CN103141461A - Lance boom capable of actively adjusting pose - Google Patents
Lance boom capable of actively adjusting pose Download PDFInfo
- Publication number
- CN103141461A CN103141461A CN2012105410056A CN201210541005A CN103141461A CN 103141461 A CN103141461 A CN 103141461A CN 2012105410056 A CN2012105410056 A CN 2012105410056A CN 201210541005 A CN201210541005 A CN 201210541005A CN 103141461 A CN103141461 A CN 103141461A
- Authority
- CN
- China
- Prior art keywords
- frame
- spray boom
- boom
- controller
- servo motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Catching Or Destruction (AREA)
Abstract
The invention discloses a lance boom capable of actively adjusting the pose, which relates to the field of plant protection machinery. The lance boom consists of a mechanical part and a control part. The mechanical part comprises a direct-current servomotor, a driving pulley, two auxiliary pulleys, a worm-gear reducer, a frame, a hydraulic lifting frame, a rope, a lifting hydraulic cylinder and a lance boom assembly. The control part comprises distance sensors and a controller. When a spraying machine operates, the direct-current servomotor is controlled by the control part to drive the lance boom, so that the pose of the lance boom is adjusted. The spraying machine structured with the lance boom can inhibit the vertical irregular motion of the lance boom, and can ensure that the lance boom can be adapted to the working environment of the slope, and the uniformity of spray deposition is increased.
Description
Technical field
The present invention relates to the equipment for plant protection technical field, but be specifically related to a kind of spray boom of active adjustment pose.
Background technology
Nowadays use spray bar type spraying machine to carry out the important method that dispenser has become crop protection; but when the sprayer operation; on the vertical direction of spray boom, the operating environment on irregular movement and type road surface, slope can reduce the spraying distribution uniformity greatly; thereby cause pesticide supplying effect to descend; and in order to guarantee the normal growth of crop; often adopt the method that strengthens formulation rate to come remedy such and insufficient during dispenser, so not only can cause the agricultural chemicals waste, also can cause environmental pollution simultaneously.Therefore, research and develop and a kind ofly can effectively suppress irregular movement on the spray boom vertical direction, and it is significant to adapt to the spray bar type spraying machine on type road surface, slope.
adopt when being rigidly connected between the spray boom of boom sprayer and sprayer main body, be 200820103556.3 as number of patent application, name is called " large-scale foldable spraying device ", application number is 201120522547.X, name is called " vertical folding suspension sprayer " and application number is 201210210137.0, name is called " a kind of Self-walking sprayer with spraying rod ", spray boom and sprayer main body are and are rigidly connected, the fluctuating road surface can cause irregular movement on the spray boom vertical direction to the high frequency pumping of sprayer body continuously, this not only can reduce the sprayed deposit uniformity, also may cause simultaneously the spray boom end to contact to earth, sprayer is damaged.So consider for the angle to atomization quality and sprayer safety, should suppress irregular movement on the vertical direction of spray boom.
install bascule additional between spray boom and sprayer main body, be 200620021828.6 as number of patent application, name is called the irregular movement that " self-poise suspending device of spray lance type spray pump " can reduce spray boom, improve to a certain extent the dispenser uniformity, but pose that can't the active adjustment spray boom, to low-frequency excitation signal response DeGrain, number of patent application is 201010603644.1, name is called " self-balancing spray boom spraying machine " can make spray boom parallel with horizontal plane automatically, but this passive suspension spray bar type spraying machine is when the operation of type road surface, slope, the spray boom suspension can't make spray boom and make object plane maintenance level, can reduce the dispenser uniformity that guarantees sprayer.
Summary of the invention
But the spray boom that the purpose of this invention is to provide a kind of active adjustment pose, spray boom irregular movement on the vertical direction that this kind spray boom can effectively suppress to cause due to the road surface high frequency pumping, in the time of simultaneously spray boom being worked on type road surface, slope can with make the object plane keeping parallelism, improve the mist droplet deposition uniformity, save the agricultural chemicals usage amount, environmental contamination reduction.
Described mechanical part comprises, DC servo motor 1, driving pulley 2, two auxiliary pulley 3a; 3b, worm type of reduction gearing 4, frame 5, hydraulic lifting frame 6, hawser 8, lifting hydraulic cylinder 9, bar spray assembly 10.
Described DC servo motor 1 is fixed by bolts on hydraulic lifting frame 6 top-drive device erecting beds 601 with worm type of reduction gearing 4, DC servo motor 1 output shaft is connected with worm type of reduction gearing 4 input axle keys, and worm type of reduction gearing 4 output shafts are connected with driving pulley 2 keys; Described two auxiliary pulley 3a; 3b is arranged on frame 5, and two auxiliary pulleys are the symmetrical two hinge hole places that are arranged on the hydraulic lifting frame respectively, described two auxiliary pulley 3a; 3b is positioned on same level; Described hawser 8 two ends are hinged on bar spray assembly 10, and the middle part is looped around on driving pulley 2, take respectively around two auxiliary pulley 3a in the middle part of a left side half and right half part; On 3b, working face is vertical plane.
Described control section comprises: two range sensor 7a, 7b, controller 11; Described two range sensor 7a, 7b are arranged on respectively the left and right both end sides of bar spray assembly 10; Described controller 11 is comprised of digital transmitter, processor, driving chip; Described controller 11 is arranged on drive unit erecting bed 601; Described range sensor 7a; 7b transfers to controller 11 with 10 liang of the bar spray assembly that record end-to-end distance crop top layer distance and processes, and controller 11 is controlled DC servo motors 1 and rotated, and realizes the motion control to spray boom.
Described hydraulic lifting frame 6 comprises, crane main body 602, be positioned at the drive unit erecting bed 601 at crane main body 602 tops, be positioned at two hinge holes 603 at crane main body 602 middle parts, be positioned at the vertical track 604 of crane main body 602 both sides and the spray boom hinge hole 605 that is positioned at crane main body 602 bottoms.
Vertical track 604 is perpendicular to horizontal plane; Described hinge hole 603 is in same level.
Described frame 5 comprises frame main body 501, the bottom of described frame main body 501 is provided with gantry base 502, described gantry base 502 is provided with lifting hydraulic cylinder firm banking 504, the both sides of described frame main body 501 are provided with the vertical guide rail 503 that matches with the vertical track 604 of hydraulic lifting frame 6, hydraulic lifting frame 6 is arranged on frame for spraying machine by lifting hydraulic cylinder, make lifting hydraulic cylinder can drive the hydraulic lifting frame and move up and down along the frame for spraying machine vertical guide rail, make the spraying function realize the job requirement of Different Crop height.
Described bar spray assembly 10 is comprised of middle frame 1007, two end hanging sticks 1001, two middle part hanging sticks 1002.
Described middle frame 7 is provided with hawser hinge hole 1003a, 1003b, frame hinge hole 1006, installation of sensors hole 1008, described middle frame 1007 are connected by four folded turning moving axis 1005 with two middle part hanging sticks 1002, two end hanging sticks 1001 respectively successively to both sides; Fixed head 1004 is positioned at folding rotating shaft, and Shang Xia 1005 both sides, the Parallel Symmetric setting.
Fixed head 1004 is fastening with two end hanging sticks 1001, two middle part hanging sticks 1002 and middle frame 1007, and each junction is with two fixed heads parallel fix Shang Xia 1004.
Adopt technical scheme of the present invention, during the sprayer operation, take the poor pose of regulating spray boom as target of bar spray assembly two end-to-end distance crop surface zero distances, by adopting closed-loop control system, the vertical direction irregular movement of spray boom in the time of can effectively suppressing the sprayer operation.
When sprayer during in the operation of type road surface, slope, the range sensor that is placed in bar spray assembly two ends detects bar spray assembly two ends separately after the distance apart from crop, control system is controlled DC servo motor and is driven the spray boom motion, makes bar spray assembly keep the pose parallel with making object plane.Overcome type road surface, slope to the inhomogeneity impact of sprayed deposit, improve the operation effectiveness of sprayer under the operating mode of different road surfaces.
Description of drawings
But Fig. 1 is the axonometric drawing of mechanical part of the spray boom of a kind of active adjustment pose of the present invention.
But Fig. 2 is the left side bar spray assembly assembly of the spray boom of a kind of active adjustment pose of the present invention.
But Fig. 3 is the hydraulic lifting frame of the spray boom of a kind of active adjustment pose of the present invention.
But Fig. 4 is the frame of the spray boom of a kind of active adjustment pose of the present invention.
But Fig. 5 is the front view of suspension arrangement of the spray boom of a kind of active adjustment pose of the present invention.
But Fig. 6 is the schematic diagram of control system embodiment of the spray boom of a kind of active adjustment pose of the present invention.
in figure: DC servo motor 1, driving pulley 2, auxiliary pulley 3(a), 3(b), worm type of reduction gearing 4, frame 5, frame main body 501, gantry base 502, vertical guide rail 503, lifting hydraulic cylinder firm banking 504, hydraulic lifting frame 6, drive unit erecting bed 601, crane main body 602, hinge hole 603(a), 603(b), vertical track 604, spray boom hinge hole 605, range sensor 7(a), (b), hawser 8, lifting hydraulic cylinder 9, bar spray assembly 10, end hanging stick 1001, middle part hanging stick 1002, hawser hinge hole 1003(a), 1003(b), fixed head 1004(a) 1004(b) 1004(c) 1004 (d), folded turning moving axis 1005(a), 1005(b), frame hinge hole 1006, middle frame 1007, installation of sensors hole 1008.
Embodiment
Below in conjunction with accompanying drawing, a specific embodiment of the present invention is described further.
but a kind of spray boom mechanical part of active adjustment pose comprises as shown in Figure 1: DC servo motor 1, driving pulley 2, auxiliary pulley 3(a), 3(b), worm type of reduction gearing 4, frame 5, hydraulic lifting frame 6, hawser 8, lifting hydraulic cylinder 9, bar spray assembly 10, wherein DC servo motor 1 output shaft is connected with worm type of reduction gearing 4 input axle keys, worm type of reduction gearing 4 output shafts are connected with driving pulley 2 keys, DC servo motor 1 and worm type of reduction gearing 4 are fixed by bolts to respectively on hydraulic lifting frame 6, bar spray assembly 10 is hinged with frame 5 by hydraulic lifting frame hinge hole 1006 and spray boom hinge hole 605, two auxiliary pulleys 3 are respectively by hinge hole 603(a), 603(b) be hinged on hydraulic lifting frame 6, hawser 8 two ends are hinged on respectively the hawser hinge hole 1003(a at bar spray assembly 10 two ends), 1003(b), hawser 8 middle parts are looped around on driving pulley 2, take respectively around auxiliary pulley 3(a at left half middle part separately that reaches right half part), 3(b).As from the foregoing, control the rotation of DC servo motor 1, by being wrapped in the hawser on driving pulley and auxiliary pulley, can control the motion of bar spray assembly 10.
Two ends, lifting hydraulic cylinder up and down are separately fixed on frame 5 and hydraulic lifting frame 6, and hydraulic lifting frame 6 can move up and down along the vertical guide rail 604 of frame under the effect of lifting hydraulic cylinder 9, to realize the operation of differing heights condition.
As shown in Figure 2, bar spray assembly 10 left side assemblies comprise: end hanging stick 1001, hawser hinge hole 1003(a), 1003(b), fixed head 1004(a), 1004(b), 1004(c), 1004 (d), folded turning moving axis 1005(a), 1005(b), frame hinge hole 1006, middle frame 1007, installation of sensors hole 1008; Installation of sensors hole 1008 is used for sensor installation 7, end hanging stick 1001, middle part hanging stick 1002 and middle frame 1007 are respectively by folded turning moving axis 1005(a), 1005(b) connect, during spray boom 10 work, must be with fixed head 1004(a), 1004(b) end hanging stick 1001 and middle part hanging stick 1002 are tightened, must be with fixed head 1004(c), 1004 (d) tighten middle part hanging stick 1002 and middle frame 1007; Bar spray assembly 10 unloads bottom plate 1004(a when not working), 1004(b), 1004(c), namely can be along folded turning moving axis 1005(a after 1004 (d)), 1005(b) folding, the convenient transfer and keeping.
As shown in Figure 3, hydraulic lifting frame 6 comprises: described hydraulic lifting frame 6 comprises, crane main body 602, be positioned at the drive unit erecting bed 601 at crane main body 602 tops, be positioned at two hinge holes 603 at crane main body 602 middle parts, be positioned at the vertical track 604 of crane main body 602 both sides and the spray boom hinge hole 605 that is positioned at crane main body 602 bottoms.
Vertical track 604 is perpendicular to horizontal plane; Described hinge hole 603 is in same level.
As shown in Figure 4, described frame 5 comprises frame main body 501, the bottom of described frame main body 501 is provided with gantry base 502, described gantry base 502 is provided with lifting hydraulic cylinder firm banking 504, the both sides of described frame main body 501 are provided with the vertical guide rail 503 that matches with the vertical track 604 of hydraulic lifting frame 6, hydraulic lifting frame 6 is arranged on frame for spraying machine by lifting hydraulic cylinder, make lifting hydraulic cylinder can drive the hydraulic lifting frame and move up and down along the frame for spraying machine vertical guide rail, make the spraying function realize the job requirement of Different Crop height.
The embodiment of control section of the present invention is:
As shown in Figure 5, controller 11 is fixed by bolts on drive unit erecting bed 601; Controller 11 is comprised of digital transmitter, processor, driving chip.
As shown in Figure 6: by two range sensor 7(a), 7(b), digital transmitter, processor drives chip and forms; Range sensor is converted to data signal with 10 liang of the bar spray assembly that record end-to-end distance crop top layer distance by digital transmitter, transfer to the driving chip after the Digital Signal Processing of processor with reception, drive chip drives DC servo motor 1 and rotate, realize the motion control to spray boom.
Claims (4)
1. but the spray boom of an active adjustment pose, comprise mechanical part and control section, it is characterized in that:
Described mechanical part comprises: DC servo motor (1), driving pulley (2), two auxiliary pulley (3a; 3b), worm type of reduction gearing (4), frame (5), hydraulic lifting frame (6), hawser (8), lifting hydraulic cylinder (9), bar spray assembly (10); Described DC servo motor (1) is fixed by bolts on hydraulic lifting frame (6) top-drive device erecting bed (601) with worm type of reduction gearing (4), DC servo motor (1) output shaft is connected with worm type of reduction gearing (4) input axle key, and worm type of reduction gearing (4) output shaft is connected with driving pulley (2) key; Described two auxiliary pulley (3a; 3b) be arranged on frame (5) described two auxiliary pulley (3a; 3b) be positioned on same level; Described hawser (8) two ends are hinged on bar spray assembly (10), and the middle part is looped around on driving pulley (2), take respectively around two auxiliary pulley (3a in the middle part of a left side half and right half part; 3b), working face is vertical plane;
Described control section comprises: two range sensor (7a; 7b), controller (11); Described two range sensor (7a; 7b) be arranged on respectively the left and right both end sides of bar spray assembly (10); Described controller (11) is comprised of digital transmitter, processor, driving chip; Described controller (11) is arranged on drive unit erecting bed (601); Described range sensor (7a; 7b) bar spray assembly (10) the two end-to-end distance crop top layer distances that record are transferred to controller (11) and process, controller (11) is controlled DC servo motor (1) and is rotated, and realizes the motion control to spray boom.
2. but the spray boom of active adjustment pose according to claim 1 is characterized in that: described bar spray assembly (10) is comprised of middle frame (1007), two end hanging sticks (1001), two middle part hanging sticks (1002).
But 3. the spray boom of active adjustment pose according to claim 2, it is characterized in that: described middle frame (7) is provided with hawser hinge hole (1003a; 1003b), frame hinge hole (1006), installation of sensors hole (1008), described middle frame (1007) is connected by four folded turning moving axis (1005) with two middle parts hanging stick (1002), two end hanging sticks (1001) respectively successively to both sides; Fixed head (1004) is positioned at folding rotating shaft (1005) both end sides up and down, Parallel Symmetric setting.
4. but the spray boom of active adjustment pose according to claim 3, it is characterized in that: fixed head (1004) is fastening with two end hanging sticks (1001), two middle part hanging sticks (1002) and middle frame (1007), and each junction is fixed with two fixed heads (1004) up and down is parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210541005.6A CN103141461B (en) | 2012-12-14 | 2012-12-14 | Lance boom capable of actively adjusting pose |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210541005.6A CN103141461B (en) | 2012-12-14 | 2012-12-14 | Lance boom capable of actively adjusting pose |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103141461A true CN103141461A (en) | 2013-06-12 |
| CN103141461B CN103141461B (en) | 2015-04-22 |
Family
ID=48540022
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210541005.6A Active CN103141461B (en) | 2012-12-14 | 2012-12-14 | Lance boom capable of actively adjusting pose |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103141461B (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103329877A (en) * | 2013-07-10 | 2013-10-02 | 江苏省农垦农业发展股份有限公司 | Folding type pesticide spraying truss |
| CN104663637A (en) * | 2015-02-14 | 2015-06-03 | 江苏大学 | Automatic adjusting device and method for boom balance and height |
| CN104920327A (en) * | 2015-06-04 | 2015-09-23 | 江苏大学 | Automatic regulating device for spray lance balance |
| CN105052877A (en) * | 2015-08-29 | 2015-11-18 | 董刚 | Self-traveling lifting type sprayer spraying rod device |
| CN105123655A (en) * | 2015-08-10 | 2015-12-09 | 华创机器人制造有限公司 | Intelligent multifunctional plant protection robot spray arm anti-jitter mechanism |
| CN105123660A (en) * | 2015-10-09 | 2015-12-09 | 秦邵恩 | Plant protection machine |
| CN103766314B (en) * | 2014-01-16 | 2015-12-23 | 山东希成农业机械科技有限公司 | A kind of boom sprayer |
| CN105660577A (en) * | 2016-04-11 | 2016-06-15 | 常州机电职业技术学院 | Spray rod spraying device matched with high-speed rice transplanter |
| CN107242224A (en) * | 2017-07-05 | 2017-10-13 | 安徽省现代农业装备产业技术研究院有限公司 | Fog machine and fog machine vertical lifting mechanism |
| CN107581181A (en) * | 2017-10-09 | 2018-01-16 | 江苏大学 | A kind of paddy field self-propelled sprayer liftable spray rod device |
| CN111165459A (en) * | 2020-02-17 | 2020-05-19 | 常州机电职业技术学院 | High-clearance boom sprayer boom arm balance control device |
| CN112243982A (en) * | 2020-09-16 | 2021-01-22 | 方志林 | Spraying angle adjusting mechanism and agricultural spraying machine |
| CN113303312A (en) * | 2021-06-19 | 2021-08-27 | 中国农业科学院郑州果树研究所 | Peach tree spraying device |
| CN113728995A (en) * | 2021-07-29 | 2021-12-03 | 盐城市农业机械试验鉴定站 | Spray lance intelligence balancing unit suitable for self-propelled boom sprayer |
| CN114304123A (en) * | 2022-01-13 | 2022-04-12 | 重庆市丰都县仙童枇杷种植股份合作社 | Spraying pipe storage assembly and orchard spraying unmanned aerial vehicle |
| CN116569904A (en) * | 2023-07-11 | 2023-08-11 | 济南大学 | Scalable collapsible spray lance for plant protection machine |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2256714A1 (en) * | 1974-01-04 | 1975-08-01 | Berthoud Sa | Spray boom suspension for agricultural tractor - has cable supported vertically slidable and inclinable support frame |
| DE4140254A1 (en) * | 1991-10-22 | 1993-06-09 | Gerd E. F. 8608 Memmelsdorf De Steffen | Ultrasonic sensor controlled height unit for agricultural spraying - has sensors monitoring height of spray bar ends above ground for use in operating hydraulic adjustment |
| DE4342387A1 (en) * | 1993-12-11 | 1995-06-14 | Schumacher Anja | Spray rod system for mobile agricultural sprayers |
| WO2004089077A1 (en) * | 2003-04-12 | 2004-10-21 | Brian George Knight | Crop spraying apparatus |
| CN201188831Y (en) * | 2008-03-22 | 2009-02-04 | 丁明星 | Large foldable spraying device |
| FR2965454A1 (en) * | 2010-10-05 | 2012-04-06 | Exel Ind | AGRICULTURAL SPRAYING MACHINE AND METHOD FOR SPRAYING A PHYTOSANITARY LIQUID ON A CULTIVATED FIELD USING SUCH A GEAR |
| CN202276748U (en) * | 2011-09-23 | 2012-06-20 | 苏州博田自动化技术有限公司 | Lifting mechanism of pesticide sprinkler |
| CN202979979U (en) * | 2012-12-14 | 2013-06-12 | 江苏大学 | Spray rod capable of actively adjusting pose |
-
2012
- 2012-12-14 CN CN201210541005.6A patent/CN103141461B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2256714A1 (en) * | 1974-01-04 | 1975-08-01 | Berthoud Sa | Spray boom suspension for agricultural tractor - has cable supported vertically slidable and inclinable support frame |
| DE4140254A1 (en) * | 1991-10-22 | 1993-06-09 | Gerd E. F. 8608 Memmelsdorf De Steffen | Ultrasonic sensor controlled height unit for agricultural spraying - has sensors monitoring height of spray bar ends above ground for use in operating hydraulic adjustment |
| DE4342387A1 (en) * | 1993-12-11 | 1995-06-14 | Schumacher Anja | Spray rod system for mobile agricultural sprayers |
| WO2004089077A1 (en) * | 2003-04-12 | 2004-10-21 | Brian George Knight | Crop spraying apparatus |
| CN201188831Y (en) * | 2008-03-22 | 2009-02-04 | 丁明星 | Large foldable spraying device |
| FR2965454A1 (en) * | 2010-10-05 | 2012-04-06 | Exel Ind | AGRICULTURAL SPRAYING MACHINE AND METHOD FOR SPRAYING A PHYTOSANITARY LIQUID ON A CULTIVATED FIELD USING SUCH A GEAR |
| CN202276748U (en) * | 2011-09-23 | 2012-06-20 | 苏州博田自动化技术有限公司 | Lifting mechanism of pesticide sprinkler |
| CN202979979U (en) * | 2012-12-14 | 2013-06-12 | 江苏大学 | Spray rod capable of actively adjusting pose |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103329877A (en) * | 2013-07-10 | 2013-10-02 | 江苏省农垦农业发展股份有限公司 | Folding type pesticide spraying truss |
| CN103766314B (en) * | 2014-01-16 | 2015-12-23 | 山东希成农业机械科技有限公司 | A kind of boom sprayer |
| CN104663637A (en) * | 2015-02-14 | 2015-06-03 | 江苏大学 | Automatic adjusting device and method for boom balance and height |
| CN104920327A (en) * | 2015-06-04 | 2015-09-23 | 江苏大学 | Automatic regulating device for spray lance balance |
| CN105123655B (en) * | 2015-08-10 | 2019-02-05 | 华创机器人制造有限公司 | A kind of spray arm stabilization mechanism of intelligent multi-function plant protection robot |
| CN105123655A (en) * | 2015-08-10 | 2015-12-09 | 华创机器人制造有限公司 | Intelligent multifunctional plant protection robot spray arm anti-jitter mechanism |
| CN105052877A (en) * | 2015-08-29 | 2015-11-18 | 董刚 | Self-traveling lifting type sprayer spraying rod device |
| CN105123660A (en) * | 2015-10-09 | 2015-12-09 | 秦邵恩 | Plant protection machine |
| CN105660577A (en) * | 2016-04-11 | 2016-06-15 | 常州机电职业技术学院 | Spray rod spraying device matched with high-speed rice transplanter |
| CN107242224A (en) * | 2017-07-05 | 2017-10-13 | 安徽省现代农业装备产业技术研究院有限公司 | Fog machine and fog machine vertical lifting mechanism |
| CN107581181A (en) * | 2017-10-09 | 2018-01-16 | 江苏大学 | A kind of paddy field self-propelled sprayer liftable spray rod device |
| CN111165459A (en) * | 2020-02-17 | 2020-05-19 | 常州机电职业技术学院 | High-clearance boom sprayer boom arm balance control device |
| CN112243982A (en) * | 2020-09-16 | 2021-01-22 | 方志林 | Spraying angle adjusting mechanism and agricultural spraying machine |
| CN112243982B (en) * | 2020-09-16 | 2022-05-17 | 杨华伟 | Spraying angle adjusting mechanism and agricultural spraying machine |
| CN113303312A (en) * | 2021-06-19 | 2021-08-27 | 中国农业科学院郑州果树研究所 | Peach tree spraying device |
| CN113728995A (en) * | 2021-07-29 | 2021-12-03 | 盐城市农业机械试验鉴定站 | Spray lance intelligence balancing unit suitable for self-propelled boom sprayer |
| CN114304123A (en) * | 2022-01-13 | 2022-04-12 | 重庆市丰都县仙童枇杷种植股份合作社 | Spraying pipe storage assembly and orchard spraying unmanned aerial vehicle |
| CN116569904A (en) * | 2023-07-11 | 2023-08-11 | 济南大学 | Scalable collapsible spray lance for plant protection machine |
| CN116569904B (en) * | 2023-07-11 | 2023-09-26 | 济南大学 | Scalable collapsible spray lance for plant protection machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103141461B (en) | 2015-04-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103141461B (en) | Lance boom capable of actively adjusting pose | |
| CN104920327B (en) | A kind of spray boom balances self-checking device | |
| CN108849830B (en) | Automatic profiling spraying machine suitable for citrus orchard terrain | |
| CN101104163B (en) | Container outside paint spraying system | |
| CN100434241C (en) | Dual-purpose robot for derusting and painting oil tank in cavity and storeroom | |
| CN202979979U (en) | Spray rod capable of actively adjusting pose | |
| CN106824598B (en) | A kind of aluminum alloy surface automatic spraying equipment | |
| CN110586364B (en) | Industrial spraying robot based on video acquisition | |
| CN110939384B (en) | Working method of jumbolter for high slope anchoring | |
| CN207026777U (en) | A kind of case type beam welding unit | |
| CN104663636A (en) | Automatic adjusting device and method for boom balance | |
| CN104165064A (en) | Shotcreting mechanical arm with six-foot walking device | |
| CN104663637A (en) | Automatic adjusting device and method for boom balance and height | |
| CN212573966U (en) | Intelligent pesticide spraying robot for greenhouse planting | |
| CN206569615U (en) | A kind of adjustable for height conveyer | |
| CN107263695A (en) | The walking blank truck device of high-pressure forming machine | |
| CN105270854A (en) | Conveying device for workpiece attitude adjustment | |
| CN207105230U (en) | The walking blank truck device of high-pressure forming machine | |
| KR102295556B1 (en) | Move type upholder for nozzle of blasting and painting used in repaint for steel bridge structure | |
| CN206810546U (en) | Three-proofing coating coating machine head Z axis three-dimensional motion device | |
| CN212176465U (en) | Epoxy terrace construction robot | |
| CN207119908U (en) | A kind of crane girder bonding machine | |
| CN200957399Y (en) | Paint-spraying system outside container | |
| CN203408831U (en) | Paint spraying device for front axle of automobile | |
| CN206603134U (en) | A kind of numerical control egg liquid sprinkling equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |