A spraying, cultivating and weeding integrated machine

Abstract

This invention provides an integrated spraying, tilling, and weeding machine, belonging to the field of agricultural machinery technology. The equipment includes a frame, a tilling and weeding mechanism, and two sets of horizontally opposite spraying structures. Each spraying structure consists of a connecting mechanism and a spraying mechanism. The connecting mechanism can slide laterally to adjust the horizontal position of the spraying mechanism, while the spraying mechanism can rotate horizontally to adjust the spraying direction and extend to adjust the spraying height. The tilling and weeding mechanism includes multiple horizontally spaced, self-rotating tilling and weeding units. This invention integrates tilling, weeding, and spraying functions, simultaneously completing soil loosening, weeding, and field spraying. By adjusting the spraying structure in multiple dimensions, it eliminates blind spots, ensuring comprehensive coverage and uniform spraying. It effectively solves the problems of low efficiency in traditional separate equipment, poor adaptability of conventional integrated machines, and easy missed spraying. The machine has a compact structure, strong adaptability, and is suitable for large-scale field operations in various types of farmland.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to an integrated spraying, tilling and weeding machine. Background Technology

[0002] In the production process of intercropping soybeans in citrus orchards, weeding and pest control are two core management operations that directly affect the growth environment, yield, and quality of crops.

[0003] Currently, traditional agricultural production generally employs separate equipment to complete two types of operations in stages: first, independent tillage and weeding equipment is used to loosen the soil and remove weeds, and then specialized spraying equipment is used for field application. This not only involves cumbersome procedures and frequent equipment transfers in the field, significantly reducing overall operational efficiency, but also increases labor and equipment costs. Furthermore, when conventional drones are used to spray citrus trees, there are often blind spots where the pesticide cannot reach areas such as the sides of the canopy and inner branches, directly affecting the overall effectiveness of pest and disease control. In addition, most existing ground-based plant protection spraying machinery has a fixed spraying structure, which cannot flexibly adjust the horizontal position, spray direction, and operating height of the spray according to the width of the field plot, crop growth, and planting spacing. The spraying coverage is fixed, easily leading to problems such as missed areas in field corners and between crops, uneven spraying, and poor pest and disease control. Currently, there is no mature, mass-produced machine on the market that can simultaneously integrate the three core functions of tillage, weeding, and spraying, and is fully adaptable to the complex operational scenarios of soybean intercropping in citrus orchards. Most of the existing models on the market can only achieve a simple combination of two of the functions, or switch the operation mode temporarily by attaching different machines. They cannot complete all three processes simultaneously in a single field operation, which makes it difficult to meet the production needs of efficient collaboration in the intercropping mode of citrus orchards.

[0004] Therefore, it is necessary to propose an integrated spraying, tilling, and weeding machine to solve or at least alleviate the above-mentioned defects. Summary of the Invention

[0005] The main objective of this invention is to provide an integrated spraying, tilling, and weeding machine to solve the problems of cumbersome procedures and low efficiency in the existing technology of using separate equipment to complete weeding, tilling, and spraying operations.

[0006] To achieve the above objectives, the present invention provides an integrated spraying, tilling, and weeding machine, comprising a frame, a tilling and weeding mechanism, and two spraying structures arranged laterally opposite each other; wherein, Each of the spraying structures includes a connecting mechanism and a spraying mechanism. The spraying mechanism is connected to the end of the connecting mechanism. The connecting mechanism is connected to the rear side of the frame and is slidably arranged laterally to adjust the horizontal position of the spraying mechanism. The spraying mechanism itself is rotatably arranged horizontally to adjust the orientation of the spraying end. The spraying mechanism itself is telescopically arranged to adjust the height position of the spraying end. The tillage and weeding mechanism includes multiple tillage and weeding units arranged at intervals along the horizontal direction. The tillage and weeding units are connected to the frame, and the bottom end of each tillage and weeding unit is rotatably designed to extend into the cultivated land for tillage and weeding.

[0007] Preferably, it further includes a drive assembly and a drive shaft. The drive assembly is connected to the middle of the frame. The input end of the drive assembly is used to connect to the PTO output shaft of an external tractor. The drive shaft is transversely connected to the drive assembly. The two ends of the drive assembly are respectively distributed with the tillage and weeding units. The top end of each tillage and weeding unit is connected to the drive shaft.

[0008] Preferably, each of the tillage and weeding units includes a corner box, a rotating shaft, a connecting disc, and multiple weeding blade assemblies arranged circumferentially along the connecting disc, each weeding blade assembly including a handle and a blade; wherein, The corner box is connected to the drive shaft, the shaft is connected to the output end of the corner box and extends downward, the connecting plate is connected to the bottom end of the shaft, one end of the tool holder is connected to the bottom of the connecting plate, the blade is connected to the other end of the tool holder and extends vertically.

[0009] Preferably, each of the tillage and weeding units further includes a protective cover, which is connected to the frame and covers the connecting plate and the weeding blade assembly.

[0010] Preferably, the connecting mechanism includes a connecting rod, a support plate is formed protruding from the rear side of the frame, a sliding groove is provided on the support plate, and the connecting rod is slidably connected to the sliding groove.

[0011] Preferably, the connecting mechanism further includes a limiting plate connected to the top of the connecting rod, and a limiting groove extending vertically is formed on the sliding groove for the limiting plate to slide through and slide.

[0012] Preferably, the connecting mechanism further includes a telescopic component, a hinge seat is connected to the support plate, a protrusion is formed on the end of the limiting plate near the spraying mechanism, the connecting end of the telescopic component is hinged to the hinge seat, and the telescopic end of the telescopic component is connected to the protrusion of the limiting plate to drive the connecting rod to slide laterally.

[0013] Preferably, the spraying mechanism includes a horizontal adjustment component, a first swing mechanism, a second swing mechanism, and a spraying component; wherein, The horizontal adjustment assembly includes a mounting platform, a drive gear, a driven gear, a connecting support plate, and a drive motor. One end of the connecting support plate is connected to the end of the connecting rod, the drive motor is fixed to the other end of the connecting support plate, the drive end of the drive motor is connected to the drive gear, the driven gear and the drive gear are meshed, and the mounting platform is connected to the top of the driven gear. The bottom end of the first swing mechanism is hinged to the mounting platform, and the top end of the first swing mechanism is swingably set around its bottom hinge point. The bottom end of the second swing mechanism is hinged to the top end of the first swing mechanism, and the top end of the second swing mechanism is swingably arranged around its bottom end hinge point; The spraying assembly is connected to both the first swing mechanism and the second swing mechanism.

[0014] Preferably, the first swing mechanism includes a first swing arm and a first telescopic mechanism, and the horizontal adjustment assembly further includes a first ear plate and a second ear plate; wherein, The first ear plate and the second ear plate are fixed to each other at both ends of the mounting platform. The bottom end of the first swing arm is hinged to the first ear plate, the bottom end of the first telescopic mechanism is hinged to the second ear plate, and the telescopic end of the first telescopic mechanism is hinged to the first swing arm near the top end. The first swing arm is driven to swing by its own telescopic adjustment.

[0015] Preferably, the second swing mechanism includes a second swing arm, a second telescopic mechanism, and a connecting frame. The first end of the connecting frame is hinged to the top of the first swing arm, the connecting end of the second telescopic mechanism is hinged to the first swing arm near the top, the telescopic end of the second telescopic mechanism is hinged to the second end of the connecting frame, and the bottom end of the second swing arm is fixed to the connecting frame. The telescopic adjustment of the second telescopic mechanism drives the connecting frame to swing around the first end, thereby causing the second swing arm to swing.

[0016] Compared with the prior art, the present invention has the following beneficial effects: This invention provides an integrated spraying, tilling, and weeding machine that combines a frame, a synchronously operating tilling and weeding mechanism, and two adjustable spraying structures into one unit. This achieves integrated and simultaneous completion of tilling, weeding, and spraying operations, eliminating the cumbersome steps of alternating operation and transportation of separate equipment. This significantly improves the efficiency of field operations and reduces agricultural operating costs and labor consumption. Simultaneously, the two spraying structures can be flexibly adjusted horizontally through lateral sliding, and the spraying mechanism can autonomously rotate to adjust the spraying direction and extend to adjust the spraying height. This multi-dimensional adjustment effectively expands the spraying coverage area, completely solving the problems of blind spots, missed sprays, and uneven spraying associated with traditional equipment. Combined with the horizontally spaced, self-rotating tilling and weeding units, it can adapt to different field conditions, achieving comprehensive and precise weeding and uniform spraying in synergy. The overall adaptability, operational accuracy, and comprehensive practicality of the equipment are significantly improved, meeting the needs of modern, efficient agricultural production. Attached Figure Description

[0017] 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 some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0018] Figure 1 This is a three-dimensional schematic diagram of the integrated machine according to one embodiment of the present invention; Figure 2 This is a three-dimensional schematic diagram of the overall machine from another perspective in one embodiment of the present invention; Figure 3 This is a partial schematic diagram of a tillage and weeding unit in one embodiment of the present invention; Figure 4 This is a partial schematic diagram of the spraying structure in one embodiment of the present invention.

[0019] The objectives, features, and advantages of this invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings.

[0020] Explanation of icon numbers: 10. Frame; 110. Drive assembly; 120. Drive shaft; 130. Support plate; 131. Hinge seat; 20. Intertillage and weeding mechanism; 210. Corner box; 220. Rotary shaft; 230. Connecting plate; 240. Weeding blade assembly; 241. Blade handle; 242. Blade; 243. Protective cover; 30. Spraying structure; 310. Horizontal adjustment assembly; 311. Mounting platform; 312. Drive gear; 313. Driven gear; 314. Connecting support plate; 315. Drive motor; 316. First ear plate; 317. Second ear plate; 320. First swing mechanism; 321. First swing arm; 322. First telescopic mechanism; 323. Connecting plate; 330. Second swing mechanism; 331. Second swing arm; 332. Second telescopic mechanism; 333. Connecting frame; 340. Spraying assembly; 341. Clamp; 342. Nozzle; 40. Connecting mechanism; 410. Connecting rod; 420. Limiting plate; 421. Protrusion; 430. Telescopic assembly; 440. Positioning pin. Detailed Implementation

[0021] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0022] 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 a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0023] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0024] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0025] Please see the appendix Figure 1-4An embodiment of the present invention provides a spraying, tilling, and weeding integrated machine, including a frame 10, a tilling and weeding mechanism 20, and two spraying structures 30 arranged laterally opposite each other. First, it should be noted that "lateral" in this application refers to the length direction along the frame 10, and the specific design is as follows: Each of the spraying structures 30 includes a connecting mechanism 40 and a spraying mechanism. The spraying mechanism is connected to the end of the connecting mechanism 40. The connecting mechanism 40 is connected to the rear side of the frame 10 and is slidably arranged laterally to adjust the horizontal position of the spraying mechanism. The spraying mechanism itself is rotatably arranged horizontally to adjust the orientation of the spraying end. The spraying mechanism itself is telescopically arranged to adjust the height position of the spraying end. The inter-cultivation and weeding mechanism 20 includes a plurality of inter-cultivation and weeding units arranged laterally at intervals. The inter-cultivation and weeding units are connected to the frame 10. The bottom end of the inter-cultivation and weeding unit is rotatably arranged to extend into the cultivated land for inter-cultivation and weeding.

[0026] Specifically, the machine uses the frame 10 as its core support, providing stable installation and rigid support for all functional components, ensuring the overall structural strength and assembly precision during field operations. The machine integrates a weeding and cultivating mechanism 20 and two sets of spraying structures 30 arranged laterally opposite each other on the frame 10, achieving an integrated design of weeding and cultivating functions and spraying maintenance functions. The two sets of spraying structures 30 are respectively mounted on the rear side of the frame 10 via corresponding connecting mechanisms 40. These connecting mechanisms 40 can slide stably laterally along the frame 10, allowing for flexible adjustment of the horizontal placement of the left and right spraying mechanisms according to the actual field width and crop row spacing. Simultaneously, the spraying mechanism has independent horizontal rotation capability, allowing adjustment of the spraying direction of the spraying components 340 based on crop row direction and plot topography. Furthermore, the spraying mechanism can self-adjust its telescopic extension, adaptively adjusting the operating height of the spraying end to accommodate different crop heights and ground undulations. At the same time, multiple sets of tillage and weeding units are evenly arranged horizontally on the frame 10. The bottom of each tillage and weeding unit can rotate autonomously. As the equipment moves with the traction equipment, the rotating tillage and weeding unit can extend into the soil layer of the farmland to simultaneously complete the soil loosening, shallow land preparation and field weed cutting and removal operations. This structure highly integrates weeding and spraying functions, allowing a single device to simultaneously complete two core field operations. It completely eliminates the traditional agricultural operation mode where weeding and spraying are separate devices that require multiple entry points, repeated transport, and repetitive adjustments. This significantly simplifies field operations, greatly improves overall efficiency, and reduces labor and equipment costs. Simultaneously, the multi-dimensional adjustable structure of the spraying mechanism, with its horizontal movement, rotation, and height extension, effectively solves the shortcomings of traditional fixed spraying machinery, such as fixed spraying range, poor adaptability, and blind spots at field edges and between crop rows. This effectively improves the uniformity of pesticide coverage and operational integrity. The equipment is adaptable to field operation scenarios with different plot widths and crop growth levels, significantly enhancing its overall versatility and field adaptability.

[0027] In a preferred embodiment of the present invention, a drive assembly 110 and a drive shaft 120 are also included. The drive assembly 110 is connected to the middle part of the frame 10. The input end of the drive assembly 110 is used to connect to the PTO output shaft of an external tractor. The drive shaft 120 is transversely connected to the drive assembly 110. The two ends of the drive assembly 110 are respectively distributed with the tillage and weeding units, and the top end of each tillage and weeding unit is connected to the drive shaft 120.

[0028] It should be noted that by fixing the drive assembly 110 in the middle of the frame 10 and configuring a drive shaft 120 that runs laterally through the interior of the drive assembly 110, a centralized power input and transmission system for the entire machine's tillage and weeding operations is constructed. The power input end of the drive assembly 110 directly connects to the PTO output shaft of an external tractor, allowing direct access to the power output of general field traction equipment. This eliminates the need for separate power sources such as motors or fuel-powered systems, making it compatible with general agricultural tractor operating systems. The drive assembly 110 can be a gearbox, which can adjust the drive speed according to the tractor's traction speed, offering good adaptability. The laterally arranged drive shaft 120 and the internal transmission structure of the drive assembly 110 work stably together to achieve synchronous transmission. Simultaneously, multiple tillage and weeding units are correspondingly arranged at the left and right ends of the drive assembly 110, with the top of each tillage and weeding unit forming a stable transmission connection with the drive shaft 120. During operation, the tractor's power is input to the drive assembly 110 via the PTO output shaft, and then the drive assembly 110 smoothly transmits the power to the transversely running drive shaft 120. The synchronous rotation of the drive shaft 120 drives all the inter-row weeding units to operate synchronously, achieving synchronous inter-row weeding operations across the entire area. This power transmission structure adopts a centralized input and synchronous output transmission method, ensuring uniform power transmission and high transmission consistency. It effectively ensures that the operating speed and depth of the inter-row weeding units in all transverse positions of the machine remain consistent, avoiding problems such as incomplete weeding in certain areas, uneven soil loosening depth, and gaps in row operations. This ensures the flatness and quality of large-area farmland operations. At the same time, relying on the tractor's universal power interface for power supply greatly simplifies the overall machine structure layout, reduces equipment weight and manufacturing costs, and improves the equipment's field passability and adaptability to large-scale field operations.

[0029] In a preferred embodiment of the present invention, each of the tillage and weeding units includes a corner box 210, a rotating shaft 220, a connecting plate 230, and a plurality of weeding blade assemblies 240 arranged circumferentially along the connecting plate 230. Each weeding blade assembly 240 includes a handle 241 and a blade 242. The corner box 210 is connected to the drive shaft 120, the rotating shaft 220 is connected to the output end of the corner box 210 and extends downward, the connecting plate 230 is connected to the bottom end of the rotating shaft 220, one end of the handle 241 is connected to the bottom of the connecting plate 230, and the blade 242 is connected to the other end of the handle 241 and extends vertically.

[0030] It should be noted that each weeding and hoeing unit mainly consists of a corner box 210, a rotating shaft 220, a connecting plate 230, and multiple sets of weeding blade assemblies 240, which can achieve precise coordination between power steering transmission and rotary weeding operations. The corner box 210 is fixedly mounted at the corresponding position of the drive shaft 120, which can reverse the lateral rotational power output by the drive shaft 120, converting the horizontal rotational power into vertical rotational power to meet the power requirements of soil penetration operations. The rotating shaft 220 extends vertically downward and is mounted at the power output end of the corner box 210, and can rotate synchronously with the output end of the corner box 210. The bottom end of the rotating shaft 220 is rigidly fixed to the connecting plate 230. Multiple sets of weeding blade assemblies 240 are evenly spaced around the bottom of the connecting plate 230. Each set of weeding blade assemblies 240 consists of an independent handle 241 and a blade 242. One end of the handle 241 is fixed to the bottom of the connecting plate 230, and the blade 242 extends vertically and serves as the direct soil penetration operation component. During operation, the power transmitted by the drive shaft 120 is reversed by the corner box 210, driving the rotating shaft 220 and the connecting plate 230 to rotate at high speed. This, in turn, drives multiple sets of blades 242 arranged circumferentially to rotate continuously and cut the soil and weeds, achieving soil loosening and weed root cutting and removal. This structure, through the reversing transmission of the corner box 210, perfectly matches the power matching requirements of the horizontally arranged drive shaft 120 and the vertical soil-penetrating blades. The transmission structure is compact and has low power loss. The multiple sets of blades 242 arranged circumferentially can achieve 360° continuous operation without dead angles, effectively improving the weed coverage and soil loosening uniformity. The vertical blades 242 have low soil penetration resistance and excellent soil breaking performance, which can effectively reduce the power consumption of operation. At the same time, each tillage and weeding unit adopts a modular independent structure. The damage of a single unit will not affect the operation of the whole machine, and the blade parts can be disassembled and repaired and replaced individually, which greatly reduces the difficulty and cost of daily operation and maintenance of the equipment and improves the continuous operation capability of the equipment.

[0031] In a preferred embodiment of the present invention, each of the tillage and weeding units further includes a protective cover 243, which is connected to the frame 10 and covers the connecting plate 230 and the weeding blade assembly 240.

[0032] It is worth noting that by fixing the protective cover 243 at the assembly position of each tillage and weeding unit on the frame 10, the protective cover 243 completely covers the outer area of ​​the connecting plate 230 and all weeding blade assemblies 240, providing all-round shielding protection for the rotating blade assembly. During the field operation of the equipment, the high-speed rotating blades 242 continuously cut the soil and weeds, inevitably stirring up soil particles, weed roots, field gravel, and other debris. The external protective cover 243 can effectively shield and block the splashed debris. At the same time, the protective cover 243 can provide physical isolation protection for the high-speed rotating blade structure, effectively preventing personnel from accidentally touching the blades or foreign objects from hitting the blades during field operations and equipment transportation, greatly reducing the risk of equipment failure and field operation safety hazards. In addition, the protective cover 243 can effectively reduce the entanglement of straw and weed residue in the field between the connecting plate 230 and the blade 242, avoid problems such as blade jamming, increased power consumption due to increased load, and decreased weeding effect, and continuously ensure smooth operation and stable operation of the weeding unit, effectively extend the service life of the blades, and improve the safety, stability and durability of the whole machine operation.

[0033] In a preferred embodiment of the present invention, the connecting mechanism 40 includes a connecting rod 410, and a support plate 130 is formed protruding from the rear side of the frame 10. A sliding groove is provided on the support plate 130, and the connecting rod 410 is slidably connected to the sliding groove.

[0034] It is worth noting that by integrally protruding a support plate 130 on the rear side of the frame 10, a stable mounting base is provided for the sliding adjustment of the spraying structure 30. Simultaneously, a through-type groove is formed laterally inside the support plate 130, through which the connecting rod 410 passes, forming a sliding pair structure. This allows the connecting rod 410 to slide freely laterally along the groove, thereby simultaneously adjusting the horizontal position of the spraying mechanism mounted at the end of the connecting rod 410. The integrally formed structure of the support plate 130 is rigid and not easily deformed, ensuring the straightness and assembly accuracy of the groove over a long period, providing a reliable structural foundation for sliding adjustment. The precise fit between the groove and the connecting rod 410 provides precise guidance and constraint for the lateral movement of the connecting rod 410, limiting lateral deviation during horizontal movement and ensuring a smooth, stable, and uninterrupted sliding adjustment process. In actual field operations, operators can flexibly adjust the extension and retraction positions of the connecting rod 410 according to the actual width of the farmland, the row spacing of crops, and the ridge spacing, quickly adjusting the working distance of the spraying mechanisms on both sides to adapt to the spraying needs of different plots and planting patterns. This guide sliding structure is simple in structure, reliable in assembly, and has high adjustment precision. It can achieve flexible adjustment of the spraying width without a complex transmission structure, making the equipment more adaptable to a wider range of scenarios and more convenient in adjustment and operation, effectively improving the versatility and flexibility of the whole machine in the field.

[0035] Furthermore, the connecting mechanism 40 also includes a limiting plate 420, which is connected to the top of the connecting rod 410. A limiting groove extending vertically is also formed on the sliding groove, through which the limiting plate 420 slides.

[0036] It should be noted that by fixing a limiting plate 420 to the top of the connecting rod 410 and opening a vertically extending limiting groove at the corresponding position inside the slide groove, the limiting plate 420 vertically penetrates the limiting groove to form a nested limiting fit structure, forming a double guiding and limiting system with the sliding structure of the slide groove and the connecting rod 410. When the connecting rod 410 slides laterally along the slide groove to adjust the horizontal position of the spraying mechanism, the limiting plate 420 at the top slides synchronously along the vertical limiting groove. Through the constraint effect of the limiting groove on the limiting plate 420, the vertical jump, up and down sway, and radial offset of the connecting rod 410 under operating vibration, liquid impact, and equipment bumping conditions can be effectively limited, completely avoiding problems such as loosening, misalignment, and jamming of the connecting rod 410. The complex field working environment and continuous equipment vibration can easily lead to increased sliding clearance and component misalignment. This nested limiting structure can effectively eliminate the positional deviation caused by sliding clearance, ensuring that the sliding trajectory of the connecting rod 410 is always accurate and controllable. It ensures the stability of the horizontal position accuracy of the spraying mechanism after adjustment, and will not cause problems such as spraying deviation, spraying tilt, local overspraying or missed spraying due to equipment vibration. It significantly improves the uniformity and accuracy of spraying operations, while greatly improving the overall structural stability and operational reliability of the connecting mechanism 40 and extending the service life of components.

[0037] Furthermore, the connecting mechanism 40 also includes a telescopic component 430. A hinge seat 131 is connected to the support plate 130. A protrusion 421 is formed on the end of the limiting plate 420 near the spraying mechanism. The connecting end of the telescopic component 430 is hinged to the hinge seat 131. The telescopic end of the telescopic component 430 is connected to the protrusion 421 of the limiting plate 420 to drive the connecting rod 410 to slide laterally.

[0038] It should be understood that by fixing a hinge seat 131 on the support plate 130, and simultaneously providing an upwardly protruding shaped protrusion 421 structure on the end of the limiting plate 420 near the spraying mechanism, the fixed connecting end of the telescopic component 430 is hinged to the hinge seat 131, and the telescopic movable end of the telescopic component 430 is hinged to the protrusion 421 of the limiting plate 420, making the telescopic component 430 the active power component driving the connecting rod 410 to slide laterally. During the operation adjustment process, the linear driving force is generated by the change in the telescopic stroke of the telescopic component 430. Through the adaptive fine adjustment of the angle of the hinge structure at both ends, the motion conversion relationship between telescopic motion and linear sliding is adapted, smoothly and steadily driving the limiting plate 420 and the connecting rod 410 to slide laterally back and forth along the slide groove, thereby automatically completing the adjustment of the horizontal working position of the spraying mechanism. This articulated telescopic drive structure can adaptively adjust the transmission angle, effectively eliminating structural stress during transmission and avoiding problems such as jamming, deformation, and accelerated wear caused by rigid transmission. It offers superior transmission stability and structural durability. Furthermore, it utilizes electric or hydraulic automatic telescopic adjustment to replace traditional manual push-pull adjustment, eliminating the need for manual adjustments in the field. This significantly reduces operator workload, enhances the automation level and ease of operation, and allows for real-time, precise fine-tuning of the spray width according to operational needs, further improving the machine's intelligent operation performance and field adaptability.

[0039] Preferably, a positioning pin 440 can also be provided on the limiting plate 420. The positioning pin 440 is located between the support plate 130 and the protrusion 421. In this way, when retracting, the mutual blocking action between the positioning pin 440 and the support plate 130 prevents the connecting rod 410 from retracting excessively. It should be noted that an additional limiting plate 420 can be provided between the limiting plate 420 and the protrusion 421 where the hinge seat 131 is installed, for cooperating with the positioning pin 440.

[0040] Further, the spraying mechanism includes a horizontal adjustment assembly 310, a first swing mechanism 320, a second swing mechanism 330, and a spraying assembly 340; wherein, the horizontal adjustment assembly 310 includes a mounting platform 311, a drive gear 312, a driven gear 313, a connecting support plate 314, and a drive motor 315, one end of the connecting support plate 314 is connected to the end of the connecting rod 410, the drive motor 315 is fixed to the other end of the connecting support plate 314, the drive end of the drive motor 315 is connected to the drive gear 312, and the driven gear 313... The driven gear 313 is meshed with the drive gear 312, and the mounting platform 311 is connected to the top of the driven gear 313; the bottom end of the first swing mechanism 320 is hinged to the mounting platform 311, and the top end of the first swing mechanism 320 is swingably arranged around its bottom hinge point; the bottom end of the second swing mechanism 330 is hinged to the top end of the first swing mechanism 320, and the top end of the second swing mechanism 330 is swingably arranged around its bottom hinge point; the spraying assembly 340 is connected to both the first swing mechanism 320 and the second swing mechanism 330.

[0041] It should be noted that the horizontal adjustment component 310 uses the connecting support plate 314 as the mounting base. The connecting support plate 314 is fixed to the end of the connecting rod 410, providing stable support for the overall spraying adjustment structure. The drive motor 315 is fixed to the end of the connecting support plate 314, and its output end is equipped with a drive gear 312. The driven gear 313 meshes with the drive gear 312 to form a gear pair transmission structure. The top of the driven gear 313 is fixed with a mounting platform 311. During operation, the drive motor 315 drives the gear pair to mesh and rotate horizontally through forward and reverse rotation, thereby driving the mounting platform 311 to rotate horizontally. This achieves overall horizontal angle adjustment of the upper spraying structure 30 and precisely adjusts the spraying direction of the spraying component 340. At the same time, the first swing mechanism 320 and the second swing mechanism 330 are sequentially hinged on the mounting platform 311 to form a two-stage series swing structure. The first swing mechanism 320 can swing around the bottom hinge point for overall adjustment, and the second swing mechanism 330 can swing again relative to the top of the first swing mechanism 320 for adjustment. The spraying component 340 can be mounted and fixed on both swing mechanisms. By adjusting the horizontal rotation in conjunction with two-stage swing height and angle, the spraying point can be flexibly adjusted over a wide range and in multiple dimensions. This completely breaks through the limitations of traditional fixed spraying equipment, which has a fixed spraying range and a single angle. It can adapt to complex operating scenarios such as tall crops, short crops, low-lying areas in the field, and blind spots at the edges of the plot, and fully cover all operating areas in the field. It effectively eliminates problems such as missed spraying, uneven local spraying, and inconsistent control effects, and greatly improves the overall control effect of pests and diseases in the field.

[0042] Furthermore, the first swing mechanism 320 includes a first swing arm 321 and a first telescopic mechanism 322, and the horizontal adjustment assembly 310 also includes a first ear plate 316 and a second ear plate 317; wherein, the first ear plate 316 and the second ear plate 317 are fixed relative to each other at both ends of the mounting platform 311, the bottom end of the first swing arm 321 is hinged to the first ear plate 316, the bottom end of the first telescopic mechanism 322 is hinged to the second ear plate 317, and the telescopic end of the first telescopic mechanism 322 is hinged to the first swing arm 321 near the top end, and the first swing arm 321 is driven to swing by its own telescopic adjustment.

[0043] It is important to note that a split-plate layout structure is used to achieve zoned arrangement of hinge points. The first ear plate 316 is specifically designed to provide a hinge support point at the bottom of the first swing arm 321, enabling the first swing arm 321 to stably perform regular vertical pitch swing around the bottom hinge axis. This effectively ensures the coaxiality and motion stability of the first swing arm 321 during its swing, preventing swing arm deviation, swaying, or jamming. The second ear plate 317 is independently arranged and used to hinge the fixed end of the first telescopic mechanism 322. The telescopic movable end of the first telescopic mechanism 322 is correspondingly hinged to the side wall of the first swing arm 321 near the top. Relying on the linear motion of the extension and retraction of the first telescopic mechanism 322, a continuous pushing and pulling driving force is applied to the first swing arm 321, thereby driving the first swing arm 321 to complete a controllable angle swing around the bottom hinge point, realizing the adjustment of the first-stage spray height and pitch angle. The split-type ear plate structure can divide the load-bearing of the swing hinge and the telescopic drive into zones, reasonably distributing the local stress of the mounting platform 311, avoiding structural deformation and cracking caused by concentrated stress at a single point, significantly reducing frictional resistance and motion interference risk during the movement of the mechanism, and significantly improving the overall smoothness of operation and structural durability of the first swing mechanism 320. At the same time, by precisely controlling the telescopic stroke of the first telescopic mechanism 322, the swing amplitude of the first swing arm 321 can be precisely limited, realizing the gradient and precise adjustment of the spraying height, adapting to the basic spraying operation needs of crops at different heights.

[0044] Furthermore, the second swing mechanism 330 includes a second swing arm 331, a second telescopic mechanism 332, and a connecting frame 333. The first end of the connecting frame 333 is hinged to the top end of the first swing arm 321. The connecting end of the second telescopic mechanism 332 is hinged to the first swing arm 321 near the top end. The telescopic end of the second telescopic mechanism 332 is hinged to the second end of the connecting frame 333. The bottom end of the second swing arm 331 is fixed to the connecting frame 333. The telescopic adjustment of the second telescopic mechanism 332 drives the connecting frame 333 to swing around the first end, thereby causing the second swing arm 331 to swing.

[0045] Understandably, the connecting frame 333 can rotate freely around its hinge point with the first swing arm 321. Simultaneously, an independent second telescopic mechanism 332 serves as the drive source. The fixed connecting end of the second telescopic mechanism 332 is hinged to the first swing arm 321 near its top, while the telescopic movable end is correspondingly hinged to the end of the connecting frame 333. The extension and retraction of the second telescopic mechanism 332 applies a pushing and pulling driving force to the connecting frame 333, driving it to reciprocate around the hinge point. The bottom of the second swing arm 331 is fixedly mounted on the connecting frame 333, forming an integrated motion structure. This allows the second swing arm 331 to synchronously complete the pitch angle swing with the connecting frame 333, thereby achieving a second level of independent angle adjustment. This structure forms a two-level independent swing adjustment system. The first swing arm 321 is responsible for large-scale basic height adjustment, while the second swing arm 331 completes small-scale, fine-tuned secondary angle compensation adjustment based on the adjustment of the first swing arm 321. This creates a multi-degree-of-freedom, two-level spatial adjustment structure, effectively overcoming the shortcomings of traditional single swing arm mechanisms, which have a single adjustment dimension and limited posture adjustment. It can flexibly adjust the spraying posture for crops of varying heights, vegetation of different growth rates, and complex terrains such as slopes and depressions in the field. This allows the nozzle 342 to accurately target different levels of branches and leaves for spraying, greatly improving the equipment's adaptability to complex plant protection operation scenarios and its level of precision operation.

[0046] Furthermore, a connecting plate 323 can be provided, which is fixed to the first swing arm 321 near the top. The first end of the connecting plate 323 is hinged to the telescopic end of the second telescopic mechanism 332, and the second end of the connecting plate 323 is hinged to the connecting end of the second telescopic mechanism 332. By integrating and expanding the hinge points through the independent connecting plate 323, the defects of the small installation space at the top of the first swing arm 321 and the compact structure that makes it impossible to arrange multiple hinge points can be made up.

[0047] Furthermore, the spraying assembly 340 is installed in combination with a clamp 341 and a nozzle 342. The clamp 341 is used to be sleeved on the first swing arm 321 or the second swing arm 331, and the nozzle 342 is connected to the clamp 341.

[0048] It should be noted that the clamp 341 adopts an openable clamping structure, which can be flexibly fitted and fixed at any preset position of the first swing arm 321 and the second swing arm 331. It achieves a secure installation without slippage through the locking and fixing method. The nozzle 342 is correspondingly fixedly assembled on the outer spraying end of the clamp 341 and connected to the equipment's liquid delivery pipeline to realize the atomization and spraying of the liquid.

[0049] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A spraying, tilling, and weeding integrated machine, characterized in that, It includes a frame, a weeding and cultivating mechanism, and two spraying structures arranged laterally opposite each other; among them, Each of the spraying structures includes a connecting mechanism and a spraying mechanism. The spraying mechanism is connected to the end of the connecting mechanism. The connecting mechanism is connected to the rear side of the frame and is slidably arranged laterally to adjust the horizontal position of the spraying mechanism. The spraying mechanism itself is rotatably arranged horizontally to adjust the orientation of the spraying end. The spraying mechanism itself is telescopically arranged to adjust the height position of the spraying end. The tillage and weeding mechanism includes multiple tillage and weeding units arranged at intervals along the horizontal direction. The tillage and weeding units are connected to the frame, and the bottom end of each tillage and weeding unit is rotatably designed to extend into the cultivated land for tillage and weeding.

2. The integrated spraying, tilling, and weeding machine according to claim 1, characterized in that, It also includes a drive assembly and a drive shaft. The drive assembly is connected to the middle of the frame. The input end of the drive assembly is used to connect to the PTO output shaft of an external tractor. The drive shaft is connected to the drive assembly in a transverse through-drive manner. The two ends of the drive assembly are respectively distributed with the tillage and weeding units. The top of each tillage and weeding unit is connected to the drive shaft.

3. The integrated spraying, tilling, and weeding machine according to claim 2, characterized in that, Each of the aforementioned tillage and weeding units includes a corner box, a rotating shaft, a connecting disc, and multiple weeding blade assemblies arranged circumferentially along the connecting disc, each weeding blade assembly including a handle and a blade; wherein, The corner box is connected to the drive shaft, the shaft is connected to the output end of the corner box and extends downward, the connecting plate is connected to the bottom end of the shaft, one end of the tool holder is connected to the bottom of the connecting plate, the blade is connected to the other end of the tool holder and extends vertically.

4. The integrated spraying, tilling, and weeding machine according to claim 3, characterized in that, Each of the tillage and weeding units also includes a protective cover, which is connected to the frame and covers the connecting plate and the weeding blade assembly.

5. The integrated spraying, tilling, and weeding machine according to claim 1, characterized in that, The connecting mechanism includes a connecting rod, and a support plate is formed protruding from the rear side of the frame. A sliding groove is provided on the support plate, and the connecting rod is slidably connected to the sliding groove.

6. The integrated spraying, tilling, and weeding machine according to claim 5, characterized in that, The connecting mechanism also includes a limiting plate, which is connected to the top of the connecting rod. A limiting groove extending vertically is also formed on the sliding groove, which allows the limiting plate to slide through and connect.

7. The integrated spraying, tilling, and weeding machine according to claim 6, characterized in that, The connecting mechanism further includes a telescopic component, a hinge seat is connected to the support plate, and a protrusion is formed on the end of the limiting plate near the spraying mechanism. The connecting end of the telescopic component is hinged to the hinge seat, and the telescopic end of the telescopic component is connected to the protrusion of the limiting plate to drive the connecting rod to slide laterally.

8. The integrated spraying, tilling, and weeding machine according to claim 5, characterized in that, The spraying mechanism includes a horizontal adjustment component, a first swing mechanism, a second swing mechanism, and a spraying component; wherein, The horizontal adjustment assembly includes a mounting platform, a drive gear, a driven gear, a connecting support plate, and a drive motor. One end of the connecting support plate is connected to the end of the connecting rod, the drive motor is fixed to the other end of the connecting support plate, the drive end of the drive motor is connected to the drive gear, the driven gear and the drive gear are meshed, and the mounting platform is connected to the top of the driven gear. The bottom end of the first swing mechanism is hinged to the mounting platform, and the top end of the first swing mechanism is swingably set around its bottom hinge point. The bottom end of the second swing mechanism is hinged to the top end of the first swing mechanism, and the top end of the second swing mechanism is swingably arranged around its bottom end hinge point; The spraying assembly is connected to both the first swing mechanism and the second swing mechanism.

9. The integrated spraying, tilling, and weeding machine according to claim 8, characterized in that, The first swing mechanism includes a first swing arm and a first telescopic mechanism, and the horizontal adjustment assembly further includes a first ear plate and a second ear plate; wherein, The first ear plate and the second ear plate are fixed to each other at both ends of the mounting platform. The bottom end of the first swing arm is hinged to the first ear plate, the bottom end of the first telescopic mechanism is hinged to the second ear plate, and the telescopic end of the first telescopic mechanism is hinged to the first swing arm near the top end. The first swing arm is driven to swing by its own telescopic adjustment.

10. The integrated spraying, tilling, and weeding machine according to claim 9, characterized in that, The second swing mechanism includes a second swing arm, a second telescopic mechanism, and a connecting frame. The first end of the connecting frame is hinged to the top of the first swing arm. The connecting end of the second telescopic mechanism is hinged to the first swing arm near the top. The telescopic end of the second telescopic mechanism is hinged to the second end of the connecting frame. The bottom end of the second swing arm is fixed to the connecting frame. The telescopic adjustment of the second telescopic mechanism drives the connecting frame to swing around the first end, thereby causing the second swing arm to swing.

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