CN106942188B - Self-propelled intelligent hot fog machine of track - Google Patents
Self-propelled intelligent hot fog machine of track Download PDFInfo
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- CN106942188B CN106942188B CN201710117991.5A CN201710117991A CN106942188B CN 106942188 B CN106942188 B CN 106942188B CN 201710117991 A CN201710117991 A CN 201710117991A CN 106942188 B CN106942188 B CN 106942188B
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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
- A01M7/0003—Atomisers or mist blowers
- A01M7/0014—Field atomisers, e.g. orchard atomisers, self-propelled, drawn or tractor-mounted
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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
- A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
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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
- A01M7/0089—Regulating or controlling systems
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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)
- Catching Or Destruction (AREA)
Abstract
The invention provides a crawler self-propelled intelligent hot fogging machine which comprises a damping frame, two crawler traveling mechanisms, a hot fogging mechanism and a seedling band identification system, wherein the two crawler traveling mechanisms are arranged on the damping frame; the two crawler traveling mechanisms are positioned on two opposite sides of the damping frame, each crawler traveling mechanism comprises a driving wheel, a tensioning wheel mounting device, a tensioning wheel, a main motor, a speed reducer, a bearing wheel mounting device, a plurality of first bearing wheels, a plurality of second bearing wheels and a crawler, the driving wheel is mounted on the damping frame, the main motor is in driving connection with the driving wheel through the speed reducer, the tensioning wheel mounting device is mounted on the damping frame, the tensioning wheel is mounted on the tensioning wheel mounting device, the bearing wheel mounting device is mounted on the damping frame, and the first bearing wheels and the second bearing wheels are both mounted on the bearing wheel mounting device; the thermal spraying mechanism comprises a loading platform, a stepping motor, a medicine chest, a temperature and pressure increasing device, a spray pipe and a liquid medicine transmission device. The invention has the advantages of convenient use, wide application range and excellent safety performance.
Description
Technical Field
The invention discloses the technical field of agriculture, and particularly relates to a crawler self-propelled intelligent hot fogging machine.
Background
In recent years, the mechanized operation level of crops such as corn and the like is improved year by year, but the links of preventing and controlling diseases and pests in the middle and later periods of the crops are not effectively solved. Currently, the following weak points mainly exist in each area: the planting area is small under the condition of family co-production and contract responsibility, and the method is not suitable for spraying operation of large-scale machines such as plant protection airplanes and the like; the high-ground-clearance large-scale machine is difficult to carry out mechanized pesticide spraying operation due to the fact that part of planting areas have high ground clearance, the traditional pesticide spraying mode mainly depends on manual knapsack spraying machine to carry out field operation, operation efficiency is low, prevention and control effects are poor, and unnecessary casualties caused by poisoning and heatstroke of operating personnel are easy to occur. Therefore, the disease and insect pest control in the middle and later periods of the corn becomes an important link for restricting the high yield of the corn, and the research on the corn has great practical significance.
Disclosure of Invention
Based on the technical problems in the background art, the invention provides a crawler self-propelled intelligent hot mist sprayer.
The invention provides a crawler self-propelled intelligent hot fogging machine which comprises a damping frame, two crawler traveling mechanisms, a hot fogging mechanism and a seedling band identification system, wherein the two crawler traveling mechanisms are arranged on the damping frame;
the two crawler traveling mechanisms are positioned on two opposite sides of the damping frame, each crawler traveling mechanism comprises a driving wheel, a tensioning wheel mounting device, a tensioning wheel, a main motor, a speed reducer, a bearing wheel mounting device, a plurality of first bearing wheels, a plurality of second bearing wheels and a crawler, the driving wheel is mounted on the damping frame, the main motor is in driving connection with the driving wheel through the speed reducer, the tensioning wheel mounting device is mounted on the damping frame, the tensioning wheel is mounted on the tensioning wheel mounting device, the bearing wheel mounting device is mounted on the damping frame, the first bearing wheels and the second bearing wheels are both mounted on the bearing wheel mounting device, and the crawler is sleeved on the peripheries of the driving wheel, the tensioning wheel, the first bearing wheels and the second bearing wheels;
the hot spraying mechanism comprises a loading platform, a stepping motor, a medicine box, a temperature and pressure increasing device, a spray pipe and a liquid medicine transmission device, wherein the loading platform is rotatably arranged on the damping frame;
the seedling zone identification system comprises a laser scanning device, a mounting support and a microcontroller, the mounting support is mounted on a damping frame, the laser scanning device is movably mounted on the mounting support and used for detecting the position of a crop stem, the laser scanning device, a main motor, a stepping motor, a temperature and pressure increasing device and a liquid medicine transmission device are in communication connection with the microcontroller, the microcontroller obtains the position of the crop stem through the laser scanning device and calculates a walking path according to the position of the crop stem, and the microcontroller controls the main motor, the stepping motor, the temperature and pressure increasing device and the liquid medicine transmission device to work through the walking path and the position of the crop stem.
Preferably, the crawler self-propelled intelligent hot fogging machine further comprises a remote control mechanism, wherein the remote control mechanism comprises an image acquisition device, a remote control device, a wireless network bridge transmitting device and a wireless network bridge receiving device; the remote control device transmits a control instruction for controlling the main motor, the stepping motor, the temperature and pressure increasing device and the liquid medicine transmission device to work through the wireless network bridge transmitting device, the microcontroller is connected with the wireless network bridge receiving device, and the microcontroller acquires the control instruction through the wireless network bridge receiving device and preferentially executes the control instruction.
The temperature-increasing and pressure-increasing device comprises an oil tank, an oil supply system, a carburetor, an ignition system, a combustion chamber, an air inlet pipe and an air inlet one-way valve; the oil supply system is connected with the oil tank and the carburetor, the carburetor and the ignition system are both installed in the combustion chamber, the air inlet pipe is communicated with the carburetor, the air inlet one-way valve is installed in the air inlet pipe, the oil supply system and the ignition system are in communication connection with the microcontroller, and the microcontroller controls the spraying distance of the liquid medicine by controlling the oil supply amount of the oil supply system.
Preferably, the bearing wheel mounting device comprises a positioning frame, a first bearing wheel mounting frame, a second bearing wheel mounting frame and a first resetting piece; the positioning frame is arranged on the shock absorption frame, the first bearing wheel mounting frame is arranged on the positioning frame, the second bearing wheel mounting frame is rotatably arranged on the shock absorption frame and is connected with the positioning frame through the first resetting piece;
the first bearing wheel is arranged on the first bearing wheel mounting frame, and the second bearing wheel is arranged on the second bearing wheel mounting frame.
Preferably, the tensioning wheel mounting device comprises a sliding rod and a second resetting piece, the sliding rod is movably mounted on the damping frame, the second resetting piece is connected with the sliding rod and the damping frame, and the tensioning wheel is mounted on the sliding rod.
Preferably, the upper wheel of the driving wheel is provided with a first clamping groove group and a second clamping groove group, the first clamping groove group and the second clamping groove group are positioned on two opposite sides of the axial direction of the driving wheel, the first clamping groove group comprises a plurality of first clamping grooves, the first clamping grooves are uniformly distributed around the axial line of the driving wheel, the second clamping groove group comprises a plurality of second clamping grooves, and the second clamping grooves are uniformly distributed around the axial line of the driving wheel;
the crawler belt is provided with a first protrusion group and a second protrusion group, the first protrusion group comprises a plurality of first protrusions, the second protrusion group comprises a plurality of second protrusions, the driving wheel rotates to enable any one of the first protrusions to be clamped into the first clamping groove, and the driving wheel rotates to enable any one of the second protrusions to be clamped into the second clamping groove.
Preferably, the tensioning wheel, the first load bearing wheel and the second load bearing wheel are all located between the first set of projections and the second set of projections.
When the automatic pesticide spraying device is used, the microcontroller acquires the position of a crop stem through the laser scanning device, calculates a walking path according to the position of the crop stem, controls the main motor, the stepping motor, the temperature and pressure increasing device and the liquid medicine conveying device to work through the walking path and the position of the crop stem, effectively realizes automatic walking and automatic pesticide spraying of the automatic pesticide spraying device, and the driving wheel, the tensioning wheel mounting device, the tensioning wheel, the main motor, the bearing wheel mounting device, the first bearing wheel, the second bearing wheel and the crawler belt are matched to finish walking of the automatic pesticide spraying device, so that the automatic pesticide spraying device is effectively suitable for different terrains, the microcontroller can realize steering of the automatic pesticide spraying device by controlling the rotating speeds of the two main motors, and the possibility of casualties can be effectively reduced through the automatic pesticide spraying device. The invention has the advantages of convenient use, wide application range and excellent safety performance.
Drawings
Fig. 1 is a schematic structural view of a crawler self-propelled intelligent hot fogging machine provided by the invention;
FIG. 2 is a schematic view of the shock absorbing frame structure of the present invention;
fig. 3 is a schematic structural diagram of a remote control device according to the present invention.
Detailed Description
Referring to fig. 1, 2 and 3, the invention provides a self-propelled intelligent thermal sprayer with a track, which comprises a damping frame 1, two track traveling mechanisms, a thermal spraying mechanism and a seedling band identification system;
the two crawler traveling mechanisms are positioned on two opposite sides of the damping frame 1, each crawler traveling mechanism comprises a driving wheel 21, a tensioning wheel mounting device, a tensioning wheel 23, a main motor 24, a speed reducer, a bearing wheel mounting device, a plurality of first bearing wheels 26, a plurality of second bearing wheels 27 and a crawler 28, the driving wheel 21 is mounted on the damping frame 1, the main motor 24 is in driving connection with the driving wheel 21 through the speed reducer, the tensioning wheel mounting device is mounted on the damping frame 1, the tensioning wheel 23 is mounted on the tensioning wheel mounting device, the bearing wheel mounting device is mounted on the damping frame 1, the first bearing wheels 26 and the second bearing wheels 27 are both mounted on the bearing wheel mounting device, and the crawler 28 is sleeved on the peripheries of the driving wheel 21, the tensioning wheel 23, the first bearing wheels 26 and the second bearing wheels 27;
the hot spraying mechanism comprises a loading platform 31, a stepping motor, a medicine box, a temperature and pressure increasing device, a spray pipe 33 and a liquid medicine transmission device, wherein the loading platform 31 is rotatably arranged on the shock absorption frame 1, the stepping motor is in driving connection with the loading platform 31, the medicine box is arranged on the shock absorption frame 1, the spray pipe 33 is arranged on the temperature and pressure increasing device, and the liquid medicine transmission device is connected with the medicine box and the spray pipe 33;
the seedling zone identification system comprises a laser scanning device 41, a mounting bracket 42 and a microcontroller 43, the mounting bracket 42 is mounted on the shock absorption frame 1, the laser scanning device 41 is movably mounted on the mounting bracket 42, the laser scanning device 41 is used for detecting the position of a crop stem, the laser scanning device 41, a main motor 24, a stepping motor, a temperature and pressure increasing device and a liquid medicine transmission device are all in communication connection with the microcontroller 43, the microcontroller 43 obtains the position of the crop stem through the laser scanning device 41 and calculates a walking path according to the position of the crop stem, and the microcontroller 43 controls the main motor 24, the stepping motor, the temperature and pressure increasing device and the liquid medicine transmission device to work through the walking path and the position of the crop stem.
The shock absorption frame comprises a shock absorption large spring, a pre-tightening spring and a transmission placing plate.
When the automatic pesticide spraying device is used, the microcontroller 43 acquires the position of a crop stem through the laser scanning device 41, calculates a walking path according to the position of the crop stem, controls the main motor 24, the stepping motor, the temperature and pressure increasing device and the liquid medicine conveying device to work through the walking path and the position of the crop stem, effectively realizes automatic walking and automatic pesticide spraying of the automatic pesticide spraying device, and effectively adapts to different terrains, the driving wheel 21, the tension wheel mounting device, the tension wheel 23, the main motor 24, the bearing wheel mounting device, the first bearing wheel 26, the second bearing wheel 27 and the crawler belt 28 are matched to finish walking of the automatic pesticide spraying device, the steering of the automatic pesticide spraying device can be realized through controlling the rotating speeds of the two main motors 24, and the possibility of casualties can be effectively reduced through the automatic pesticide spraying device.
In this embodiment, the self-propelled intelligent tracked hot mist sprayer further comprises a remote control mechanism, wherein the remote control mechanism comprises an image acquisition device 51, a remote control device 52, a wireless network bridge transmitting device and a wireless network bridge receiving device 53; the image acquisition device 51 is used for acquiring the operation state of the whole machine and the agricultural condition of field crops, the remote control device 52 acquires the operation state of the whole machine and the agricultural condition of the field crops in real time through the image acquisition device 51, the remote control device 52 is connected with the wireless network bridge transmitting device, the remote control device 52 transmits a control instruction for controlling the work of the main motor 24, the stepping motor, the temperature and pressure increasing device and the liquid medicine transmission device through the wireless network bridge transmitting device, the microcontroller 43 is connected with the wireless network bridge receiving device 53, and the microcontroller 43 acquires the control instruction through the wireless network bridge receiving device 53 and preferentially executes the control instruction. Can make the sprayer have artifical remote interference control's mode on automatic operation's basis, unpredictable condition appears in the sprayer in the course of the work, and operating personnel can carry out remote control for the sprayer work is more reliable and accurate.
In the present embodiment, the temperature and pressure increasing device includes an oil tank, an oil supply system, a carburetor, an ignition system, a combustion chamber, an air intake pipe 321, and an air intake check valve; the oil supply system is connected with the oil tank and the carburetor, the carburetor and the ignition system are installed in the combustion chamber, the air inlet pipe 321 is communicated with the carburetor, the air inlet one-way valve is installed in the air inlet pipe 321, the oil supply system and the ignition system are in communication connection with the microcontroller 43, the microcontroller 43 controls the spraying distance of the liquid medicine by controlling the oil supply amount of the oil supply system, and the oil tank, the oil supply system, the carburetor, the ignition system, the combustion chamber, the air inlet pipe 321 and the air inlet one-way valve are matched to generate high-temperature high-pressure gas in the spray pipe 33, so that the liquid medicine is atomized and sprayed out through the high-temperature high-pressure gas, the adhesive force and the spraying range of the liquid medicine are effectively improved, and the dosage is reduced.
In this embodiment, the load-bearing wheel mounting device includes a positioning frame 251, a first load-bearing wheel mounting frame 252, a second load-bearing wheel mounting frame 253, and a first reset member 254; the positioning frame 251 is arranged on the shock absorption frame 1, the first bearing wheel mounting frame 252 is arranged on the positioning frame 251, and the second bearing wheel mounting frame 253 is rotatably arranged on the shock absorption frame 1 and is connected with the positioning frame 251 through the first resetting piece 254;
the first load bearing wheels 26 are mounted on a first load bearing wheel mounting bracket 252 and the second load bearing wheels 27 are mounted on a second load bearing wheel mounting bracket 253.
In the use process of the present invention, when the second bearing wheel mounting frame 253 meets different terrains, a certain position adjustment occurs, so that the adaptability of the present invention to terrains is effectively improved.
In this embodiment, the tensioning wheel mounting device comprises a sliding rod 221 and a second resetting piece 222, the sliding rod 221 is movably mounted on the shock absorption frame 1, the second resetting piece 222 connects the sliding rod 221 with the shock absorption frame 1, the tensioning wheel 23 is mounted on the sliding rod 221, the possibility of loosening of the crawler belt 28 is effectively reduced through the cooperation of the sliding rod 221 and the second resetting piece 222, and the capability of the invention for adapting to the terrain can be further improved.
In this embodiment, a first slot set 211 and a second slot set 212 are disposed on the upper wheel of the driving wheel 21, the first slot set 211 and the second slot set 212 are located on two opposite sides of the driving wheel 21 in the axial direction, the first slot set 211 includes a plurality of first slots, the first slots are uniformly distributed around the axis of the driving wheel 21, the second slot set 212 includes a plurality of second slots, and the second slots are uniformly distributed around the axis of the driving wheel 21;
the track 28 is provided with a first protrusion group 281 and a second protrusion group 282, the first protrusion group 281 comprises a plurality of first protrusions, the second protrusion group 282 comprises a plurality of second protrusions, the driving wheel 21 rotates to enable any one of the first protrusions to be clamped into the first clamping groove, the driving wheel 21 rotates to enable any one of the second protrusions to be clamped into the second clamping groove, the first clamping groove group 211, the second clamping groove group 212, the first protrusion group 281 and the second protrusion group 282 are matched, the adhesion performance of the track with the ground is effectively improved, the first clamping groove group 211 and the second clamping groove group 212 are not easily blocked by silt, and the tensioning wheel 23, the first bearing wheel 26 and the second bearing wheel 27 are located between the first protrusion group 281 and the second protrusion group 282, so that the falling possibility of the track 28 is effectively reduced.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (6)
1. The utility model provides a hot fog machine of self-propelled intelligence of track which characterized in that: comprises a damping frame (1), two crawler traveling mechanisms, a thermal spraying mechanism and a seedling band recognition system;
the two crawler traveling mechanisms are positioned on two opposite sides of the damping frame (1), each crawler traveling mechanism comprises a driving wheel (21), a tensioning wheel mounting device, a tensioning wheel (23), a main motor (24) and a speed reducer, the damping device comprises a bearing wheel mounting device, a plurality of first bearing wheels (26), a plurality of second bearing wheels (27) and a crawler belt (28), wherein the driving wheel (21) is mounted on a damping frame (1), a main motor (24) is in driving connection with the driving wheel (21) through a speed reducer, the tensioning wheel mounting device is mounted on the damping frame (1), the tensioning wheel (23) is mounted on the tensioning wheel mounting device, the bearing wheel mounting device is mounted on the damping frame (1), the first bearing wheels (26) and the second bearing wheels (27) are both mounted on the bearing wheel mounting device, and the crawler belt (28) is sleeved on the peripheries of the driving wheel (21), the tensioning wheel (23), the first bearing wheels (26) and the second bearing wheels (27);
the hot spraying mechanism comprises a loading platform (31), a stepping motor, a medicine box, a temperature and pressure increasing device, a spraying pipe (33) and a medicine liquid transmission device, wherein the loading platform (31) is rotatably arranged on the shock absorption frame (1), the stepping motor is in driving connection with the loading platform (31), the medicine box is arranged on the shock absorption frame (1), the spraying pipe (33) is arranged on the temperature and pressure increasing device, and the medicine liquid transmission device is connected with the medicine box and the spraying pipe (33);
the seedling zone identification system comprises a laser scanning device (41), a mounting support (42) and a microcontroller (43), the mounting support (42) is mounted on the shock absorption frame (1), the laser scanning device (41) is movably mounted on the mounting support (42), the laser scanning device (41) is used for detecting the position of a crop stem, the laser scanning device (41), a main motor (24), a stepping motor, a temperature and pressure increasing device and a liquid medicine transmission device are all in communication connection with the microcontroller (43), the microcontroller (43) acquires the position of the crop stem through the laser scanning device (41) and calculates a walking path according to the position of the crop stem, and the microcontroller (43) controls the main motor (24), the stepping motor, the temperature and pressure increasing device and the liquid medicine transmission device to work through the walking path and the position of the crop stem;
the bearing wheel mounting device comprises a positioning frame (251), a first bearing wheel mounting frame (252), a second bearing wheel mounting frame (253) and a first resetting piece (254); the positioning frame (251) is arranged on the shock absorption frame (1), the first bearing wheel mounting frame (252) is arranged on the positioning frame (251), the second bearing wheel mounting frame (253) is rotatably arranged on the shock absorption frame (1) and is connected with the positioning frame (251) through the first resetting piece (254);
the first load-bearing wheel (26) is mounted on a first load-bearing wheel mounting bracket (252), and the second load-bearing wheel (27) is mounted on a second load-bearing wheel mounting bracket (253).
2. The self-propelled intelligent thermal fogger of claim 1, wherein: the crawler self-propelled intelligent hot mist sprayer further comprises a remote control mechanism, wherein the remote control mechanism comprises an image acquisition device (51), a remote control device (52), a wireless network bridge transmitting device and a wireless network bridge receiving device (53); the image acquisition device (51) is used for acquiring the operation state of the whole machine and the agricultural condition of field crops, the remote control device (52) acquires the operation state of the whole machine and the agricultural condition of the field crops in real time through the image acquisition device (51), the remote control device (52) is connected with the wireless network bridge transmitting device, the remote control device (52) transmits a control instruction for controlling the work of the main motor (24), the stepping motor, the temperature and pressure increasing device and the liquid medicine transmission device through the wireless network bridge transmitting device, the microcontroller (43) is connected with the wireless network bridge receiving device (53), and the microcontroller (43) acquires the control instruction through the wireless network bridge receiving device (53) and preferentially executes the control instruction.
3. The self-propelled intelligent thermal fogger of claim 1, wherein: the temperature-increasing and pressure-increasing device comprises an oil tank, an oil supply system, a carburetor, an ignition system, a combustion chamber, an air inlet pipe (321) and an air inlet one-way valve; the oil supply system is connected with the oil tank and the carburetor, the carburetor and the ignition system are installed in the combustion chamber, the air inlet pipe (321) is communicated with the carburetor, the air inlet check valve is installed in the air inlet pipe (321), the oil supply system and the ignition system are in communication connection with the microcontroller (43), and the microcontroller (43) controls the spraying distance of the liquid medicine by controlling the oil supply amount of the oil supply system.
4. The self-propelled intelligent thermal fogger of claim 1, wherein: the tensioning wheel mounting device comprises a sliding rod (221) and a second resetting piece (222), the sliding rod (221) is movably mounted on the damping frame (1), the second resetting piece (222) is connected with the sliding rod (221) and the damping frame (1), and the tensioning wheel (23) is mounted on the sliding rod (221).
5. The self-propelled intelligent thermal fogger of claim 1, wherein: a first clamping groove group (211) and a second clamping groove group (212) are arranged on a wheel of the driving wheel (21), the first clamping groove group (211) and the second clamping groove group (212) are positioned on two opposite sides of the driving wheel (21) in the axial direction, the first clamping groove group (211) comprises a plurality of first clamping grooves, the first clamping grooves are uniformly distributed around the axis of the driving wheel (21), the second clamping groove group (212) comprises a plurality of second clamping grooves, and the second clamping grooves are uniformly distributed around the axis of the driving wheel (21);
the crawler belt (28) is provided with a first protrusion group (281) and a second protrusion group (282), the first protrusion group (281) comprises a plurality of first protrusions, the second protrusion group (282) comprises a plurality of second protrusions, any one of the first protrusions can be clamped into the first clamping groove by rotation of the driving wheel (21), and any one of the second protrusions can be clamped into the second clamping groove by rotation of the driving wheel (21).
6. The self-propelled intelligent thermal fogger of claim 5, wherein: the tension wheel (23), the first bearing wheel (26) and the second bearing wheel (27) are all located between the first protrusion group (281) and the second protrusion group (282).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710117991.5A CN106942188B (en) | 2017-03-01 | 2017-03-01 | Self-propelled intelligent hot fog machine of track |
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| CN201710117991.5A CN106942188B (en) | 2017-03-01 | 2017-03-01 | Self-propelled intelligent hot fog machine of track |
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| CN106942188B true CN106942188B (en) | 2022-04-08 |
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| CN108925538B (en) * | 2018-08-08 | 2021-03-02 | 扬州大学 | Self-propelled intelligent spraying pesticide application trolley |
| CN109521773A (en) * | 2018-12-26 | 2019-03-26 | 安徽农业大学 | A kind of hot mist machine group of planes control system and method based on Internet of Things |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2199911Y (en) * | 1994-05-12 | 1995-06-07 | 吉林省林业科学研究院 | Small size high effective endless-track tractor |
| CN201424660Y (en) * | 2009-05-26 | 2010-03-17 | 包头市石宝铁矿集团有限责任公司 | Ore shovel loader |
| CN102556196A (en) * | 2011-12-22 | 2012-07-11 | 北京理工大学 | Magnetic absorption type wall climbing robot |
| CN103120150B (en) * | 2013-01-09 | 2014-07-23 | 南京农业大学 | Self-propelled orchard targeted air-conveying sprayer |
| CN203424190U (en) * | 2013-06-14 | 2014-02-12 | 西北农林科技大学 | Orchard intelligent pesticide spraying machine based on tree shape reconstruction |
| CN103963858A (en) * | 2014-03-31 | 2014-08-06 | 刘建 | Integrated track traveling device of mining robot |
| CN104273113B (en) * | 2014-10-11 | 2018-01-23 | 安徽农业大学 | A kind of self-walking intelligent is remotely controlled hot mist machine |
| CN204488996U (en) * | 2015-03-09 | 2015-07-22 | 浙江理工大学 | Planetary differential obstacle crossing type caterpillar robot |
| CN205602023U (en) * | 2016-04-18 | 2016-09-28 | 陈金钟 | Energy -conserving scooter of crawler -type |
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