Automatic walking pesticide applying device for tree trunks suffering from forest diseases and insect pests

Abstract

The utility model relates to the technical field of plant treatment, and provides a forest pest and disease damage tree trunk automatic walking pesticide applying device which comprises a cleaning component, a walking component, a pesticide applying component and a limiting component. The cleaning component, the pesticide applying component and the limiting component are arranged on the walking component, the cleaning component is used for cleaning a disease position base layer of a tree trunk, the pesticide applying component is used for applying pesticide to the cleaned disease position, and the limiting component is arranged in a gap between the walking component and a tree trunk clamping position and makes contact with the outer surface of the tree trunk; wherein the cleaning component linearly adjusts the contact depth with the disease position base layer and cleans the disease position base layer. The utility model provides a novel automatic walking pesticide applying device structure for tree trunks with forest diseases and insect pests, and the automatic walking pesticide applying device structure has the advantages of being suitable for being used in scenes with various tree species and complex environmental conditions and high in practicability.

Description

Technical Field

[0001] This utility model relates to the field of plant treatment technology, and in particular to an automatic walking spraying device for forest pests and diseases on tree trunks. Background Technology

[0002] In the forestry production sector, it is often necessary to control tree diseases and pests, especially during the breeding season. In order to prevent pests from damaging trees and causing economic losses, it is necessary to control tree diseases and pests on the trunk.

[0003] For example, Chinese patent CN111386895B discloses a precision trunk spraying device and method, in which a tree-climbing mechanism provides power to drive the spraying device to spiral upwards around the trunk. This invention's device has multiple delivery methods; depending on the location and severity of pests and diseases, it can either inject pesticide directly into holes drilled in the trunk using a drill or other mechanism, or it can inject pesticide by locally sealing the trunk surface. However, neglecting the treatment of the trunk surface makes it difficult to eradicate pests and diseases.

[0004] In addition, the existing technology also has the following drawbacks:

[0005] 1. Traditional pest and disease control methods mainly rely on manual spraying of pesticides or simple mechanical equipment. Due to the complex forest environment and the large number of trees, manual methods are time-consuming, labor-intensive, and result in uneven coverage. Especially when working on tall trees, manual operation is high-risk and it is difficult to accurately reach the infested areas.

[0006] 2. Forest trees are diverse in species, with varying trunk diameters and surface morphologies, and existing mechanical equipment lacks the ability to adapt to different types of trees.

[0007] 3. Traditional spraying methods cover large areas, resulting in poor targeting of pests and diseases and serious waste of pesticides.

[0008] 4. The method of applying pesticides through holes delivers the pesticides inside the tree trunk, which is suitable for controlling internal pests and diseases. However, it has no direct effect on surface pests and diseases and may cause mechanical damage to healthy trees.

[0009] This utility model was developed to address the common problems in the field, such as high labor intensity of manual pesticide application, poor ability to control pests and diseases on tall plants, lack of treatment measures for surface lesions, and poor application precision. Utility Model Content

[0010] The main purpose of this utility model is to propose an automatic walking spraying device for forest pests and diseases, which aims to solve the technical problems of high labor intensity of manual spraying, poor ability to control pests and diseases at high altitudes of tall plants, lack of treatment measures for surface lesions, and poor spraying accuracy.

[0011] To achieve the above objectives, this utility model proposes an automatic walking spraying device for forest pests and diseases, comprising a cleaning component, a walking component, a spraying component, and a limiting component. The walking component wraps around the tree trunk and slides along the extension direction of the tree trunk. The cleaning component, the spraying component, and the limiting component are respectively disposed on the walking component. The cleaning component cleans the diseased base layer of the tree trunk, the spraying component applies pesticide to the cleaned diseased area, and the limiting component is disposed in the gap between the walking component and the tree trunk clamping position and contacts the outer surface of the tree trunk.

[0012] The cleaning component is linearly adjusted to maintain contact depth with the base layer at the location of the disease, and then cleans the base layer at the location of the disease.

[0013] Furthermore, the walking component includes a frame, a clamping detection element, a clamping rod, a clamping drive mechanism, a drive seat, a drive track, a walking drive mechanism, and at least two clamping plates. One end face of the at least two clamping plates is hinged to the two side edges of the frame to form a hinge portion. One end of the clamping rod is hinged to the edge of the clamping plate, and the other end of the clamping rod is driven to the clamping drive mechanism to form a clamping portion. The clamping portion is disposed on the frame. The drive track is hinged to one side wall of the drive seat and contacts the outer wall of the tree trunk. The walking drive mechanism is driven to the drive track. The clamping detection element is disposed on the contact end face of the at least two clamping plates and the tree trunk.

[0014] Furthermore, the cleaning component includes a cleaning brush, a cleaning drive mechanism, a telescopic rod, a support base, a telescopic drive mechanism, a steering gear, and a telescopic detection element. The support base has a cleaning cavity on its body. One end of the cleaning brush is provided with cleaning bristles, and the other end of the cleaning brush is hinged to the bottom wall of the cleaning cavity to form a cleaning part. The steering gear is nested on the rod of the cleaning brush. The cleaning drive mechanism is disposed in the cleaning cavity and meshes with the steering gear. One end of the telescopic rod is connected to the telescopic drive mechanism to form a telescopic part, and the other end of the telescopic rod is connected to the support base. The telescopic detection element detects the telescopic length of the telescopic rod.

[0015] Furthermore, the application component includes an application nozzle, an application pipe, an application pump, and a storage tank. The storage tank stores the agent. One end of the application pipe is connected to the application pump to form an application section. The application section is disposed in the storage tank and connected to the interior of the storage tank. The other end of the application pipe is connected to the application nozzle. The application nozzle is disposed on one side of the cleaning brush and faces the cleaning base surface of the cleaning brush.

[0016] Furthermore, the drug application component also includes a flow sensor and an electronic on / off valve, which are installed on the drug application pipeline.

[0017] Furthermore, the limiting component includes a limiting plate, a limiting airbag, an electronic deflation valve, an inflation pump, and an inflation pipe. The limiting plate has a limiting cavity. One end of the inflation pipe is connected to the inflation pump to form an inflation section. The other end of the inflation pipe is connected to the limiting airbag and communicates internally with it. The electronic deflation valve is disposed on the limiting airbag and communicates internally with it. The inflation section is disposed in the limiting cavity.

[0018] Furthermore, at least two of the clamping plates have an arc-shaped cross-section.

[0019] Furthermore, the storage tank is mounted on the rack.

[0020] Furthermore, the appropriate cleaning brush bristles are selected according to the type of tree.

[0021] Furthermore, the limiting airbag is made of wear-resistant rubber.

[0022] The beneficial effects of this utility model are as follows:

[0023] 1. By coordinating the stable movement of the walking components with the cleaning components to clean the lesions on the surface of the tree trunk, the cleaning operation can cover different areas of the tree trunk, adapt to various tree trunk shapes, and ensure that the entire device has the advantages of high adaptability and cleaning efficiency.

[0024] 2. The cleaning component cleans the surface of the tree trunk, which works in conjunction with the precise spraying of the pesticide application component. This allows the cleaned diseased areas to directly contact the pesticide, improving the penetration and effectiveness of the pesticide. The entire device integrates cleaning and pesticide application, thereby enhancing the accuracy and thoroughness of pest and disease control.

[0025] 3. By using the movement and positioning of the walking components in conjunction with the fixed-point spraying of the application components, the application of the medicine can be accurately applied to the cleaned lesion area, avoiding waste of medicine or spray deviation, and ensuring that the entire device has the advantages of high-precision application and medicine saving.

[0026] 4. By limiting the path of the walking component through the limiting component, and cooperating with the automatic movement of the walking component, the device can move stably along the surface of the tree trunk without deviating from the lesion area, thus ensuring that the entire device has the advantages of operational stability and path accuracy.

[0027] 5. By limiting the working range of the cleaning component through the limiting component, and cooperating with the mechanical cleaning operation of the cleaning component, the cleaning depth is moderate, which will not damage the healthy epidermis, and ensure that the whole device has the advantages of protecting the healthy tissue of the tree trunk and cleaning effectiveness.

[0028] 6. Through the coordinated operation of the cleaning components, walking components, pesticide application components, and limiting components, the device ensures high efficiency, precision, and stability in the prevention and control of tree trunk diseases and pests, significantly improving the control effect while reducing damage to healthy tree tissues and pesticide waste, and adapting to various tree species and complex environmental conditions. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of this utility model 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 utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0030] Figure 1 This is a bottom view of the present invention;

[0031] Figure 2 This is a top view of the present invention;

[0032] Figure 3 for Figure 2 Enlarged diagram of section A in the middle;

[0033] Figure 4 This is a schematic diagram of the cleaning brush, support base, and cleaning drive mechanism of this utility model;

[0034] Figure 5 This is a cross-sectional view of the present invention taken along the vertical direction of the frame;

[0035] Figure 6 for Figure 5 Enlarged diagram of section B;

[0036] Explanation of reference numerals in the attached drawings: 1. Frame; 2. Storage tank; 3. Clamping rod; 4. Clamping plate; 5. Limiting plate; 6. Cleaning brush; 7. Support base; 8. Telescopic rod; 9. Drive track; 10. Drive seat; 11. Adjusting rod; 12. Lateral drive belt; 13. Connecting rod; 14. Limiting airbag; 15. Limiting cavity; 16. Application pipe; 17. Application nozzle; 18. Cleaning drive mechanism; 19. Stand; 20. Tree; 21. Gap; 22. Cleaning brush bristles; 23. Cleaning cavity; 24. Lateral transmission wheel; 25. Steering gear; 26. Lateral drive mechanism; 27. Lateral rotation cavity; 28. Application section.

[0037] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0038] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0039] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0040] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0041] The following combination Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 The present invention will be further illustrated by the diagram and related embodiments. This embodiment provides an automatic walking spraying device for forest pests and diseases, comprising a cleaning component, a walking component, a spraying component, and a limiting component. The walking component encircles the tree trunk and slides along the extension direction of the trunk. The cleaning component, spraying component, and limiting component are respectively disposed on the walking component. The cleaning component cleans the diseased area of ​​the tree trunk, the spraying component applies pesticide to the cleaned diseased area, and the limiting component is disposed in the gap 21 between the walking component and the tree trunk clamping position and contacts the outer surface of the tree trunk.

[0042] The cleaning component is linearly adjusted to maintain contact depth with the base layer at the location of the disease, and then cleans the base layer at the location of the disease.

[0043] The automatic walking spraying device for forest pests and diseases also includes a central processing unit. The central processing unit is connected to the cleaning component, walking component, spraying component and limiting component for control, and performs centralized control based on the cleaning component, walking component, spraying component and limiting component to improve the efficiency and accuracy of the entire device in cleaning pests and diseases.

[0044] Furthermore, the walking component includes a frame 1, a clamping detection element, a clamping rod 3, a clamping drive mechanism, a drive seat 10, a drive track 9, a walking drive mechanism, and at least two clamping plates 4. One end face of the at least two clamping plates 4 is hinged to the two side edges of the frame 1 to form a hinge portion. One end of the clamping rod 3 is hinged to the edge of the clamping plate 4, and the other end of the clamping rod 3 is driven to the clamping drive mechanism to form a clamping portion. The clamping portion is disposed on the frame 1. The drive track 9 is hinged to one side wall of the drive seat 10 and contacts the outer wall of the tree trunk. The walking drive mechanism is driven to the drive track 9 and drives the drive track 9 to rotate to realize the walking operation. The clamping detection element is respectively disposed on the contact end face of the at least two clamping plates 4 and the tree trunk.

[0045] Furthermore, at least two of the clamping plates 4 have arc-shaped cross-sections.

[0046] The clamping detection element includes, but is not limited to, the following: piezoresistive pressure sensor, capacitive pressure sensor, strain gauge pressure sensor.

[0047] When the clamping detection component detects the pressure value of the clamping plate 4, it compares it with the set monitoring threshold. If the qualified threshold is met, the central processing unit controls the clamping drive mechanism to stop the clamping rod 3 from extending. Otherwise, it continues to extend until the qualified threshold is met.

[0048] The walking component also includes an adjusting rod 11, an adjusting drive mechanism, and at least two connecting rods 13. One end of the at least two connecting rods 13 is hinged to the drive seat 10, and the other end of the at least two connecting rods 13 is hinged to the main body of the frame 1. One end of the adjusting rod 11 is driven to connect with the adjusting drive mechanism to form an adjusting part. The adjusting part is disposed on the contact end surface of the frame 1 facing the tree 20. The other end of the adjusting rod 11 is hinged to the main body of the adjusting seat.

[0049] The walking component also includes an automatic operation control button, which is located on the upper surface of the frame 1 for the operator to operate.

[0050] In this embodiment, the entire device is placed against the tree trunk, and the automatic operation control button is triggered so that the walking component moves automatically on the tree trunk.

[0051] The walking component also includes a stand 19, a lateral drive mechanism 26, a lateral transmission wheel 24, and a lateral drive belt 12. The stand 19 is located on the side of the frame 1 facing the contact end of the tree 20. The stand 19 is provided with a lateral rotation cavity 27. The lateral drive track 9 is symmetrically arranged on the inner walls of both sides of the lateral rotation cavity 27 and is hinged to the inner walls of both sides of the lateral rotation cavity 27 to form a turning part. The lateral drive mechanism 26 is driven and connected to the lateral rotation wheel. The lateral rotation belt is nested on the lateral drive track 9.

[0052] The inner wall of the lateral steering belt is provided with a toothed belt, and the outer periphery of the lateral drive track 9 is provided with teeth, and the toothed belt and the teeth mesh with each other.

[0053] The adjustment unit linearly adjusts the distance between the drive seat 10 and the frame 1, so that the frame 1 moves in the direction specified by the adjustment unit.

[0054] The drive seat 10 is in contact with the surface of the tree 20, and the frame 1 is moving along the extension direction of the tree 20 so that the tree 20 can be cleaned and sprayed at different heights.

[0055] When the stand 19 is in contact with the surface of the tree 20, the frame 1 is positioned to surround the outer periphery of the tree 20 so that the outer periphery of the tree 20 can be cleaned and treated.

[0056] The specific automatic operation process includes: moving along the length extension direction of tree 20 and circling around the outer perimeter of tree 20;

[0057] When moving along the length of the tree 20: the clamping drive mechanism drives the clamping rod 3 to extend and retract, so that at least two clamping plates 4 hug the tree trunk from opposite sides of the frame 1. At this time, the adjustment drive mechanism drives the adjusting rod 11 to extend and retract, so that the position of the drive seat 10 changes, and the drive track 9 contacts the outer surface of the tree 20 (at this time, the contact surface between the transverse drive belt 12 and the outer surface of the tree 20 is lower than the contact surface between the drive track 9 and the outer surface of the tree 20). During the hugging process, a gap or opening 21 is provided to ensure that the walking drive mechanism drives the drive track 9 to contact the tree trunk, so that the entire frame 1 can move along the extension direction of the tree trunk. When the frame 1 needs to be fixed at a certain position and height, the limiting member limits the gap 21 between the frame 1 and the tree trunk, so that the frame 1 can be maintained at the required height position.

[0058] When the frame 1 is rotating around the tree 20 at the same height (to treat pests and diseases on the same surface), the adjustment drive mechanism drives the adjustment rod 11 to retract, so that the drive track 9 is lower than the transverse drive belt 12. Under the drive of the transverse drive mechanism 26, the pests and diseases can be treated and cleaned at different angles on the same surface.

[0059] Furthermore, the cleaning component includes a cleaning brush 6, a cleaning drive mechanism 18, a telescopic rod 8, a support base 7, a telescopic drive mechanism, a steering gear 25, and a telescopic detection component. The support base 7 has a cleaning cavity 23 on its body. One end of the cleaning brush 6 is provided with cleaning brush bristles, and the other end of the cleaning brush 6 is hinged to the bottom wall of the cleaning cavity 23 to form a cleaning part. The steering gear 25 is nested on the rod of the cleaning brush 6. The cleaning drive mechanism 18 is disposed in the cleaning cavity 23 and meshes with the steering gear 25 to drive the cleaning brush 6 to rotate along the axis of the cleaning part. One end of the telescopic rod 8 is connected to the telescopic drive mechanism to form a telescopic part, and the other end of the telescopic rod 8 is connected to the support base 7. The telescopic detection component detects the telescopic length of the telescopic rod 8.

[0060] When the frame 1 needs to clean the location of pests and diseases (the frame 1 has been moved to a position where the cleaning component is facing the pests and diseases), the telescopic drive mechanism drives the telescopic rod 8 to extend and retract, so that after the support base 7 changes its original position, the cleaning brush 6 and the cleaning drive mechanism 18 are brought close to the location of the pests and diseases. Then, the cleaning drive mechanism 18 is triggered to drive the cleaning brush 6, so that the cleaning brush 6 rotates along the axis of the cleaning part. The bristles of the cleaning brush 6 clean the location of the pests and diseases to expose the location of the pests and diseases.

[0061] After cleaning is completed, the telescopic drive mechanism drives the telescopic rod 8 to retract, so that the cleaning brush 6 detaches from the surface of the tree 20.

[0062] Furthermore, a suitable cleaning brush with 6 bristles is selected according to the type of tree 20.

[0063] Different tree species have different degrees of bark toughness, so choosing a suitable 6-bristle cleaning brush can improve the surface cleaning efficiency.

[0064] The stable movement of the walking components, in conjunction with the cleaning components' work to clean the surface lesions of the tree trunk, allows the cleaning operation to cover different areas of the tree trunk, adapting to various tree trunk shapes and ensuring that the entire device has the advantages of high adaptability and cleaning efficiency.

[0065] Furthermore, the application component includes an application nozzle 17, an application pipe 16, an application pump, and a storage tank 2. The storage tank 2 stores the agent. One end of the application pipe 16 is connected to the application pump to form an application section 28. The application section 28 is disposed in the storage tank 2 and connected to the interior of the storage tank 2. The other end of the application pipe 16 is connected to the application nozzle 17. The application nozzle 17 is disposed on one side of the cleaning brush 6 and faces the cleaning base surface of the cleaning brush 6.

[0066] Furthermore, the storage tank 2 is mounted on the frame 1.

[0067] Furthermore, the drug application component also includes a flow sensor and an electronic on / off valve, which are installed on the drug application pipeline 16.

[0068] By controlling the on / off state of the electronic on / off valve and the flow rate of the drug delivery via the flow sensor, the liquid drug in the drug delivery pipeline 16 can be precisely controlled.

[0069] Meanwhile, the type of agent needs to be selected in conjunction with the specific type of pest or disease. This is a technical method well known to those skilled in the art, and therefore will not be elaborated upon in this embodiment.

[0070] The cleaning component cleans the surface of the tree trunk, which works in conjunction with the precise spraying of the pesticide application component. This allows the cleaned diseased areas to directly contact the pesticide, improving the penetration and effectiveness of the pesticide. The entire device integrates cleaning and pesticide application, thereby enhancing the accuracy and thoroughness of pest and disease control.

[0071] By using the movement and positioning of the walking components in conjunction with the fixed-point spraying of the application components, the application of medicine can be accurately applied to the cleaned lesion area, avoiding waste of medicine or spray deviation, and ensuring that the entire device has the advantages of high-precision application and medicine saving.

[0072] Furthermore, the limiting component includes a limiting plate 5, a limiting airbag 14, an electronic deflation valve, an inflation pump, and an inflation pipe. The limiting plate 5 is provided with a limiting cavity 15. One end of the inflation pipe is connected to the inflation pump to form an inflation section. The other end of the inflation pipe is connected to the limiting airbag 14 and communicates internally with it. The electronic deflation valve is provided on the limiting airbag 14 and communicates internally with it. The inflation section is provided in the limiting cavity 15.

[0073] Furthermore, the limiting airbag 14 is made of wear-resistant rubber. Additionally, the end face of the limiting airbag 14 that contacts the surface of the tree 20 is provided with anti-slip protrusions.

[0074] The limiting plate 5 is disposed on the contact end surface between the clamping plate 4 and the tree 20, and in a fixed and stable state, it limits the gap 21 between the clamping plate 4 and the tree 20, and stabilizes the stability between the frame 1 and the main body.

[0075] When it is necessary to limit the gap 21, the air pump inflates the limiting airbag 14 so that the limiting airbag 14 expands to limit the gap 21 between the frame 1 and the tree 20.

[0076] In this embodiment, the inflation volume of the limiting airbag 14 is set to a fixed inflation volume, and the clamping force of the clamping plate 4 on the tree 20 (detected by a pressure sensor) and the extension length of the clamping rod 3 are also fixed lengths.

[0077] By limiting the path of the walking component through the limiting component, and cooperating with the automatic movement of the walking component, the device can move stably along the surface of the tree trunk without deviating from the lesion area, thus ensuring that the entire device has the advantages of operational stability and path accuracy.

[0078] By limiting the working range of the cleaning component through the limiting component, and cooperating with the mechanical cleaning operation of the cleaning component, the cleaning depth is moderate, which will not damage the healthy epidermis, and ensure that the whole device has the advantages of protecting the healthy tissue of the tree trunk and cleaning effectiveness.

[0079] By coordinating the cleaning, walking, application, and limiting components, the device ensures high efficiency, precision, and stability in the prevention and control of tree diseases and pests, significantly improving the control effect while reducing damage to healthy tree tissues and waste of pesticides. It is adaptable to various tree species and complex environmental conditions and has broad application value.

[0080] In this embodiment, a camera can be installed on the frame 1 to collect external image data of the tree trunk, and the administrator can make a manual judgment and prepare appropriate medicines to apply to the lesions. This is a technical means well known to those skilled in the art, and therefore will not be described in detail in this embodiment.

[0081] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. An automatic walking spraying device for forest pests and diseases, characterized in that, The device includes a cleaning component, a walking component, a pesticide application component, and a limiting component. The walking component wraps around the trunk and slides along the extension direction of the trunk. The cleaning component, pesticide application component, and limiting component are respectively disposed on the walking component. The cleaning component cleans the diseased base layer of the trunk. The pesticide application component applies pesticide to the cleaned diseased area. The limiting component is disposed in the gap between the walking component and the trunk clamping position and contacts the outer surface of the trunk. The cleaning component is linearly adjusted to maintain contact depth with the base layer at the location of the disease, and then cleans the base layer at the location of the disease.

2. The automatic walking spraying device for forest pests and diseases on tree trunks according to claim 1, characterized in that, The walking component includes a frame, clamping detection elements, clamping rods, a clamping drive mechanism, a drive seat, a drive track, a walking drive mechanism, and at least two clamping plates. One end face of each of the at least two clamping plates is hinged to the two side edges of the frame to form a hinge portion. One end of the clamping rod is hinged to the edge of the clamping plate, and the other end of the clamping rod is driven to the clamping drive mechanism to form a clamping portion. The clamping portion is disposed on the frame. The drive track is hinged to one side wall of the drive seat and contacts the outer wall of the tree trunk. The walking drive mechanism is driven to the drive track. The clamping detection elements are respectively disposed on the contact end faces of the at least two clamping plates and the tree trunk.

3. The automatic walking spraying device for forest pests and diseases on tree trunks according to claim 2, characterized in that, The cleaning component includes a cleaning brush, a cleaning drive mechanism, a telescopic rod, a support base, a telescopic drive mechanism, a steering gear, and a telescopic detection element. The support base has a cleaning cavity on its body. One end of the cleaning brush is provided with cleaning bristles, and the other end of the cleaning brush is hinged to the bottom wall of the cleaning cavity to form a cleaning part. The steering gear is nested on the rod of the cleaning brush. The cleaning drive mechanism is disposed in the cleaning cavity and meshes with the steering gear. One end of the telescopic rod is connected to the telescopic drive mechanism to form a telescopic part, and the other end of the telescopic rod is connected to the support base. The telescopic detection element detects the telescopic length of the telescopic rod.

4. The automatic walking spraying device for forest pests and diseases on tree trunks according to claim 3, characterized in that, The application component includes an application nozzle, an application pipe, an application pump, and a storage tank. The storage tank stores the agent. One end of the application pipe is connected to the application pump to form an application section. The application section is disposed in the storage tank and connected to the interior of the storage tank. The other end of the application pipe is connected to the application nozzle. The application nozzle is disposed on one side of the cleaning brush and faces the cleaning base surface of the cleaning brush.

5. The automatic walking spraying device for forest pests and diseases on tree trunks according to claim 4, characterized in that, The drug delivery component also includes a flow sensor and an electronic on / off valve, which are installed on the drug delivery pipeline.

6. The automatic walking spraying device for forest pests and diseases on tree trunks according to claim 5, characterized in that, The limiting component includes a limiting plate, a limiting airbag, an electronic deflation valve, an inflation pump, and an inflation pipe. The limiting plate has a limiting cavity. One end of the inflation pipe is connected to the inflation pump to form an inflation section. The other end of the inflation pipe is connected to the limiting airbag and communicates internally with it. The electronic deflation valve is located on the limiting airbag and communicates internally with it. The inflation section is located in the limiting cavity.

7. The automatic walking spraying device for forest pests and diseases on tree trunks according to claim 5 or 6, characterized in that, At least two of the clamping plates have an arc-shaped cross-section.

8. The automatic walking spraying device for forest pests and diseases on tree trunks according to claim 6, characterized in that, The storage tank is mounted on the rack.

9. The automatic walking spraying device for forest pests and diseases on tree trunks according to claim 8, characterized in that, Select the appropriate cleaning brush bristles according to the type of tree.

10. The automatic walking spraying device for forest pests and diseases on tree trunks according to claim 9, characterized in that, The limiting airbag is made of wear-resistant rubber.

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