CN107873687A - Orchard pesticide application device with layered wind distribution - Google Patents

Orchard pesticide application device with layered wind distribution Download PDF

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Publication number
CN107873687A
CN107873687A CN201711391478.1A CN201711391478A CN107873687A CN 107873687 A CN107873687 A CN 107873687A CN 201711391478 A CN201711391478 A CN 201711391478A CN 107873687 A CN107873687 A CN 107873687A
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CN
China
Prior art keywords
bellows
drugs
administration
air
orchard
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
Application number
CN201711391478.1A
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Chinese (zh)
Other versions
CN107873687B (en
Inventor
李建平
王鹏飞
杨欣
邵建柱
蔡雅琨
曾立华
刘伟霄
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Heibei Agricultural University
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Heibei Agricultural University
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Publication date
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Priority to CN201711391478.1A priority Critical patent/CN107873687B/en
Publication of CN107873687A publication Critical patent/CN107873687A/en
Application granted granted Critical
Publication of CN107873687B publication Critical patent/CN107873687B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01MCATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0003Atomisers or mist blowers
    • A01M7/0014Field atomisers, e.g. orchard atomisers, self-propelled, drawn or tractor-mounted
    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01MCATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/005Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01MCATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0089Regulating or controlling systems

Landscapes

  • 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 relates to a layered air distribution orchard pesticide application device, which comprises: a frame; the air box is a rectangular box body which is hollow inside and extends along the vertical direction, at least one of the left side plate and the right side plate of the air box is provided with a plurality of air outlets, and the air outlets are distributed at intervals in the vertical direction; the air supply fan is used for supplying air to the air box, the air supply fan is fixedly arranged on the rack, and the power input end of the fan is used for being connected with the output end of the power machine; the liquid medicine spray heads are arranged in one-to-one correspondence with the air outlets; and the liquid medicine conveying system is connected with the liquid medicine spray head and is used for supplying liquid medicine to the liquid medicine spray head. This layering cloth wind orchard dispensing device is under the prerequisite that adopts miniwatt power machinery, and the air current just can carry the liquid medicine to the crown each high position on to guaranteed that the liquid medicine sprays even homogeneity on each height of crown.

Description

One kind layering cloth wind orchard device for administration of drugs
Technical field
The present invention relates to agricultural machinery technological field, the layering cloth wind that is arrived used in the process of more particularly to a kind of orchard planting Orchard device for administration of drugs.
Background technology
, it is necessary to carry out the sprinkling of appropriate agricultural chemicals and fertilizer in the growth cycle of fruit tree, so as in preventing and treating pest and disease damage Nutriment needed for growth can also be provided for fruit tree simultaneously.
With the development of science and technology mechanization dispenser equipment gradually replaces manpower, Machinery for orchard device for administration of drugs is adopted more at present Decoction wind is delivered to top fruit sprayer layer and limb by the mode for sending atomization decoction with wind, and the overall support of existing air conveying device is mostly Circular arc, and according to the arrangements liquid medicine sprayer of arc stent, arc stent size itself is smaller, therefore is arranged in Liquid medicine sprayer on arc stent at the top of fruit tree farther out, in order that decoction can be delivered to canopy (fruit at the top of fruit tree by wind Height of tree degree is usually 3.5m~4m), it is necessary to blower fan produces high blast, thus needs to be equipped with powerful tractor and resistance to height Press liquid medicine sprayer.
However, high-power (the being not less than 58.8KW) tractor suitably used at present in hillside orchard or shallow mountain knob Seldom, matching is not easy very much, adds the difficulty of matching of orchard Agent spraying machine and tractor;Allow to match, it is high-power Tractor cost it is also of a relatively high, also need to use high pressure resistant liquid medicine sprayer in addition, this just further increases orchard pesticide applicator The cost of tool.
The content of the invention
It is an object of the invention to provide one kind layering cloth wind orchard device for administration of drugs, so as to not improve orchard dispenser dress On the premise of being set to this, ensure that decoction can reach each position of top fruit sprayer, so as to ensure that the dispenser of top fruit sprayer is uniform Property.
To reach above-mentioned purpose, layering cloth wind orchard provided by the invention device for administration of drugs, including:
Frame;
Bellows, it is arranged in the frame, the bellows are inner hollow and the rectangular box that vertically extends, institute State and multiple air outlets are offered at least one of side plate of left and right two of bellows, and the air outlet in the vertical direction interval Arrangement;
Breeze fan, for being blown for the bellows, the breeze fan is fixedly installed in the frame, and described is sent The power intake of wind blower fan is used to be connected with the output end of dynamic power machine;
Liquid medicine sprayer, correspond and set with the air outlet;
Decoction induction system, it is connected with the liquid medicine sprayer, and for supplying decoction for the liquid medicine sprayer.
Preferably, multiple air outlets are symmetrically offered on the side plate of the left and right of the bellows two.
Preferably, the breeze fan is located at the bottom of the bellows, and layering cloth wind orchard device for administration of drugs also wraps Include and divide chamber dividing plate, described to divide chamber dividing plate one end and the top of the bellows to be connected, other end direction positioned at the inner bellows The bottom extension of the bellows, and the inner bellows cavity is divided into symmetrical two air-out chambers.
Preferably, it is described to divide chamber dividing plate to include first partition and second partition, the bottom of the first partition and described The bottom of two dividing plates connects, the top of the top of the first partition and the second partition be separated from each other and respectively with the wind The top of case is connected.
Preferably, in addition to wind-guiding corner protector, the wind-guiding corner protector are buckled located at the bottom and described second of the first partition On the base angle that the bottom of dividing plate is formed.
Preferably, multiple guide plates are additionally provided with any one air-out chamber, the guide plate divides the air-out chamber It is divided into and the one-to-one branch's chamber of the air outlet.
Preferably, the guide plate is rotatablely arranged in the bellows, and any one guide plate also with for The angle regulator of adjustment self-view is connected.
Preferably, the decoction induction system includes drug storage tank body, the drug liquid tube connected with the medicine storing pot body phase and use In the pump housing that decoction is pumped to the drug liquid tube, the drug liquid tube is arranged on outside the bellows and vertically extended, institute Liquid medicine sprayer is stated to be arranged on the drug liquid tube.
Preferably, in addition on the outside of the bellows, and the angle adjustment plate at the top of the bellows is rotationally connected with, Top showerhead is provided with the angle adjustment plate, the top showerhead is connected by flexible pipe with the drug liquid tube.
Preferably, the height of the bellows is not less than 3m.
Preferably, the bellows are enclosed by front panel, rear board, top plate, left plate and right plate and formed.
Preferably, in addition to the top showerhead adjusting means for the angle of the top showerhead to be adjusted.
Disclosed in this invention layering cloth wind orchard device for administration of drugs, pass through frame and dynamic power machine and assemble, dynamic power machine The power of output is transferred to breeze fan, and breeze fan provides powerful wind-force for bellows, and air-flow blows out at air outlet and will The decoction moment sprayed in liquid medicine sprayer, which dispels, to be taken away;Because bellows itself are rectangular, therefore with power machine-walking During, the vertical direction of bellows side is just corresponding with the short transverse of fruit tree, and it is at least one in bellows left side plate on Multiple air outlets are offered, air outlet is intervally arranged in the vertical direction, and this causes before using small-power dynamic power machine Put, air-flow can carries decoction to each height and position of tree crown, and ensure that decoction in each height of tree crown The uniform uniformity of sprinkling.
Brief description of the drawings
Fig. 1 is the schematic side view of the layering cloth wind orchard device for administration of drugs disclosed in the embodiment of the present invention;
The right side that Fig. 2 is Fig. 1 regards schematic diagram.
Wherein, 1 is breeze fan, and 2 be drug liquid tube, and 3 be front panel, and 4 be regulating part, and 5 be rotating shaft, and 6 be rear board, and 7 are Liquid medicine sprayer, 8 be guide plate, and 9 be drug storage tank body, and 10 be frame, and 11 is divide chamber dividing plate, and 12 be blade, and 13 be branch's chamber, 14 It is first partition for wind-guiding corner protector, 111,112 be second partition.
Embodiment
The core of the present invention is to provide a kind of layering cloth wind orchard device for administration of drugs, so as to not improve orchard dispenser dress On the premise of being set to this, ensure that decoction can reach each position of top fruit sprayer, so as to ensure that the dispenser of top fruit sprayer is uniform Property.
In order that those skilled in the art more fully understand the present invention program, with reference to the accompanying drawings and detailed description The present invention is described in further detail.
It refer to Fig. 1 and Fig. 2, layering cloth wind orchard disclosed in this invention device for administration of drugs, including frame 10, bellows, give Wind blower fan 1, liquid medicine sprayer 7 and decoction induction system, frame 10 are used as installation foundation, are on the one hand used to entirely be layered cloth wind Orchard device for administration of drugs is arranged on dynamic power machine (such as tractor), is on the other hand each portion of layering cloth wind orchard device for administration of drugs Part provides installation foundation.
Bellows are arranged in frame 10, and bellows are integrally rectangular, and the inner hollow of bellows simultaneously vertically extends, entirely Bellows are rendered as the flat case that a height and width are all much larger than thickness, when dynamic power machine uses tractor, are entirely layered cloth Wind orchard device for administration of drugs is installed on the rear portion of tractor by suspender, and the bottom of frame 10, which is provided with, follows what tractor moved Wheel.
Generally, fruit tree all succeeding plantings, gap walking of the tractor between adjacent rows fruit tree, bellows can Two sides of embodiment its thickness are relative with adjacent rows fruit tree respectively, and bellows are defined as wind close to the one side of dilatory locomotive head The one side of the front panel 3 of case and the face of front panel 3 is defined as the rear board 6 of bellows, when people stands towards tractor direct of travel When, the side plate of left-hand side is defined as the left plate of bellows, and the side plate of right-hand side is defined as the right plate of bellows, bellows top Plate is defined as the top plate of bellows.
Multiple air outlets, and this are offered in the two side plates of the left plate and right plate of bellows, at least one A little air outlets are vertically intervally arranged on any one side plate, and as shown in Figure 2, breeze fan 1 is also fixedly installed In frame 10, the effect of breeze fan 1 is blown for bellows, and the power intake of breeze fan 1 and the afterbody of tractor are defeated Shaft is connected, and a liquid medicine sprayer 7 is provided with each air outlet, can be by liquid medicine jet using the powerful wind-force at air outlet The first 7 decoction moments sprayed, which dispelled, to nebulize, and carries to tree crown position;Decoction induction system is connected with liquid medicine sprayer 7, its Effect is to provide decoction for liquid medicine sprayer 7.
Layering cloth wind orchard device for administration of drugs disclosed in above-described embodiment, assembled, moved by frame 10 and dynamic power machine The power of power machinery output is transferred to breeze fan 1, and breeze fan 1 provides powerful wind-force for bellows, and air-flow is at air outlet Blow out and dispel the decoction moment sprayed in liquid medicine sprayer 7 and take away;Because bellows itself are rectangular, therefore with engine During tool is walked, the short transverse of two sides in left and right of bellows is just corresponding with the short transverse of fruit tree, and bellows are left In right plate it is at least one on offer multiple air outlets, air outlet is intervally arranged in the vertical direction, which achieves point Layer cloth wind, each air outlet can correspond to the part on height of tree crown direction, even if using small-power dynamic power machine, air-flow also may be used So that decoction is carried to each height and position of tree crown, and it ensure that sprinkling of the decoction in each height of tree crown is uniformly equal Even property.
If it will be appreciated by those skilled in the art that only open up above-mentioned air outlet on the left plate or right plate of bellows, that The layering cloth wind orchard device for administration of drugs can only once carry out the sprinkling of agricultural chemicals or fertilizer to a line fruit tree, in order to improve operation effect Rate, recommend in the present embodiment to offer multiple above-mentioned air outlets on the side plate of left and right two of bellows, and air outlet is in left side Symmetrically opened up on plate and right plate, as shown in Figure 2.As more preferred mode, by any side plate in the present embodiment Air outlet be vertically evenly arranged, further to improve the uniformity of medicine liquid spray.
The set location of breeze fan 1 is actually unrestricted, as long as can be that blast is provided in bellows, considers production Convenience in design, the breeze fan 1 in the present embodiment are designed in the bottom of bellows, as shown in Figures 1 and 2, wind of blowing The blade 12 of machine 1 is located at inner bellows, due to having opened up air outlet on bellows left plate and right plate, in order to ensure left and right two The uniformity of side air-out, the layering cloth wind orchard device for administration of drugs in the present embodiment also include dividing chamber dividing plate 11, divide 11, chamber dividing plate In inner bellows, and the one end of chamber dividing plate 11 is divided to be connected with the top of bellows, the other end extends towards the bottom of bellows, so that will Inner bellows cavity is divided into symmetrical two air-out chambers.
More specifically, chamber dividing plate 11 is divided specifically to be made up of first partition 111 and second partition 112, as shown in Figure 2, The bottom of first partition 111 and the bottom of second partition 112 connect, the top of first partition 111 and the top of second partition 112 It is separated from each other and is individually connected with the top of bellows respectively.
In order to avoid first partition 111 and the bottom connecting position of second partition 112 are leaked out, wind-guiding shield may further be provided Angle 14, wind-guiding corner protector 14 be located on the base angle that the bottom of first partition 111 and the bottom of second partition 112 are formed, such as Fig. 2 Shown in.
The top of bellows can be flat-top, or be designed as concave crown or convex top, as shown in Figure 2, the embodiment of the present invention To intersect formed concave crown by two inclined-planes, the minimum point of concave crown is located at the centre position at the top of bellows at the top of middle bellows, It can be designed so that inner bellows blast improves by this kind of shape, decoction can reach the farther position of tree crown with the wind.
Fig. 2 is refer to, multiple guide plates 8 are additionally provided with any one air-out chamber, these guide plates 8 divide air-out chamber Be divided into the one-to-one branch's chamber 13 of air outlet, be designed so that the air-out of each air outlet is more uniform, wind deflector Further by being rotatably disposed in bellows, and each wind deflector is also with driving its own to carry out angular adjustment Angle regulator is connected, and angle regulator can be motor, electric pushrod or piston cylinder etc..Pass through angle regulator The angle of wind deflector is adjusted, the volume of each branch's chamber 13 can be made tend to be equal, so as to further improve cloth The uniformity of wind.
Fig. 1 and Fig. 2 are please also refer to, decoction induction system specifically includes drug storage tank body 9, the medicine being connected with drug storage tank body 9 Liquid pipe 2 and the pump housing for pumping decoction to drug liquid tube 2, the pump housing can pass through transmission mechanism and the output shaft at tractor rear portion It is connected, drug liquid tube 2 is arranged on outside bellows, and is vertically extended, and liquid medicine sprayer 7 is arranged on drug liquid tube 2.
In order to ensure that decoction can reach the top of tree crown, the height of bellows should be not less than 3m, further, this reality To apply and angle adjustment plate and top showerhead are also provided with example, refer to Fig. 1 and Fig. 2, angle adjustment plate is located on the outside of bellows, and Angle adjustment plate is rotatably connected at the top of bellows by rotating shaft 5, and top showerhead is arranged on angle adjustment plate, and top is sprayed Head is connected by flexible pipe with drug liquid tube 2.Angle adjustment plate adjusts angle manually by regulating part 4, or angle adjustment plate passes through Angle regulator automatically adjusts angle, and angle adjustment plate drives top showerhead motion, so as to ensure medicine liquid spray to tree crown most Top, reach the purpose of preventing and treating fruit tree diseases and pests.Angle regulator can be motor, electric pushrod or piston cylinder etc..
During actual arrangement, breeze fan 1 is arranged in the front end of frame 10, so as to close to the output shaft at tractor rear portion, storage Medicinal cupping body 9 is arranged in the rear end of frame 10, as shown in fig. 1.
Need to illustrate, although employing the names such as liquid medicine sprayer 7, decoction induction system in the embodiment of the present invention Claim, but these titles should not form the restriction of the effect to shower nozzle and induction system, it will be appreciated that decoction should be included but not It is limited to agricultural chemicals and fertilizer etc. and passes through liquid substance.
Layering cloth wind orchard provided by the present invention device for administration of drugs is described in detail above.Tool used herein Body example is set forth to the principle and embodiment of the present invention, and the explanation of above example is only intended to help and understands this hair Bright method and its core concept.It should be pointed out that for those skilled in the art, the present invention is not being departed from On the premise of principle, some improvement and modification can also be carried out to the present invention, these are improved and modification also falls into right of the present invention It is required that protection domain in.

Claims (10)

1. one kind layering cloth wind orchard device for administration of drugs, it is characterised in that including:
Frame (10);
Bellows, it is arranged in the frame (10), the bellows are inner hollow and the rectangular box that vertically extends, institute State and multiple air outlets are offered at least one of side plate of left and right two of bellows, and the air outlet in the vertical direction interval Arrangement;
Breeze fan (1), for being blown for the bellows, the breeze fan (1) is fixedly installed in the frame (10), and The power intake of the breeze fan (1) is used to be connected with the output end of dynamic power machine;
Liquid medicine sprayer (7), correspond and set with the air outlet;
Decoction induction system, it is connected with the liquid medicine sprayer (7), and for supplying decoction for the liquid medicine sprayer (7).
2. layering cloth wind orchard according to claim 1 device for administration of drugs, it is characterised in that the side of left and right two of the bellows Multiple air outlets are symmetrically offered on plate.
3. layering cloth wind orchard according to claim 2 device for administration of drugs, it is characterised in that the breeze fan (1) is located at The bottom of the bellows, and layering cloth wind orchard device for administration of drugs also includes dividing chamber dividing plate positioned at the inner bellows (11), described to divide chamber dividing plate (11) one end to be connected with the top of the bellows, the other end extends towards the bottom of the bellows, and The inner bellows cavity is divided into symmetrical two air-out chambers.
4. layering cloth wind orchard according to claim 3 device for administration of drugs, it is characterised in that described to divide chamber dividing plate (11) to include First partition (111) and second partition (112), the bottom of the first partition (111) and the bottom of the second partition (112) Connect, the top of the first partition (111) and the top of the second partition (112) be separated from each other and respectively with the bellows Top be connected.
5. layering cloth wind orchard according to claim 4 device for administration of drugs, it is characterised in that also including wind-guiding corner protector (14), The wind-guiding corner protector (14) is buckled to be formed located at the bottom of the bottom of the first partition (111) and the second partition (112) Base angle on.
6. layering cloth wind orchard according to claim 3 device for administration of drugs, it is characterised in that in any one air-out chamber also Multiple guide plates (8) are provided with, the air-out chamber is divided into and the one-to-one branch of the air outlet by the guide plate (8) Chamber (13).
7. layering cloth wind orchard according to claim 6 device for administration of drugs, it is characterised in that the guide plate (8) is rotatable Ground is arranged in the bellows, and any one guide plate (8) also with the angle regulator phase for adjusting self-view Even.
8. the layering cloth wind orchard device for administration of drugs according to claim 1-7 any one, it is characterised in that the decoction is defeated System is sent to include drug storage tank body (9), the drug liquid tube (2) that is connected with the drug storage tank body (9) and for the drug liquid tube (2) The pump housing of decoction is pumped, the drug liquid tube (2) is arranged on outside the bellows and vertically extended, the liquid medicine sprayer (7) it is arranged on the drug liquid tube (2).
9. layering cloth wind orchard according to claim 8 device for administration of drugs, it is characterised in that also include outside the bellows Side, and the angle adjustment plate at the top of the bellows is rotationally connected with, top showerhead is provided with the angle adjustment plate, it is described Top showerhead is connected by flexible pipe with the drug liquid tube (2).
10. layering cloth wind orchard according to claim 1 device for administration of drugs, it is characterised in that the height of the bellows is not small In 3m.
CN201711391478.1A 2017-12-21 2017-12-21 Layered wind-distribution orchard pesticide applying device Active CN107873687B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201711391478.1A CN107873687B (en) 2017-12-21 2017-12-21 Layered wind-distribution orchard pesticide applying device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201711391478.1A CN107873687B (en) 2017-12-21 2017-12-21 Layered wind-distribution orchard pesticide applying device

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CN107873687A true CN107873687A (en) 2018-04-06
CN107873687B CN107873687B (en) 2023-05-23

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108464293A (en) * 2018-05-31 2018-08-31 广西宏发重工机械有限公司 A kind of flow-guiding structure of spraying system
CN110326601A (en) * 2019-08-12 2019-10-15 华南农业大学 Profiling device for administration of drugs, Machinery for orchard equipment and application method
CN111109226A (en) * 2020-01-03 2020-05-08 东北农业大学 Air curtain device for wide-width plant protection operation
CN111493044A (en) * 2019-03-08 2020-08-07 重庆西玛福科技有限公司 Swing pesticide spraying device and equipment
CN112400848A (en) * 2020-12-29 2021-02-26 南通黄海药械有限公司 Vertical sprayer with adjustable spraying angle
CN114885926A (en) * 2022-05-17 2022-08-12 北京市农林科学院智能装备技术研究中心 Pesticide application system and pesticide application robot

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CN106179818A (en) * 2016-08-21 2016-12-07 于延军 A kind of multidirectional sprayer unit
CN206507111U (en) * 2016-12-26 2017-09-22 常州东风农机集团有限公司 A kind of crawler type woods fruit spraying machine
CN207767353U (en) * 2017-12-21 2018-08-28 河北农业大学 Orchard pesticide application device with layered wind distribution

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TWM305580U (en) * 2006-06-23 2007-02-01 Agricultural Res Inst Spraying machine for plants ranks
CN200994362Y (en) * 2006-12-31 2007-12-26 国家林业局哈尔滨林业机械研究所 Automatic intelligent medicine sprayer for target wood
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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108464293A (en) * 2018-05-31 2018-08-31 广西宏发重工机械有限公司 A kind of flow-guiding structure of spraying system
CN111493044A (en) * 2019-03-08 2020-08-07 重庆西玛福科技有限公司 Swing pesticide spraying device and equipment
CN110326601A (en) * 2019-08-12 2019-10-15 华南农业大学 Profiling device for administration of drugs, Machinery for orchard equipment and application method
CN111109226A (en) * 2020-01-03 2020-05-08 东北农业大学 Air curtain device for wide-width plant protection operation
CN112400848A (en) * 2020-12-29 2021-02-26 南通黄海药械有限公司 Vertical sprayer with adjustable spraying angle
CN114885926A (en) * 2022-05-17 2022-08-12 北京市农林科学院智能装备技术研究中心 Pesticide application system and pesticide application robot

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