CN103329878B - New-concept intelligent multifunctional spaying machine chassis - Google Patents

New-concept intelligent multifunctional spaying machine chassis Download PDF

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Publication number
CN103329878B
CN103329878B CN201310290793.0A CN201310290793A CN103329878B CN 103329878 B CN103329878 B CN 103329878B CN 201310290793 A CN201310290793 A CN 201310290793A CN 103329878 B CN103329878 B CN 103329878B
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CN
China
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chassis
horizontal
spray lance
intelligent multifunctional
spray
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CN201310290793.0A
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Chinese (zh)
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CN103329878A (en
Inventor
张华�
郑加强
徐幼林
陈丰
夏显明
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南京林业大学
安徽科技学院
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Application filed by 南京林业大学, 安徽科技学院 filed Critical 南京林业大学
Priority to CN201310290793.0A priority Critical patent/CN103329878B/en
Publication of CN103329878A publication Critical patent/CN103329878A/en
Application granted granted Critical
Publication of CN103329878B publication Critical patent/CN103329878B/en

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Abstract

The invention discloses a new-concept intelligent multifunctional spaying machine chassis. The new-concept intelligent multifunctional spaying machine chassis comprises a chassis rack, a pesticide tank fixing support, a spray lance lifting support, a spray lance conversion mechanism, a spray head and wheels, wherein the pesticide tank fixing support is arranged at the rear end of the chassis rack, the spray lance lifting support is arranged at the front end of the chassis rack in a rotatable mode, the spray lance conversion mechanism and the spray lance lifting support constitute a vertical moving pair, the spray head is arranged on the spray lance conversion mechanism, and the wheels are installed at the bottom of the chassis rack through a longitudinal adjusting device and a transverse adjusting device. The new-concept intelligent multifunctional spaying machine chassis has the advantages of applying full-hydraulic power, and being stable in driving, large in drive torque, flexible in steering, simple in transmission, concise in overall structure, reasonable in configuration, and stable in center of gravity. In addition, the new-concept intelligent multifunctional spaying machine chassis has the advantages that due to the facts that stepless adjustment of the wheel torque, the ground clearance height and the like can be achieved and the spray lance conversion mechanism can descend, ascend and rotate, the spray lance conversion mechanism can achieve line-shaped conversion, U-shaped conversion and reverse-U-shaped conversion, the effect of omni-directional spraying is achieved, the requirement for all-terrain omni-directional spraying of different plants and different growth cultivation periods of one plant can be overall achieved through the new-concept intelligent multifunctional spaying machine chassis.

Description

Intelligent multifunctional sprayer chassis
Technical field
The present invention relates to a kind of intelligent multifunctional sprayer chassis, belong to technical field of plant protection machinery.
Background technology
Along with people are to the attention of environmental protection and animals and plants product safety; restriction in various degree has all been made to the use of agricultural chemicals in countries in the world; technique in using agriculture chemical constantly to low amounts, accurate, intelligent future development, with guarantee agricultural chemicals restriction amount ranges in given play to maximum effectiveness.Pesticide use safety legislation emphasizes the safeguard protection to Pesticide use person more, reduces the chance that people directly contacts with agricultural chemicals, and these require the development facilitating equipment for plant protection intellectualized technology.China's crop acreage is at the forefront in the world, but the output of agricultural product lags far behind developed country, and the residue of pesticide thing that exceeds standard often occurs.Wherein one of the main reasons is exactly that crops are being planted with process of growth, and traditional equipment for plant protection operating efficiency is low, poor performance, and many areas still rest in Large Copacity, large droplet spray technique level.Domestic and international many scholars have carried out large quantifier elimination to technique in using agriculture chemical, have developed a lot of advanced pesticide application technology, such as ultra low volume spray, electrostatic spray, Intelligent target is sprayed, variable quantization is sprayed, aviation unmanned plane spraying etc., many R&D institutions have developed relevant plant protection equipment, such as suspension type ultra small-sized sprayer, boom sprayer, axial flow wind spraying aid type trace electrostatic sprayer, automatic target detecting orchard sprayer, wide range air-assisted type spraying machine, spray boom transformation system etc., but the research of the power chassis supporting with these sprayer units is relative less, at present, mainly takes wheeled or caterpillar tractor traction both at home and abroad, suspension or vehicle-mounted mode carry sprayer unit, especially in the majority with suspension type, also have some scholars to have developed some chassis specials, but these overall undercarriage flexibilities are poor, be difficult to satisfied complicated topography and geomorphology to the needs of chassis by property, in addition, Different Crop and crop different growing stages, the plant protection demand of different spacings also proposes requirement, the pump that specification is different to the adjustment of chassis ground gap height and wheelspan, medicine-chest and the spray boom reasonable installation on chassis also proposes higher demand to the flexibility on chassis, and the maneuverability on current sprayer chassis, ride comfort when comfortableness and road surface travel position and safety also not ideal enough.
Summary of the invention
The object of this invention is to provide a kind of intelligent multifunctional sprayer chassis for the full landform under complicated agricultural environment, comprehensive plant protection spraying operation.
For solving the problem, the technical solution used in the present invention is:
A kind of intelligent multifunctional sprayer chassis, is comprised chassis main frame, is arranged on the medicine-chest fixed mount of chassis main frame rear end, rotates the spray lance lifting frame being arranged on chassis main frame front end, the spray boom mapping device being configured to vertical moving sets with described spray lance lifting, is arranged on the shower nozzle on spray boom mapping device and is arranged on the wheel of chassis main frame bottom by longitudinal adjustment apparatus and lateral adjustment device.The present invention regulates the terrain clearance of chassis main frame by longitudinal adjustment apparatus, and the plant ensureing differing heights all from passing through it, by lateral adjustment device regulating wheel distance, make chassis can pass through between the plant of different spacings, increasing the property passed through on chassis; Spray boom mapping device can move up and down on spray lance lifting frame, can according to the height of the differing heights adjustment spray boom mapping device of plant, make the spraying range of shower nozzle can cover the plant of differing heights, spray lance lifting frame can rotate the spraying range further increasing shower nozzle on chassis main frame.
As a further improvement on the present invention, also comprise the chassis rotary table that driven by worktable rotary motor and to be arranged on the rotary table of chassis and the spray lance lifting oil cylinder driving spray lance lifting frame to be elevated, described spray lance lifting frame is arranged on the rotary table of chassis.Hydraulic motor horizontal positioned, and send power to chassis rotary table by a pair intermeshing conical gear, hydraulic motor axis horizontal is placed, installing space can be saved, by the transmission of power between a pair orthogonal diaxon in conical gear implementation space, output shaft is connected with chassis rotary table, such configuration can realize the adjustment of rotating speed of table conveniently by hydraulic control motor rotary speed, the spray lance lifting frame associated working that itself and workbench are installed, can meet the requirement of the comprehensive spraying of variform plant.
As a further improvement on the present invention, described lateral adjustment device comprises the wheelspan adjustment hydraulic cylinder be arranged on bottom chassis main frame and the back shaft be connected with the piston rod that wheelspan adjusts hydraulic cylinder.By wheelspan adjustment hydraulic cylinder piston rod flexible adjustment both sides wheel between distance, not only easily control, and the collapsing length of piston rod can control accurately, the distance namely between two wheels can realize accurate control.
As a further improvement on the present invention, described longitudinal adjustment apparatus comprises the wheel carrier that the synchronization lifting hydraulic cylinder that is connected with back shaft by guide post is connected with the piston of synchronization lifting hydraulic cylinder with upper end, and described wheel carrier lower end arranges the hydraulic motor driving vehicle wheel rotation.The back shaft of horizontally set and the synchronization lifting hydraulic cylinder longitudinally arranged link together by guide post, solve laterally and longitudinal connectivity problem; By the terrain clearance of the flexible adjustment chassis main frame of synchronization lifting hydraulic cylinder piston rod, and the flexible of synchronization lifting hydraulic cylinder piston rod easily controls, and can meet the requirement of precision during conciliation; Each wheel is by a fluid motor-driven, and the power that each wheel is advanced is more sufficient, is applicable to the use of various complicated landform.
As a further improvement on the present invention, described spray boom mapping device comprises horizontal beam and is no less than the lower horizontal beam group of, described lower horizontal beam group comprises the lower horizontal beam that three form revolute pair successively, the lower horizontal beam in one, described centre is connected by vertical beam with upper horizontal beam, two lower horizontal beams at two ends are connected with upper horizontal beam by spray boom conversion hydraulic cylinder, and described shower nozzle is arranged on the bottom of lower horizontal beam group.Fix for one in the middle of three lower horizontal beams, two lower horizontal beams at two ends rotate relative to middle one under the effect of spray boom conversion hydraulic cylinder, make three lower horizontal beams can be the conversion of " one " font, " U " type and " fall U " type, be applicable to carrying out spraying operation to different plants such as nursery, hedgerow, street trees, further increase the spraying range of shower nozzle and the versatility on chassis.
As a further improvement on the present invention, described lower horizontal beam group has two, is separately positioned on the two ends of horizontal beam.The number of suitable lower horizontal beam group is set according to the length of upper horizontal beam, makes can not influence each other between it.
As a further improvement on the present invention, also comprise the hydraulic pump be arranged on chassis main frame, described spray lance lifting oil cylinder, wheelspan adjustment hydraulic cylinder, synchronization lifting hydraulic cylinder, spray boom conversion hydraulic cylinder, hydraulic motor, worktable rotary motor are by this hydraulic pump drive.Take so pure hydraulic power can give full play to hydraulicdriven advantage, namely stable drive, be easy to control, be applicable to using under low-speed heave-load operating mode; In addition, adopt pure hydraulic power, also can save many intermediate transmission mechanism, reduce complexity and weight, the more energy-saving and emission-reduction of complete machine.
Further improve as of the present invention, described chassis main frame front end is also provided with gps system and laser range sensor.The intelligent mobile that gps system and laser range sensor can realize chassis is set, improves the safety of dispenser.
In sum, the invention has the beneficial effects as follows: take pure hydraulic power, drive steadily, driving moment is large, turn to flexibly, transmission is simple, complete machine structure is succinct, configuration rationally, steadily of centre of gravity, wheelspan, ground gap height etc. all can realize hydraulic stepless adjustment, spray boom mapping device liftable, rotatable, and " one " font can be realized, " U " type and the conversion of " U " type, reach the effect of comprehensive spraying, pass through the present invention, totally can realize different plant growth nurturing period full landform different from plant, the requirement of comprehensive spraying operation, for the agrisilviculture machinery under agricultural complex environment provides a generalization intelligent platform.
Accompanying drawing explanation
Fig. 1 is front view of the present invention.
Fig. 2 is the P direction view of Fig. 1.
Fig. 3 is three-dimensional structure diagram of the present invention.
Fig. 4 is the hydraulic system layout drawing in reflection the present invention.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described further.
Intelligent multifunctional sprayer chassis as described in Fig. 1 to Fig. 3, comprise chassis main frame 8, be arranged on the medicine-chest fixed mount 10 of chassis main frame 8 rear end, the chassis rotary table 1 driven by worktable rotary motor 22, be arranged on the spray lance lifting frame 12 on chassis rotary table 1, to be arranged on chassis rotary table 1 and the spray lance lifting oil cylinder 2 driving spray lance lifting frame 12 to be elevated, the spray boom mapping device of vertical moving sets is formed with described spray lance lifting frame 12, be arranged on the shower nozzle 19 on spray boom mapping device and be arranged on the wheel 5 of chassis main frame 8 bottom by longitudinal adjustment apparatus and lateral adjustment device, during use, medicine-chest 9 is placed on medicine-chest fixed mount 10.
Described lateral adjustment device comprises the wheelspan adjustment hydraulic cylinder 21 be arranged on bottom chassis main frame 8 and the back shaft 20 be connected with the piston that wheelspan adjusts hydraulic cylinder 21, described longitudinal adjustment apparatus comprises the wheel carrier 3 that the synchronization lifting hydraulic cylinder 6 that is connected with back shaft 20 by guide post 7 is connected with the piston of synchronization lifting hydraulic cylinder 6 with upper end, described wheel carrier 3 lower end arranges the hydraulic motor 4 driving vehicle wheel rotation, and described wheel is set directly on hydraulic motor 4.
Described spray boom mapping device comprises the upper horizontal beam 23 and two lower horizontal beam groups that are connected with spray lance lifting frame 12 by horizontal girder 13, described two lower horizontal beam groups are separately positioned on the two ends of horizontal beam 23, described lower horizontal beam group comprises the lower horizontal beam 25 that three form revolute pair successively, the lower horizontal beam 25 in one, described centre is connected by vertical beam 18 with upper horizontal beam 23, two lower horizontal beams 25 at two ends are connected with upper horizontal beam 23 by spray boom conversion hydraulic cylinder 16, described shower nozzle 19 is arranged on the bottom of lower horizontal beam group, all connected by the first bearing pin 17 between described lower horizontal beam 25, described spray boom conversion hydraulic cylinder 16 upper end is connected with upper horizontal beam 23 by the second bearing pin 15, the piston rod of lower end is directly fixedly connected with lower horizontal beam 23.
The present invention also comprises the gps system and laser range sensor 14, the hydraulic pump 11 be arranged on chassis main frame 8 that are arranged on chassis main frame 8 front end, and described spray lance lifting oil cylinder 2, wheelspan adjust all hydraulic cylinders such as hydraulic cylinder 21, synchronization lifting hydraulic cylinder 6, spray boom conversion hydraulic cylinder 16 by this hydraulic pump drive.
Hydraulic system layout drawing in the present invention as shown in Figure 4, diesel engine 41 connecting fluid press pump 11, hydraulic pump 11, oil filter 43 are connected by oil pipe with fuel tank 44, and the first overflow valve 45, second overflow valve 47 is connected with two-position two-way solenoid valve 46, form boost-up circuit; 3 position-5 way solenoid directional control valve 36,37a ~ 37e are connected in parallel, and solenoid directional control valve 36 adjusts hydraulic cylinder 21 with four wheelspans and is connected, and form wheelspan adjustment loop; Solenoid directional control valve 37a and flow speed control valve 35 and the second check valve 34 and synchronization lifting oil cylinder 6 are connected, and form gap Height Adjustment loop, ground; Solenoid directional control valve 37b and two-position four-way solenoid-operated proportional reversal valve 33 and chassis hydraulic motor travel motor 4 and the first check valve 31 and the 3rd overflow valve 32 are connected, and form chassis and drive, turn to and brake circuit; Solenoid directional control valve 37c is connected with chassis rotary table 22 and the first check valve 28, the 4th overflow valve 29, forms worktable rotary loop, chassis; Solenoid directional control valve 37d is connected with spray lance lifting hydraulic cylinder 2, first hydraulic control one-way valve 26 and oil return line flow speed control valve 27, forms spraying system elevating loop; Solenoid directional control valve 37e and spray boom convert hydraulic cylinder 16, second hydraulic control one-way valve 30 and are connected, and form spray boom transformation loop; By triggering different solenoid directional control valves, the action of correspondence can be realized or realize the interlock of several action.
Diesel engine 41 drives hydraulic pump 11 to rotate, the left position connecting system of solenoid directional control valve 37b, four hydraulic motors 4 in parallel are directly connected with four wheels 5, start to drive chassis to walk, four hydraulic motors control by two-position four-way solenoid-operated proportional reversal valve 33, adjustable hydraulic motor 4 rotating speed and turning to, thus control the speed of travel on chassis, and realizing differential steering and braking, the first check valve 31 and the 3rd overflow valve 32 are for preventing motor overload; When chassis difficulty in walking, reinforcement button (not shown) can be pressed, two-position two-way solenoid valve 46 is worked, the control mouth far away of the first overflow valve 45 be blocked, by the second overflow valve 47 pressure regulation, system pressure is raised, running gear is walked smoothly.The right position connecting system of solenoid directional control valve 37b, can make chassis retreat.
Wheelspan adjustment of the present invention, diesel engine 41 drives hydraulic pump 11 to rotate, the left position connecting system of solenoid directional control valve 36, wheelspan adjustment hydraulic cylinder 21 is made up of the single pole single-action hydraulic cylinder that four specifications are identical, wherein, solenoid directional control valve 21a, 21b connect, before the piston rod of two wheelspans adjustment hydraulic cylinders 21 shrink, drive wheel stand to realize front tread and reduce; Solenoid directional control valve 21c, 21d connect, after the piston rod of two wheelspans adjustment hydraulic cylinders 21 shrink, drive wheel stand to realize rear track and reduce; Solenoid directional control valve 21a, 21b is in parallel, solenoid directional control valve 21c, 21d parallel connection, can realize the synchronous change of front and back wheel wheelspan simultaneously; During the right position connecting system of solenoid directional control valve 36, the synchronous increase of front and back wheel wheelspan can be realized.
The present invention ground gap Height Adjustment, diesel engine 41 drives hydraulic pump 11 to rotate, the left position connecting system of solenoid directional control valve 37a, and ground gap adjustment synchronization lifting hydraulic cylinder 6 is made up of the single pole single-action hydraulic cylinder of four specifications of the same race, 6a, 6b, 6c, 6d are in parallel, move on hydraulic cylinder piston rod is synchronous, drive hood synchronous to raise, ground gap height increases, second check valve 34 plays counteresteer effect, chassis can be made to rest on a certain ground gap height, and flow speed control valve 35 can control chassis decrease speed, improves stability.During the right position connecting system of solenoid directional control valve 37a, ground, chassis gap height can be reduced.
Chassis of the present invention worktable rotary, diesel engine 41 drives hydraulic pump 11 to rotate, the left position connecting system of solenoid directional control valve 37c, worktable rotary motor 22 is driven to rotate, drive chassis rotary table 1 to rotate by Bevel Gear Transmission 24, during the right position connecting system of solenoid directional control valve 37c, motor reversely rotates, drive chassis rotary table 1 to rotate in the other direction, the first check valve 28, the 4th overflow valve 29 prevent motor overload.
Spray lance lifting of the present invention, diesel engine 41 drives hydraulic pump 11 to rotate, the left position connecting system of solenoid directional control valve 37d, spray lance lifting oil cylinder 2 piston rod moves, drive spray boom promotes, and the first hydraulic control one-way valve 26 plays counteresteer effect, and spray boom can be made to rest on a certain height, oil return line flow speed control valve 27 can control spray boom decrease speed, improves stability; During the right position connecting system of solenoid directional control valve 37d, spray boom can be made to decline.
Spray boom conversion of the present invention, diesel engine 41 drives hydraulic pump 11 to rotate, the left position connecting system of solenoid directional control valve 37e, spray boom conversion hydraulic cylinder 16 is made up of four specification hydraulic cylinder 16a, 16b, 16c, 16d of the same race, and hydraulic cylinder 16a, 16b connect, and 16c, 16d connect, 16a, 16b and 16c, 16d are in parallel, spray boom mapping device can be driven to complete " one " font and the conversion of " fall U " type, during the right position connecting system of solenoid directional control valve 37e, spray boom mapping device can be driven to complete the conversion of " U " type; Second hydraulic control one-way valve 30 plays locking oil cylinder, the attitude after spray bar mechanism can be kept to convert.
In technical scheme of the present invention; allly to be not specifically noted; be prior art or by the conventional means in this area to realize the technical program; and should be understood that; for those of ordinary skills; can be improved according to the above description or convert, and all these improve and convert the protection domain that all should belong to claims of the present invention.

Claims (7)

1. an intelligent multifunctional sprayer chassis, it is characterized in that: comprise chassis main frame (8), be arranged on the medicine-chest fixed mount (10) of chassis main frame (8) rear end, rotation is arranged on the spray lance lifting frame (12) of chassis main frame (8) front end, the spray boom mapping device of vertical moving sets is formed with described spray lance lifting frame (12), be arranged on the shower nozzle (19) on spray boom mapping device, the wheel (5) of chassis main frame (8) bottom is arranged on by longitudinal adjustment apparatus and lateral adjustment device, the chassis rotary table (1) driven by worktable rotary motor (22) and be arranged on the upper and spray lance lifting oil cylinder (2) driving spray lance lifting frame (12) to be elevated of chassis rotary table (1), described spray lance lifting frame (12) is arranged on chassis rotary table (1).
2. intelligent multifunctional sprayer chassis according to claim 1, is characterized in that: described lateral adjustment device comprises wheelspan adjustment hydraulic cylinder (21) being arranged on chassis main frame (8) bottom and the back shaft (20) be connected with the piston that wheelspan adjusts hydraulic cylinder (21).
3. intelligent multifunctional sprayer chassis according to claim 2, it is characterized in that: described longitudinal adjustment apparatus comprises the wheel carrier (3) that the synchronization lifting hydraulic cylinder (6) that is connected with back shaft (20) by guide post (7) is connected with the piston of synchronization lifting hydraulic cylinder (6) with upper end, described wheel carrier (3) lower end arranges the hydraulic motor (4) driving vehicle wheel rotation.
4. intelligent multifunctional sprayer chassis according to claim 3, it is characterized in that: described spray boom mapping device comprises horizontal beam (23) and is no less than the lower horizontal beam group of, described lower horizontal beam group comprises the lower horizontal beam (25) that three form revolute pair successively, one, described centre lower horizontal beam (25) is connected by vertical beam (18) with upper horizontal beam (23), two lower horizontal beams (25) at two ends convert hydraulic cylinder (16) by spray boom and are connected with upper horizontal beam (23), described shower nozzle (19) is arranged on the bottom of lower horizontal beam group.
5. intelligent multifunctional sprayer chassis according to claim 4, is characterized in that: described lower horizontal beam group has two, is separately positioned on the two ends of horizontal beam (23).
6. the intelligent multifunctional sprayer chassis according to claim 4 or 5, it is characterized in that: also comprise the hydraulic pump (11) be arranged on chassis main frame (8), described spray lance lifting oil cylinder (2), wheelspan adjustment hydraulic cylinder (21), synchronization lifting hydraulic cylinder (6), spray boom conversion hydraulic cylinder (16), hydraulic motor (4), worktable rotary motor (22) are by this hydraulic pump drive.
7. intelligent multifunctional sprayer chassis according to claim 6, is characterized in that: described chassis main frame (8) front end is also provided with gps system and laser range sensor (14).
CN201310290793.0A 2013-07-11 2013-07-11 New-concept intelligent multifunctional spaying machine chassis CN103329878B (en)

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Application Number Priority Date Filing Date Title
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CN103329878B true CN103329878B (en) 2015-04-22

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CN103802897B (en) * 2014-03-16 2016-04-20 吴志海 A kind of full-hydraulic multifunctional farmland dispenser fertilization all-in-one machine
CN105284769B (en) * 2015-11-20 2019-04-23 杭州电子科技大学 A kind of agricultural chemical spraying vehicle
CN105454199B (en) * 2015-12-21 2018-07-10 湖北荆江农机有限公司 A kind of farmland spray Operation Van
CN105855076A (en) * 2016-05-04 2016-08-17 昆明理工大学 Double-amplitude four-spraying-rod flexible sprayer
TWI631994B (en) * 2016-10-27 2018-08-11 蘇麗招 Moving controlling mechanism and an unmanned driving auto-spraying vehicles of using the same
CN107347307A (en) * 2017-06-17 2017-11-17 常州鼎众冷暖设备工程有限公司 A kind of full-automatic spray fertilising slotting all-in-one machine device
CN107258748A (en) * 2017-07-19 2017-10-20 虞海杰 A kind of hanging pesticide-spraying cart device
CN108207881A (en) * 2017-07-30 2018-06-29 广州市领能光电科技有限公司 A kind of adjustable pesticide dispersal equipment in orientation
CN108207880A (en) * 2017-07-30 2018-06-29 广州市领能光电科技有限公司 A kind of pesticide dispersal equipment of direction-adjustable
CN107318815A (en) * 2017-07-30 2017-11-07 潘菲鸿 A kind of pesticide dispersal equipment of direction-adjustable
CN108207882A (en) * 2017-07-30 2018-06-29 广州市领能光电科技有限公司 A kind of adjustable pesticide dispersal equipment in orientation
CN107372434B (en) * 2017-08-18 2019-11-05 杭州电子科技大学 A kind of field pesticide spray truck and its spray method
CN108633857A (en) * 2018-04-18 2018-10-12 安徽科技学院 A kind of vehicle mounted spraying machine
CN109380208A (en) * 2018-11-07 2019-02-26 南通科技职业学院 High-clearance remote control self-walking intelligence boom sprayer
CN109362688A (en) * 2018-11-27 2019-02-22 黄仙才 A kind of chemical spraying device of the agricultural spray convenient for adjusting spraying altitude
CN110301418B (en) * 2019-06-24 2021-03-26 山东理工大学 Intelligence is to going lift plant protection spraying robot

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CN201758703U (en) * 2010-09-16 2011-03-16 临沂三禾永佳动力有限公司 High ground clearance self-propelled boom sprayer frame
CN101961004B (en) * 2010-10-13 2012-05-09 扬州大学 Ground clearance-variable tunnel type sprayer
CN102696569B (en) * 2012-06-16 2014-05-14 南京林业大学 Spray boom conversion device for boom sprayer
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