A multi-dimensional full-automatic spraying machine for narrow space of vegetable greenhouse

Abstract

This invention discloses a multi-dimensional fully automatic sprayer for use in the confined spaces of vegetable greenhouses. It includes a frame chassis, a walking mechanism, a pesticide storage and delivery mechanism, a multi-dimensional adjustable spraying mechanism, a lifting and swinging spraying mechanism, an electrical control mechanism, and an auxiliary supply mechanism. The walking mechanism employs a flexible, wide-body track system with independent drives on both sides, providing excellent obstacle-crossing and confined space mobility. The pesticide storage and delivery mechanism is equipped with dual pesticide tanks and a mixing valve, allowing for flexible selection and mixing of various pesticide solutions. The multi-dimensional adjustable spraying mechanism, driven by linear motors and servo motors, can precisely adjust the forward and backward positions and spray angles of multiple nozzles in the horizontal plane. The lifting and swinging spraying mechanism, driven by lifting and swinging motors, controls the vertical height and horizontal swing angle adjustment of the auxiliary nozzles. This invention solves the problems of poor mobility, uneven spray coverage, and low automation in traditional greenhouse spraying equipment, achieving efficient, precise, and fully automatic plant protection operations.

Description

Technical Field

[0001] This invention relates to the field of agricultural automation equipment technology, and in particular to a multi-dimensional fully automatic sprayer for use in the confined space of vegetable greenhouses. Background Technology

[0002] Greenhouse vegetable cultivation is a core model for large-scale, precision farming in modern agriculture, widely used in off-season vegetable cultivation and high-quality vegetable production. In the daily management of greenhouses, spraying pesticides, applying nutrient solutions, and humidifying disinfection are crucial procedures for ensuring normal vegetable growth and controlling pests and diseases.

[0003] Currently, traditional greenhouse spraying equipment has many technical defects. For example, the self-propelled boom sprayer curved uniform spraying method and system provided by application publication number CN122397705A has the following limitations: its spraying equipment nozzle adjustment dimension is limited, and it can only achieve fixed angle and fixed height spraying. It cannot adapt to multi-dimensional adjustments according to the changes in plant height and canopy width at different growth stages of vegetables, resulting in poor plant protection adaptability; the spraying equipment's medicine tank has a single cavity structure, which cannot achieve the switching of multiple agents for spraying, resulting in limited functionality and difficulty in meeting the diversified operational needs of integrated pest management and nutrient supply for greenhouse vegetables; its conventional walking structure has weak obstacle-crossing ability, and it is prone to getting stuck and slipping in scenarios with uneven greenhouse ground and furrows, resulting in insufficient operational stability and inability to achieve fully automatic continuous spraying operations.

[0004] In response to the shortcomings of existing technologies, there is an urgent need to develop a sprayer that is suitable for the confined space of vegetable greenhouses, can adjust spraying in multiple dimensions, can switch between multiple pesticides, has stable movement, and can operate fully automatically, so as to solve the operational limitations of existing equipment and improve the automation, precision, and efficiency of greenhouse plant protection operations. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a multi-dimensional fully automatic sprayer for use in the confined space of vegetable greenhouses, so as to solve the technical problems of poor space adaptability, single spray adjustment dimension, single pesticide spraying function, poor walking stability, and low degree of automation of existing equipment.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A multi-dimensional fully automatic sprayer for the confined space of a vegetable greenhouse includes a frame chassis, a walking mechanism, a pesticide storage and delivery mechanism, a multi-dimensional adjustable spraying mechanism, a lifting and swinging spraying mechanism, an electrical control mechanism, and an auxiliary supply mechanism. The walking mechanism includes flexible wide-body track wheels, wide-body flexible tracks, drive motor I, drive motor II, front support wheels, side plates, side plate connectors, and side plate connecting shafts. Two sets of side plates are each mounted on the left and right sides of the frame chassis via two sets of side plate connecting shafts, and the two side plates are positioned and fixed together by the side plate connectors to ensure overall structural stability. Two sets of drive motors I and two sets of drive motors II are respectively fixedly mounted at the front and rear positions of the left and right side plates. The output ends of drive motors I and II are connected to the flexible wide-body track wheels. Wide-body flexible tracks are fitted onto the outer sides of the flexible wide-body track wheels on both sides. By independently controlling the start, stop, and speed of each drive motor, the equipment can move forward and backward and perform differential steering, adapting to the narrow spaces of greenhouses and allowing for flexible movement. The four sets of front support wheels are respectively installed at the front and rear ends of the left and right side plates. The front support wheels cooperate with the flexible wide-body track wheels to support the wide-body flexible track. While ensuring the continuous tension of the wide-body flexible track, the track has a preset obstacle-crossing tilt angle, which can effectively adapt to the ridges and uneven road surfaces of the greenhouse, improve the obstacle-crossing ability and walking stability of the equipment, and avoid the equipment from getting stuck or slipping during operation.

[0007] The pesticide storage and delivery mechanism includes a pesticide tank support, pesticide tank I, pesticide tank II, an exchange solenoid valve, pipelines, and a high-pressure pump. Four sets of pesticide tank supports are symmetrically fixedly installed on the two side plates. Pesticide tank I and pesticide tank II are respectively fixedly assembled on their corresponding pesticide tank supports. Pesticide tank I and pesticide tank II are connected by pipelines, and an exchange solenoid valve is installed in series on the pipelines. By switching the on and off of the exchange solenoid valves, pesticide tank I and pesticide tank II can be controlled to supply liquid independently or in combination, realizing the switching of spraying various pesticides, nutrient solutions, and disinfectants to meet the diversified plant protection operation needs of greenhouses. The high-pressure pump is fixedly installed on the chassis of the frame and is used to provide high-pressure liquid delivery power for each spray nozzle.

[0008] The multi-dimensional adjustable spray mechanism includes guide rails, sliders, support bearings, sliding shafts, nozzle attitude servos, high-pressure nozzles, front and rear adjustable linear motors, push linkages, nozzle adjustment blocks, and linear motor bases. Eight sets of guide rails are symmetrically fixedly laid on the upper surface of the frame chassis. Each set of guide rails is slidably equipped with sliders, and support bearings are fixedly installed on the top of the sliders. Sliding shafts are fixedly inserted inside the support bearings. Four sliding shafts are paired up to form a group, corresponding to four independent spray components. Each group of spray components is equipped with a nozzle attitude servo and a high-pressure nozzle. Two sets of linear motor bases are fixed at the front and rear center positions on the upper surface of the frame chassis. A front-to-back adjustable linear motor is mounted on the base, and its output end is connected to a push rod. The end of the push rod is fixedly connected to the corresponding spray component. A nozzle adjustment block is mounted on the end of the high-pressure nozzle, allowing adjustment of the high-pressure nozzle's spraying mode, spray distance, and spray coverage area. The high-pressure nozzle's spray angle can be precisely adjusted by rotating the nozzle attitude servo motor. The front-to-back adjustable linear motor drives the push rod to extend and retract, adjusting the front and rear spray positions of the high-pressure nozzle. Combined with the sliding adjustment of the guide rail slider, multi-dimensional position and angle adjustment of the high-pressure nozzle is achieved, eliminating spray blind spots.

[0009] The lifting and swinging spraying mechanism includes a lifting drive module, a lifting platform base, a lifting rod protective bracket, a lifting rod, a swing adjustment rod base, a swing motor, and a high-pressure large-area nozzle. The lifting platform base is fixedly installed in the middle of the frame chassis, and the lifting rod protective bracket is fixedly installed on the outside of the lifting platform base to effectively protect the lifting structure and prevent deformation under stress during operation. The lifting drive module and the lifting rod are installed on the top of the lifting platform base. The lifting drive module provides lifting power to the lifting rod, and the spraying height can be flexibly adjusted according to the plant height and canopy width of the vegetables at different growth stages. The top of the lifting rod is fixedly installed with a swing adjustment rod base. The swing adjustment rod base integrates a rotating liquid slip ring and has a 360° automatic rotation function. A swing motor is fixedly installed on the swing adjustment rod base. The output end of the swing motor is connected to a high-pressure large-area nozzle. The swing motor drives the high-pressure large-area nozzle to swing back and forth. With the 360° rotation function of the base, a wide-range, all-round spraying operation without dead angles can be achieved.

[0010] The electrical control mechanism includes a control cabinet, which is fixedly installed at the rear of the frame chassis. The control cabinet integrates a programmable controller and an algorithm control module. The control cabinet is electrically connected to the drive motor, the switching solenoid valve, the high-pressure pump, the nozzle attitude servo motor, the front and rear adjustment linear motor, the lifting drive module, and the swing motor. Through a preset program algorithm, the mechanism is precisely controlled to operate in coordination, so as to achieve precise delivery of liquid medicine, precise adjustment of nozzles, and fully automatic walking and spraying of the equipment.

[0011] The auxiliary supply mechanism includes an automatic water supply interface, a charging plug, and an auxiliary push-pull handle. The automatic water supply interface and the charging plug are both embedded in the side of the frame chassis and are used for automatic water and medicine replenishment and autonomous charging for battery life, respectively. The auxiliary push-pull handle is fixed at the rear of the frame chassis and can realize manual pushing and pulling of the equipment, which is suitable for equipment debugging and short-distance relocation scenarios.

[0012] The working process of this invention is as follows: The present invention discloses a multi-dimensional fully automatic sprayer for use in the confined space of vegetable greenhouses. The whole machine adopts a modular integrated structure, which is compact and small in size, and can be adapted to shuttle operation in the confined space between rows and ridges of vegetable greenhouses.

[0013] During operation, the equipment can be activated in fully automatic mode by pre-setting the operating program in the control cabinet. When the walking mechanism is working, the corresponding flexible wide-body tracks are driven by the independent drive motors I and II on the left and right sides, respectively. Differential speed control enables straight-line movement, turning, and U-turns, adapting to the narrow row spacing of greenhouses for flexible movement. The front support wheels at the front and rear ends, together with the track wheels, support the track structure and use the preset obstacle-crossing angle to smoothly cross greenhouse furrows and ground protrusions, avoiding equipment jamming and slippage, and ensuring continuous walking operation.

[0014] During pesticide spraying, the supply mode can be switched by exchanging solenoid valves according to the operational needs. For single pest and disease control, the supply path of pesticide tank I or pesticide tank II can be opened separately to spray a single pesticide. For integrated management operations, the solenoid valves can be controlled to open both channels to achieve mixed spraying of two pesticides. The high-pressure pump precisely adjusts the supply pressure and supply volume under the algorithm control of the control cabinet.

[0015] During precision spraying operations, the four independent high-pressure nozzles can be adjusted in multiple dimensions. The front and rear positions of the nozzles are adjusted by extending and retracting the linkage driven by the linear motor; the vertical and horizontal spray angles of the nozzles are adjusted by the precise rotation of the nozzle attitude servo motor; and the nozzle adjustment blocks can switch between point-like precision spraying and area-like wide-area spraying modes. At the same time, the sliding cooperation between the guide rail and the slider can further expand the nozzle adjustment range.

[0016] During large-scale three-dimensional spraying operations, the lifting drive module automatically adjusts the height of the lifting rod according to the height of the vegetable plants; the swing adjustment rod base at the top of the lifting rod can rotate 360°, and in conjunction with the swing motor, it drives the high-pressure large-area nozzle to swing back and forth, realizing all-round three-dimensional spraying in the vertical and horizontal directions of the greenhouse.

[0017] During the equipment's operation and replenishment phases, automated water and medication replenishment can be achieved through the side automatic water replenishment interface; autonomous charging can be achieved through the charging plug; and the equipment can be manually moved manually through the auxiliary push-pull handle during equipment debugging and site relocation.

[0018] Compared with existing technology reference documents, the present invention has the following advantages: 1. Strong spatial adaptability and high walking stability: The present invention adopts a flexible wide-body track walking structure, which, together with the front support wheel, forms an obstacle-crossing tilt angle. It can adapt to the narrow row spacing and uneven ridge and furrow terrain of vegetable greenhouses. Through the differential drive of dual motors, it can achieve flexible steering and shuttle walking, solving the problems of traditional equipment being prone to jamming, difficult to turn, and unable to operate in narrow spaces.

[0019] 2. Comprehensive spray adjustment dimensions and no blind spots in operation: This invention integrates multiple sets of independently adjustable high-pressure nozzles and lifting and rotating large-area nozzles, which can realize multi-dimensional fully automatic adjustment of spray height, front and rear position, spray angle and spray mode. With the 360° rotating swing structure, it can adapt to the spraying needs of vegetables throughout the entire growth cycle and completely eliminate spray blind spots.

[0020] 3. Multifunctional pesticide spraying: The dual-tank design with an exchange solenoid valve allows for flexible switching between single and mixed pesticides, meeting various operational needs such as pest and disease control, nutrient supply, disinfection, and humidification in greenhouse vegetables.

[0021] 4. High degree of automation and precision: Relying on the built-in program algorithm of the control cabinet, the liquid supply, nozzle posture, walking speed and lifting and swinging amplitude are precisely controlled to achieve fully automatic unmanned operation, which greatly reduces the intensity of manual labor. At the same time, precise liquid control can reduce the waste of chemicals.

[0022] 5. Convenient power supply: The equipment is equipped with an automatic water and medicine replenishment interface and an autonomous charging structure, enabling long-term continuous operation. It also features a manual push-pull structure to adapt to scenarios such as equipment debugging and emergency relocation. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application 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 this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is an isometric view of the present invention; Figure 2 This is a structural diagram of the chassis frame of the present invention; Figure 3 This is a structural diagram of the walking mechanism of the present invention; Figure 4 This is a structural diagram of a pharmaceutical storage and delivery mechanism; Figure 5 This is a schematic diagram of a multi-dimensional adjustable spray mechanism; Figure 6 This is a schematic diagram of the lifting and swinging spray mechanism of the present invention; Figure 7 This is a schematic diagram of the electronic control mechanism and auxiliary supply mechanism.

[0025] In the diagram: 1-Frame chassis, 2-Flexible wide-body track wheel, 3-Drive motor I, 4-Wide-body flexible track, 5-Front support wheel, 6-Side plate, 7-Medication tank bracket, 8-Medication tank I, 9-Exchange solenoid valve, 10-Pipeline, 11-Medication tank II, 12-Side plate connector, 13-Drive motor II, 14-Automatic water replenishment interface, 15-Charging plug, 16-Slider, 17-Guide rail, 18-Support bearing, 19-Sliding shaft, 20-Sprayer Head attitude servo, 21-high pressure nozzle, 22-front and rear adjustable linear motor, 23-push linkage, 24-high pressure pump, 25-lifting drive module, 26-lifting platform base, 27-lifting rod protection bracket, 28-lifting rod, 29-swing adjustment rod base, 30-swing motor, 31-high pressure large area nozzle, 32-control cabinet, 33-nozzle adjustment block, 34-linear motor base, 35-auxiliary push-pull handle, 36-side plate connecting shaft. Detailed Implementation

[0026] 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.

[0027] In the description of this disclosure, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," "top," and "bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0028] It should also be noted that all standard parts used in this application are commercially available, and can be custom-made according to the description and drawings. Unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure based on the specific circumstances, and unless explicitly limited, machinery, parts, and equipment can all adopt conventional models in the prior art.

[0029] In this document, the term "comprising" is intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0030] Example: Reference Figure 1-7 The invention shown is a multi-dimensional fully automatic sprayer for use in the confined space of a vegetable greenhouse, including a frame chassis 1, a walking mechanism, a pesticide storage and delivery mechanism, a multi-dimensional adjustable spraying mechanism, a lifting and swinging spraying mechanism, an electrical control mechanism, and an auxiliary supply mechanism.

[0031] The walking mechanism includes flexible wide-body track wheels 2, wide-body flexible tracks 4, drive motor I3, drive motor II13, front support wheel 5, side plates 6, side plate connectors 12, and side plate connecting shafts 36. The frame chassis 1 serves as the overall load-bearing foundation. The two sets of side plates 6 are hinged to both sides of the frame chassis 1 via the side plate connecting shafts 36 and locked in place by the side plate connectors 12, forming a stable walking frame. Drive motor I3 and drive motor II13 are respectively installed at the front and rear positions of the two side plates 6, and their output shafts drive the flexible wide-body track wheels 2 to rotate. The wide-body flexible tracks 4 are fitted onto the left and right sets of track wheels. The front support wheel 5 is installed at the front end of the side plate 6, and together with the rear drive wheel, tensions and supports the tracks, so that the front of the tracks forms a certain upward tilt angle, making it easier to cross the furrows and small obstacles inside the greenhouse. The speed and direction of the four drive motors can be independently controlled by the control cabinet 32, enabling the equipment to move straight, turn on the spot, and turn differentially, greatly enhancing its mobility in narrow greenhouse rows.

[0032] The pesticide storage and delivery mechanism includes a pesticide tank support 7, pesticide tank I8, pesticide tank II11, an exchange solenoid valve 9, piping 10, and a high-pressure pump 24. The pesticide tank support 7 is fixed to the side plate 6 and supports the pesticide tanks. Pesticide tank I8 and pesticide tank II11 can respectively hold different types of pesticide solutions, nutrient solutions, or disinfectants. The two pesticide tanks are connected by piping 10, and an exchange solenoid valve 9 is installed on the connecting piping. The high-pressure pump 24 draws pesticide solutions from the pesticide tanks. By controlling the flow state of the exchange solenoid valve 9, it is possible to select supplying solutions only from pesticide tank I8, only from pesticide tank II11, or to mix the solutions from the two tanks in a certain proportion before supplying the solution, thereby achieving flexible switching to meet various plant protection needs.

[0033] The multi-dimensional adjustable spray mechanism includes guide rails 17, sliders 16, support bearings 18, sliding shafts 19, nozzle attitude servo motors 20, high-pressure nozzles 21, front-to-back adjustment linear motors 22, push linkages 23, nozzle adjustment blocks 33, and linear motor bases 34. Eight guide rails 17 are fixed in pairs to the upper surface of the frame chassis 1. Slider 16 can slide on the guide rails 17. Sliding shafts 19 are mounted on sliders 16 via support bearings 18 and can rotate along their own axis. Four spray assemblies (each including a nozzle attitude servo motor 20 and a high-pressure nozzle 21) are respectively mounted on the four sliding shafts 19. The nozzle attitude servo motor 20 can drive the high-pressure nozzle 21 to pitch and yaw in a plane perpendicular to the sliding shafts 19, thereby precisely adjusting the spray angle. The nozzle adjustment block 33 is fixed to the sliding shafts 19. The front-to-back adjusting linear motor 22 is fixed to the frame chassis 1 via a linear motor base 34, and its output end is connected to the nozzle adjusting block 33 via a push rod 23. By controlling the extension and retraction of the front-to-back adjusting linear motor 22, the sliding shaft 19 and the entire spray assembly on it can be pushed or pulled to slide back and forth along the guide rail 17, thereby adjusting the position of the spray assembly in the horizontal front-to-back direction. The four spray assemblies can be adjusted independently, achieving flexible coverage in the horizontal plane between crop rows.

[0034] The lifting and swinging spray mechanism includes a lifting linear motor 14, a swinging motor 15, a swinging arm 25, a flexible spray pipe 26, auxiliary nozzles 27, and a fixed bracket 35. The fixed bracket 35 is vertically fixed to the middle of the frame chassis 1. The lifting linear motor 14 is mounted on the fixed bracket 35, and its output end is connected to the swinging motor 15. The swinging arm 25 is mounted on the output shaft of the swinging motor 15 and can swing horizontally. One end of the flexible spray pipe 26 is connected to the outlet pipe of the high-pressure pump 24, and the other end is arranged along the swinging arm 25, with multiple auxiliary nozzles 27 at its end and side. The vertical height of the swinging arm 25 is controlled by the lifting linear motor 14, and the horizontal swinging angle of the swinging arm 25 is controlled by the swinging motor 15, so that the auxiliary nozzles 27 can cover the sides and top space of the upper and middle layers of the crop canopy, forming a three-dimensional spray network with the multi-dimensional adjustable spray mechanism.

[0035] The electrical control system includes a control cabinet 32 ​​and an environmental sensor group, which may include temperature and humidity sensors, vision sensors, and drivers for each motor. The control cabinet 32 ​​integrates a main controller, a power management module, and a wireless communication module. The environmental sensors are used to collect real-time temperature, humidity, and crop image information within the greenhouse. The main controller, based on a preset program or remote commands, comprehensively processes the sensor data and precisely coordinates the actions of the four drive motors of the walking mechanism, the solenoid valve 9, the high-pressure pump 24, the attitude servos of each nozzle 20, the forward and backward adjusting linear motor 22, the lifting linear motor 14, and the swing motor 15, to achieve fully automated and precise plant protection operations.

[0036] The auxiliary supply mechanism includes a battery pack 28, an automatic charging interface 29, a clean water tank 30, and an automatic water filling valve 31. The battery pack 28 provides power to all electrical equipment of the machine. The automatic charging interface 29 is located on the side of the frame chassis 1 and can be connected to a pre-installed charging pile in the greenhouse for automatic charging. The clean water tank 30 is used to store clean water and is connected to the medicine tank I8 or medicine tank II11 via the automatic water filling valve 31, which can automatically dilute medicines or clean pipelines when needed.

[0037] Working Process: After the equipment starts, the walking mechanism carries the entire machine autonomously between the rows in the greenhouse according to the preset path or remote command from the control cabinet 32. Simultaneously, the pesticide storage and delivery mechanism selects or mixes pesticide solutions via the exchange solenoid valve 9, based on operational needs (such as insecticide, fungicide, or foliar fertilization), and pumps them out by the high-pressure pump 24. The pesticide solution is divided into two paths: one path delivers it to the four high-pressure nozzles 21 of the multi-dimensional adjustable spraying mechanism, which, by adjusting their forward / backward position and pitch / sway angle, precisely sprays the crop roots and the undersides of the lower leaves; the other path delivers it to the auxiliary nozzles 27 of the lifting and swinging spraying mechanism, which, by adjusting the height and swing angle of the swing arm 25, performs a sweeping spray on the upper and middle canopy of the crop. Throughout the process, the electrical control mechanism ensures the coordinated operation of all mechanisms, and the auxiliary supply mechanism ensures a continuous supply of energy and media, thereby achieving efficient, uniform, and fully automated multi-dimensional three-dimensional spraying operations within the confined space of the vegetable greenhouse.

[0038] This invention significantly improves traversability in muddy, uneven furrow terrain and maneuverability in narrow spaces through wide-body flexible tracks and four-wheel independent drive; the dual-tank design, combined with an exchange solenoid valve, meets the needs of complex plant protection tasks; the combination of a multi-dimensional adjustable spraying mechanism and a lifting and swinging spraying mechanism achieves three-dimensional, seamless coverage from crop roots to top, significantly improving spray uniformity and pesticide utilization; the highly integrated electronic control and auxiliary supply mechanism enables truly fully automated and intelligent operation, reducing manpower input and pesticide exposure risks.

[0039] Finally, it should be noted that the above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multi-dimensional full-automatic sprayer for narrow space of vegetable greenhouse, characterized in that: include: The frame chassis (1), walking mechanism, agent storage and conveying mechanism, multi-dimensional adjustable spraying mechanism, lifting and swinging spraying mechanism, electrical control mechanism and auxiliary supply mechanism; The walking mechanism includes flexible wide-body track wheels (2), wide-body flexible tracks (4), drive motor I (3), drive motor II (13), front support wheel (5), side plates (6), side plate connectors (12) and side plate connecting shafts (36). The two sets of side plates (6) are each installed on the left and right sides of the frame chassis (1) through the two sets of side plate connecting shafts (36), and the two side plates (6) are positioned and fixed by the side plate connectors (12). The two sets of drive motors I (3) and two sets of drive motors II (13) are respectively fixedly installed at the front and rear positions of the left and right side plates (6). The output ends of drive motors I (3) and drive motors II (13) are equipped with flexible wide-body track wheels (2), and wide-body flexible tracks (4) are sleeved on the outer side of the flexible wide-body track wheels (2) on the left and right sides. The multi-dimensional adjustable spray mechanism includes a guide rail (17), a slider (16), a support bearing (18), a sliding shaft (19), a nozzle attitude servo motor (20), a high-pressure nozzle (21), a front and rear adjustable linear motor (22), a push linkage (23), a nozzle adjustment block (33), and a linear motor base (34). Multiple sets of the guide rails (17) are fixed on the upper surface of the frame chassis (1). Each set of guide rails (17) is slidably mounted with a slider (16). The top of the slider (16) is fixed with a support bearing (18), and the support bearing (18) is fixed inside. Interleaved sliding shafts (19) are used to assemble multiple independent spray components. Each spray component is equipped with a nozzle attitude servo (20) and a high-pressure nozzle (21). The end of the high-pressure nozzle (21) is equipped with a nozzle adjustment block (33). The linear motor base (34) is fixed on the frame chassis (1). The linear motor base (34) is equipped with a front-to-back adjustable linear motor (22). The output end of the front-to-back adjustable linear motor (22) is connected to a push rod (23). The push rod (23) is fixedly connected to the spray component.

2. The multi-dimensional full-automatic sprayer for narrow space of vegetable greenhouse according to claim 1, characterized in that, The four sets of front support wheels (5) are respectively installed at the front and rear positions of the left and right side plates (6). The front support wheels (5) cooperate with the flexible wide-body track wheels (2) to support the wide-body flexible track (4).

3. The multi-dimensional full-automatic sprayer for narrow space of vegetable greenhouse according to claim 1, characterized in that, The swing adjustment rod base (29) integrates a rotating liquid slip ring.

4. The multi-dimensional fully automatic sprayer for use in the confined space of a vegetable greenhouse according to claim 1, characterized in that, The lifting and swinging spray mechanism includes a lifting platform base (26), a lifting rod protection bracket (27), a lifting drive module (25), a lifting rod (28), a swing adjustment rod base (29), a swing motor (30), and a high-pressure large-area nozzle (31). The lifting platform base (26) is fixedly installed on the frame chassis (1). The lifting rod protection bracket (27) is fixedly installed on the outside of the lifting platform base (26). The lifting drive module (25) and the lifting rod (28) are installed on the top of the lifting platform base (26). The swing adjustment rod base (29) is fixed at the top of the lifting rod (28). The swing adjustment rod base (29) is installed on the swing adjustment rod base (29). The swing motor (30) is installed on the swing adjustment rod base (29). The output end of the swing motor (30) is connected to the high-pressure large-area nozzle (31).

5. A multi-dimensional fully automatic sprayer for use in confined spaces like vegetable greenhouses according to claim 1, characterized in that, The electrical control mechanism includes a control cabinet (32), which is fixedly installed on the frame chassis (1). The control cabinet (32) is electrically connected to the high-pressure pump (24), each drive motor, nozzle attitude servo motor (20), front and rear adjustment linear motor (22), lifting drive module (25), and swing motor (30).

6. The multi-dimensional fully automatic sprayer for use in the confined space of a vegetable greenhouse according to claim 1, characterized in that, The auxiliary supply mechanism includes an automatic water supply interface (14), a charging plug (15), and an auxiliary push-pull handle (35).

7. A multi-dimensional fully automatic sprayer for use in confined spaces like vegetable greenhouses according to claim 6, characterized in that, The automatic water replenishment interface (14) and the charging plug (15) are embedded on the side of the frame chassis (1), and the auxiliary push-pull handle (35) is fixed at the rear of the frame chassis (1).

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