CN220529076U - Medicine spraying device and inter-row medicine spraying machine - Google Patents

Abstract

The utility model belongs to the technical field of greenhouse pesticide application and discloses a pesticide spraying device and an inter-row pesticide spraying machine, wherein the pesticide spraying device comprises a chassis, a rotating platform, a moving platform, a spraying rod assembly, a gesture adjusting assembly and a detecting piece, wherein the chassis is used for being connected with the pesticide spraying machine, the rotating platform is arranged on the chassis in a rotating mode along the horizontal direction, the moving platform is movably arranged on the rotating platform, the gesture adjusting assembly is arranged between the rotating platform and the moving platform, the detecting piece detects the state of the spraying rod assembly, when the spraying rod assembly deviates from a preset angle, the gesture of the moving platform can be adjusted through an angle adjusting mechanism of the gesture adjusting assembly and the rotating platform, and then the gesture of the spraying rod assembly is adjusted in real time, so that the spraying rod is always at the preset angle with a crop canopy, the problem that in the prior art, spraying rod is inclined due to uneven ground of a greenhouse, and uneven spraying is caused, and the deposition distribution uniformity and spray drop penetrability of spraying are improved.

Description

Medicine spraying device and inter-row medicine spraying machine

Technical Field

The utility model relates to the technical field of greenhouse pesticide application, in particular to a pesticide spraying device and an inter-row pesticide spraying machine.

Background

The facility greenhouse is used as a main body for planting vegetables in winter, and plays a great role in solving the problems of vegetable supply in winter, improving income of farmers and the like. The vine hanging cultivation technology makes the stems and vines of crops such as cucumbers, tomatoes and the like develop from vertical to space, effectively reduces the occupation area of a single plant, and greatly increases the number of the plant and the yield. However, due to the closed space and insufficient illumination of the greenhouse, the vine hanging cultivation mode has dense crops, small operation space, high plants and dense canopy, and when pesticide is sprayed by the backpack pesticide sprayer or the mist pesticide sprayer, fog drops are difficult to penetrate into the canopy of the crops and the back of the blades, the distribution uniformity of the fog drops is poor, the pesticide utilization rate is low, and the pesticide control effect is seriously affected.

In order to be able to go deep into the inter-row and spray pesticides into the crop canopy, researchers have designed inter-row pesticide spraying machines for hanging crops, which are provided with vertical spray bars, and the pesticide spraying machines can drive the vertical spray bars to extend into the inter-row so as to spray pesticides on the hanging crops on two sides.

However, when the actual pesticide application is performed, the spraying rod is inclined and deviates from a preset spraying angle due to the uneven ground, so that the problem of uneven spraying and even missed spraying is caused.

Disclosure of Invention

Aiming at the defects of the prior art, the utility model provides a spraying device and an inter-row spraying machine, which aim to solve the problems that spraying rods are inclined and uneven and even spraying is missed due to uneven ground of a greenhouse in actual spraying operation in the prior art, and improve the deposition distribution uniformity and fog drop penetrability of spraying.

The utility model provides a medicine spraying device, which comprises a spray rod assembly and further comprises:

rotating the platform;

the movable platform is movably arranged above the rotary platform, and one end of the spray rod assembly is vertically fixed on the movable platform;

the gesture adjustment subassembly sets up between rotary platform and movable platform, includes: the first end of the supporting rod is fixed in the middle of the rotary platform, and the second end of the supporting rod is movably connected with the movable platform; the output ends of the angle adjusting mechanisms are connected with the movable platform and are used for driving the movable platform and the spray rod assembly to rotate up and down around the second end of the supporting rod;

the detection piece is arranged on the movable platform or the spray rod assembly and is used for detecting the horizontal state of the movable platform or the vertical state of the spray rod assembly.

Preferably, the gesture adjusting assembly comprises two angle adjusting mechanisms, and the two angle adjusting mechanisms are arranged vertically to each other along the horizontal direction.

Preferably, the angle adjusting mechanism includes:

the driving piece is fixedly arranged on the rotary platform;

one end of the driving arm is in transmission connection with the output end of the driving piece, and the other end of the driving arm is in universal connection with the movable platform.

Preferably, the driving arm comprises a swinging rod and a connecting rod, the swinging rod is perpendicular to the output shaft of the driving piece, one end of the swinging rod is fixedly connected with the output shaft of the driving piece, the other end of the swinging rod is hinged with the connecting rod, and one end of the connecting rod, deviating from the swinging rod, is connected with the movable platform in a universal mode.

Preferably, the bottom of rotary platform is provided with the chassis, is provided with driving disk and transmission auxiliary disc between chassis and the rotary platform, and driving disk and transmission auxiliary disc set up relatively, and are provided with the ball between the two, driving disk and chassis fixed connection, transmission auxiliary disc and rotary platform fixed connection, be fixed with rotary drive portion on the rotary platform, rotary drive portion's output passes rotary platform and passes through the transmission shaft and be connected with the chassis.

Preferably, the spray lance subassembly includes spray lance and shower nozzle, be provided with the fixed bolster on the movable platform, fixed bolster and movable platform fixed connection, the fixed bolster is along the perpendicular to the mounting hole has been seted up to the direction of movable platform, the spray lance wears to establish in the mounting hole, is provided with a plurality of shower nozzles along its length direction equipartition on the spray lance, a plurality of shower nozzles are along the axis evenly distributed of spray lance in the both sides of spray lance.

Preferably, the included angle between the spray head and the spray rod is set to be 30-60 degrees.

Preferably, the medicine spraying device further comprises a controller, and the controller is in communication connection with the detection piece, the driving piece and the rotary driving part.

The inter-row medicine spraying machine comprises a medicine spraying device, a traveling device, a medicine spraying pump, a medicine pipe and a medicine box, wherein the medicine spraying device is arranged on the traveling device, the medicine box is fixed on the traveling device, an inlet of the medicine spraying pump is connected with the medicine box, and an outlet of the medicine spraying pump is connected with the spray boom through the medicine pipe.

Compared with the prior art, the medicine spraying device and the inter-row medicine spraying machine provided by the utility model have the beneficial effects that:

1. according to the medicine spraying device provided by the utility model, the state of the spray rod assembly is detected through the detection part, when the spray rod assembly deviates from a preset angle, the posture of the movable platform can be adjusted through the angle adjusting mechanism of the posture adjusting assembly and the rotary platform, so that the posture of the spray rod assembly is adjusted in real time, the spray rod is always at the preset angle with the crop canopy, the problem that the spray rod shakes along with the concave-convex surface of the ground and deviates from the preset spraying angle due to the concave-convex surface of the greenhouse in the actual medicine spraying operation in the prior art is relieved, and uneven spraying even missed spraying of the medicine is caused, and the deposition distribution uniformity and the fog drop penetrability of the medicine spraying are improved.

2. According to the inter-row pesticide spraying machine provided by the utility model, the pesticide spraying device is driven by the travelling device to extend into the rows to automatically spray pesticide on crops, and the spray boom can be ensured to stably and vertically run among the rows of the crops by monitoring and adjusting the gesture of the spray boom in real time, so that the deposition distribution uniformity and the fog drop penetrability of the pesticide spraying are further improved.

Drawings

FIG. 1 is a diagram showing the overall construction of a spray device according to the present utility model;

FIG. 2 is a schematic view of the posture adjustment assembly of the drug spraying device according to the present utility model;

FIG. 3 is a schematic view of the structure of a spray boom assembly in a spray device according to the present utility model;

fig. 4 is a schematic structural view of a rotary platform and a rotary disk in the medicine spraying device provided by the utility model.

Reference numerals illustrate:

100. a chassis; 200. rotating the platform; 210. a rotation driving part; 211. a transmission shaft; 220. a drive plate; 300. a movable platform; 400. a spray bar assembly; 410. a spray head; 420. a spray bar; 430. a fixed bracket; 500. a posture adjustment assembly; 510. a support rod; 520. an angle adjusting mechanism; 521. a driving member; 522. a driving arm.

Detailed Description

Specific embodiments of the present utility model will be described in detail below with reference to fig. 1 to 4, but it should be understood that the scope of the present utility model is not limited by the specific embodiments.

Example 1

As shown in fig. 1, the medicine spraying device provided by the utility model comprises a chassis 100, a rotary platform 200, a movable platform 300, a spray rod assembly 400, an attitude adjusting assembly 500 and a detecting member. The chassis 100 is adapted for connection to a spray machine. The rotary platform 200 is rotatably provided on the chassis 100 in a horizontal direction. The movable platform 300 is movably disposed on the rotary platform 200. One end of the spray bar assembly 400 is vertically fixed on the movable platform 300, and a plurality of spray heads 410 are uniformly arranged on the spray bar assembly 400 to spray the pesticide to crops. The gesture adjusting assembly 500 is arranged between the rotary platform 200 and the movable platform 300, the gesture adjusting assembly 500 comprises a supporting rod 510 and at least two angle adjusting mechanisms 520, a first end of the supporting rod 510 is fixed at the middle of the rotary platform 200, a second end of the supporting rod 510 is movably connected with the movable platform 300, the angle adjusting mechanisms 520 are arranged on the periphery of the rotary platform 200, and the angle adjusting mechanisms 520 are connected with the movable platform 300 so as to drive the movable platform 300 and the spray rod 420 to rotate around the second end of the supporting rod 510. The detecting piece is arranged on the movable platform 300 or the spray rod assembly 400, the detecting piece is used for detecting the horizontal state of the movable platform 300, and/or the detecting piece is used for detecting the vertical state of the spray rod assembly 400, and the data output end of the detecting piece is in communication connection with the control end of the angle adjusting mechanism 520.

Namely, in the medicine spraying device provided by the utility model, the state of the spray rod assembly 400 is detected through the detecting piece, when the spray rod assembly 400 deviates from a preset angle, the posture of the movable platform 300 can be adjusted through the angle adjusting mechanism 520 of the posture adjusting assembly 500 and the rotary platform 200, so that the posture of the spray rod assembly 400 is adjusted in real time, the spray rod 420 is always at the preset angle with the crop canopy, the problem that the spray rod 420 deviates from the preset angle due to uneven ground of a greenhouse in the actual medicine spraying operation in the prior art, and uneven spraying even missing spraying is caused is solved, and the deposition distribution uniformity and the fog drop penetrability of the spraying are improved.

Specifically, the chassis 100 may be provided with a flat plate made of stainless steel plate or other hard material, and may be provided in a circular or square shape. The chassis 100 is fixedly connected with a traveling device of the medicine spraying machine through bolts. The rotary platform 200 may be configured as a flat metal plate, disposed in parallel on the chassis 100, and rotatably coupled to the chassis 100. The spray boom assembly 400, the movable platform 300 and the posture adjustment assembly 500 are all arranged on the rotary platform 200, so that the direction of the spray boom assembly 400 relative to the chassis 100 and the traveling device of the spraying machine can be adjusted by the rotation of the rotary platform 200, and the spraying direction of the spray nozzle 410 on the spray boom assembly 400 can be adjusted conveniently. In this embodiment, the chassis 100 and the rotary platform 200 are selectively arranged in a circular shape to reduce the radius of rotation, reduce the overall occupation space of the spraying device, and ensure that the platform remains stable during rotation.

The movable platform 300 is movably disposed on the rotary platform 200 through the posture adjustment assembly 500. The posture adjustment assembly 500 is composed of a support bar 510 and an angle adjustment mechanism 520. The first end of the support bar 510 may be fixed to the center of the rotary table 200 by a support frame or a bolt, the support bar 510 is disposed in a direction perpendicular to the rotary table 200, and the second end of the support bar 510 is connected to the movable table 300 by a universal joint. Thus, the movable platform 300 can move around the supporting end of the supporting rod 510, so as to facilitate the adjustment of the posture of the movable platform 300 and the spray bar assembly 400. The angle adjusting mechanism 520 is fixed to the rotary platform 200 by bolts and is connected to the movable platform 300 by universal joints. The angle adjusting mechanism 520 is disposed at the circumferential sides of the rotating platform 200 and the moving platform 300, so that the moving platform 300 can be driven to rotate around the second end of the supporting rod 510 by the angle adjusting mechanism 520, thereby adjusting the angle of the moving platform 300 and further adjusting the angle of the spray rod 420 relative to the crop plants.

The spray bar assembly 400 may be specifically constructed of stainless steel tubing and is vertically secured to the center of the movable platform 300 by bolts. The spray bar assembly 400 is provided with a plurality of spray heads 410 on both sides thereof, so that the spraying device sprays the pesticide on the crop plants on both sides simultaneously when the spraying device extends into the crop rows along with the pesticide spraying machine, thereby improving the pesticide spraying efficiency.

The detection piece is specifically set to be a gyroscope, is fixed on the movable platform 300 through a bolt, and moves synchronously with the movable platform 300 to detect whether the movable platform 300 is horizontal, so that the posture of the movable platform 300 can be adjusted in real time through the posture adjustment assembly 500, and further, the spray lance assembly 400 can be vertically arranged between crop plants. Alternatively, the sensing member may be bolted to the boom assembly 400 to provide immediate adjustment data for the attitude adjustment assembly 500.

As shown in fig. 2, the angle adjustment mechanism 520 includes a driving member 521 and a driving arm 522. The driving member 521 is fixed to the rotary table 200. One end of the driving arm 522 is in transmission connection with the driving piece 521, and the other end of the driving arm 522 is connected with the movable platform 300 through a universal joint. The driving member 521 is specifically configured as a stepping motor, and is fixed to the movable platform 300 by a mounting frame. The driving arm 522 may be formed by a swing link and a connecting rod, the swing link is connected with the output shaft of the stepper motor, one end of the connecting rod is connected with the swing link through a connecting shaft, and the other end of the connecting rod is connected with the movable platform 300 through a universal joint. Therefore, the swing rod can be driven to rotate through the stepping motor, and then the connecting rod is driven to rotate the movable platform 300 in cooperation with the supporting rod 510, so that the posture adjustment of the movable platform 300 and the spray rod assembly 400 is completed.

Further, the posture adjustment assembly 500 includes two angle adjustment mechanisms 520, and the two angle adjustment mechanisms 520 are disposed perpendicular to each other along the horizontal direction. Specifically, the two driving members 521 are respectively disposed at intervals along an included angle of 90 ° on the circumferential side of the rotary platform 200, and the swinging directions of the two driving arms 522 are perpendicular to each other. Thus, the two angle adjusting mechanisms 520 can adjust the posture of the movable platform 300 in two degrees of freedom in the transverse and longitudinal directions without interfering with each other, and further, the boom assembly 400 is rotated in either direction about one end thereof fixed to the movable platform 300. When the medicine spraying device is affected by the practical use condition of the sunlight greenhouse to generate inclination or deflection, the postures of the movable platform 300 and the spray rod assembly 400 can be adjusted in real time through the angle adjusting mechanism 520, so that the spray rod assembly 400 can be vertically arranged between crop plants.

Alternatively, the attitude adjustment assembly 500 includes at least three angle adjustment mechanisms 520, and the at least three angle adjustment mechanisms 520 are uniformly disposed along the circumferential direction of the support bar 510. In the present embodiment, the angle adjustment mechanisms 520 are provided in three. The three angle adjusting mechanisms 520 are disposed at the circumferential side of the rotary platform 200 along 120 ° with each other, and the centers of the three angle adjusting mechanisms are the support rods 510. Therefore, the horizontal state of the movable platform 300 can be more accurately adjusted through the mutual matching of the three angle adjusting mechanisms 520, and the adjusting efficiency and the adjusting precision of the horizontal posture of the movable platform 300 are improved.

Preferably, the medicine spraying device further comprises a waterproof cover, the waterproof cover is sleeved on the platform 300 and the rotating platform 200, one end of the waterproof cover is connected with the moving platform 300, and the other end of the waterproof cover is connected with the rotating platform 200. The waterproof cover can be made of flexible waterproof materials such as plastic or rubber cloth. The top of the waterproof cover is adhered to the movable platform 300, and the bottom thereof is adhered to the rotary platform 200 and disposed around the movable platform 300 and the rotary platform 200. Therefore, the space between the movable platform 300 and the rotary platform 200 can be sealed, so that the medicine liquid is prevented from dispersing between the movable platform 300 and the rotary platform 200, and the components such as a motor, a detection part and the like are prevented from being wetted or even short-circuited, and the safety of the medicine spraying device in use is improved.

As shown in fig. 3, the spray boom assembly 400 is further provided with a fixing bracket 430 and a spray boom 420, the fixing bracket 430 is fixed on the moving platform 300, the fixing bracket 430 is provided with a mounting hole along the direction perpendicular to the moving platform 300, the spray boom 420 is penetrated in the mounting hole, and the spray heads 410 are uniformly distributed on two sides of the spray boom 420 along the axis of the spray boom 420.

Specifically, the fixing bracket 430 is configured as two triangular brackets, which have the same shape and are fixed to the movable platform 300 in a direction perpendicular to the movable platform 300. The triangle support is formed by combining two oppositely arranged fixing frames, the bottom ends of the fixing frames are fixed on the movable platform 300 through bolts, and semicircular grooves are formed in the other ends of the fixing frames. The top ends of the two fixing frames are fixed through bolts, so that the two semicircular grooves are matched to form a mounting hole. The two triangular supports are vertically arranged one by one so that the two mounting holes are coaxially arranged, and therefore, the spray rod 420 can be inserted into the mounting holes to be fixed.

The spray bar 420 may be made of stainless steel tubing in particular. And is formed by splicing a plurality of sections of branch pipes in sequence, and the inside of the branch pipe is hollow for the flowing of the liquid medicine. A water outlet is provided at both sides of each branch pipe, and the nozzle 410 is fastened at the water outlet by means of screw connection. Therefore, the height of the spray bars 420 and the number of the spray heads 410 can be adjusted by controlling the number of the branch pipes, and the crop plants can be accurately sprayed with the pesticide. A sealing gasket is provided between the water outlet and the spray head 410 to prevent leakage of the liquid medicine and insufficient spraying pressure caused by the poor sealing of the joint of the spray head 410.

Preferably, each branch pipe is provided with an electromagnetic valve and a pressure gauge, and the pressure of the spray head 410 can be detected through the pressure gauge, so as to control the dosage of the spray head 410. The solenoid valve can control the opening and closing and flow of the branch pipe to automatically control whether the spray nozzle 410 sprays the pesticide and the flow of the sprayed pesticide, thereby controlling the spraying amount more accurately, improving the spraying efficiency of the pesticide and reducing the waste of pesticide spraying.

Further, the angle between the nozzle 410 and the spray bar 420 is set to 30 ° to 60 °. Specifically, the angle between the branch pipe and the water outlet is set at 30 ° to 60 °, that is, the angle between the nozzle 410 and the spray bar 420 is set at 30 ° to 60 °. In this embodiment, the included angle between the spray head 410 and the spray boom 420 is set to be 30 °, so that the spray head 410 can spray pesticide obliquely upwards, so that the pesticide can be more attached to the back of the plant leaf blade where the pest and disease damage is more likely to occur, and the using effect of the pesticide is improved.

As shown in fig. 4, the medicine spraying device further includes a rotation driving part 210 and a transmission disc 220, wherein the rotation driving part 210 is disposed on the rotation platform 200 and is in transmission connection with the transmission disc 220, and the transmission disc 220 is rotatably disposed at the bottom of the rotation platform 200 and is connected with the chassis 100.

Specifically, the rotation driving part 210 is specifically provided as a stepping motor, and is fixed to the top of the rotation platform 200 by a mounting bracket and a bolt. A through hole through which an output shaft of the rotation driving part 210 is connected to the driving plate 220 through the driving shaft 211 is provided at the center of the rotation platform 200. The driving disk 220 is specifically provided in a disk shape and is coupled to the chassis 100 by bolts. Whereby the rotary platform 200 is driven to rotate relative to the chassis 100 by the rotary driving member 521. A transmission auxiliary disc opposite to the transmission disc 220 is further arranged between the transmission disc 220 and the rotary platform 200, and a plurality of balls are arranged between the transmission auxiliary disc and the transmission disc 220, so that friction force between the transmission disc 220 and the transmission auxiliary disc is reduced, and transmission efficiency is improved.

Further, the medicine spraying device further comprises a controller, and the controller is respectively in communication connection with the detecting member, the driving member 521 and the rotation driving part 210.

The controller can be specifically fixed on the rotary platform 200 and is connected with a control system of the inter-row pesticide spraying machine, the gesture data of the spraying rod assembly 400 are collected in real time through the detection piece, the gesture of the spraying rod assembly 400 is respectively adjusted through the driving piece 521 and the rotary driving piece 521, the stable operation of the spraying head 410 between crop plants is ensured, and the pesticide spraying effect is improved.

Application method and working principle

The embodiment provides a medicine spraying device, when using, detect the state of spray lance subassembly 400 through the detecting element, when spray lance subassembly 400 has deviated preset angle, through controller control step motor drive pendulum rod rotation, and then drive connecting rod cooperation bracing piece 510 rotatory moving platform 300, and then accomplish the gesture of moving platform 300 and spray lance subassembly 400 and adjust, so that spray lance 420 is in preset angle with the crop canopy all the time, the technical problem that can lead to spray lance 420 angular migration in the operation of giving medicine to poor free of charge because greenhouse ground in the prior art has been alleviated in reality.

Example 2

The utility model also provides an inter-row medicine spraying machine, which comprises a medicine spraying device and a walking device. The pesticide spraying device is arranged on the traveling device, and the traveling device can drive the pesticide spraying device to extend into the row space of crops.

Namely, according to the inter-row pesticide spraying machine provided by the utility model, the travelling device drives the pesticide spraying device to extend into the rows to automatically spray pesticide to crops, and the gesture of the spraying rod 420 is monitored and adjusted in real time, so that the spraying rod 420 can stably and vertically run among the rows of crops, and the deposition distribution uniformity and the fog drop penetrability of pesticide spraying are improved.

Further, the inter-row medicine spraying machine further comprises a medicine spraying pump, a medicine pipe and a medicine box, wherein the medicine box is fixed on the travelling device, an inlet of the medicine spraying pump is connected with the medicine box, and an outlet of the medicine spraying pump is connected with the spray boom 420 through the medicine pipe, so that medicine liquid can be conveyed into the spray boom 420 through the medicine pump, and crops on two sides of the spray boom 420 can be sprayed accurately.

The foregoing disclosure is merely illustrative of preferred embodiments of the present utility model, but the embodiments of the present utility model are not limited thereto, and any variations within the scope of the present utility model will be apparent to those skilled in the art.

Claims (9)

1. A spray device comprising a spray bar assembly (400), characterized by further comprising:

a rotary platform (200);

the movable platform (300) is movably arranged above the rotary platform (200), and one end of the spray rod assembly (400) is vertically fixed on the movable platform (300);

a posture adjustment assembly (500) disposed between the rotary platform (200) and the movable platform (300), the posture adjustment assembly (500) comprising: the first end of the supporting rod (510) is fixed in the middle of the rotary platform (200), and the second end of the supporting rod is movably connected with the movable platform (300); the at least two angle adjusting mechanisms (520) are arranged on the periphery of the rotary platform (200), and the output ends of the angle adjusting mechanisms (520) are connected with the movable platform (300) and are used for driving the movable platform (300) and the spray rod assembly (400) to rotate up and down around the second end of the supporting rod (510);

the detection piece is arranged on the movable platform (300) or the spray rod assembly (400) and is used for detecting the horizontal state of the movable platform (300) or the vertical state of the spray rod assembly (400).

2. The spray device of claim 1, wherein the attitude adjustment assembly (500) comprises two angle adjustment mechanisms (520), the two angle adjustment mechanisms (520) being disposed perpendicular to each other in a horizontal direction.

3. The spray device of claim 1, wherein the angular adjustment mechanism (520) comprises:

a driving member (521) fixedly provided on the rotary platform (200);

and one end of the driving arm (522) is in transmission connection with the output end of the driving piece (521), and the other end of the driving arm is in universal connection with the movable platform (300).

4. A spraying device according to claim 3, characterized in that the driving arm (522) comprises a swinging rod and a connecting rod, the swinging rod is perpendicular to the output shaft of the driving member (521), one end of the swinging rod is fixedly connected with the output shaft of the driving member (521), the other end is hinged with the connecting rod, and one end of the connecting rod, which is away from the swinging rod, is in universal connection with the movable platform (300).

5. The medicine spraying device according to claim 1, wherein a chassis (100) is arranged at the bottom of the rotary platform (200), a transmission disc (220) and a transmission auxiliary disc are arranged between the chassis (100) and the rotary platform (200), the transmission disc (220) and the transmission auxiliary disc are arranged oppositely, balls are arranged between the transmission disc and the transmission auxiliary disc, the transmission disc (220) is fixedly connected with the chassis (100), the transmission auxiliary disc is fixedly connected with the rotary platform (200), a rotary driving part (210) is fixed on the rotary platform (200), and an output end of the rotary driving part (210) penetrates through the rotary platform (200) and is connected with the chassis (100) through a transmission shaft (211).

6. The spraying device according to claim 1, wherein the spraying rod assembly (400) comprises a spraying rod (420) and spraying heads (410), a fixed support (430) is arranged on the movable platform (300), the fixed support (430) is fixedly connected with the movable platform (300), the fixed support (430) is provided with mounting holes along the direction perpendicular to the movable platform (300), the spraying rod (420) is arranged in the mounting holes in a penetrating mode, the spraying rod (420) is uniformly provided with a plurality of spraying heads (410) along the length direction of the spraying rod (420), and the spraying heads (410) are uniformly distributed on two sides of the spraying rod (420) along the axis of the spraying rod (420).

7. The spray device of claim 6, wherein the spray head (410) is disposed at an angle in the range of 30 ° to 60 ° to the spray bar (420).

8. The spray device of claim 1, 3 or 5, further comprising a controller in communication with the sensing member, the driving member (521) and the rotary driving portion (210).

9. An inter-row medicine spraying machine is characterized by comprising the medicine spraying device according to any one of claims 1-8, further comprising a traveling device, wherein the medicine spraying device is arranged on the traveling device, and further comprises a medicine spraying pump, a medicine pipe and a medicine box, wherein the medicine box is fixed on the traveling device, an inlet of the medicine spraying pump is connected with the medicine box, and an outlet of the medicine spraying pump is connected with the spray boom (420) through the medicine pipe.