An automated inter-row directional spraying device with extended pipeline

Abstract

This application relates to an automated inter-row directional spraying device with extended pipeline, belonging to the field of agricultural plant protection machinery technology. The structure of the spraying device includes: an intelligent mobile vehicle and a pipeline delivery unit; one end of the intelligent mobile vehicle is equipped with a terminal spraying device unit; the pipeline delivery unit includes a field-end pesticide tank, a high-pressure pump, a main delivery hose, and a coiled hose assembly; the coiled hose assembly is fixedly installed at the other end of the intelligent mobile vehicle, and the high-pressure pump is fixedly installed in the middle of the intelligent mobile vehicle; one end of the main delivery hose is connected to the coiled hose assembly, and the coiled hose assembly is connected to the terminal spraying device unit through the high-pressure pump; the other end of the main delivery hose is connected to the pesticide tank, and the main delivery hose is coiled on the coiled hose assembly; the intelligent mobile vehicle is an intelligent agricultural power machine; this application has the technical effects of better continuity during delivery and retraction operations and improved uniformity of spraying on crops.

Description

Technical Field

[0001] This application relates to the technical field of agricultural plant protection machinery, and in particular to an automated spraying device for inter-row directional spraying with extended pipelines. Background Technology

[0002] With the acceleration of agricultural modernization, the requirements for automation and precision in inter-row crop protection operations are constantly increasing. Pipeline-extended spraying devices, due to their ability to achieve long-distance continuous spraying, have gradually become important equipment for inter-row crop protection. The popularization of intelligent agricultural power machinery has provided reliable mobility and power support for the automated operation of this type of spraying device, effectively promoting the transformation of inter-row crop protection operations towards unmanned and efficient operation. Existing pipeline-extended inter-row directional spraying automated spraying devices mostly mount the pipeline delivery component and the spraying unit on a mobile carrier. The liquid pesticide is delivered from the pesticide tank at the edge of the field to the spraying nozzle through the pipeline for spraying operations. However, the main delivery hose of the existing devices is often not synchronized with the movement of the mobile carrier, which can easily lead to problems such as hose dragging and tangling, affecting the continuity of operations.

[0003] Patent (CN 120858685 A) discloses a soil amendment dispensing device, comprising: a dispensing vehicle, on which an agent tank is fixedly installed, and the agent tank is connected to a pump body; a first dispensing spray assembly, which is installed on the dispensing vehicle, and on which a first nozzle and a second nozzle are installed, and the distance between the first nozzle and the second nozzle can be adjusted according to soil requirements; the above can only realize the adjustment of nozzle spacing and agent dispersion spraying, but it is difficult to form layered directional spray to improve the uniformity of spraying; at the same time, it does not have a pipeline extension liquid supply and synchronous pipe retraction structure, which is prone to hose dragging, tangling, accumulation and pulling breakage, resulting in poor operation continuity and low safety, and it is difficult to meet the needs of efficient inter-row plant protection.

[0004] Regarding the aforementioned technologies, the inventors believe that they suffer from drawbacks such as poor continuity of loading and unloading operations during transportation and unstable uniformity of pesticide spraying on crops. Summary of the Invention

[0005] To address the aforementioned technical problems, this application provides an automated inter-row directional spraying device with extended pipeline.

[0006] This application provides an automated inter-row directional spraying device with extended pipeline, which adopts the following technical solution:

[0007] An automated inter-row directional spraying device with extended pipeline includes an intelligent mobile vehicle and a pipeline delivery unit. One end of the intelligent mobile vehicle is equipped with a terminal spraying device unit. The pipeline delivery unit includes a field-end pesticide tank, a high-pressure pump, a main delivery hose, and a coiled hose assembly. The coiled hose assembly is fixedly installed at the other end of the intelligent mobile vehicle, and the high-pressure pump is fixedly installed in the middle of the intelligent mobile vehicle. One end of the main delivery hose is connected to the coiled hose assembly, and the coiled hose assembly is connected to the terminal spraying device unit via the high-pressure pump. The other end of the main delivery hose is connected to the pesticide tank, and the main delivery hose is coiled on the coiled hose assembly. The intelligent mobile vehicle is an intelligent agricultural power machine.

[0008] By adopting the above technical solution, the main delivery hose is synchronously extended and retracted with the intelligent mobile vehicle, solving the problems of dragging, tangling, and pulling of the main delivery hose. The operation is continuous and stable. This extended structure of the main delivery hose rationally integrates the field-end pesticide tank, high-pressure pump, hose winding assembly, and intelligent mobile vehicle, realizing continuous inter-row spraying operations and adapting to long-distance inter-row operations. The driving force of the intelligent mobile vehicle is the power source. By achieving synchronous movement of the intelligent mobile vehicle and control of the extension and retraction of the main delivery hose by the hose winding assembly, the end spraying device unit performs whole-plant directional spraying, resulting in more comprehensive coverage and higher pesticide utilization. The pesticide droplets penetrate the crop at multiple angles, eliminating blind spots in the canopy and roots, effectively covering both sides of the leaves, significantly improving the uniformity of spraying and the control effect. It is adapted to the inter-row operation environment, realizing unmanned spraying, reducing manual input, and improving the efficiency of agricultural plant protection. One end of the main delivery hose is connected to the field-end pesticide tank, and the other end is set in the hose winding assembly, which connects the high-pressure pump and the end spraying device unit to form a closed and stable pesticide delivery path.

[0009] Preferably, the end spraying device unit includes a transfer pipe, a canopy spraying assembly, and a root spraying assembly; the transfer pipe is a T-connector, one end of which is connected to a high-pressure pump; the canopy spraying assembly is fixedly installed at one end of the intelligent mobile vehicle, and the canopy spraying assembly is connected to the high-pressure pump through the transfer pipe; the root spraying assembly is installed at the bottom of the intelligent mobile vehicle, and the root spraying assembly is connected to the high-pressure pump through the transfer pipe.

[0010] By adopting the above technical solution, the end spraying device unit is connected to the canopy spraying component and the root spraying component through a transfer pipe, so as to realize the synchronous diversion and supply of high-pressure liquid. The canopy spraying component and the root spraying component target the crop canopy and roots respectively to apply pesticide in a targeted manner, so as to achieve full-dimensional coverage of the crop and improve the targeting and effectiveness of plant protection and control. The canopy spraying component is fixed at one end of the intelligent mobile vehicle and the root spraying component is set at the bottom of the vehicle, which is suitable for inter-row operation scenarios and corresponds to the height of the crop canopy and the position of the roots, so as to avoid waste of liquid and reduce crushing and damage to the crop plants.

[0011] Preferably, the canopy spray assembly includes a bracket, a spray pipe, a first nozzle, and a first hose; the bracket is fixedly mounted on the intelligent mobile vehicle; the spray pipe is rotatably mounted on the bracket; the first nozzle is located at the top of one end of the spray pipe; one end of the first hose is connected to the top of the other end of the spray pipe, and one end of the first hose is mounted on a high-pressure pump via an adapter pipe.

[0012] By adopting the above technical solution, the bracket is fixed to the intelligent mobile vehicle, providing stable support for the spray pipe and the first nozzle, avoiding nozzle displacement due to vehicle shaking during operation, and ensuring the accuracy of canopy spraying; the spray pipe is rotatably mounted on the bracket, realizing reciprocating swing around the bracket to open the blades, which, together with the atomization spray of the first nozzle, makes the droplets form a wide-area fan-shaped coverage, breaking the limitation of single-direction spraying and increasing the canopy spraying coverage; improving the utilization rate of the pesticide solution and reducing environmental pollution; the first hose connects the spray pipe and the adapter pipe, adapting to the swinging movement of the spray pipe and flexibly swinging with the spray pipe.

[0013] Preferably, the root spraying assembly includes an auxiliary pipeline and two sets of spraying mechanisms; the auxiliary pipeline is fixedly mounted on the intelligent mobile vehicle; the auxiliary pipeline is connected to the adapter pipe, and both ends of the auxiliary pipeline are located on both sides of the intelligent mobile vehicle, with the two sets of spraying mechanisms respectively located at both ends of the auxiliary pipeline.

[0014] Preferably, the spraying mechanism includes an elastic spray bar and a second nozzle; one end of the elastic spray bar is connected to one end of the auxiliary pipeline; the second nozzle is connected to the other end of the elastic spray bar, and the axis of the second nozzle is arranged at an acute angle to the axis of the elastic spray bar.

[0015] By adopting the above technical solution, the elastic spray bar adapts to the complex environment of crop roots between rows. When encountering obstacles such as crop stems or soil protrusions, it can elastically deform to avoid them, preventing damage to the spray bar and crop bruising. At the same time, the elastic recovery force ensures that the nozzle can quickly return to its original position without affecting the accuracy of pesticide application. The second nozzle is offset at an acute angle to the elastic spray bar, so that the direction of the pesticide spray is at an angle to the axis of the spray bar. During spraying, a reverse impact force can be generated. Combining the elasticity of the elastic spray bar with the spray characteristics of the offset nozzle, the nozzle achieves a self-excited oscillating nodding and swinging motion. This can physically push aside the leaves at the bottom of the crop that are blocking the roots, eliminate blind spots in root pesticide application, ensure uniform pesticide application to the crop roots and surrounding soil, and improve the root protection effect.

[0016] Preferably, the winding assembly includes two sets of rotating supports, a rotating shaft, a rotating roller, a rotating tube, a rotating interface, and a main connecting pipe; the two sets of rotating supports are respectively disposed on both sides of the other end of the intelligent mobile vehicle; the interior of the rotating roller is a hollow cavity, the rotating shaft is fixedly disposed at one end of the rotating roller, and the rotating shaft is rotatably disposed on one set of the rotating supports; one end of the rotating tube is fixedly disposed at the other end of the rotating roller, the rotating tube is connected to the interior of the rotating roller, and the rotating tube is rotatably disposed on the other set of the rotating supports; the rotating interface is disposed at the other end of the rotating tube; one end of the main connecting pipe is disposed on the high-pressure pump, and the other end of the main connecting pipe is disposed on the rotating interface; a liquid medicine inlet is connected to the rotating roller, and the liquid medicine inlet is connected to one end of the main delivery hose.

[0017] By adopting the above technical solution, the tube winding assembly uses two sets of rotating supports for double-sided support. The rotating roller is rotatably connected to the two sets of supports through a rotating shaft and a rotating tube, which provides stable support and uniform force distribution. This effectively prevents the rotating roller from shifting or shaking during rotation, ensuring the smooth operation of the main conveying hose and making it suitable for bumpy inter-row operation environments. The rotating roller has a hollow cavity inside, which, together with the liquid inlet, rotating tube, rotating interface, and main connecting pipe, integrates the functions of liquid delivery and hose retraction. The liquid inlet is directly connected to the rotating roller and the main conveying hose. The main conveying hose is coiled around the rotating roller, which facilitates the storage and release of the main conveying hose.

[0018] Preferably, the drive wheel of the intelligent mobile vehicle is provided with a power component, which includes a first sprocket, a second sprocket and a transmission chain. The first sprocket is fixedly mounted on the drive wheel of the intelligent mobile vehicle, and the second sprocket is fixedly mounted on the rotating shaft. The transmission chain is sleeved on the first sprocket and the second sprocket.

[0019] Preferably, a transmission assembly is provided between the pipe assembly and the canopy spray assembly. The transmission assembly includes a first bevel gear, a second bevel gear, a connecting rod, and a belt drive assembly. The first and second bevel gears are located on one side of the canopy spray assembly. The first bevel gear is rotatably mounted on the intelligent mobile vehicle, and the second bevel gear is rotatably mounted on the intelligent mobile vehicle. The first and second bevel gears mesh and transmit power. One end of the belt drive assembly is fixedly mounted on a rotating shaft, and the other end of the belt drive assembly is fixedly mounted on the first bevel gear. The belt drive assembly is used to drive the first bevel gear to rotate. One end of the connecting rod is rotatably mounted on the second bevel gear, and the other end of the connecting rod is rotatably mounted on the other end of the spray pipe.

[0020] By adopting the above technical solution, a transmission assembly consisting of a belt drive group, a first bevel gear, a second bevel gear, and a connecting rod is used to directly transmit the rotational power of the pipe assembly to the canopy spray assembly. The meshing of the first and second bevel gears realizes power steering, transforming the horizontal rotational motion into a motion form suitable for the nozzle oscillation. The second bevel gear, the connecting rod, and the spray pipe form a crank-rocker structure. The connecting rod converts the rotational motion into the reciprocating oscillation of the spray pipe, causing the first nozzle to open the blades for multi-angle spraying, effectively covering both sides of the blades and eliminating blind spots in pesticide application.

[0021] Preferably, the intelligent mobile vehicle is provided with nozzle cleaning brushes on both sides of its bottom, and the nozzle cleaning brushes are used to scrape and clean the second nozzle.

[0022] By adopting the above technical solution, nozzle cleaning brushes are installed on both sides of the bottom of the intelligent mobile vehicle. During operation, the brushes work in conjunction with the swing of the elastic spray bar to scrape away impurities from the surface of the second nozzle in real time, keeping the nozzles unobstructed, avoiding nozzle blockage, and ensuring uniform and stable spraying.

[0023] Preferably, the winding assembly is provided with a limiting frame, the two ends of which are respectively fixedly mounted on two sets of rotating supports, the limiting frame is sleeved on the rotating roller, and the limiting frame is rotatably connected to the rotating roller.

[0024] By adopting the above technical solution, the winding assembly is equipped with a limiting frame, which is fixed at both ends to the rotating support and sleeved on the rotating roller. It forms a rotational engagement with the rotating roller, effectively constraining the winding position of the main conveying hose and preventing the hose from deviating, overlapping, or coming off during winding and unwinding. The limiting frame provides auxiliary support and positioning for the rotating roller, improving the stability of the rotating roller when it rotates, ensuring that the main conveying hose is wound evenly, orderly, and stably, and avoiding jamming, pulling, and damage caused by hose disorder.

[0025] In summary, this application includes at least one of the following beneficial technical effects:

[0026] 1. The bracket is fixed to the intelligent mobile vehicle, providing stable support for the spray pipe and the first nozzle, preventing the nozzle from shifting due to vehicle shaking during operation, and ensuring the accuracy of canopy spraying; the spray pipe is rotatably mounted on the bracket, allowing it to swing back and forth around the bracket to open the blades, which, together with the atomization spray of the first nozzle, makes the droplets form a wide fan-shaped coverage, breaking the limitation of single-direction spraying and increasing the canopy spraying coverage; improving the utilization rate of the pesticide solution and reducing environmental pollution; the first hose connects the spray pipe and the adapter pipe, adapting to the swinging movement of the spray pipe and flexibly swinging with the spray pipe.

[0027] 2. The elastic spray boom adapts to the complex environment of crop roots between rows. When encountering obstacles such as crop stems or soil protrusions, it can elastically deform to avoid them, preventing damage to the spray boom and crop bruising. At the same time, the elastic recovery force ensures that the nozzle quickly returns to its original position without affecting the accuracy of pesticide application. The second nozzle is offset at an acute angle to the elastic spray boom, so that the direction of the pesticide spray is at an angle to the axis of the spray boom. During spraying, it can generate a reverse impact force. Combining the elasticity of the elastic spray boom with the spray characteristics of the offset nozzle, the nozzle achieves a self-excited oscillating nodding and swinging motion. It can physically push aside the leaves at the bottom of the crop that are blocking the roots, eliminate blind spots in root pesticide application, ensure uniform pesticide application to the crop roots and surrounding soil, and improve the root protection effect. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall structure in the embodiment.

[0029] Figure 2 This is a schematic diagram of the winding tube assembly in the embodiment.

[0030] Figure 3 This is a schematic diagram of the root spray assembly in the embodiment.

[0031] Figure 4 This is a schematic diagram of the transmission component in the embodiment.

[0032] Figure 5 yes Figure 1 A magnified view of part A in the middle.

[0033] Explanation of reference numerals in the attached drawings: 1. Intelligent mobile vehicle; 2. Pipeline delivery unit; 21. Field medicine tank; 22. High-pressure pump; 23. Main delivery hose; 24. Pipe winding assembly; 241. Rotating support; 242. Rotating shaft; 243. Rotating roller; 2431. Liquid inlet; 245. Rotating pipe; 246. Rotating interface; 247. Main connecting pipe; 3. End spraying device unit; 31. Transfer pipe; 32. Canopy spraying assembly; 321. Support; 32 2. Spray pipe; 323. First nozzle; 324. First hose; 33. Root spray assembly; 331. Auxiliary pipeline; 332. Spraying mechanism; 3321. Flexible spray bar; 3322. Second nozzle; 4. Power assembly; 41. First sprocket; 42. Second sprocket; 43. Drive chain; 5. Transmission assembly; 51. First bevel gear; 52. Second bevel gear; 53. Connecting rod; 54. Belt drive assembly; 6. Nozzle cleaning brush; 7. Limiting frame. Detailed Implementation

[0034] The following is in conjunction with the appendix Figure 1-5 This application will be described in further detail.

[0035] This application discloses an automated inter-row directional spraying device with a pipeline extension system. (Refer to...) Figure 1The system includes an intelligent mobile vehicle 1 and a pipeline delivery unit 2. One end of the intelligent mobile vehicle 1 is equipped with a terminal spraying device unit 3. The pipeline delivery unit 2 includes a field medicine tank 21, a high-pressure pump 22, a main delivery hose 23, and a coiled hose assembly 24. The coiled hose assembly 24 is fixedly installed at the other end of the intelligent mobile vehicle 1, and the high-pressure pump 22 is fixedly installed in the middle of the intelligent mobile vehicle 1. One end of the main delivery hose 23 is connected to the coiled hose assembly 24, and the coiled hose assembly 24 is connected to the terminal spraying device unit 3 via the high-pressure pump 22. The other end of the main delivery hose 23 is connected to the medicine tank, and the main delivery hose 23 is coiled on the coiled hose assembly 24. The intelligent mobile vehicle 1 is an intelligent agricultural power machine, and the field medicine tank 21 contains… The prepared liquid medicine, under the pressure provided by the high-pressure pump 22, forms a stable high-pressure liquid medicine flow through the main delivery hose 23; the liquid medicine flows out from the field medicine tank 21 and enters the main delivery hose 23 coiled on the winding assembly 24; the main delivery hose 23 is pressurized by the high-pressure pump 22 and delivers the high-pressure liquid medicine to the end spraying device unit 3; when the intelligent mobile vehicle 1 moves forward, the drive wheel of the intelligent mobile vehicle 1 drives the winding assembly 24 to release the hose synchronously, and the release speed matches the vehicle's moving speed. The main delivery hose 23 naturally stretches as the vehicle moves forward. When the intelligent mobile vehicle 1 moves backward, it drives the winding assembly 24 to retract the hose synchronously, and the main delivery hose 23 is evenly re-coiled on the winding assembly 24.

[0036] Reference Figure 1 and Figure 2The end-spraying device unit 3 includes an adapter pipe 31, a canopy spray assembly 32, and a root spray assembly 33. The adapter pipe 31 is a three-way pipe, with one end connected to the high-pressure pump 22. The canopy spray assembly 32 is fixedly installed at one end of the intelligent mobile vehicle 1 and is connected to the high-pressure pump 22 via the adapter pipe 31. The root spray assembly 33 is installed at the bottom of the intelligent mobile vehicle 1 and is connected to the high-pressure pump 22 via the adapter pipe 31. The canopy spray assembly 32 includes a bracket 321, a spray pipe 322, a first nozzle 323, and a first hose 324. The bracket 321 is fixedly installed on the intelligent mobile vehicle 1. The spray pipe 322 is rotatably mounted on the bracket 321. The first nozzle 323 is located at the top of one end of the spray pipe 322. One end of the first hose 324 is connected to the top of the other end of the spray pipe 322, and one end of the first hose 324 is connected to the high-pressure pump 22 via the adapter pipe 31. Pipe 31 adopts a three-way pipe structure, serving as a diversion node for high-pressure pesticide solution. One end of the transfer pipe 31 is directly connected to the high-pressure pump 22, receiving the high-pressure pesticide solution delivered through the main delivery hose 23. The other two branch ports of the transfer pipe 31 are respectively connected to the canopy spray assembly 32 and the root spray assembly 33. The pesticide solution output by the high-pressure pump 22 enters the interior of the spray pipe 322 through the transfer pipe 31 and the first hose 324, and is sprayed out from the first nozzle 323 at the top of the spray pipe 322, forming basic atomized droplets. The spray pipe 322 is rotatably mounted on the support 321, and the spray pipe 322 reciprocates around the support 321. Under the dual action of high-pressure pesticide solution atomization and spray pipe 322 reciprocating, the droplets form a fan-shaped diffusion range with the swing of the spray pipe 322. The swing of the spray pipe 322 opens up the gaps between the leaves of the crop canopy, allowing the pesticide solution to not only cover the front of the leaves but also penetrate deep into the back of the leaves, greatly improving the uniformity and coverage of canopy application.

[0037] Reference Figure 1 , Figure 3 and Figure 5The root spraying assembly 33 includes an auxiliary pipe 331 and two sets of spraying mechanisms 332. The auxiliary pipe 331 is fixedly mounted on the intelligent mobile vehicle 1. The auxiliary pipe 331 is connected to the adapter pipe 31, and both ends of the auxiliary pipe 331 are located on both sides of the intelligent mobile vehicle 1. The two sets of spraying mechanisms 332 are respectively located at both ends of the auxiliary pipe 331. The spraying mechanism 332 includes a flexible spray bar 3321 and a second nozzle 3322. One end of the flexible spray bar 3321 is connected to one end of the auxiliary pipe 331; the second nozzle... The second nozzle 3322 is connected to the other end of the elastic spray bar 3321, and the axis of the second nozzle 3322 is arranged at an acute angle to the axis of the elastic spray bar 3321. Spray head cleaning brushes 6 are respectively installed on both sides of the bottom of the intelligent mobile vehicle 1, and are used to scrape and clean the second nozzle 3322. One end of the elastic spray bar 3321 is connected to the end of the auxiliary pipe 331, and the other end of the elastic spray bar 3321 is connected to the second nozzle 3322, which is offset with the axis of the second nozzle 3322 arranged at an acute angle to the axis of the elastic spray bar 3321. The high-pressure liquid enters the elastic spray bar 3321 at an angle to the axis of the spray bar, and is then ejected at high speed from the second nozzle 3322. Due to the offset arrangement of the nozzles, a recoil force is generated at a certain angle to the axis of the elastic spray bar 3321 during liquid spraying. This recoil force pushes the elastic spray bar 3321 to undergo elastic bending deformation. When the recoil force is less than the elastic restoring force of the elastic spray bar 3321, the spray bar will rebound in the opposite direction. The continuous coupling effect of the recoil force and the elastic restoring force causes the elastic spray bar 3321 to drive the second nozzle. The 3322 nozzle generates a continuous nodding and oscillating motion. During the oscillation of the nozzle, the spray range of the pesticide spreads in a fan shape. On the one hand, the oscillation physically pushes aside the leaves at the bottom of the crop that are blocking the roots, eliminating blind spots in the application of pesticides. On the other hand, it achieves uniform spraying of the crop roots and the soil surface around the roots. During operation, the second nozzle 3322 continues to oscillate under the action of self-excited oscillation. During the oscillation, the nozzle and outer wall of the second nozzle 3322 generate relative friction with the nozzle cleaning brush 6. The nozzle cleaning brush 6 quickly scrapes off the impurities attached to the nozzle surface.

[0038] Reference Figure 1 and Figure 2The winding tube assembly 24 includes two sets of rotating supports 241, a rotating shaft 242, a rotating roller 243, a rotating tube 245, a rotating interface 246, and a main connecting pipe 247. The two sets of rotating supports 241 are respectively arranged on both sides of the other end of the intelligent mobile vehicle 1. The interior of the rotating roller 243 is a hollow cavity. The rotating shaft 242 is fixedly arranged at one end of the rotating roller 243 and rotatably arranged on one set of rotating supports 241. One end of the rotating tube 245 is fixedly arranged at the other end of the rotating roller 243. The rotating tube 245 is connected to the interior of the rotating roller 243 and rotates. The rotating pipe 245 is mounted on another set of rotating supports 241; the rotating interface 246 is mounted on the other end of the rotating pipe 245; one end of the main connecting pipe 247 is mounted on the high-pressure pump 22, and the other end of the main connecting pipe 247 is mounted on the rotating interface 246; a limiting frame 7 is mounted on the winding pipe assembly 24, and the two ends of the limiting frame 7 are fixedly mounted on the two sets of rotating supports 241 respectively. The limiting frame 7 is sleeved on the rotating roller 243, and the limiting frame 7 is rotatably connected to the rotating roller 243; a liquid inlet 2431 is connected to the rotating roller 243, and the liquid inlet 2431 is connected to one end of the main delivery hose 23.

[0039] Reference Figure 1 The rotating shaft 242 at one end of the rotating roller 243 and the rotating tube 245 at the other end of the rotating roller 243 are rotatably connected to two sets of rotating supports 241, respectively. The limiting frame 7 is rotatably sleeved on the rotating roller 243 and fixed to the rotating support 241 to ensure the stability of the main conveying hose 23 during the rotation of the rotating roller 243. When the intelligent mobile vehicle 1 moves, it drives the rotating roller 243 to rotate synchronously: when the intelligent mobile vehicle 1 moves forward, the rotating roller 243 rotates in the forward direction to realize the synchronous release of the main conveying hose 23; when the intelligent mobile vehicle 1 moves backward, it drives the rotating roller 243 to rotate in the reverse direction to complete the winding and recovery of the main conveying hose 23. One end of the main delivery hose 23 is connected to the liquid inlet 2431 of the rotating roller 243 and is coiled around the rotating roller 243. The other end is connected to the field medicine tank 21. The rotation of the rotating roller 243 is matched with the vehicle's walking speed to realize the automatic retraction and extension of the main delivery hose 23. The liquid medicine in the field medicine tank 21 is delivered to the hollow cavity inside the rotating roller 243 through the main delivery hose 23 and the liquid inlet 2431. Then the liquid medicine flows out to the rotating pipe 245 and is delivered to the rotating interface 246 at the end through the rotating pipe 245. Finally, it is delivered to the high-pressure pump 22 through the main connecting pipe 247 connected to the rotating interface 246 to supply liquid medicine to the end spraying device unit 3.

[0040] A power assembly 4 is installed on the drive wheel of the intelligent mobile vehicle 1. The power assembly 4 includes a first sprocket 41, a second sprocket 42, and a transmission chain 43. The first sprocket 41 is fixedly mounted on the drive wheel of the intelligent mobile vehicle 1, and the second sprocket 42 is fixedly mounted on the rotating shaft 242. The transmission chain 43 is sleeved on the first sprocket 41 and the second sprocket 42. When the drive wheel of the intelligent mobile vehicle 1 rotates, the first sprocket 41, which is fixed on the axle of the drive wheel of the intelligent mobile vehicle 1, rotates synchronously. Through the transmission chain 43 sleeved on the first sprocket 41 and the second sprocket 42, the power is transmitted to the rotating shaft 242 of the pipe winding assembly 24. When the intelligent mobile vehicle 1 moves forward, it drives the first sprocket 41 to rotate in the forward direction. Through the transmission chain 43, it drives the second sprocket 42 and the rotating roller 243 to rotate in the forward direction, completing the pipe unloading action. When the intelligent mobile vehicle 1 moves backward, it drives the first sprocket 41 to rotate in the reverse direction, and the rotating roller 243 rotates in the reverse direction, completing the pipe reloading action.

[0041] Reference Figure 1 and Figure 4 A transmission assembly 5 is provided between the canopy spray assembly 24 and the canopy spray assembly 32. The transmission assembly 5 includes a first bevel gear 51, a second bevel gear 52, a connecting rod 53, and a belt drive assembly 54. The first bevel gear 51 and the second bevel gear 52 are located on one side of the canopy spray assembly 32. The first bevel gear 51 is rotatably mounted on the intelligent mobile vehicle 1, and the second bevel gear 52 is rotatably mounted on the intelligent mobile vehicle 1. The first bevel gear 51 and the second bevel gear 52 mesh and transmit power. One end of the belt drive assembly 54 is fixedly mounted on the rotating shaft 242, and the other end of the belt drive assembly 54 is fixedly mounted on the first bevel gear 51. The belt drive assembly 54 is used to drive the first bevel gear 51 to rotate. One end of the connecting rod 53 is rotatably mounted on the second bevel gear 52, and the other end of the connecting rod 53 is rotatably mounted on the second bevel gear 52. One end is rotatably mounted at the other end of the spray pipe 322; after the power is output from the rotating shaft 242 of the pipe assembly 24, it directly drives the first bevel gear 51 to rotate through the belt drive group 54; the first bevel gear 51 meshes with the vertically arranged second bevel gear 52 to complete the direction of power change and transmit the rotational motion to the connecting rod 53; one end of the connecting rod 53 is rotatably connected to the eccentric position of the second bevel gear 52, and the other end of the connecting rod 53 is rotatably connected to the end of the spray pipe 322 of the canopy spray assembly 32. When the second bevel gear 52 rotates with the first bevel gear 51, the connecting rod 53, which is eccentrically mounted on the second bevel gear 52, pulls the spray pipe 322, causing the spray pipe 322 to periodically reciprocate around the rotation fulcrum of the spray pipe 322 on the support 321.

[0042] The working principle of the pipeline-extended inter-row directional spraying automated pesticide application device in this application is as follows: the pesticide liquid in the field head pesticide tank 21 enters the hollow cavity of the rotating roller 243 of the pipe winding assembly 24 through the main delivery hose 23, and then enters the high-pressure pump 22 through the rotating pipe 245, rotating interface 246, and main connecting pipe 247. After being pressurized, it is sent to the transfer pipe 31 to supply the canopy spraying assembly 32 and the root spraying assembly 33 respectively. When the intelligent mobile vehicle 1 moves, the drive wheel drives the rotating shaft 242 of the pipe winding assembly 24 to rotate through the first sprocket 41, transmission chain 43, and second sprocket 42, so that the rotating roller 243 synchronously retracts and extends the main delivery hose 23. The speed of extending the main delivery hose 23 matches the speed of the intelligent mobile vehicle 1, so as to achieve non-entanglement and non-drag operation of the main delivery hose 23. The rotating shaft 242 simultaneously drives the first bevel gear 51 and the second bevel gear 52 to mesh and rotate through the belt drive group 54. The eccentrically rotating connecting rod 53 drives the spray pipe 322 to swing back and forth around the support 321. The high-pressure liquid enters the spray pipe 322 through the first hose 324 and is atomized and sprayed out by the first nozzle 323. Under the swinging action, a fan-shaped mist field is formed. The swinging action causes the spray pipe 322 to open the crop canopy, so that the sprayed liquid covers the front and back of the leaves. Another stream of liquid from the transfer pipe 31 enters the auxiliary pipe 331 of the root spray assembly 33, and then flows into the elastic spray bar 3321 and the second nozzle 3322 offset on the elastic spray bar 3321. The high-pressure liquid spraying generates a recoil force, which couples with the restoring force of the elastic spray bar 3321 to form a self-excited oscillation, causing the second nozzle 3322 to continuously nod and swing, opening the leaves and spraying the crop roots and soil surface. During the operation, the nozzle cleaning brush 6 generates relative friction with the swinging second nozzle 3322, scraping away impurities in real time to ensure that the second nozzle 3322 is unobstructed.

[0043] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A pipeline-extended inter-row directional spraying automated pesticide application device, characterized in that: The system includes an intelligent mobile vehicle (1) and a pipeline delivery unit (2); one end of the intelligent mobile vehicle (1) is equipped with a terminal spraying device unit (3); the pipeline delivery unit (2) includes a field medicine tank (21), a high-pressure pump (22), a main delivery hose (23), and a coiling assembly (24); the coiling assembly (24) is fixedly installed at the other end of the intelligent mobile vehicle (1), and the high-pressure pump (22) is fixedly installed in the middle of the intelligent mobile vehicle (1); one end of the main delivery hose (23) is connected to the coiling assembly (24), the coiling assembly (24) is connected to the terminal spraying device unit (3) through the high-pressure pump (22), the other end of the main delivery hose (23) is connected to the medicine tank, and the main delivery hose (23) is coiled on the coiling assembly (24); the intelligent mobile vehicle (1) is an intelligent agricultural power machine.

2. The automated inter-row directional spraying device with pipeline extension as described in claim 1, characterized in that: The end spraying device unit (3) includes a transfer pipe (31), a canopy spraying assembly (32), and a root spraying assembly (33); the transfer pipe (31) is a three-way pipe, and one end of the transfer pipe (31) is connected to a high-pressure pump (22); the canopy spraying assembly (32) is fixedly installed at one end of the intelligent mobile vehicle (1), and the canopy spraying assembly (32) is connected to the high-pressure pump (22) through the transfer pipe (31); the root spraying assembly (33) is installed at the bottom of the intelligent mobile vehicle (1), and the root spraying assembly (33) is connected to the high-pressure pump (22) through the transfer pipe (31).

3. The pipeline-extended inter-row directional spraying automated pesticide application device according to claim 2, characterized in that: The canopy spray assembly (32) includes a bracket (321), a spray pipe (322), a first nozzle (323), and a first hose (324); the bracket (321) is fixedly mounted on the intelligent mobile vehicle (1); the spray pipe (322) is rotatably mounted on the bracket (321); the first nozzle (323) is mounted on the top of one end of the spray pipe (322); one end of the first hose (324) is connected to the top of the other end of the spray pipe (322), and one end of the first hose (324) is mounted on the high-pressure pump (22) through an adapter pipe (31).

4. The pipeline-extended inter-row directional spraying automated pesticide application device according to claim 2, characterized in that: The root spraying assembly (33) includes an auxiliary pipeline (331) and two sets of spraying mechanisms (332); the auxiliary pipeline (331) is fixedly installed on the intelligent mobile vehicle (1); the auxiliary pipeline (331) is connected to the adapter pipe (31), and the two ends of the auxiliary pipeline (331) are located on both sides of the intelligent mobile vehicle (1), and the two sets of spraying mechanisms (332) are respectively located at the two ends of the auxiliary pipeline (331).

5. The automated inter-row directional spraying device with pipeline extension as described in claim 4, characterized in that: The spraying mechanism (332) includes an elastic spray bar (3321) and a second nozzle (3322); one end of the elastic spray bar (3321) is connected to one end of the auxiliary pipeline (331); the second nozzle (3322) is connected to the other end of the elastic spray bar (3321), and the axis of the second nozzle (3322) is arranged at an acute angle to the axis of the elastic spray bar (3321).

6. The automated inter-row directional spraying device with pipeline extension as described in claim 3, characterized in that: The winding assembly (24) includes two sets of rotating supports (241), a rotating shaft (242), a rotating roller (243), a rotating tube (245), a rotating interface (246), and a main connecting pipe (247); the two sets of rotating supports (241) are respectively arranged on both sides of the other end of the intelligent mobile vehicle (1); the interior of the rotating roller (243) is a hollow cavity, the rotating shaft (242) is fixedly arranged at one end of the rotating roller (243), and the rotating shaft (242) is rotatably arranged on one set of the rotating supports (241); one end of the rotating tube (245) is fixedly arranged on the rotating roller. At the other end of (243), the rotating tube (245) is connected to the interior of the rotating roller (243), and the rotating tube (245) is rotatably mounted on another set of the rotating supports (241); the rotating interface (246) is located at the other end of the rotating tube (245); one end of the main connecting pipe (247) is located on the high-pressure pump (22), and the other end of the main connecting pipe (247) is located on the rotating interface (246); a liquid inlet (2431) is connected to the rotating roller (243), and the liquid inlet (2431) is connected to one end of the main delivery hose (23).

7. The automated inter-row directional spraying device with pipeline extension as described in claim 6, characterized in that: A power assembly (4) is provided on the drive wheel of the intelligent mobile vehicle (1). The power assembly (4) includes a first sprocket (41), a second sprocket (42), and a transmission chain (43). The first sprocket (41) is fixedly mounted on the drive wheel of the intelligent mobile vehicle (1), and the second sprocket (42) is fixedly mounted on the rotating shaft (242). The transmission chain (43) is sleeved on the first sprocket (41) and the second sprocket (42).

8. The pipeline-extended inter-row directional spraying automated pesticide application device according to claim 6, characterized in that: A transmission assembly (5) is provided between the winding pipe assembly (24) and the canopy spray assembly (32). The transmission assembly (5) includes a first bevel gear (51), a second bevel gear (52), a connecting rod (53), and a belt drive assembly (54). The first bevel gear (51) and the second bevel gear (52) are located on one side of the canopy spray assembly (32). The first bevel gear (51) is rotatably mounted on the intelligent mobile vehicle (1), and the second bevel gear (52) is rotatably mounted on the intelligent mobile vehicle (1). The first bevel gear (51) and the second bevel gear (52) mesh and drive each other. One end of the belt drive assembly (54) is fixedly mounted on the rotating shaft (242), and the other end of the belt drive assembly (54) is fixedly mounted on the first bevel gear (51). The belt drive assembly (54) is used to drive the first bevel gear (51) to rotate. One end of the connecting rod (53) is rotatably mounted on the second bevel gear (52), and the other end of the connecting rod (53) is rotatably mounted on the other end of the spray pipe (322).

9. The automated inter-row directional spraying device with pipeline extension as described in claim 5, characterized in that: The intelligent mobile vehicle (1) is provided with nozzle cleaning brushes (6) on both sides of its bottom. The nozzle cleaning brushes (6) are used to scrape and clean the second nozzle (3322).

10. The automated inter-row directional spraying device with pipeline extension as described in claim 6, characterized in that: The winding tube assembly (24) is provided with a limiting frame (7), and the two ends of the limiting frame (7) are respectively fixed on the two sets of rotating supports (241). The limiting frame (7) is sleeved on the rotating roller (243), and the limiting frame (7) is rotatably connected to the rotating roller (243).

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