Abstract: Chinas hilly and mountainous areas account for 10% of the countrys land area, due to its small plots and narrow roads, it is not convenient for largescale plant protection machinery to enter the operation. In view of the existing problems, a 3WP-200A intelligent plant protection robot suitable for orchard protection in hilly and mountainous area was developed. In this paper, the basic concepts of physics and theoretical mechanics are applied to calculate the range of the oscillating spray gun without considering the wind force and the air resistance. The structure and working principle of the spraying device are introduced, and the parameters such as the inlet and outlet diameter of the spraying gun, the pressure loss of the medicated fluid and the diameter of the gun are designed. The results of calculation and test show that when the working pressure is 0.4-0.5 MPa, the maximum row distance is 7-9 m and the height is more than 6 m, which can meet the requirements of design parameters. The research results can provide theoretical reference and technical support for the development of mechanical spraying device for orchard plant protection.

Key words: plant protection robot, spraying device, swing spray gun, spray gun range

摘要： 我国丘陵山区地带占国土面积的10%，丘陵山区地块小，道路狭窄，大型植保机械不方便进入作业。针对上述问题，研制一种适合丘陵山区果园植保作业的3WP-200A型智能植保机器人，设计后置式双摆动喷枪喷洒装置，该装置可实现180°无死角喷洒。在不考虑风力，只考虑空气阻力的条件下，应用物理学及理论力学的基本概念，计算摆动喷枪射程。介绍喷洒装置结构及工作原理，对喷枪进出口径、药液压力损失、枪体直径等参数进行设计，并对喷枪射程进行试验。试验结果表明，工作压力为0.4~0.5 MPa时，药液喷洒最大行距为7~9 m，高度大于6 m，满足设计参数要求。研究结果可为果园植保机械喷洒装置的研发提供理论参考和技术支撑。

关键词: 植保机器人, 喷洒装置, 摆动喷枪, 喷枪射程