Abstract: Under the belt type compound planting mode of soybean and corn, the plant height of soybean and corn varies greatly during their growth. The height of each section of the spray bar needs to be adjusted independently to ensure that the distance between the spray head and the crop is consistent. For this reason, the mechatronic hydraulic integrated control method is adopted, and the segmented spray bar height adjusting mechanism and control system for high clearance spray bar sprayer with adjustable height of each section are designed. The designed four-bar lifting mechanism controls the expansion and contraction of the hydraulic cylinder through the electromagnetic reversing valve to drive the parallel four-bar mechanism to achieve lifting, so that the spray bar bracket can drive the overall lifting of each segmented height adjustment mechanism. The designed segmented height adjustment mechanism drives the shear fork arm to rotate around each hinge point by controlling the extension and contraction of the electric push rod, driving the spray bar to adjust up and down, and realizing the independent height adjustment of each section of the spray bar. Taking the 3WP-1000GS high clearance pesticide applicator as the test platform, the height adjustment range and height adjustment consistency of the spray bar were compared and analyzed. The test results showed that the adjustment range of the parallel four bar mechanism was 120 cm, the maximum height above the ground could reach 162 cm, and the minimum height above the ground could reach 42 cm, which met the design requirements and could meet the requirements of corn and soybean field spraying. The height adjustment range of the segmented height adjustment mechanism was 68 cm. The maximum absolute deviation of the height adjustment range of five groups of segmented height adjustment mechanisms was-0.73 cm, and the maximum relative deviation was-1.08%. Each segmented height adjustment mechanism can adjust the height in a wide range, with good consistency. The height adjustment process is smooth and free of stagnation, which can meet the requirement that the distance between the field spray nozzle and the crop is consistent under the soybean corn belt composite planting mode.