CN104814001A - Pesticide spraying system for large sprinkling machine - Google Patents
Pesticide spraying system for large sprinkling machine Download PDFInfo
- Publication number
- CN104814001A CN104814001A CN201510272300.XA CN201510272300A CN104814001A CN 104814001 A CN104814001 A CN 104814001A CN 201510272300 A CN201510272300 A CN 201510272300A CN 104814001 A CN104814001 A CN 104814001A
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- Prior art keywords
- pesticide
- sprinkler
- spraying system
- pesticide spraying
- irrigation sprinkler
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
- A01M7/0053—Mounting of the spraybooms
- A01M7/0057—Mounting of the spraybooms with active regulation of the boom position
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Mechanical Engineering (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a pesticide spraying system for a large sprinkling machine. The pesticide spraying system comprises a large truss type sprinkling machine and further comprises an electric appliance control box, a pesticide mixing tank and a lifting mechanism arranged at the bottom of the large truss type sprinkling machine. A pesticide distribution pipeline and a plurality of spray heads connected with the pesticide distribution pipeline through branch pipes respectively are arranged on the lifting mechanism in the length direction of the sprinkling machine, each branch pipes where each spray head is located is provided with a solenoid valve, a liquid inlet of the pesticide distribution pipeline is connected with a liquid outlet of a pesticide pump through a pesticide conveying connecting hose, and the other end of the hose connected with a liquid inlet of the pesticide pump is placed in the pesticide mixing tank. The output end of the electric appliance control box is respectively connected with the pesticide pump and the control end of the solenoid valve. The pesticide spraying system solves the problem that the application of large sprinkling machines is single; the pesticide spraying system is wide in application range, the heights of the pesticide spray heads can be adjusted according to different crops, and different spray heads can be replaced to be used for spraying different pesticides.
Description
Technical field
The present invention relates to a kind of pesticide spraying machinery, be specifically related to a kind of giant sprinkler pesticide spraying system.
Background technology
At present, the agricultural development of China has trended towards automation, intellectuality, has supermatic large-scale truss type irrigation sprinkler if center pivot sprinkling machine and translation type sprinkler are in China's extensive use.But these large-scale truss type irrigation sprinkler functions are comparatively single, seldom have pesticide spraying system supporting with it, in addition, existing pesticide spraying machinery automaticity is lower, and dispenser operating personnel can be subject to the impact of agricultural chemicals to a certain extent.
Summary of the invention
The technical problem to be solved in the present invention is to provide the higher giant sprinkler pesticide spraying system of a kind of automaticity, expands the range of application of large-scale truss type irrigation sprinkler.
For solving the problems of the technologies described above, the technical solution used in the present invention is as follows:
A kind of giant sprinkler pesticide spraying system, comprises large-scale truss type irrigation sprinkler; The elevating mechanism also comprising electric appliance control box, mixed medicinal cupping and pesticide pump and be located at bottom large-scale truss type irrigation sprinkler, elevating mechanism is provided with point pencil road and the multiple shower nozzles be connected with point pencil road respectively by arm along irrigation sprinkler length direction, and the arm at each shower nozzle place is respectively provided with a magnetic valve; The inlet on described point of pencil road is connected with the liquid outlet of pesticide pump by loading connecting hose, and the other end of the flexible pipe be connected with the inlet of pesticide pump is placed in mixed medicinal cupping; The output of electric appliance control box is connected with the control end of magnetic valve with pesticide pump respectively.
Wherein, described elevating mechanism comprises the hoistable platform arranged along irrigation sprinkler length direction, and hoistable platform is connected with the lacing wire bottom large-scale truss type irrigation sprinkler by adjusting screw(rod).
Wherein, each hinged wing plate being provided with a folding adjustable angle in both sides of described hoistable platform, upwards splashes for preventing liquid.
Wherein, described wing plate is driven by reciprocating mechanism, along with the folding of advancing of large-scale truss type irrigation sprinkler.
Wherein, described shower nozzle straight down and be evenly arranged along irrigation sprinkler length direction.
Wherein, described large-scale truss type irrigation sprinkler is translation type sprinkler, and electric appliance control box, mixed medicinal cupping and pesticide pump are all located on the stem span tower carriage of translation type sprinkler.
Wherein, a shaft type irrigation sprinkler centered by described large-scale truss type irrigation sprinkler, electric appliance control box, mixed medicinal cupping and pesticide pump are all placed on the side of the center pivot of center pivot sprinkling machine; Loading connecting hose is provided with swivel joint.
Wherein, described swivel joint comprises upper end cover and bottom end cover, the bottom of upper end cover is provided with flanging, and the top of bottom end cover is provided with in-flanges, and flanging is located at the below of in-flanges and in-flanges and flanging are slided by the slip ring be located at therebetween and are tightly connected; Bottom end cover is fixed on the riser upper portions at center pivot place, and bottom end cover is provided with inlet, and upper end cover is provided with liquid outlet.
Wherein, the feed liquor loading connecting hose be connected with the inlet on bottom end cover enters vertical tube from vertical tube upper wall and stretches out from its sidewall.
Wherein, described swivel joint comprises annular gland and annular water tank, and annular water tank and annular gland are all enclosed within the vertical tube at center pivot place, and annular water tank and vertical tube seal and be fixedly connected, and annular gland seals with vertical tube and can relatively rotate and connects; The bottom of annular gland is provided with flanging, and the top of annular water tank is provided with in-flanges, and flanging is located at the below of in-flanges and in-flanges and flanging are slided by the slip ring be located at therebetween and are tightly connected; Annular water tank is provided with inlet, and annular gland is provided with liquid outlet.
The beneficial effect adopting technique scheme to produce is:
The present invention relies on large-scale truss type irrigation sprinkler as center pivot sprinkling machine and translation type sprinkler, achieves the function to irrigated area automatic spraying agricultural chemicals.Pesticide spraying system is arranged on the bottom of truss-like irrigation sprinkler; the walking of dependence irrigation sprinkler completes the spray medicine to whole irrigated area; hoistable platform is installed to adapt to the plant height of Different Crop different growing stages; and sprinkler time length can be regulated to control total formulation rate according to the speed of travel at shower nozzle place; the agricultural chemicals completing irrigated area precisely sprays; while minimizing is artificial, protect dispenser operating personnel to the full extent.
Automaticity of the present invention is high, on duty without the need for people in the process of pesticide spraying, avoids operating personnel and contacts with the direct of liquid, reduces the harm of agricultural chemicals to personnel; Center pivot sprinkling machine, translation type sprinkler can be installed, solve the problem that giant sprinkler purposes is single; Applied widely, can the height of agricultural chemicals shower nozzle be adjusted according to Different Crop and different shower nozzle can be changed for spraying different agricultural chemicals.
Accompanying drawing explanation
Fig. 1 is the structural representation of first embodiment of the invention;
Fig. 2 is the structural representation of second embodiment of the invention;
Fig. 3 is the structural representation of second embodiment of the invention swivel joint;
Fig. 4 is the structural representation of third embodiment of the invention;
Fig. 5 is the structural representation of third embodiment of the invention swivel joint;
In figure: 4, hoistable platform, 5, vertical tube, 6, electric appliance control box, 7, mixed medicinal cupping, 8, pesticide pump, 9, stem span tower carriage, 10, electric control circuit, 11, swivel joint, 12, center pivot, 13, loading connecting hose, 14, irrigation sprinkler water-supply-pipe, 15, brace summer, 16, adjusting screw(rod), 17, lacing wire, 18, point pencil road, 19, magnetic valve, 20, shower nozzle.
Embodiment
The invention discloses a kind of giant sprinkler pesticide spraying system, comprise large-scale truss type irrigation sprinkler; The elevating mechanism also comprising electric appliance control box 6, mixed medicinal cupping 7 and pesticide pump 8 and be located at bottom large-scale truss type irrigation sprinkler, elevating mechanism is provided with point pencil road 18 and the multiple shower nozzles 20 be connected with point pencil road 18 respectively by arm along irrigation sprinkler length direction, shower nozzle 20 straight down and be evenly arranged along irrigation sprinkler length direction, and the arm at each shower nozzle 20 place is respectively provided with a magnetic valve 19; The inlet on described point of pencil road 18 is connected by the liquid outlet of loading connecting hose 13 with pesticide pump 8, and the other end of the flexible pipe be connected with the inlet of pesticide pump 8 is placed in mixed medicinal cupping 7; The output of electric appliance control box 6 is connected with the control end of pesticide pump 8 with magnetic valve 19 respectively by electric control circuit 10.Described elevating mechanism comprises the hoistable platform 4 arranged along irrigation sprinkler length direction, and hoistable platform 4 is connected with the lacing wire 17 bottom large-scale truss type irrigation sprinkler by adjusting screw(rod) 16; Large-scale truss type irrigation sprinkler comprises the irrigation sprinkler water-supply-pipe 14 being located at top and the lacing wire 17 being located at bottom, and is connected by brace summer 15 between irrigation sprinkler water-supply-pipe 14 and lacing wire 17; Irrigation sprinkler water-supply-pipe 14 and lacing wire 17 are all arranged along the length direction of large-scale truss type irrigation sprinkler, and brace summer 15 is arranged in fore-and-aft tilt; Hoistable platform 4 is located at the below of lacing wire 17.
The each hinged wing plate being provided with a folding adjustable angle in both sides of hoistable platform, the folding angle of wing plate can adjust according to the spray value of shower nozzle 20 and spray medicine speed, upwards splashes for preventing liquid.Further, wing plate is driven by reciprocating mechanism, along with the folding of advancing of large-scale truss type irrigation sprinkler, agitating of simulation wing, alleviates the burden of large-scale truss type irrigation sprinkler, makes it walk lighter, saves the energy.
Of the present invention point of pencil road 18, magnetic valve 19 and shower nozzle 20 entirety are fixedly mounted on hoistable platform 4, are together elevated with hoistable platform 4.Hoistable platform 4 can adjust height up and down, to adapt to the crop of differing heights.First irrigation sprinkler reduces according to the height of institute's long-term cropping or raises hoistable platform 4 before running.Electric appliance control box 6 directly control pesticide pump 8, magnetic valve 19, the switching motion of hoistable platform 4 matches with the action of irrigation sprinkler.The flow of pesticide pump 8 of the present invention and pressure controllable, pesticide pump 8 is transported to a point pencil road 18 after being pressurizeed by the liquid configured in mixed medicinal cupping 7, and a point pencil road 18 carries liquid by magnetic valve 19 for each shower nozzle 20.Shower nozzle 20 straight down and be evenly arranged along irrigation sprinkler length direction, utilize the amount of liquid medicine that magnetic valve 19 sprays to regulate shower nozzle 20, shower nozzle 20 is uniform position pesticide liquid being sprayed onto land for growing field crops and needing under the control of respective magnetic valve 19, reaches the even dispenser to crops.The specification of shower nozzle 20 is identical and be all with antidrip, can react fast when magnetic valve 19 opens and closes, change sprinkling droplet size by the shower nozzle 20 and adjustment pressure changing different size and adapt to different agricultural chemicals, the size of agricultural chemicals formulation rate controls by magnetic valve 19 opening time length.
Embodiment one:
As shown in Figure 1, described large-scale truss type irrigation sprinkler is translation type sprinkler, and electric appliance control box 6, mixed medicinal cupping 7 and pesticide pump 8 are all located on the stem span tower carriage 9 of translation type sprinkler.When translation type sprinkler moves, electric appliance control box 6, mixed medicinal cupping 7 and pesticide pump 8 are all along with translation type sprinkler moves.After translation type sprinkler starts, pesticide liquid pressurizes by pesticide pump 8, and by connecting hose for point pencil road 18 is for medicine, magnetic valve 19 controls shower nozzle 20 opening and closing time and regulates formulation rate.
Embodiment two:
A shaft type irrigation sprinkler centered by described large-scale truss type irrigation sprinkler, electric appliance control box 6, mixed medicinal cupping 7 and pesticide pump 8 are all placed on the side of the center pivot 12 of center pivot sprinkling machine; Loading connecting hose 13 is provided with swivel joint 11.When center pivot sprinkling machine runs, center pivot 12 maintains static, and spray medicine system is rotated around center pivot 12 across body in company with irrigation sprinkler, by swivel joint 11, liquid is transported to a point pencil road 18.Electric appliance control box 6 controls to open pesticide pump 8, and regulates electromagnetism opening and closing time length according to the linear velocity of different magnetic valve 19 position, controls different shower nozzle 20 to spill equal area plot inner liquid medicine total amount identical, ensures the uniformity of pesticide spraying with this.In the present embodiment, swivel joint 11 comprises upper end cover 11-2 and bottom end cover 11-1, the bottom of upper end cover 11-2 is provided with flanging, the top of bottom end cover 11-1 is provided with in-flanges, and flanging is located at the below of in-flanges and in-flanges and flanging are slided by the slip ring 11-3 be located at therebetween and are tightly connected; Bottom end cover 11-1 is fixed on vertical tube 5 top at center pivot 12 place, and bottom end cover 11-1 is provided with inlet, and upper end cover 11-2 is provided with liquid outlet.The feed liquor loading connecting hose be connected with the inlet on bottom end cover 11-1 enters vertical tube 5 from vertical tube 5 upper wall and stretches out from its sidewall.
Embodiment three:
A shaft type irrigation sprinkler centered by described large-scale truss type irrigation sprinkler, electric appliance control box 6, mixed medicinal cupping 7 and pesticide pump 8 are all placed on the side of the center pivot 12 of center pivot sprinkling machine; Loading connecting hose 13 is provided with swivel joint 11.In the present embodiment, swivel joint 11 comprises annular gland 11-5 and annular water tank 11-4, annular water tank 11-4 and annular gland 11-5 is all enclosed within the vertical tube 5 at center pivot 12 place, and annular water tank 11-4 and vertical tube 5 seal and be fixedly connected, annular gland 11-5 seals with vertical tube 5 and can relatively rotate and connects; The bottom of annular gland 11-5 is provided with flanging, and the top of annular water tank 11-4 is provided with in-flanges, and flanging is located at the below of in-flanges and in-flanges and flanging are slided by the slip ring 11-6 be located at therebetween and are tightly connected; Annular water tank 11-4 is provided with inlet, and annular gland 11-5 is provided with liquid outlet.A shaft type irrigation sprinkler centered by large-scale truss type irrigation sprinkler.
Claims (10)
1. a giant sprinkler pesticide spraying system, comprises large-scale truss type irrigation sprinkler; It is characterized in that: the elevating mechanism also comprising electric appliance control box (6), mixed medicinal cupping (7) and pesticide pump (8) and be located at bottom large-scale truss type irrigation sprinkler, elevating mechanism is provided with point pencil road (18) and the multiple shower nozzles (20) be connected with point pencil road (18) respectively by arm along irrigation sprinkler length direction, and the arm at each shower nozzle (20) place is respectively provided with a magnetic valve (19); The inlet of described point of pencil road (18) is connected by the liquid outlet of loading connecting hose (13) with pesticide pump (8), and the other end of the flexible pipe be connected with the inlet of pesticide pump (8) is placed in mixed medicinal cupping (7); The output of electric appliance control box (6) is connected with the control end of pesticide pump (8) with magnetic valve (19) respectively.
2. giant sprinkler pesticide spraying system according to claim 1, it is characterized in that: described elevating mechanism comprises the hoistable platform (4) arranged along irrigation sprinkler length direction, and hoistable platform (4) is connected with the lacing wire (17) bottom large-scale truss type irrigation sprinkler by adjusting screw(rod) (16).
3. giant sprinkler pesticide spraying system according to claim 2, is characterized in that: each hinged wing plate being provided with a folding adjustable angle in both sides of described hoistable platform (4), upwards splashes for preventing liquid.
4. giant sprinkler pesticide spraying system according to claim 3, is characterized in that: described wing plate is driven by reciprocating mechanism, along with the folding of advancing of large-scale truss type irrigation sprinkler.
5. giant sprinkler pesticide spraying system according to claim 1, is characterized in that: described shower nozzle (20) straight down and be evenly arranged along irrigation sprinkler length direction.
6. giant sprinkler pesticide spraying system according to claim 1, it is characterized in that: described large-scale truss type irrigation sprinkler is translation type sprinkler, electric appliance control box (6), mixed medicinal cupping (7) and pesticide pump (8) are all located on the stem span tower carriage (9) of translation type sprinkler.
7. giant sprinkler pesticide spraying system according to claim 1, it is characterized in that: a shaft type irrigation sprinkler centered by described large-scale truss type irrigation sprinkler, electric appliance control box (6), mixed medicinal cupping (7) and pesticide pump (8) are all placed on the side of the center pivot (12) of center pivot sprinkling machine; Loading connecting hose (13) is provided with swivel joint (11).
8. giant sprinkler pesticide spraying system according to claim 7, it is characterized in that: described swivel joint (11) comprises upper end cover (11-2) and bottom end cover (11-1), the bottom of upper end cover (11-2) is provided with flanging, the top of bottom end cover (11-1) is provided with in-flanges, and flanging is located at the below of in-flanges and in-flanges and flanging are slided by the slip ring (11-3) be located at therebetween and are tightly connected; Bottom end cover (11-1) is fixed on vertical tube (5) top at center pivot (12) place, and bottom end cover (11-1) is provided with inlet, and upper end cover (11-2) is provided with liquid outlet.
9. giant sprinkler pesticide spraying system according to claim 8, is characterized in that: the feed liquor loading connecting hose be connected with the inlet on bottom end cover (11-1) enters vertical tube (5) from vertical tube (5) upper wall and stretches out from its sidewall.
10. giant sprinkler pesticide spraying system according to claim 7, it is characterized in that: described swivel joint (11) comprises annular gland (11-5) and annular water tank (11-4), annular water tank (11-4) and annular gland (11-5) are all enclosed within the vertical tube (5) at center pivot (12) place, and annular water tank (11-4) and vertical tube (5) seal and are fixedly connected, and annular gland (11-5) seals with vertical tube (5) and can relatively rotate and connects; The bottom of annular gland (11-5) is provided with flanging, and the top of annular water tank (11-4) is provided with in-flanges, and flanging is located at the below of in-flanges and in-flanges and flanging are slided by the slip ring (11-6) be located at therebetween and are tightly connected; Annular water tank (11-4) is provided with inlet, and annular gland (11-5) is provided with liquid outlet.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510272300.XA CN104814001B (en) | 2015-05-26 | 2015-05-26 | Pesticide spraying system for large sprinkling machine |
| CN201610823476.4A CN106359350B (en) | 2015-05-26 | 2015-05-26 | A kind of giant sprinkler pesticide spraying system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510272300.XA CN104814001B (en) | 2015-05-26 | 2015-05-26 | Pesticide spraying system for large sprinkling machine |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610823476.4A Division CN106359350B (en) | 2015-05-26 | 2015-05-26 | A kind of giant sprinkler pesticide spraying system |
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| Publication Number | Publication Date |
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| CN104814001A true CN104814001A (en) | 2015-08-05 |
| CN104814001B CN104814001B (en) | 2017-01-25 |
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| CN201610823476.4A Active CN106359350B (en) | 2015-05-26 | 2015-05-26 | A kind of giant sprinkler pesticide spraying system |
| CN201510272300.XA Active CN104814001B (en) | 2015-05-26 | 2015-05-26 | Pesticide spraying system for large sprinkling machine |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610823476.4A Active CN106359350B (en) | 2015-05-26 | 2015-05-26 | A kind of giant sprinkler pesticide spraying system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106035000A (en) * | 2016-08-06 | 2016-10-26 | 安徽艾瑞德农业装备发展有限公司 | Large electric metering pesticide-applying sprinkling machine |
| CN106069629A (en) * | 2016-08-06 | 2016-11-09 | 安徽艾瑞德农业装备发展有限公司 | Self-propelled water-fertilizer-pesticide combines irrigation fog machine |
| CN106106416A (en) * | 2016-08-23 | 2016-11-16 | 苏永华 | A kind of intelligent walking pesticide spraying system and gather data, make up a prescription and spray method |
| WO2016188450A1 (en) * | 2015-05-26 | 2016-12-01 | 朱锁柱 | Large pesticide and fertilizer spraying system |
| CN106172341A (en) * | 2016-07-19 | 2016-12-07 | 柳州六品科技有限公司 | A kind of agricultural automatic medicine spraying device of lift |
| CN107396815A (en) * | 2017-08-30 | 2017-11-28 | 山东锋士信息技术有限公司 | A kind of center pivot sprinkling machine irrigated suitable for crop field water-fertilizer integral |
| CN110651776A (en) * | 2019-10-15 | 2020-01-07 | 安徽艾瑞德农业装备股份有限公司 | Movable pesticide spraying system of large-scale sprinkling machine |
| CN112243990A (en) * | 2019-12-28 | 2021-01-22 | 马骏 | Central fixed walking type water, fertilizer and pesticide integrated machine |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115191328B (en) * | 2022-07-26 | 2023-12-12 | 江苏天水灌排设备有限公司 | High stability farmland sprinkling machine |
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| US8317114B1 (en) * | 2005-11-21 | 2012-11-27 | Valmont Industries, Inc. | Dual span center pivot irrigation system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016188450A1 (en) * | 2015-05-26 | 2016-12-01 | 朱锁柱 | Large pesticide and fertilizer spraying system |
| CN106172341A (en) * | 2016-07-19 | 2016-12-07 | 柳州六品科技有限公司 | A kind of agricultural automatic medicine spraying device of lift |
| CN106035000A (en) * | 2016-08-06 | 2016-10-26 | 安徽艾瑞德农业装备发展有限公司 | Large electric metering pesticide-applying sprinkling machine |
| CN106069629A (en) * | 2016-08-06 | 2016-11-09 | 安徽艾瑞德农业装备发展有限公司 | Self-propelled water-fertilizer-pesticide combines irrigation fog machine |
| CN106106416A (en) * | 2016-08-23 | 2016-11-16 | 苏永华 | A kind of intelligent walking pesticide spraying system and gather data, make up a prescription and spray method |
| CN107396815A (en) * | 2017-08-30 | 2017-11-28 | 山东锋士信息技术有限公司 | A kind of center pivot sprinkling machine irrigated suitable for crop field water-fertilizer integral |
| CN110651776A (en) * | 2019-10-15 | 2020-01-07 | 安徽艾瑞德农业装备股份有限公司 | Movable pesticide spraying system of large-scale sprinkling machine |
| CN112243990A (en) * | 2019-12-28 | 2021-01-22 | 马骏 | Central fixed walking type water, fertilizer and pesticide integrated machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104814001B (en) | 2017-01-25 |
| CN106359350A (en) | 2017-02-01 |
| CN106359350B (en) | 2019-06-04 |
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