet deposition uniformity, low pesticide utilization rate, and inability to adapt to complex operation requirements.

[0003] Regarding the spraying machine provided by the application, on the one hand, an electric cylinder air-assisted nozzle integrated structure is designed, and a "one fan one nozzle" configuration is adopted. This design can effectively improve the problem of uneven wind speed distribution on both sides of the outlet of the traditional axial flow fan, and improve the stability and uniformity of the wind force in the spraying process. On the other hand, the three-freedom mechanical structure design realizes the diversification of the layout of the electric cylinder air-assisted nozzle. By breaking through the fixed mode of the traditional axial flow fan nozzle, it can flexibly adjust the layout according to the specific characteristics of the fruit trees (such as tree shape, height, crown width, etc.), thereby solving the defect that the traditional structure cannot adapt to different fruit tree shapes, and enhancing the applicability and operation accuracy of the equipment. Finally, the spraying machine designed in the application is purely electrically driven, which is more green, efficient and intelligent than mechanical driving.

[0004] In addition, the traditional air-assisted system relies on medium and large-sized axial flow or centrifugal fans, which are bulky, high in power consumption, and require complex structures such as engines or tractors for independent power systems. Current plant protection machinery is mostly large-scale tractor-drawn and suspended, which requires a tractor for use, and is suitable for large-scale farms. In our country, it is difficult to apply in low and densely planted orchards due to small operation space and complex path. Therefore, small, efficient and flexible plant protection machinery is needed to adapt to the agricultural environment in our country and improve operation efficiency. Due to the diversity of fruit tree planting patterns and complex terrain in our country, the spraying machine needs to be able to adapt to different sizes and types of orchards. Therefore, the patent develops an orchard electric cylinder array air-assisted precision spraying machine.

[0005] The traditional air-assisted spraying machine realizes secondary breaking and targeted transportation of droplets through high-speed airflow, which is limited by the structure of the fan at the end, and the airflow speed decays significantly, and the droplet coverage range and penetration ability are insufficient. Especially in the scene of densely planted orchards, the near-end area is prone to liquid oversaturation, while the far-end area lacks mist, causing uneven pesticide application and environmental pollution. At the same time, the fixed nozzle layout cannot adapt to the diversification of crop types, causing a situation of one machine type corresponding to one type of crop, causing resource waste. SUMMARY

[0006] The purpose of this invention is to address the problems existing in the prior art by providing an orchard array-type air-assisted precision sprayer. This orchard array-type air-assisted precision sprayer features precision spraying, lightweight design, modularity, low power consumption, and environmental friendliness. It solves the problems of the current single relationship between one type of sprayer and one type of fruit tree, the single control of spraying amount, the inability to adjust the spraying angle, and the inability to adjust the aerosol volume. It can achieve precision air-assisted spraying based on canopy characteristics, thereby improving droplet coverage and droplet deposition.

[0007] The objective of this invention is achieved through the following technical solution:

[0008] An array-type air-assisted precision sprayer for orchards is characterized in that: the sprayer includes a frame, a three-degree-of-freedom mechanical array structure, a precision spraying device, a tracked walking system, and several electric cylindrical air-assisted nozzles, wherein the electric cylindrical air-assisted nozzles are installed in an array on the three-degree-of-freedom mechanical array structure, and the array layout, direction, and height of the electric cylindrical air-assisted nozzles can be adjusted according to the density and canopy shape of the orchard trees;

[0009] The three-degree-of-freedom mechanical array structure is installed at the rear of the machine frame, and the three-degree-of-freedom mechanical array structure itself can adjust its height and angle.

[0010] The precision application device is installed on the machine frame, providing the required precise amount of pesticide to each electric cylindrical air-assisted nozzle and controlling the airflow of each electric cylindrical air-assisted nozzle;

[0011] The machine frame is mounted on the tracked walking system.

[0012] The electric cylindrical air-assisted nozzle is equipped with a corresponding independent nozzle power supply, and each pair of nozzle power supplies and electric cylindrical air-assisted nozzles are connected by an independent circuit.

[0013] The electric cylindrical air-assisted nozzle includes a nozzle, an integrally formed arc-shaped shroud, and a diffuser blade structure. A motor cylinder is arranged inside the annular cavity formed by the diffuser blade structure. A supply motor is embedded in the motor cylinder, and the fan blades on the output end of the supply motor are located at the rear end of the inner cavity of the arc-shaped shroud. The nozzle is installed inside the annular structure, and the annular structure is embedded at the front end outlet of the inner cavity of the arc-shaped shroud. The nozzle is connected to the nozzle supply pipe of the precision application device through a liquid pipe. The airflow generated by the supply motor driving the fan blades to rotate flows out through the guide vane gaps on the diffuser blade structure and the cavity of the annular structure, and combines with the high-pressure liquid sprayed from the nozzle to form a high-speed, high-pressure liquid mist.

[0014] The front outlet of the arc-shaped wind hood is equipped with an eave-type guide hood, and the eaves of the eave-type guide hood only occupy 1 / 4 to 1 / 3 of the outlet circle of the eave-type guide hood, so that the high-speed high-pressure drug mist can stably bend 15° to 25° against the wall and the flow loss does not exceed 5%.

[0015] The motor cylinder, the arc-shaped shroud, and the diffuser blade structure are integrally formed, so that the inner edge of the guide vane on the diffuser blade structure is fixed to the outer wall of the motor cylinder, and the outer edge of the guide vane is fixed to the outer wall of the arc-shaped shroud.

[0016] The liquid medicine pipe is installed on symmetrical liquid medicine pipe holes on the arc-shaped wind hood, and at least one end of the liquid medicine pipe passes through the liquid medicine pipe hole and is connected to the liquid supply pipe of the nozzle.

[0017] The aforementioned three-degree-of-freedom mechanical array structure includes a fixed support, an angle adjustment plate, and an arc-shaped plate. The mounting holes at the bottom of the angle adjustment plate are bolted to the lateral reinforcing rib holes on the fixed support, allowing the angle adjustment plate to adjust its height and tilt angle relative to the fixed support. The mounting holes at the top of the angle adjustment plate are bolted to the swing locking positioning holes on the arc-shaped plate, allowing the arc-shaped plate to adjust its height and tilt angle relative to the angle adjustment plate. The pitch locking positioning groove and nozzle fixing hole on the arc-shaped plate are used to fix the electric cylindrical air-assisted nozzle. The electric cylindrical air-assisted nozzle is mounted on the arc-shaped plate through a nozzle connector and can rotate relative to the arc-shaped plate within the range of 0° to 120°.

[0018] The arc-shaped plate is provided with four or more sets of pitch locking positioning grooves and nozzle fixing holes, and the angles of the electric cylindrical air-assisted nozzles on the arc-shaped plate can be different.

[0019] The three-degree-of-freedom adjustment design enables the electric cylindrical air-assisted sprayer to adjust the array configuration according to the overall characteristics of different fruit trees (pear, peach, grape, etc.). This new structural design allows for more precise application of pesticides to different fruit tree targets, multi-variable control, and low-power operation.

[0020] The precision application device includes a medicine tank, an airflow control module, and a dosage adjustment module that work in synergy. The medicine tank is connected to a plunger pump via pipeline. The plunger pump is connected to a liquid distributor via a main supply pipe equipped with a flow meter and a solenoid valve. The liquid distributor supplies liquid medicine to corresponding electric cylindrical air-assisted nozzles through nozzle supply pipes. The airflow control module controls the opening and closing of the electric cylindrical air-assisted nozzles and the rotation speed of the air supply motor in each electric cylindrical air-assisted nozzle through an independent power supply line, thereby adjusting the airflow intensity. The dosage adjustment module adjusts the dosage by controlling the pressure of the plunger pump and the frequency of the solenoid valve. The higher the pressure, the faster the frequency of the solenoid valve, resulting in a longer spraying distance and a larger flow rate for the high-speed, high-pressure mist, thus achieving precise dosage adjustment.

[0021] The plunger pump is equipped with a power supply located at the front right side of the medicine tank, and the independently enclosed power supply design can isolate the medicine mist. The inlet pipe interface and return pipe interface of the plunger pump are connected to the medicine tank. The function of the return pipe interface is to guide the excess high-pressure medicine output by the plunger pump back to the medicine tank, forming an internal circulation, so that the pressure of the application system is always maintained at the set value. The left and right supply pipe interfaces of the plunger pump can supply high-pressure medicine to the left and right ends of the medicine pipe of the electric cylindrical air delivery nozzle, respectively.

[0022] The working process of an orchard array-type air-assisted precision sprayer provided by this invention is as follows:

[0023] The working process of the orchard electric cylindrical array air-assisted precision sprayer of the present invention includes: equipment debugging in the preparation stage. First, the pitch locking positioning holes, nozzle fixing holes, swing locking positioning holes, and lateral reinforcing rib holes on the arc plate of the three-degree-of-freedom mechanical array structure are adjusted to ensure that the layout, angle, and number of electric cylindrical air-assisted nozzles conform to the characteristics of orchard fruit trees. Then, the battery, 48V power supply for pesticide supply, and nozzle power supply of the tracked chassis are turned on in sequence. The pressure level of the plunger pump and the frequency of the solenoid valve are adjusted to prepare for precision spraying. The air volume of the sprayer is adjusted by supplying power to the air supply motors of different electric cylindrical air-assisted nozzles. The machine moves along the set path to perform real-time pesticide application on fruit trees in different areas, realizing precision air-assisted spraying based on canopy target characteristics. The electric cylindrical array air-assisted sprayer of the present invention, through modular installation and independent adjustment function, realizes flexible control of aerosol volume, position, and angle, adapts to the complex needs of different orchards, and solves the dilemma of traditional sprayers that require one machine for one type of crop. Its "modular assembly" design enhances operational flexibility, and the detachable assembly of the spray system module and the range-extended electric tracked chassis provides a certain operational space for unmanned pesticide application.

[0024] The present invention has the following advantages over the prior art:

[0025] 1. Breaking away from the traditional single-fan, multi-nozzle model, the three-degree-of-freedom mechanical array structure design allows the layout of the electric cylindrical air-assisted nozzles to be flexibly adjusted according to the shape of the fruit trees, achieving targeted and efficient spraying; it also has good modularity and adjustability.

[0026] 2. The electric cylindrical air-assisted spray nozzle has independently adjustable mist volume, angle, and position. The mist volume, position, and angle can be adjusted according to the crop conditions to achieve precise air-assisted spraying.

[0027] 3. Innovative integrated wind speed and flow control, adjusted according to fruit trees, to achieve wind following liquid movement and flow changing with the target.

[0028] 4. The pneumatic conveying system features a "modular assembly" design with a clever mechanical structure (mechanical array structure) and the number of lightweight electric cylindrical pneumatic nozzles can be freely determined; modular installation allows the entire mechanical operation to achieve low power consumption.

[0029] 5. The whole machine adopts a pure electric drive system, which is compatible with complex orchard terrain and has high energy efficiency and good environmental protection. The spraying system in the whole machine does not require a separate power transmission system. It can achieve unmanned operation by installing it on the unmanned chassis. Attached Figure Description

[0030] Appendix Figure 1 This is a schematic diagram of the structure of the orchard electric cylindrical array air-assisted precision sprayer provided by the present invention;

[0031] Appendix Figure 2 This is a schematic diagram of the overall frame provided by the present invention;

[0032] Appendix Figure 3 A schematic diagram of the layout of the precision drug delivery device provided by the present invention;

[0033] Appendix Figure 4 A schematic diagram of the layout for mounting an electric cylindrical air-assisted nozzle on a three-degree-of-freedom mechanical array structure provided by the present invention;

[0034] Appendix Figure 5 This is a schematic diagram of the structure of the electric cylindrical air-assisted nozzle provided by the present invention;

[0035] Appendix Figure 6 A schematic diagram showing the connection relationship between the electric cylindrical air-assisted nozzle and the liquid distributor provided by the present invention;

[0036] Appendix Figure 7 A schematic diagram of the layout of the flow meter and solenoid valve provided by the present invention;

[0037] Appendix Figure 8 This is a schematic diagram of the plunger pump provided by the present invention;

[0038] Appendix Figure 9 A schematic diagram of the tracked chassis provided by the present invention;

[0039] Appendix Figure 10 CFD simulation diagram of the electric cylindrical air-assisted nozzle provided by the present invention;

[0040] Appendix Figure 11 This is one example of an angle adjustment method for a three-degree-of-freedom mechanical array structure provided by the present invention;

[0041] Appendix Figure 12 This is the second example of an angle adjustment method for a three-degree-of-freedom mechanical array structure provided by the present invention.

[0042] Wherein: 1—Complete machine frame; 11—Drug supply power supply; 12—Array platform; 13—Nozzle power supply;

[0043] 2—Three-degree-of-freedom mechanical array structure; 21—Pitch locking positioning groove; 22—Oscillating locking positioning hole; 23—Arc plate; 24—Angle adjustment plate; 25—Fixed support; 26—Nozzle fixing hole; 27—Lateral reinforcing rib hole;

[0044] 3—Precision application device; 31—Plunger pump; 311—Inlet pipe interface; 312—Return pipe interface; 313—Right side supply pipe interface; 314—Left side supply pipe interface; 32—Flow meter; 33—Solenoid valve; 34—Main supply pipe; 35—Medicine tank; 36—Liquid distributor; 37—Sprayer head supply pipe;

[0045] 4—Crawler system; 41—Crawler; 42—Battery; 43—Reducer; 44—Traverse motor; 45—Underbody support;

[0046] 5—Electric cylindrical air-assisted nozzle; 51—Nozzle connector; 52—Annular structure; 53—Arch-shaped wind shield; 54—Air supply motor; 55—Fan blade; 56—Diffuser blade structure; 57—Drug pipe; 58—Eaves-type flow guide; 59—Nozzle. Detailed Implementation

[0047] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that the invention will be thorough and complete, and the concept of the exemplary embodiments will be fully conveyed to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed description will be omitted.

[0048] The terms “a,” “one,” “the,” and “the” are used to indicate the existence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended meaning of inclusion and that other elements / components / etc. may exist in addition to the listed elements / components / etc.

[0049] like Figures 1-12As shown: The orchard electric cylindrical array air-assisted precision sprayer includes a frame 1, a tracked walking system 4, a three-degree-of-freedom mechanical array structure 2, a precision spraying device 3, and electric cylindrical air-assisted nozzles 5. It is modularly assembled, with the three-degree-of-freedom mechanical array structure 2 and the precision spraying device 3 mounted on the frame 1, which in turn is mounted on the tracked walking system 4. Once all modules are locked in place, the entire machine is assembled. Eight lightweight electric cylindrical air-assisted nozzles 5 are adjusted via the three-degree-of-freedom mechanical array structure 2, pressure controlled by the linkage plunger pump 31, and frequency regulated by the solenoid valve 33. The spray direction and pesticide dosage can be adjusted according to the characteristics (morphology and density) of the fruit tree canopy, significantly improving droplet coverage and canopy deposition. The three-degree-of-freedom mechanical array structure 2 consists of a nozzle connector 51, an arc-shaped plate 23, an angle adjustment plate 24, and a fixed support 25. The array layout of the electric cylindrical air-assisted nozzles 1 can be quickly changed by reconfiguring the connection between these four components. Each of the eight electric cylindrical air-pumped nozzles 5 is equipped with an independent power supply, and each electric cylindrical air-pumped nozzle 5 has its own independent power supply line. The precision application device 3 achieves precise and variable control of the application rate by adjusting the parameters of the plunger pump 31 and the solenoid valve 33.

[0050] The modular design of the machine eliminates the need to lock the spraying system module and the range-extended electric tracked chassis when replacing functional modules. It can be mounted on an unmanned chassis to achieve unmanned precision spraying, providing a foundation for multi-purpose use. This effectively overcomes the problem of continuous, aimless spraying during operation found in current orchard wind-assisted sprayers. This spraying method cannot accurately apply pesticides based on the actual shape and distribution of the fruit tree canopy, leading to significant pesticide waste. These sprayers are typically equipped with large axial flow fans, resulting in excessive power consumption. Due to the lack of targeted spraying, it not only fails to effectively cover the target area but may also cause pesticide drift pollution in surrounding non-target areas, impacting the ecological environment, reducing pesticide utilization, and ultimately increasing orchard production costs. This reduces operational efficiency and control effectiveness, failing to meet the requirements of modern precision agriculture for efficient and environmentally friendly pesticide application.

[0051] like Figure 1 , Figure 3 , Figure 9 As shown, the tracked walking system 4 comprises tracks 41, a battery 42 (6-EVF-32.2; CHILWEE; Capacity: 32.2Ah); a motor 44 (1.1KW, voltage: 220V; China), a reducer 43, and a base plate support 45. The ground contact area of ​​the tracks 41 is 1363×900 [(length×width) (mm×mm)], the spacing between two tracks 41 is 400mm, and the traveling speed of the tracks 41 is 0.5~1.5m / s. The small ground contact area allows for stable travel in complex orchard terrain, such as mountainous, hilly, and muddy ground, avoiding work interruptions caused by uneven terrain. Figure 2The image shows the frame 1 of the machine. The outer shell of the frame 1 is made of 0.5mm one-piece molded steel plate, with a 300mm diameter round hole reserved on the top, which also serves as the dosing port for the medicine tank 35.

[0052] like Figure 3 , Figure 8 As shown, the plunger pump 31 (48V, 0.5~3.5MPa, 60L / min), flow meter 32, and solenoid valve 33 (24V, 0~1.6MPa) in the precision application device 3 are located on the left side of the drug tank 35 at the rear of the entire unit. The power supply 11 for the plunger pump 31 is located on the right side of the drug tank 35 at the front of the entire unit, with an independent enclosed chamber design to isolate the drug mist. Based on the above structure, the inlet pipe interface 311 of the plunger pump 31 is connected to the medicine tank 35, and the return pipe interface 312 is connected to the medicine tank 35. The function of the return pipe interface 312 is to guide the excess high-pressure medicine output by the plunger pump 31 back to the medicine tank 35 to form an internal circulation, so that the pressure of the application system is always maintained at the set value and to prevent pressure stagnation or pulsation. The right supply pipe interface 313 and the left supply pipe interface 314 of the plunger pump 31 supply high-pressure medicine to the left and right ends of the medicine pipe 57 on the electric cylindrical air delivery nozzle 5 through their respective supply main pipes 34.

[0053] like Figure 4 As shown, the three-degree-of-freedom mechanical array structure 2 provided by the present invention includes a nozzle connector 51, an arc plate 23, an angle adjustment plate 24, and a fixed support 25. The three degrees of freedom refer to: ① The electric cylindrical air-assisted nozzle 5 adjusts its angle through the nozzle connector 51 and the arc plate 23, using the pitch locking positioning groove 21 and nozzle fixing hole 26 on the arc plate 23 to position and connect the nozzle connector 51, thus achieving angle adjustment of the electric cylindrical air-assisted nozzle 5; ② The angle adjustment plate 24 is connected to the arc plate 23, using different swing locking positioning holes 22 on the arc plate 23 to fix different parts of the upper part of the angle adjustment plate 24, thus adjusting the angle and height of the arc plate 23; ③ The angle adjustment plate 24 is connected to the fixed support 25, using different lateral reinforcing rib holes 27 on the fixed support 25 to fix different holes in the lower part of the angle adjustment plate 24, thus achieving angle and height adjustment of the angle adjustment plate 24. The connection method of the three-degree-of-freedom mechanical array structure 2: The electric cylindrical air-assisted nozzle 5 is fixed to the target hole position of the arc plate 23 by the nozzle connector 51 to adjust the bolt to the target angle, then adjust the angle and height of the arc plate 23, and finally adjust the array layout of the electric cylindrical air-assisted nozzle 5 to match the characteristics of the fruit tree (such as...) through the threaded hole position of the angle adjustment plate 24. Figure 11 The adjustable Y-shaped form is reflected Figure 12 (The inverted V-shaped shape is reflected) Finally, the assembled mechanical array structure is installed on the platform support 12 installed on the track walking system 4 (or it can be directly assembled or adjusted on the platform support 12).

[0054] like Figure 5 As shown, the electric cylindrical air-assisted nozzle 5 provided by this invention has an independent nozzle power supply 13 for separate power supply, and adopts a power supply line that can be quickly disassembled to ensure operational flexibility. When the generated airflow velocity is ≥2m / s, its effective range reaches 3.2 meters, and the droplets can penetrate into the interior and lower areas of the fruit tree canopy. Its internal structure and overall dimensions are 300×140×140 [(length×width×height) / (mm×mm×mm)]; it includes a motor cylinder 50, an annular structure 52, an arc-shaped wind shroud 53, a side-mounted guide shroud 58, a nozzle 59, a liquid pipe 57, a wind supply motor 54, a diffuser blade structure 56, and fan blades 55; the integrated structure design of the electric cylindrical air-assisted nozzle 5 is as follows: Figure 5 As shown, the arc-shaped fan shroud 53 and the diffuser blade structure 56 are integrated by 3D printing. The outer edge of the diffuser blade structure 56 is fixed to the inner wall of the arc-shaped fan shroud 53, and the inner edge is fixed to the motor cylinder 50. The guide vanes of the diffuser blade structure 56 are fixed in place. The motor cylinder 50 and the air supply motor 54 are fixed with bolts. The fan blade 55 and the air supply motor 54 are connected by threads and locked with nuts. The edge-type guide shroud 58 and the arc-shaped fan shroud 53 are assembled by a rotating snap-fit ​​structure. The nozzle 59 and the annular structure 52 are connected by threads. The liquid pipe 57 and the nozzle 59 are connected by threads and are circumferentially fixed through the liquid pipe holes on both sides of the arc-shaped fan shroud 53. The liquid circuit connection of the nozzle 59 is that the liquid pipe 57 is connected to the liquid distributor 36 connected to the main liquid supply pipe 34 through the nozzle liquid supply pipe 37. The electric cylindrical air-assisted nozzle 5 has a compact structure and small size. The air supply motor 54 of the electric cylindrical air-assisted nozzle 5 is connected to the external nozzle power supply 13. The nozzle 59 is fixed at the center of the air outlet end face, realizing integrated electric air delivery. The overall structure consists of a diffuser blade structure 56, an arc-shaped shroud 53, and an eaves-type guide shroud 58. The overall dimensions are 300×140×140 [(length×width×height) (mm×mm×mm)]. The airflow velocity through the air outlet cross-sectional area of ​​the arc-shaped shroud 53 is given by the formula... The cross-sectional area A of the air outlet is calculated based on the air outlet surface. Taking 18-22 m / s, the required total air volume of the fan is at least 508.93 m³ / s. Used to determine the fan selection, where: For air volume, ; The cross-sectional area of ​​the air outlet. The high-speed airflow from the fan can atomize the droplets sprayed from the nozzle a second time, achieving integrated electric and air-assisted delivery. The electric cylindrical air-assisted nozzle 5 is driven by an 85W rated power fan motor 54 to rotate the fan blades 55. The required power source is an external DC 48V power supply, which can be provided by the sprayer that needs to install the integrated fan during operation.

[0055] The electric cylindrical air-assisted nozzle 5 has a compact structure and small size. The air supply motor 54 of the electric cylindrical air-assisted nozzle 5 is connected to the external nozzle power supply 13. The nozzle 59 is fixed at the center of the air outlet end face, realizing integrated electric air delivery. The overall structure consists of a diffuser blade structure 56, an arc-shaped shroud 53, and an eaves-type guide shroud 58. The overall dimensions are 300×140×140 [(length×width×height) (mm×mm×mm)]. The airflow velocity through the air outlet cross-sectional area of ​​the arc-shaped shroud 53 is given by the formula... The cross-sectional area A of the air outlet is calculated based on the air outlet surface. Taking 18-22 m / s, the required total air volume of the fan is at least 508.93 m³ / s. Used to determine the fan selection, where: For air volume, ; The cross-sectional area of ​​the air outlet. The high-speed airflow from the fan can atomize the droplets sprayed from the nozzle a second time, achieving integrated electric and air-assisted delivery. The electric cylindrical air-assisted nozzle 5 is driven by an 85W rated power fan motor 54 to rotate the fan blades 55. The required power source is an external DC 48V power supply, which can be provided by the sprayer that needs to install the integrated fan during operation.

[0056] like Figure 6 The diagram shows the connection of the liquid distributor 36 provided by this invention. The main supply pipe 34, equipped with a solenoid valve 33, is connected to the liquid distributor 36, which is embedded in the angle adjustment plate 24. The power supply mode of the orchard electric cylindrical array air-assisted precision sprayer is as follows: the battery 42 powers the tracked chassis, providing pure electric drive and environmental friendliness, with a total working time of 2 hours; the pesticide supply power supply 11 powers the plunger pump 31 and the solenoid valve 33; and the nozzle power supply 13 powers the electric cylindrical air-assisted nozzles 5. Each electric cylindrical air-assisted nozzle 5 is equipped with a circuit switch. During the sprayer's operation, the plunger pump 31 draws liquid pesticide from the pesticide tank 35, which flows through the flow meter 32 and solenoid valve 33 in the main supply pipe 34 before being delivered to the liquid distributor 36. The solenoid valve 33 opens and closes at different frequencies at this time, and the liquid pesticide is distributed in the liquid distributor 36 (e.g., QY15, 0.5MPa, flow rate 1.12L / min), and then delivered to the nozzles 59 of each electric cylindrical air-assisted spray nozzle 5 to complete the variable application process.

[0057] When operating the sprayer, select the nozzle array type according to the density of the orchard canopy (such as Y-shape for wide row spacing, and inverted V-shape for dense planting). Adjust the tilt angle of the electric cylindrical air-assisted nozzle 5 to 30° (suitable for low fruit trees) or 60° (suitable for tall canopies) by using the arc plate 23 and the angle adjustment plate 24. The precision application device 3 also includes an air volume control module and a pesticide application rate control module. The air volume control module controls the opening and closing of the electric cylindrical air delivery nozzle 5 through an independent power supply line, and controls the speed of the air supply motor 54 in each electric cylindrical air delivery nozzle 5 (maximum speed 10000 rad / min, outlet air velocity 18m / s-22m / s). The direction of the electric cylindrical air delivery nozzle 5 is adjusted by the pitch locking positioning groove 21 to adjust the application angle. According to the above settings, the directional airflow intensity can be adjusted. The pesticide application rate control module includes adjusting the pressure adjustment (0.5~4.5MPa) of the plunger pump 31 and the frequency of the solenoid valve 33. The higher the pressure of the plunger pump 31, the faster the frequency of the solenoid valve 33, the farther the spraying distance of the pesticide solution and the greater the flow rate, thereby realizing precise adjustment of the pesticide application rate. The pesticide solution is delivered to the spray head 59 via the coordinated operation of the plunger pump 31, flow meter 32, solenoid valve 33, and pesticide pipe 57. The components are connected by rubber water pipes. The three-degree-of-freedom mechanical array structure 2 adjusts the array layout of the electric cylindrical air-assisted spray head 5 according to the density and canopy morphology of the orchard trees to complete the pesticide application.

[0058] The three-degree-of-freedom mechanical array structure 2 provided by this invention is located at the end of the machine, with a fan-shaped dimension of r=34mm, and its shape can be adjusted within the range of 0°-270°. Utilizing the pitch locking positioning groove 21, nozzle fixing hole 26, and swing locking positioning hole 22 on the arc plate 23, the pitch locking positioning groove 21 is adjustable to an angle of 120° and is used to connect the electric cylindrical air-assisted nozzle 5. The swing locking positioning hole 22 is used to connect the angle adjustment plate 24. Each side of the arc plate 23 has six sets of swing locking positioning holes 22 for angle adjustment. This adjustable array structure allows for the adjustment of the electric cylindrical air-assisted nozzle's angle and array shape according to the crop morphology of the fruit trees in the orchard during pesticide spraying.

[0059] like Figure 10The simulation diagram of the electric cylindrical air-assisted nozzle 5 of the orchard array-type air-assisted precision sprayer provided by the present invention was used. The airflow field was analyzed in detail by ANSYS simulation software to determine and optimize key parameters and verify the performance of the fan. The CFD simulation results show that when there is a side-mounted guide hood 58, the outlet airflow velocity of the nozzle 59 is concentrated, with a maximum velocity of 2.0 m / s and a range of 3.2 m. The high-speed zone extends far along the jet direction, has a clear boundary, and has little energy loss. When there is no side-mounted guide hood 58, although the maximum velocity is similar, the high-speed zone is reduced, the jet is dispersed, the diffusion angle of the medium-speed zone is large, the effective range is shortened, and the energy dissipation is obvious. Simulation results reveal the dynamic changes in airflow with increasing distance: At an outlet velocity of 100 m / s, at 1 m, the airflow maintains a high velocity and a large velocity gradient, approximately 70 m / s; at 2 m, the airflow begins to diffuse, the velocity decreases slightly to approximately 50 m / s, and kinetic energy begins to transfer to the surrounding environment; at 3 m, the airflow distribution becomes more uniform, the turbulence intensity decreases, and the velocity is approximately 20 m / s; while at 4 m from the fan, the airflow velocity decreases significantly, fully mixing with the surrounding air to form a stable flow state, approximately 0-10 m / s. The airflow velocity and spray distance of the electrically driven cylindrical air-blowing nozzle 5 with the edge-shaped guide shroud 58 are significantly better than those of the electrically driven cylindrical air-blowing nozzle 5 without the edge-shaped guide shroud 58. Among them, the edge of the edge-type fairing 53 occupies only 1 / 3 of the outlet circle, which is to achieve the best wall attachment effect with minimal obstruction: it allows the high-speed airflow to stably bend 15° to 25° against the wall, while reducing the flow loss to less than 5%, and avoiding back pressure rebound and structural weight increase, thus achieving the optimal solution that balances directional control and efficiency.

[0060] The sprayer provided by this invention features a tracked walking system and an electric cylindrical array air-assisted spraying device. Regarding improvements to the sprayer: an integrated electric cylindrical air-assisted nozzle 5 is designed, employing a "one fan, one nozzle" configuration; the three-degree-of-freedom mechanical array structure 2 allows for diverse layouts of the electric cylindrical air-assisted nozzle 5; finally, the sprayer designed in this invention is purely electric-driven, which is more environmentally friendly, efficient, and intelligent compared to mechanical drive. Simultaneously, the mist volume, position, and angle of the electric cylindrical air-assisted nozzle 5 can be independently adjusted and modularly installed. The mist volume of each nozzle 59 can be large or small, its position can be near or far, its quantity can be many or few, and its height can be high or low, forming a new "building block assembly" mode for the air-assisted system, truly achieving precision air-assisted spraying based on canopy target characteristics.

[0061] In this embodiment of the invention, the term "multiple" refers to two or more, unless otherwise explicitly defined. The terms "install," "connect," and "fix" should be interpreted broadly. For example, "connect" can mean a fixed connection, a detachable connection, or an integral connection. Those skilled in the art can understand the specific meaning of the above terms in this embodiment of the invention based on the specific circumstances.

[0062] In the description of the embodiments of the present invention, it should be understood that the terms "upper" and "lower" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention.

[0063] In the description of this specification, the terms "an embodiment," "a preferred embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0064] The above embodiments are merely illustrative of the technical concept of the present invention and should not be construed as limiting the scope of protection of the present invention. Any modifications made to the technical solutions based on the technical concept proposed in this invention shall fall within the scope of protection of this invention. Technologies not covered in this invention can be implemented using existing technologies.

Claims

1. An array-type air-assisted precision sprayer for orchards, characterized in that: The sprayer includes a frame (1), a three-degree-of-freedom mechanical array structure (2), a precision spraying device (3), a tracked walking system (4), and several electric cylindrical air-assisted nozzles (5). The electric cylindrical air-assisted nozzles (5) are installed in an array on the three-degree-of-freedom mechanical array structure (2), and the array layout, direction, and height of the electric cylindrical air-assisted nozzles (5) can be adjusted according to the density and canopy shape of the orchard trees. The three-degree-of-freedom mechanical array structure (2) is installed at the tail of the whole machine frame (1) and the three-degree-of-freedom mechanical array structure (2) itself can adjust its height and angle; The precision application device (3) is installed on the machine frame (1) to provide the required precise amount of pesticide to each electric cylindrical air delivery nozzle (5) and control the air volume of each electric cylindrical air delivery nozzle (5); The frame (1) is mounted on the track walking system (4).

2. The orchard array-type air-assisted precision sprayer according to claim 1, characterized in that: The electric cylindrical air-assisted nozzle (5) is equipped with a corresponding independent nozzle power supply (13), and each pair of nozzle power supplies (13) and electric cylindrical air-assisted nozzle (5) are connected by an independent line.

3. The orchard array-type air-assisted precision sprayer according to claim 1, characterized in that: The electric cylindrical air-assisted nozzle (5) includes a nozzle (59), an integrally formed arc-shaped shroud (53), and a diffuser blade structure (56). A motor cylinder (50) is arranged in the annular cavity formed by the diffuser blade structure (56). A fan motor (54) is embedded in the motor cylinder (50), and the fan blades (55) on the output end of the fan motor (54) are located at the rear end of the inner cavity of the arc-shaped shroud (53). The nozzle (59) is installed on the annular structure (59). 2) The inner ring structure (52) is embedded at the front end of the inner cavity of the arc-shaped wind hood (53). The nozzle (59) is connected to the nozzle supply pipe (37) of the precision application device (3) through the liquid pipe (57). The airflow generated by the fan motor (54) driving the fan blade (55) to rotate flows out through the guide blade gap on the diffuser blade structure (56) and the cavity of the ring structure (52), and combines with the high-pressure liquid sprayed by the nozzle (59) to form a high-speed high-pressure liquid mist.

4. The orchard array-type air-assisted precision sprayer according to claim 3, characterized in that: The front end of the arc-shaped wind hood (53) is equipped with an eaves-type guide hood (58), and the eaves on the eaves-type guide hood (58) only occupy 1 / 4 to 1 / 3 of the outlet circle of the eaves-type guide hood (58), so that the high-speed high-pressure drug mist can stably bend 15° to 25° against the wall and the flow loss does not exceed 5%.

5. The orchard array-type air-assisted precision sprayer according to claim 3, characterized in that: The motor cylinder (50) is integrally formed with the arc-shaped wind shroud (53) and the diffuser blade grid structure (56), so that the inner edge of the guide vane on the diffuser blade grid structure (56) is fixed on the outer wall of the motor cylinder (50) and the outer edge of the guide vane is fixed on the outer wall of the arc-shaped wind shroud (53).

6. The orchard array-type air-assisted precision sprayer according to claim 3, characterized in that: The liquid medicine pipe (57) is installed on the symmetrical liquid medicine pipe hole on the arc-shaped wind cover (53), and at least one end of the liquid medicine pipe (57) passes through the liquid medicine pipe hole and is connected to the nozzle supply pipe (37).

7. The orchard array-type air-assisted precision sprayer according to any one of claims 1-6, characterized in that: The three-degree-of-freedom mechanical array structure (2) includes a fixed support (25), an angle adjustment plate (24), and an arc plate (23). The mounting hole at the bottom of the angle adjustment plate (24) is fixed to the lateral reinforcing rib hole (27) on the fixed support (25) by bolts. The angle adjustment plate (24) can adjust its height and tilt angle relative to the fixed support (25). The mounting hole at the top of the angle adjustment plate (24) is fixed to the swing locking positioning hole (22) on the arc plate (23) by bolts. The arc plate (23) can adjust its height and tilt angle relative to the angle adjustment plate (24). The pitch locking positioning groove (21) and nozzle fixing hole (26) provided on the arc plate (23) are used to fix the electric cylindrical air-assisted nozzle (5). The electric cylindrical air-assisted nozzle (5) is installed on the arc plate (23) through the nozzle connector (51) and the electric cylindrical air-assisted nozzle (5) can rotate relative to the arc plate (23) within the range of 0° to 120°.

8. The orchard array-type air-assisted precision sprayer according to claim 7, characterized in that: The arc plate (23) is provided with four or more pitch locking positioning grooves (21) and nozzle fixing holes (26), and the angles of the electric cylindrical air-assisted nozzles (5) on the arc plate (23) can be different.

9. The orchard array-type air-assisted precision sprayer according to any one of claims 1-6, characterized in that: The precision application device (3) includes a medicine tank (35), an air volume control module and a dosage adjustment module that can work together. The medicine tank (35) is connected to a plunger pump (31) through a pipeline. The plunger pump (31) is connected to a liquid distributor (36) through a liquid supply main pipe (34) with a flow meter (32) and a solenoid valve (33) in sequence. The liquid distributor (36) supplies liquid to the corresponding electric cylindrical air delivery nozzles (5) through the nozzle liquid supply pipe (37). The air volume control module controls the opening and closing of the electric cylindrical air delivery nozzle (5) and the speed of the air supply motor (54) in each electric cylindrical air delivery nozzle (5) through an independent power supply line, thereby realizing the airflow intensity adjustment; the dosage control module adjusts the dosage by controlling the pressure of the plunger pump (31) and the frequency of the solenoid valve (33). The higher the pressure, the faster the frequency of the solenoid valve (33), the farther the spraying distance of the high-speed high-pressure mist and the greater the flow rate, thereby realizing the precise adjustment of the dosage.

10. The orchard array-type air-assisted precision sprayer according to claim 9, characterized in that: The plunger pump (31) is equipped with a drug supply power supply (11) located at the front right side of the drug tank (35) and the drug supply power supply (11) with an independent enclosed chamber design can isolate the drug mist; the inlet pipe interface (311) on the plunger pump (31) is connected to the drug tank (35), and the return pipe interface (312) is connected to the drug tank (35). The function of the return pipe interface (312) is to guide the excess high-pressure drug liquid output by the plunger pump (31) back to the drug tank (35) to form an internal circulation, so that the pressure of the drug application system is always maintained at the set value; the left supply pipe interface (314) and the right supply pipe interface (313) on the plunger pump (31) can supply high-pressure drug liquid to the left and right ends of the drug liquid pipe (57) on the electric cylindrical air delivery nozzle (5) respectively.

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