A trunk-encircling fruit tree maintenance robot and a method of operation thereof

Abstract

The application discloses a kind of around fruit tree trunk maintenance robots and its operation method, belong to agricultural machinery and orchard intelligent equipment technical field, including including vehicle body, vehicle body one end is connected with the peeling component by lifting assembly, peeling component is connected with the insect prevention tape winding assembly on, vehicle body is still provided with water storage tank away from lifting assembly one end, peeling component top is still provided with camera and multiple spray heads, and spray head is connected with the water pump inside water storage tank by connecting pipeline;The application is provided with insect prevention tape winding assembly, peeling component and spray head, peeling component can be peeled to the place where tree needs maintenance, and spray head can cooperate with water pump to spray pesticide liquid to apply liquid to the place of peeling, by insect prevention tape winding assembly cooperation peeling component can be rapidly wound insect prevention tape by insect prevention tape winding assembly after peeling, avoid pests to cause wound pollution and damage to the tree after peeling.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery and orchard intelligent equipment technology, specifically relating to a ring-shaped fruit tree trunk maintenance robot and its operation method. Background Technology

[0002] In the process of fruit tree planting and management, trunk maintenance is a crucial aspect of orchard pest and disease control and tree protection. Taking jujube, apple, and pear trees as examples, the surface of the trunk often contains aged dead bark, areas infested with pests and diseases, or cracks. If not treated promptly, these areas can easily become breeding grounds and overwintering sites for pests and diseases. Traditional fruit tree trunk maintenance typically involves steps such as manually scraping off aged bark, manually spraying pesticides, and manually wrapping the trunk with insect-proof tape.

[0003] Existing tree trunk maintenance equipment is mostly designed for single functions, such as standalone spraying, wrapping, or bark scraping devices. It's difficult to continuously complete complex operations like bark removal, spraying, and wrapping in a single clamping process. Even when the spraying and bark removal mechanisms are integrated into a wraparound working head, if the nozzles are positioned at the same height as the bark removal mechanism, they can easily interfere with components such as the bark scraping chain, scraping teeth, and depth-limiting rollers. This leads to structural congestion, complex piping, difficult maintenance, and may affect the normal movement of the bark removal mechanism. Therefore, how to provide a wraparound fruit tree trunk maintenance robot and its operating method is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] The main objective of this invention is to provide a wrap-around fruit tree trunk maintenance robot and its operating method to solve the aforementioned technical problems. The device includes an insect-proof tape wrapping component, a bark scraping component, and a spray nozzle. The bark scraping component can scrape the bark from areas of the tree requiring maintenance. The spray nozzle, in conjunction with a water pump, sprays pesticide solution onto the scraped area. The insect-proof tape wrapping component, working in conjunction with the bark scraping component, allows for the rapid wrapping of insect-proof tape after scraping, preventing pests from contaminating and damaging the wounds on the tree.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A wraparound fruit tree trunk maintenance robot includes a vehicle body. One end of the vehicle body is connected to a bark scraping component via a lifting assembly. An insect-proof wrapping assembly is connected to the bark scraping component. A water storage tank is also provided at the end of the vehicle body away from the lifting assembly. A camera and multiple nozzles are also provided at the top of the bark scraping component. All nozzles are connected to a water pump inside the water storage tank via connecting pipes.

[0006] Furthermore, the lifting assembly includes a second lifting plate, a cylinder, a second connecting plate, a fourth motor, and a first screw. Two first screws are connected to one end of the vehicle body. The bottom ends of both first screws penetrate the vehicle body and are connected to the output end of the fourth motor located inside the vehicle body. The second lifting plate is provided with a guide hole and a second threaded hole. A guide post is fixedly connected to the second connecting plate. The second lifting plate is connected to the first screw through the second threaded hole. The second lifting plate is connected to the guide post on the second connecting plate through the guide hole. The side of the second lifting plate near the second connecting plate is fixedly connected to one end of the cylinder. The other end of the cylinder is connected to the second connecting plate. The side of the second connecting plate away from the second lifting plate has an arc-shaped structure. The arc-shaped structure of the second connecting plate is fixedly connected to the scraping assembly.

[0007] Furthermore, the peeling assembly includes an arc-shaped housing, a lifting plate, and a sliding assembly. The arc-shaped housing has opposing slots, and both ends are connected to screws. The lifting plate has two motor mounting holes and two threaded holes. One end of each screw penetrates the arc-shaped housing and connects to the output end of the motor. The side of the arc-shaped housing away from the axis is fixedly connected to a connecting plate. The lifting plate is connected to the arc-shaped housing via the screws and slots, and is connected to the screws via the threaded holes. The lifting plate also has a T-slot, and a tooth is provided on the side of the T-slot away from the center. The lifting plate is connected to the sliding assembly via the tooth. Motors are fixed to the motor mounting holes of the lifting plate, and the output end of each motor is connected to an insect-proof wrapping assembly.

[0008] Furthermore, the sliding component one includes a slider one, which has an S-shaped structure. A motor three is fixedly connected to the bottom end of the slider one. The output end of the motor three passes through the slider one and is connected to a gear one. The gear one meshes with the teeth one inside the lifting plate one. A motor two is fixedly connected to the top end of the slider one. The output end of the motor two passes through the slider one and is connected to a rotating shaft. The end of the rotating shaft away from the motor two abuts against the slider one. A scraping component is fixedly connected to the rotating shaft.

[0009] Furthermore, the scraping component includes a cylindrical tube fixed on a rotating shaft, and the cylindrical tube is provided with multiple scrapers circumferentially.

[0010] Furthermore, the insect-proof wrapping assembly includes a sliding component two, two connecting plates one, and two guide plates. The lifting plate one is connected to one end of the two connecting plates one via two motors six. The other end of each of the two connecting plates one is fixedly connected to a guide plate. The guide plate is provided with a T-shaped groove two. The side of the T-shaped groove two away from the center is provided with teeth two. One of the guide plates is connected to the sliding component two via teeth two.

[0011] Furthermore, the sliding component two includes a slider two, a motor five is fixedly connected to the bottom end of the slider two, the output end of the motor five passes through the slider two and is connected to a gear two, the gear two meshes with the teeth two in the guide plate, a baffle and a support column are fixedly connected to the top end of the slider two, a connecting rod two is connected to the top end of the support column, a torsion spring is sleeved on the support column, one end of the torsion spring abuts against the baffle and the other end abuts against the connecting rod two, an insect-proof strip is also sleeved on the part of the support column above the connecting rod two, a connecting rod one is fixedly connected to the end of the connecting rod two away from the insect-proof strip, and two extrusion rollers are rotatably connected to the connecting rod one through a connecting shaft.

[0012] A method for operating a robot for protecting fruit tree trunks by embracing them includes the following steps: S1. Determine the location, pour the medicine into the storage tank for storage, and activate the camera to determine the location of the tree that needs maintenance. S2, Lifting height, starting motor four drives screw one to rotate, lifting the overall height of lifting plate two, connecting plate two and arc-shaped shell. By controlling motor one, the height of lifting plate one can be controlled, and sliding component one can be lifted to the height of the tree that needs maintenance. S3, scraping: the starting motor three drives the sliding component one to move to the designated horizontal position through the gear one, and the starting motor two drives the scraping component to rotate and scrape. S4, Depth Control: The starting cylinder causes the connecting plate II, the arc-shaped housing, and the scraping component to move horizontally, controlling the scraping depth. After scraping, the cylinder retracts. S5, spray the pesticide solution, start the water pump to spray the pesticide solution through the nozzle; S6, Insect prevention: Pull out the insect prevention tape on the sliding component two, start motor six to make the two connecting plates one rotate, and at the same time drive the two guide plates to merge. After merging, due to the torsion spring restricting the overall position of the connecting rod two, the tree will squeeze the connecting rod two, and at the same time, the end of the insect prevention tape pulled out will be pressed onto the tree by the compression roller. Then start motor five to drive the entire sliding component two to move and wrap the insect prevention tape. At the same time, start motor one to control the height of wrapping the insect prevention tape by controlling the height of the lifting plate one.

[0013] Compared with the prior art, the present invention has the following beneficial effects: This invention includes an insect-proof tape wrapping component, a bark scraping component, and a spray nozzle. The bark scraping component can scrape the bark of trees in areas requiring maintenance. The spray nozzle can spray liquid with a water pump to apply it to the scraped area. The insect-proof tape wrapping component, in conjunction with the bark scraping component, allows for the rapid wrapping of insect-proof tape after scraping, preventing pests from contaminating and damaging the wounds on the trees. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of the front connection structure between the peeling component and the insect-proof wrapping component.

[0016] Figure 2 This is a side view of the present invention.

[0017] Figure 3 This is a schematic diagram of the connection structure between the vehicle body and the lifting assembly.

[0018] Figure 4 This is a top view schematic diagram of the connection structure between the peeling component and the insect-proof tape wrapping component.

[0019] Figure 5 This is a structural schematic diagram of the lifting assembly.

[0020] Figure 6 This is a schematic diagram of the structure of sliding component one.

[0021] Figure 7 This is a structural schematic diagram of the lifting plate.

[0022] Figure 8 This is a partial front view of the sliding component 2 at point A.

[0023] Figure 9 This is a schematic diagram of the structure of sliding component two.

[0024] Among them, 1-vehicle body, 2-water tank, 3-arc-shaped shell, 3.1-strip hole, 4-screw one, 5-motor one, 6-lifting plate one, 6.1-motor mounting hole, 6.2-threaded hole one, 7-screw two, 8-camera, 9-nozzle, 10-motor two, 11-scraper, 12-slider one, 13-motor three, 14-connecting plate one, 15-motor four, 16-lifting plate two, 16.1-guide hole, 16.2-threaded hole two, 17-cylinder, 18-connecting plate two, 19-guide column, 20-guide plate, 21-gear one, 22-motor five, 23-baffle, 24-slider two, 25-support column, 26-connecting rod one, 27-connecting rod two, 28-extrusion roller, 29-insectproof belt, 30-torsion spring. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] like Figure 1-9 As shown, the present invention provides a wraparound fruit tree trunk maintenance robot, including a vehicle body 1. One end of the vehicle body 1 is connected to a bark scraping component via a lifting assembly. An insect-proof wrapping component is connected to the bark scraping component. A water storage tank 2 is also provided at the end of the vehicle body 1 away from the lifting assembly. A camera 8 and multiple nozzles 9 are also provided at the top of the bark scraping component. All nozzles 9 are connected to a water pump inside the water storage tank 2 via connecting pipes.

[0027] In this embodiment, the lifting assembly includes a second lifting plate 16, a cylinder 17, a second connecting plate 18, a fourth motor 15, and a first screw 4. Two first screws 4 are connected to one end of the vehicle body 1. The bottom ends of both first screws 4 penetrate the vehicle body 1 and are connected to the output end of the fourth motor 15 located inside the vehicle body 1. The second lifting plate 16 is provided with a guide hole 16.1 and a second threaded hole 16.2. A guide post 19 is fixedly connected to the second connecting plate 18. The second lifting plate 16 is connected to the first screw 4 through the second threaded hole 16.2. The second lifting plate 16 is connected to the first screw 4 through the second threaded hole 16.2. The guide hole 16.1 is connected to the guide post 19 on the connecting plate 2 18; the guide post 19, in conjunction with the guide hole 16.1, can guide the movement direction of the connecting plate 2 18. The side of the lifting plate 2 16 near the connecting plate 2 18 is fixedly connected to one end of the cylinder 17, and the other end of the cylinder 17 is connected to the connecting plate 2 18. The side of the connecting plate 2 18 away from the lifting plate 2 16 has an arc surface structure, and the arc surface structure of the connecting plate 2 18 is fixedly connected to the scraping assembly; when the screw 1 4 rotates, it can drive the entire lifting plate 2 16 to move up and down.

[0028] In this embodiment, the peeling assembly includes an arc-shaped housing 3, a lifting plate 6, and a sliding assembly. The arc-shaped housing 3 has opposing slotted holes 3.1. Both ends of the arc-shaped housing 3 are connected to screws 7. The lifting plate 6 has two motor mounting holes 6.1 and two threaded holes 6.2. One end of each screw 7 passes through the arc-shaped housing 3 and connects to the output end of the motor 5. The side of the arc-shaped housing 3 away from the axis is fixedly connected to a connecting plate 18. The lifting plate 6 is connected to the arc-shaped housing 3 via the screws 7 and slotted holes 3.1. The lifting plate 6 is connected to the screws 7 via the threaded holes 6.2. The lifting plate 6 also has... The T-shaped groove has teeth on its side away from the center. The lifting plate 6 is connected to the sliding component 1 through the teeth. Motors 6 are fixed on the motor mounting holes 6.1 of the lifting plate 6. The output end of the motors 6 is connected to the insect-proof tape wrapping component. The motors 6 enable the rotation and merging of the insect-proof tape wrapping component. The motors 5 can drive the lifting plate 6 to move up and down through the screw 7. The strip hole 3.1 facilitates the connection between the lifting plate 6 and the insect-proof tape wrapping component. The top of the arc-shaped housing 3 is equipped with a camera 8 and multiple nozzles 9. The nozzles 9 are all connected to the water pump inside the water storage tank 2 through connecting pipes. The water pump can spray the medicine through the nozzles 9.

[0029] In this embodiment, the sliding component includes a slider 12, which has an S-shaped structure. A motor 3 13 is fixedly connected to the bottom end of the slider 12. The output end of the motor 3 13 passes through the slider 12 and is connected to a gear 21. The gear 21 meshes with the teeth inside the lifting plate 6. A motor 2 10 is fixedly connected to the top end of the slider 12. The output end of the motor 2 10 passes through the slider 12 and is connected to a rotating shaft. The end of the rotating shaft away from the motor 2 10 abuts against the slider 12. A scraper 11 is fixedly connected to the rotating shaft. The slider 12 can move along the T-shaped groove on the lifting plate 6 under the control of the motor 2 10.

[0030] In this embodiment, the bark scraper 11 includes a cylindrical tube fixed on a rotating shaft, and multiple scrapers are arranged circumferentially on the cylindrical tube; the cylindrical tube can rotate under the drive of the rotating shaft and simultaneously scrape the bark of the tree using the scrapers.

[0031] In this embodiment, the insect-proof tape wrapping assembly includes a sliding component 2, two connecting plates 14, and two guide plates 20. The lifting plate 6 is connected to one end of the two connecting plates 14 via two motors 6. The other end of each of the two connecting plates 14 is fixedly connected to a guide plate 20. The guide plate 20 is provided with a T-shaped groove 2, and a tooth 2 is provided on the side of the T-shaped groove 2 away from the center. One of the guide plates 20 is connected to the sliding component 2 via the tooth 2. The two arc-shaped guide plates 20 are provided with corresponding connecting grooves and connecting protrusions at their mating points to facilitate the locking of the two guide plates 20.

[0032] In this embodiment, the sliding component two includes a slider two 24. A motor five 22 is fixedly connected to the bottom end of the slider two 24. The output end of the motor five 22 passes through the slider two 24 and is connected to a gear two. The gear two meshes with the teeth two inside the guide plate 20. A baffle 23 and a support column 25 are fixedly connected to the top end of the slider two 24. A connecting rod two 27 is connected to the top end of the support column 25. A torsion spring 30 is sleeved on the support column 25, and one end of the torsion spring 30 abuts against the baffle 23. The other end abuts against the second connecting rod 27. The part of the support column 25 above the second connecting rod 27 is also fitted with an insect-proof strip 29. The end of the second connecting rod 27 away from the insect-proof strip 29 is also fixedly connected to the first connecting rod 26. The first connecting rod 26 is rotatably connected to two extrusion rollers 28 through a connecting shaft. The second connecting rod 27 is provided with an arc-shaped groove. The torsion spring 30 abuts against the second connecting rod 27 through the arc-shaped groove. At the same time, the torsion spring 30 is also fixed to the second connecting rod 27 and the baffle 23 by a positioning hole.

[0033] A method for operating a robot for protecting fruit tree trunks by embracing them includes the following steps: S1, determine the location, pour the medicine into the water storage tank 2 for storage, and activate the camera 8 to determine the location of the tree that needs maintenance; S2, lifting height, starting motor 15 drives screw 4 to rotate, lifting the overall height of lifting plate 16, connecting plate 18 and arc-shaped shell 3. By controlling motor 5, the height of lifting plate 6 can be controlled, and the sliding component 1 is lifted to the height of the tree that needs maintenance. S3, scraping: the starting motor 13 drives the sliding component 1 to move to the designated horizontal position through the gear 21, and the starting motor 2 10 drives the scraping component 11 to rotate and scrape. S4, Depth control, starting cylinder 17 causes connecting plate 2 18, arc-shaped housing 3 and scraping component 11 to move horizontally, controlling the scraping depth, and retracting cylinder 17 after scraping. S5, spray the pesticide solution, start the water pump so that the pesticide solution is sprayed through the nozzle 9; S6, Insect prevention: Pull out the insect prevention strip 29 on the sliding component two, start motor six to make the two connecting plates 14 rotate, and at the same time drive the two guide plates 20 to merge. After merging, due to the torsion spring 30 restricting the overall position of the connecting rod 27, the tree will squeeze the connecting rod 27. At the same time, the end of the insect prevention strip 29 pulled out is pressed onto the tree by the squeezing roller 28. Then start motor five 22 to drive the entire sliding component two to move and wrap the insect prevention strip 29. At the same time, start motor one 5 to control the height of wrapping the insect prevention strip 29 by controlling the height of the lifting plate one 6.

[0034] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0035] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A ring-shaped fruit tree trunk maintenance robot, characterized in that, The vehicle includes a vehicle body (1), one end of which is connected to a scraping component via a lifting assembly. The scraping component is connected to an insect-proof wrapping assembly. A water tank (2) is also provided at the end of the vehicle body (1) away from the lifting assembly. A camera (8) and multiple nozzles (9) are also provided at the top of the scraping component. All nozzles (9) are connected to a water pump inside the water tank (2) via connecting pipes.

2. The wraparound fruit tree trunk maintenance robot according to claim 1, characterized in that, The lifting assembly includes a second lifting plate (16), a cylinder (17), a second connecting plate (18), a fourth motor (15), and a first screw (4). Two first screws (4) are connected to one end of the vehicle body (1). The bottom ends of the two first screws (4) pass through the vehicle body (1) and are connected to the output end of the fourth motor (15) installed inside the vehicle body (1). The second lifting plate (16) is provided with a guide hole (16.1) and a second threaded hole (16.2). A guide post (19) is fixedly connected to the second connecting plate (18). The second lifting plate (16) is provided with a guide hole (16.1) and a second threaded hole (16.2). 6) The second lifting plate (16) is connected to the first screw (4) through the second threaded hole (16.2). The second lifting plate (16) is connected to the guide post (19) on the second connecting plate (18) through the guide hole (16.1). The side of the second lifting plate (16) close to the second connecting plate (18) is fixedly connected to one end of the cylinder (17). The other end of the cylinder (17) is connected to the second connecting plate (18). The side of the second connecting plate (18) away from the second lifting plate (16) is an arc surface structure. The arc surface structure of the second connecting plate (18) is fixedly connected to the scraping assembly.

3. The wraparound fruit tree trunk maintenance robot according to claim 2, characterized in that, The scraping assembly includes an arc-shaped housing (3), a lifting plate (6), and a sliding assembly. The arc-shaped housing (3) has corresponding slots (3.1). Both ends of the arc-shaped housing (3) are connected to screws (7). The lifting plate (6) has two motor mounting holes (6.1) and two threaded holes (6.2). One end of each screw (7) passes through the arc-shaped housing (3) and connects to the output end of the motor (5). The side of the arc-shaped housing (3) away from the axis is fixedly connected to the connecting plate (18). Next, a lifting plate (6) is connected to the arc-shaped shell (3) via a screw (7) and a strip hole (3.1). The lifting plate (6) is connected to the screw (7) via a threaded hole (6.2). The lifting plate (6) is also provided with a T-shaped groove. A tooth is provided on the side of the T-shaped groove away from the center. The lifting plate (6) is connected to the sliding component via the tooth. A motor (6) is fixed on the motor mounting hole (6.1) of the lifting plate (6). The output end of the motor (6) is connected to the insect-proof tape wrapping component.

4. The wraparound fruit tree trunk maintenance robot according to claim 3, characterized in that, The sliding component includes a slider (12), which has an S-shaped structure. A motor (13) is fixedly connected to the bottom of the slider (12). The output end of the motor (13) passes through the slider (12) and is connected to a gear (21). The gear (21) meshes with the teeth inside the lifting plate (6). A motor (10) is fixedly connected to the top of the slider (12). The output end of the motor (10) passes through the slider (12) and is connected to a rotating shaft. The end of the rotating shaft away from the motor (10) abuts against the slider (12). A scraper (11) is fixedly connected to the rotating shaft.

5. The wraparound fruit tree trunk maintenance robot according to claim 4, characterized in that, The scraping component (11) includes a cylindrical tube, which is fixed on a rotating shaft, and a plurality of scrapers are arranged circumferentially on the cylindrical tube.

6. The wraparound fruit tree trunk maintenance robot according to claim 3, characterized in that, The insect-proof wrapping assembly includes a sliding component 2, two connecting plates 1 (14) and two guide plates (20). The lifting plate 1 (6) is connected to one end of the two connecting plates 1 (14) through two motors 6 respectively. The other end of the two connecting plates 1 (14) is fixedly connected to the guide plate (20). The guide plate (20) is provided with a T-shaped groove 2. The side of the T-shaped groove 2 away from the center is provided with a tooth 2. One of the guide plates (20) is connected to the sliding component 2 through the tooth 2.

7. The wraparound fruit tree trunk maintenance robot according to claim 6, characterized in that, The sliding component two includes a slider two (24), the bottom end of which is fixedly connected to a motor five (22). The output end of the motor five (22) passes through the slider two (24) and is connected to a gear two. The gear two meshes with the teeth two in the guide plate (20). The top end of the slider two (24) is fixedly connected to a baffle (23) and a support column (25). The top end of the support column (25) is connected to a connecting rod two (27). A torsion spring (30) is sleeved on the support column (25). One end of the torsion spring (30) abuts against the baffle (23), and the other end abuts against the connecting rod two (27). The part of the support column (25) above the connecting rod two (27) is also sleeved with an insect-proof strip (29). The end of the connecting rod two (27) away from the insect-proof strip (29) is also fixedly connected to a connecting rod one (26). The connecting rod one (26) is rotatably connected to two extrusion rollers (28) through a connecting shaft.

8. A method for operating a ring-shaped fruit tree trunk maintenance robot, implemented using the maintenance robot described in any one of claims 1-7, characterized in that, Includes the following steps: S1, determine the location, pour the medicine into the water storage tank (2) for storage, and start the camera (8) to determine the location of the tree that needs maintenance; S2, Lifting height, start motor four (15) to drive screw one (4) to rotate, lift the overall height of lifting plate two (16), connecting plate two (18) and arc shell (3), and control the height of lifting plate one (6) by controlling motor one (5), and lift sliding component one to the height of the tree that needs maintenance. S3, scraping, starting motor three (13) drives sliding component one to move to the specified horizontal position through gear one (21), starting motor two (10) drives scraping component (11) to rotate and scrape; S4, depth control, start cylinder (17) to make connecting plate 2 (18), arc shell (3) and scraper (11) move horizontally, control scraping depth, and retract cylinder (17) after scraping. S5, spray the liquid medicine, start the water pump so that the liquid medicine is sprayed through the nozzle (9); S6, insect prevention, pull out the insect prevention strip (29) on the sliding component two, start motor six to make the two connecting plates one (14) rotate, and at the same time drive the two guide plates (20) to merge. After merging, due to the torsion spring (30) restricting the overall position of the connecting rod two (27), the tree will squeeze the connecting rod two (27), and at the same time press the end of the insect prevention strip (29) pulled out onto the tree through the squeezing roller (28). Then start motor five (22) to drive the entire sliding component two to move and wrap the insect prevention strip (29). At the same time, start motor one (5) to control the height of the wrapping of the insect prevention strip (29) by controlling the height of the lifting plate one (6).

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