CN113575548A - Spray lance conversion equipment of automatic profile modeling spraying frame of forest - Google Patents

Abstract

The invention relates to a spray rod conversion device for a forest profiling spraying machine, which comprises two profiling mechanisms, a left rotary executing part, a left rotary arm, two extending frames, two telescopic executing parts, an upper frame, a lower frame, two vertical lifting executing parts, a lifting executing part, an upper lifting bracket, a lower lifting bracket, a rear upright post, a base, two double-shaft steering engines, a right rotary arm and a right rotary executing part, wherein the two profiling mechanisms are arranged on the upper frame and the lower frame; the whole device has the characteristics of light weight, easiness in manufacturing and maintaining and the like. The invention can simultaneously carry out operation on two rows of crops on two sides of the carrier or simultaneously realize 360-degree circumferential three-dimensional operation on two crops, thereby avoiding the phenomenon of spray leakage. The invention has multiple purposes, has wide application range, can realize profiling spraying operation according to target plants, and can meet the operation requirements of controlling diseases and insect pests of plants on different occasions such as field crops, hedgerow frame crops, fruit trees, forest trees and the like.

Description

Spray lance conversion equipment of automatic profile modeling spraying frame of forest

Technical Field

The invention relates to plant protection machinery, in particular to a spray rod conversion device of an automatic profiling spraying rack for forest trees.

Background

In recent years, the forest industry in China is rapidly developed, and the planting area and the production capacity of various forests such as fruit trees, street trees, landscape trees and the like are increased year by year. In order to solve the problem of forest diseases and insect pests, the sampling accurate spraying pesticide application technology applies pesticide to trees, so that the diseases and insect pests can be prevented and controlled, and pesticide residue and environmental pollution can be reduced.

At present, the spraying machine has three main spraying modes, namely a linear spray rod type spraying machine is mainly used for preventing and treating plant diseases and insect pests of field crops such as rice, wheat and corn, an inverted U-shaped spraying machine is mainly used for spraying pesticide on fence-frame type plants, and a profiling spraying machine is mainly used for profiling spraying of forest trees. The profiling spraying machine adjusts a spray head group on a spray rod of the spraying machine according to the outline of the tree canopy to match the outline shape of the tree canopy, and carries out spraying operation so as to improve the distribution uniformity of fog drops on the tree canopy and the pesticide application efficiency. However, the current domestic plant protection machine has single function and low efficiency, or the spray rod conversion device needs manual operation when the structure is converted and has a plurality of defects when copying crops.

Chinese patent application No. 201010132553.4, the patent document of 2010, 9.1.s discloses a method for changing a spraying rod of a spraying machine, through adjusting the position change of side spraying rods arranged at two sides of a fixed spraying rod, and adjusting the length or the installation position of an adjusting supporting rod connected between the side spraying rods and a vertical spraying rod, wherein the spraying rod is formed by connecting and communicating a horizontal spraying pipe with a spraying head and a vertical spraying pipe with a spraying head through flexible pipes, the horizontal spraying pipe and the vertical spraying pipe are respectively connected at the inner sides of the fixed spraying rod and the vertical spraying rod, and the spraying pipe forms a follow-up changing tunnel type spraying pipe through the position change of the fixed spraying rod, the side spraying rods and the vertical spraying rod, so as to adapt to the row spacing change of fruit trees and hedge frame crops and the spraying requirements of the fruit trees with different shapes and hedge frame crops. The invention has the characteristics of convenient adjustment of the position of the spray pipe, improvement of pesticide application efficiency and strong applicability. However, the technology disclosed by the patent needs manual adjustment, so that the operation difficulty is high, the efficiency is low, the adjustment precision is poor, and the whole mechanism is heavy, large and poor in flexibility.

Chinese patent application No. 201010132576.5, which discloses a spray rod type spraying machine in 2010, 9.1.2010, includes a suspension assembly, more than two spray rod air curtain assemblies, a liquid medicine delivery assembly and an air supply assembly, wherein the suspension frame of the suspension assembly is provided with two fixed frames, two telescopic rods with opposite screw thread directions are arranged on the two fixed frames, an adjusting rod is screwed on each telescopic rod, a fixed spray rod of the spray rod air curtain assembly is connected with two movable spray rods through a spray rod changing mechanism, the fixed frame is connected with the telescopic rods through connecting rods, a flexible spray pipe and a flexible air curtain pipe are connected with the fixed spray rod and the movable spray rod, the flexible air curtain pipe is positioned at the outer side of the flexible spray pipe, the flexible air curtain pipe is provided with more than one row of air outlet holes along the arrangement direction of the spray heads, the liquid medicine delivery assembly and the air supply assembly are respectively connected and communicated with the respective flexible spray pipe and the flexible air curtain pipe to form various spray areas and line spacing changes, the targeted spraying of the pesticide is realized, the drifting of fog drops is reduced, and the disease and insect pest control operation of field plants, fruit trees, nursery stocks and hedge frame type plants can be simultaneously met. Adopt polygon T shape round pin to realize the regulation of contained angle between activity spray lance and the fixed spray lance in the technique that this patent application discloses, it is poor to adjust the precision, and manual operation efficiency is very low.

Chinese patent application No. 201310644825.2 discloses a patent document of 2014 4/16, disclosing a fruit tree spraying device, comprising four small mechanical arms, a stepping motor connected with the small mechanical arms, a spray head on the mechanical arms and a main rotating motor, wherein the two symmetrical mechanical arms are driven by the main rotating disk motor to rotate around a central shaft, the device is firstly hung on a trolley and other travelling mechanisms during spraying operation, and then the spraying operation on a whole row or a single fruit tree can be realized by adjusting the position of the mechanical arms. When applying medicine to a single fruit tree, the main motor rotates. The central rotary table is fixed in the rotary shaft supporting frame through a thrust bearing arranged on the central rotary table and is driven by a main motor of the rotary table. Two symmetrical mechanical arm parts are connected with the turntable in a moving pair mode so as to realize the width-direction adjustment of the whole mechanical arm. In the technology disclosed by the patent, the relative rotation angle between the four mechanical arms is small, the lifting cannot be realized, and the function is single.

The techniques disclosed in the above patents all have the problems of heavy and bulky copying mechanism, low automation degree, poor copying precision, high operation difficulty, low efficiency and the like. Therefore, further improvements to existing sprayers are necessary to improve the overall performance of the contour sprayer.

Disclosure of Invention

In order to solve the problems, the invention provides a spray rod conversion device of an automatic profiling spraying rack for forest trees, which can realize 360-degree circular three-dimensional operation even if the transverse distance is changed, reduce the occurrence of under-spraying phenomenon, avoid uneven spraying operation and be convenient to operate.

A spray rod conversion device of an automatic profiling spraying rack for forest trees comprises two profiling mechanisms, a left rotary executing part, a left rotary arm, two extending brackets, two telescopic executing parts, an upper frame, a lower frame, two vertical lifting executing parts, a lifting executing part, an upper lifting bracket, a lower lifting bracket, a rear upright post, a base, two double-shaft steering engines, a right rotary arm and a right rotary executing part;

the profiling mechanism adopts a multi-rod type design and comprises an upper side rod, a middle side rod and a lower side rod which are sequentially arranged from top to bottom, wherein the upper end part of the middle side rod is hinged and fixed with the upper side rod and is hinged with the first folding executing part through a first connecting piece and a second connecting piece in sequence; the lower end part of the middle side rod is hinged and fixed with the lower side rod and is hinged with the folding executing piece II through a connecting piece III and a connecting piece IV; the middle side rod is connected to the right rotating arm through a right rotating executing piece in the middle position and is directly hinged with the right rotating arm;

the two sides of the upper frame are symmetrically provided with extending brackets; each extending support is hinged and fixed with a telescopic executing piece on the upper frame respectively; wherein the extending bracket on one side is hinged with one end of the left rotating arm; the extending bracket on the other side is hinged with one end of the right rotating arm;

the two extending supports are respectively hinged with one end of the left rotating arm and one end of the right rotating arm, the tail end of each extending support is provided with a semicircular sliding groove, and the left rotating arm and the right rotating arm are respectively fixed on the corresponding extending supports and are in sliding fit connection with the corresponding semicircular sliding grooves through a T-shaped pin;

the bottom of the upper frame is provided with two vertical lifting executing pieces; wherein the lower frame is positioned below the upper frame and is hinged with the two vertical lifting executing pieces; the upper part of the lower frame is respectively hinged with the front ends of the lifting support and the lower lifting support, the upper part of the upright post is hinged with the rear ends of the upper lifting support and the lower lifting support, and the front end and the rear end of the lifting execution piece are respectively hinged with the middle parts of the lower frame and the lifting support.

The invention further improves that: the upper frame and the lower frame are rectangular frames, the front ends of the two profiling mechanisms with small strokes are lifted through the two vertical lifting executing parts, the upper part of the rear upright post, the lifting support, the lower lifting support and the lower frame form a parallelogram mechanism, and the rear ends of the two profiling mechanisms with large strokes are lifted through the lifting executing parts.

The invention further improves that: the upper frame and each extending support realize the change of the transverse distance between the profiling mechanisms through a telescopic push rod, and the change range is 2m-3.2 m.

The invention further improves that: the two extending supports are respectively hinged with the upper end and the lower end of the left rotating arm and the right rotating arm, the middle parts of the left rotating arm and the right rotating arm are respectively connected with a double-shaft steering engine, and the double-shaft steering engine is positioned on an upright post of the extending support; the double-shaft steering engine drives the left rotating arm and the right rotating arm to rotate 180 degrees respectively, so that the two profiling mechanisms rotate 360 degrees.

The invention further improves that: the middle side rod of the profiling mechanism is hinged with the upper side rod and is hinged with the first folding executing part through a first connecting piece and a second connecting piece, the first folding executing part stretches out and draws back to realize angle transformation between the upper side rod and the middle side rod, the middle side rod is hinged with the lower side rod and is hinged with the second folding executing part through a third connecting piece and a fourth connecting piece, and the second folding executing part stretches out and draws back to realize angle transformation between the lower side rod and the middle side rod.

The invention further improves that: the folding executive component, the second folding executive component, the left rotary executive component, the two telescopic executive components, the two vertical lifting executive components, the lifting executive component and the right rotary executive component can be hydraulic cylinders, air springs or electric push rods.

The invention further improves that: the end parts of the upper side rod and the lower side rod are provided with clamping grooves; the first driving motor is fixed on the connecting frame, the shaft penetrates through the clamping groove and fixes a gear on the shaft, and the gear is located in the clamping groove; wherein the lower extension rod is fixed in the connecting frame in a sliding way; the second speed reducing motor is fixed on the clamping groove and the connecting frame; one side of the lower side extension rod is provided with a tooth-shaped groove; the gear is meshed with the toothed groove. The first driving motor and the first driving motor are both worm and gear stepping speed reducing motors.

The invention further improves that: the upper gear of a driving shaft of the driving motor drives the lower extension rod to move through the meshing tooth-shaped groove, so that the extension length of the lower extension rod is controlled; the second driving motor drives the connecting frame to drive the lower side extension rod connected with the connecting frame, so that the included angle between the lower side extension rod and the lower side rod is controlled to change, and the angle range is 0-90 degrees.

The invention further improves that: the surfaces of the upper side rod, the lower side rod and the extension rod are provided with electromagnetic valve spray heads; wherein each electromagnetic valve nozzle is electrically connected with the PWM controller and can control the spraying amount of the nozzle.

The invention further improves that: the ultrasonic distance measuring device is provided with 5 profiling mechanisms which are respectively arranged at the tail ends of the upper side extension rod, the upper side rod, the lower side rod and the lower side extension rod and in the middle of the middle side rod. The ultrasonic distance measuring device can measure the distance between each spray rod and the edge of the tree crown, and determine a proper position to realize more uniform spraying.

Compared with the prior art, the invention has the beneficial effects that:

(1) one machine has multiple purposes and strong applicability.

The invention organically combines the extension bracket, the rotating arm and the profiling mechanism, can control the whole device to be in a linear working state, a double-inverted U-shaped working state and a double-C-shaped working state, and realizes more efficient pest control operation on different occasions such as field crops, hedge frame plants, orchard plants and the like of the boom sprayer.

(2) The circumference three-dimensional operation reduces the phenomenon of under-spraying.

The double-shaft steering engine drives to realize 360-degree circular three-dimensional operation in a double-inverted U working state, and the double-shaft steering engine drives to combine the movement of the carrier and the change of the transverse distance between the two profiling mechanisms to realize 360-degree circular three-dimensional operation in a double-C working state, so that the phenomenon of underspray is reduced, and uneven spraying operation is avoided.

(3) Automatic profiling and accurate spraying.

When the device works, the ultrasonic distance meters on the poles measure the distance between the poles and the edge of the tree canopy, the controller controls the poles to move to a proper distance, and the flow of the spray heads of the electromagnetic valves is adjusted, so that accurate spraying is realized.

Drawings

FIG. 1, an isometric view of the present invention;

FIG. 2 is a top view of the present invention;

FIG. 3 is a schematic structural view of the present invention in a linear working state;

FIG. 4 is a schematic view of the present invention in a double inverted "U" shape (the traveling direction of the copying mechanism and the carrier is 0 °);

FIG. 5 is a second schematic structural view showing the double-inverted U-shaped working state of the present invention (the traveling direction of the copying mechanism and the carrier is 90 °);

FIG. 6 is a third schematic structural view showing a double-inverted "U" shaped working state of the present invention (the traveling direction of the copying mechanism and the carrier is 180 °);

FIG. 7 is a schematic structural view showing a double "C" shaped working state of the present invention;

FIG. 8 is an enlarged view of a portion of the attachment of the pivot arm, extension bracket, pivot actuator and profiling mechanism of the present invention;

FIG. 9 is a schematic view of the profiling mechanism of the present invention;

FIG. 10 is an enlarged view of a portion of the lower pole and lower extension pole of the present invention.

List of reference numerals:

1-profiling mechanism, 2-left rotating executing part, 3-left rotating arm, 4-extending bracket, 4-1-extending frame, 4-2-upright post, 4-3-semicircular chute, 5-telescopic executing part, 6-upper frame, 7-lower frame, 8-two vertical lifting executing parts, 9-lifting executing part, 10-upper lifting bracket, 11-lower lifting bracket, 12-rear upright post, 13-base, 14-biaxial steering engine, 15-right rotating arm, 16-right rotating executing part, 1-upper side extension rod, 1-2-connecting frame, 1-3-upper side rod, 1-4-first connecting part, 1-5-second connecting part, 1-6-first folding executing mechanism, 1-7-middle side rod, 1-8-second folding executing mechanism, 1-9-third connecting part, 1-10-fourth connecting part, 1-11 parts of lower side rod, 1-12 parts of first driving motor, 1-13 parts of ultrasonic distance measuring device, 1-14 parts of second driving motor, 1-15 parts of clamping groove, 1-16 parts of gear, 1-17 parts of connecting frame, 1-18 parts of lower side extension rod, 1-19 parts of tooth-shaped groove and 1-20 parts of electromagnetic valve nozzle.

Detailed Description

The present invention will be further illustrated with reference to the accompanying drawings and specific embodiments, which are to be understood as merely illustrative of the invention and not as limiting the scope of the invention. It should be noted that the terms "front," "back," "left," "right," "upper" and "lower" used in the following description refer to directions in the drawings, and the terms "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.

As shown in fig. 1 to 10, the invention relates to a spray rod conversion device of an automatic profiling spraying rack for forest trees, which comprises two profiling mechanisms 1, a left rotary executing part 2, a left rotary arm 3, two extending brackets 4, two telescopic executing parts 5, an upper frame 6, a lower frame 7, two vertical lifting executing parts 8, a lifting executing part 9, a lifting bracket 10, a lower lifting bracket 11, a rear upright post 12, a base 13, two double-shaft steering engines 14, a right rotary arm 15 and a right rotary executing part 16. The two profiling mechanisms 1 adopt a multi-rod type design and comprise an upper side extension rod 1-1, an upper side rod 1-3, a middle side rod 1-7, a lower side rod 1-11 and a lower side extension rod 1-18 which are sequentially arranged from top to bottom, wherein the upper end part of the middle side rod 1-7 is hinged and fixed with the upper side rod 1-3 and is hinged with a folding execution member 1-6 through a connecting piece I1-4 and a connecting piece II 1-5; the lower end parts of the middle side rods 1-7 are hinged and fixed with the lower side rods 1-11 and are hinged with the folding executing pieces II 1-8 through connecting pieces III 1-9 and connecting pieces IV 1-10; wherein the middle side lever 1-7 is connected on the right rotating arm 15 through a right rotating executing piece 16 at the middle position and the middle side lever 1-5 is directly hinged with the right rotating arm 15; the two extending supports 4 are respectively hinged with the left rotating arm 3 and the right rotating arm 15, the tail ends of the two extending supports 4 are provided with semicircular chutes, and the other end of the left rotating arm 3 and the other end of the right rotating arm 15 are respectively provided with a T-shaped pin connected with the chutes; wherein, the two extending brackets 4 are sleeved on the left end and the right end of the upper frame 6 and are hinged with each other through two telescopic executing parts 5; wherein the upper frame 6 is hinged inside the lower frame 12 by two vertical lifting actuators 8; wherein the upper part of the lower frame 7 is hinged with the front ends of the lifting bracket 10 and the lower lifting bracket 11, the upper part of the rear upright post 12 is hinged with the rear ends of the upper lifting bracket 10 and the lower lifting bracket 11, and the front and rear ends of the lifting executive component 9 are respectively hinged with the middle parts of the lower frame 7 and the lifting bracket 11.

As shown in fig. 1-10, the upper frame 6 and the lower frame 7 are rectangular frames, the front end lifting of the 10.4 m stroke of the two profiling mechanisms is realized by two vertical lifting executing members 8, the upper part and the middle part of the lower frame 7 are respectively provided with an upper hinge seat and a lower hinge seat, the upper part and the middle part of the rear upright post 12 are respectively provided with an upper hinge seat and a lower hinge seat, the left side and the right side of the front end of the upper lifting support 10 are respectively hinged on the upper part of the lower frame 7, the left side and the right side of the rear end of the upper lifting support 10 are respectively hinged on the upper parts of the rear upright posts 1-2, the left side and the right side of the front end of the lower lifting support 11 are respectively hinged on the middle part of the lower frame 7, the left side and the right side of the rear end of the lower lifting support 11 are respectively hinged on the lower part of the rear upright post 12, and the rear upright post, the upper lifting support, the lower lifting support and the lower frame form a parallelogram mechanism, the two ends of the lifting executive component 9 are respectively hinged on the lower frame 7 and the lower lifting support 11, the lifting executive component 9 is an oil cylinder, an air cylinder or an air spring, the lifting executive component 9 is arranged in the middle of the lower frame 7 and the lower lifting support 11, so that the lifting executive component 9 can have a larger lifting change range by a smaller stroke, and the pest control can be carried out on fruit trees and forest trees with different heights through the lifting mechanism.

As shown in fig. 1-10, a spray bar conversion device of an automatic profiling spraying frame for forest trees, wherein a middle side bar 1-7 of a profiling mechanism 1 is hinged with an upper side bar 1-3 and is hinged with a folding executing piece 1-6 through a connecting piece 1-4 and a connecting piece two 1-5, the folding executing piece 1-6 is telescopic to realize angle conversion between the upper side bar 1-3 and the middle side bar 1-7, the middle side bar 1-7 is hinged with a lower side bar 1-11 and is hinged with the folding executing piece two 1-8 through a connecting piece three 1-9 and a connecting piece four 1-10, the folding executing piece two 1-8 is telescopic to realize angle conversion between the lower side bar 1-11 and the middle side bar 1-7, and real-time profiling and spraying operation is performed according to the shape of a tree crown; wherein the surfaces of the upper side extension rod 1-1, the upper side rod 1-3, the middle side rod 1-7, the lower side rod 1-11 and the lower side extension rod 1-18 are all provided with electromagnetic valve nozzles 20; wherein each solenoid valve nozzle 20 is electrically connected to the PWN controller.

The end parts of the upper side rods 1-3 and the lower side rods 1-11 are respectively provided with a clamping groove 1-15; the driving motors I1-12 are fixed on the connecting frames 1-17, the shafts penetrate through the clamping grooves 1-15 and fix the gears 1-16 on the shafts, and the gears 1-16 are located in the clamping grooves 1-15; wherein, the lower extension rod 1-18 is fixed in the connecting frame 1-17 in a sliding way; a second speed reducing motor 1-14 is fixed on the clamping groove 1-15 and the connecting frame 1-17; one side of the lower side extension rod 1-18 is provided with a tooth-shaped groove 1-19; the gears 1-16 are meshed with the tooth-shaped grooves 1-19.

The driving motor I1-12 drives the upper gear of the shaft to drive the lower extension rod to move through the meshing tooth-shaped groove so as to control the extension length of the lower extension rod; the driving motor II drives the connecting frame to drive the lower side extension rod connected with the connecting frame, and the change of an included angle between the lower side extension rod and the lower side rod is controlled, wherein the angle range is 0-90 DEG

As shown in fig. 1 to 10, in the boom changer of an automatic profiling spraying machine frame for forest trees, the upper frame 6 and the two extending brackets 4 realize the change of the transverse distance between the two profiling mechanisms 1 through the two telescopic push rods 5, so that the boom changer can work when facing crops with different row spacings and different growth periods.

As shown in fig. 4-6, the two extending brackets 4 are respectively connected with the left rotating arm 3 and the right rotating arm 15 through two hinges at the upper end and the lower end, the middle parts of the extending brackets are connected through two double-shaft steering engines, and the left rotating arm and the right rotating arm are driven by the double-shaft steering engines to realize 180-degree rotation, so that 360-degree rotation of the two profiling mechanisms is realized.

The technical means disclosed in the invention scheme are not limited to the technical means disclosed in the above embodiments, but also include the technical scheme formed by any combination of the above technical features.

Claims (10)

1. A spray rod conversion device of an automatic profiling spraying rack for forest trees is characterized by comprising two profiling mechanisms (1), a left rotary executing part (2), a left rotary arm (3), two extending brackets (4), two telescopic executing parts (5), an upper frame (6), a lower frame (7), two vertical lifting executing parts (8), a lifting executing part (9), a lifting bracket (10), a lower lifting bracket (11), a rear upright post (12), a base (13), two double-shaft steering engines (14), a right rotary arm (15) and a right rotary executing part (16);

the profiling mechanism (1) adopts a multi-rod type design and comprises an upper side extension rod (1-1), an upper side rod (1-3), a middle side rod (1-7), a lower side rod (1-11) and a lower side extension rod (1-18) which are sequentially arranged from top to bottom, wherein the upper side extension rod (1-1) is connected with the upper side rod (1-3) through a connecting frame (1-2), the upper end part of the middle side rod (1-11) is fixedly hinged with the upper side rod (1-3) and is hinged with a first folding executing part (1-6) through a first connecting part (1-4) and a second connecting part (1-5) in sequence; the lower end parts of the middle side rods (1-7) are hinged and fixed with the lower side rods (1-11) and are hinged with the second folding executing parts (1-8) through third connecting parts (1-9) and fourth connecting parts (1-10); wherein the middle side rod (1-7) is connected on the right rotating arm (15) through a right rotating executing piece (16) at the middle position, the middle side rod (1-7) is directly hinged with the right rotating arm (15), and the lower side extension rod (1-18) is connected with the lower side rod (1-11) through a connecting frame (1-17);

both sides of the upper frame (6) are symmetrically provided with extending brackets (4); each extending support (4) is hinged and fixed with a telescopic executing piece (5) on the upper frame (6) respectively; wherein the extending bracket (4) at one side is hinged with one end of the left rotating arm (3); the extending bracket (4) at the other side is hinged with one end of a right rotating arm (15);

the two extending supports (4) are respectively hinged with one end of a left rotating arm (3) and one end of a right rotating arm (15), a semicircular sliding groove (4-3) is formed in the tail end of each extending support (4), and the left rotating arm (3) and the right rotating arm (15) are respectively fixed on the corresponding extending supports (4) and are in sliding fit connection with the corresponding semicircular sliding grooves (4-3) through a T-shaped pin;

the bottom of the upper frame (6) is provided with two vertical lifting executing parts (8); wherein the lower frame (7) is positioned below the upper frame (6) and is hinged with two vertical lifting execution pieces (8); wherein the upper part of the lower frame (7) is respectively hinged with the front ends of the upper lifting support (10) and the lower lifting support (11), the upper part of the upright post (12) is hinged with the rear ends of the upper lifting support (10) and the lower lifting support (11), and the front end and the rear end of the lifting execution piece (9) are respectively hinged with the middle parts of the lower frame (7) and the lifting support (11).

2. The boom transformation device of an automatic profiling spraying frame for forest trees according to claim 1, characterized in that: the upper frame (6) and the lower frame (7) are rectangular frames, the front ends of the two profiling mechanisms (1) with small strokes are lifted through two vertical lifting executing pieces (8), the upper part of the rear upright post (12), the upper lifting support (10), the lower lifting support (11) and the lower frame (7) form a parallelogram mechanism, and the rear ends of the two profiling mechanisms (1) with large strokes are lifted through the lifting executing pieces (9).

3. The boom transformation device of an automatic profiling spraying frame for forest trees according to claim 1, characterized in that: the upper frame (6) and each extending support (4) realize the change of the transverse distance between the profiling mechanisms (1) through a telescopic push rod (5), and the change range is 2m-3.2 m.

4. The boom transformation device of an automatic profiling spraying frame for forest trees according to claim 1, characterized in that: the two extending supports (4) are respectively hinged with the upper end and the lower end of a left rotating arm (3) and a right rotating arm (15), the middle parts of the left rotating arm (3) and the right rotating arm (15) are respectively connected with a double-shaft steering engine (14), and the double-shaft steering engine (14) is positioned on an upright post (4-2) of each extending support (4); the double-shaft steering engine (14) respectively drives the left rotating arm (3) and the right rotating arm (15) to realize 180-degree rotation, so that the two profiling mechanisms (1) can rotate 360 degrees.

5. The boom transformation device of an automatic profiling spraying frame for forest trees according to claim 1, characterized in that: the middle side rod (1-7) of the profiling mechanism (1) is hinged with the upper side rod (1-3) and is hinged with the first folding executing part (1-6) through a first connecting piece (1-4) and a second connecting piece (1-5), the first folding executing part (1-6) is telescopic to realize angle transformation between the upper side rod (1-3) and the middle side rod (1-7), the middle side rod (1-7) is hinged with the lower side rod (1-11) and is hinged with the second folding executing part (1-8) through a third connecting piece (1-9) and a fourth connecting piece (1-10), and the second folding executing part (1-8) is telescopic to realize angle transformation between the lower side rod (1-11) and the middle side rod (1-7).

6. The spray rod changing device of the automatic profiling spraying frame for forest trees as claimed in claim 1, wherein the ends of the upper side rod (1-3) and the lower side rod (1-11) are provided with clamping grooves (1-15); the driving motors I (1-12) are fixed on the connecting frame, the shaft penetrates through the clamping grooves (1-15) and fixes the gears (1-16) on the shaft, and the gears (1-16) are located in the clamping grooves (1-15); wherein the lower extension rod (1-18) is fixed in the connecting frame (1-17) in a sliding way; a second speed reducing motor (1-14) is fixed on the clamping grooves (1-15) and the connecting frame (1-17); one side of the lower side extension rod (1-18) is provided with a tooth-shaped groove (1-19); the gears (1-16) are meshed with the tooth-shaped grooves (1-19).

7. The boom transformation device of an automatic profiling spraying frame for forest trees according to claim 6, characterized in that: the driving motor I (1-12) drives the upper gear (1-16) of the shaft to drive the lower extension rod (1-18) to move through the meshed tooth-shaped groove (1-19) so as to control the extension length of the lower extension rod (1-18); the second driving motor (1-14) drives the connecting frame (1-17) to drive the lower side extension rod (1-18) connected with the connecting frame, and the included angle between the lower side extension rod (1-18) and the lower side rod (1-11) is controlled to change, and the range of the included angle is 0-90 degrees; and the first driving motor (1-12) and the driving motor (1-14) adopt a worm gear stepping speed reducing motor.

8. The boom transformation device of an automatic profiling spraying frame for forest trees according to claim 1, characterized in that: the surfaces of the upper side extension rod (1-1), the upper side rod (1-3), the lower side rod (1-11) of the middle side rod (1-7) and the lower side extension rod (1-18) are provided with electromagnetic valve nozzles (1-20); wherein each electromagnetic valve nozzle (1-20) is electrically connected with the PWM controller.

9. The boom transformation device of an automatic profiling spraying frame for forest trees according to claim 1, characterized in that: wherein, 5 ultrasonic distance meters (1-13) are respectively arranged at the tail ends of the upper side extension rod (1-1), the upper side rod (1-3), the lower side rod (1-11) and the lower side extension rod (1-18) and the middle part of the middle side rod (1-7).

10. The boom transformation device of an automatic profiling spraying frame for forest trees according to claim 1, characterized in that: the folding executing parts (1-6), the folding executing parts II (1-8), the left rotating executing part (2), the two telescopic executing parts (5), the two vertical lifting executing parts (8), the lifting executing part (9) and the right rotating executing part (16) can be hydraulic cylinders, air springs or electric push rods.

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