CN110352932A - A kind of agricultural four-footed spray robot - Google Patents
A kind of agricultural four-footed spray robot Download PDFInfo
- Publication number
- CN110352932A CN110352932A CN201910670053.7A CN201910670053A CN110352932A CN 110352932 A CN110352932 A CN 110352932A CN 201910670053 A CN201910670053 A CN 201910670053A CN 110352932 A CN110352932 A CN 110352932A
- Authority
- CN
- China
- Prior art keywords
- rack
- fixed
- control motor
- slideway
- runner
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000007921 spray Substances 0.000 title claims abstract description 59
- 239000007788 liquid Substances 0.000 claims abstract description 13
- 239000012530 fluid Substances 0.000 claims abstract description 12
- 239000003814 drug Substances 0.000 claims abstract description 10
- 238000003756 stirring Methods 0.000 claims abstract description 9
- 230000001360 synchronised effect Effects 0.000 claims description 26
- 239000012528 membrane Substances 0.000 claims description 4
- 239000000575 pesticide Substances 0.000 abstract description 5
- 238000005507 spraying Methods 0.000 abstract description 5
- 238000010413 gardening Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 241000607479 Yersinia pestis Species 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000000084 colloidal system Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006837 decompression Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 239000002917 insecticide Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000010721 machine oil Substances 0.000 description 1
- 230000005055 memory storage Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
- A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
- A01M7/0085—Tanks
Abstract
The invention discloses a kind of agricultural four-footed spray robots, it is characterized by comprising spray tanks and rack, the bottom of the spray tank is equipped with hydraulic pump, the rack two sides are equipped with liquid medicine sprayer, the hydraulic pump is connected to liquid medicine sprayer by medical fluid delivery pipe, stirring motor is equipped at the top of the spray tank, it is located in rack immediately below the spray tank and is connected with fixed frame, the fixed frame is equipped with course changing control motor, the fixed frame bottom is connected with square column, the square column bottom is connected with position-limited rack, the first slideway is equipped on the inside of the square column, movable clamp groove is equipped between the fixed frame and position-limited rack, the movable clamp groove two sides are slidably connected to the first slideway by sliding block, the fixed frame side is equipped with lifting control motor, the position-limited rack side is equipped with the first fixed runner.The present invention has the advantage that being suitable for greenhouse gardening, pesticide spraying efficiency in greenhouse is improved, realizes that spray is uniform, it is possible to reduce pesticide injures operator.
Description
Technical field
The present invention relates to spray robotic technology field, in particular to a kind of agricultural four-footed spray robots.
Background technique
Another drawback of manually spraying insecticide is inefficiency, and a people is at best able to spray in continuous situation
20 mu of ground, and robot can spray mus up to a hundred.In terms of precision agriculture, industrialized agriculture product prevent pest, robot sprays agriculture
The advantages of medicine is even more to protrude.Such as in industrialized agriculture, the area of greenhouse and the spacing of long-term cropping all limit working space and
Highly, the flexible and body transformation of robot freely, can overcome the obstacle in any space.
Existing spray robot haves the defects that certain.Some spray machine human body types are huge, are not suitable in field row
It walks；Some need, which is laid with track, makes robot along rail running, cannot well adapt to the field topography of multiplicity；In power side
Face, a part spray robot, as power, can be made into the influences such as quality is big, noise is high using diesel engine in this way, and
Machine oil generation colloid easy to oxidize；It is sprayed using robot, spray structure should not be too large, and unsuitable too complex, this structure is existing
On the basis of having technology, chemical spraying mechanism is simplified, enhances stability；Machine Genus Homo spray in terms of agricultural, user is agriculture
The people do not have mechanical electric knowledge, and the robot based on this design has operation more plus simple, reliable compared with the existing technology
The characteristics of.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the above technical problems, provide a kind of agricultural four-footed spray machine
People.
In order to solve the above technical problems, technical solution provided by the invention is a kind of agricultural four-footed spray robot,
Be characterized in that: including spray tank and rack, the bottom of the spray tank is equipped with hydraulic pump, and the rack two sides are equipped with liquid medicine jet
Head, the hydraulic pump are connected to liquid medicine sprayer by medical fluid delivery pipe, are equipped with stirring motor, the medical fluid at the top of the spray tank
It is located in rack immediately below case and is connected with fixed frame, the fixed frame is equipped with course changing control motor, the fixed frame bottom
Be connected with square column, the square column bottom is connected with position-limited rack, be equipped with the first slideway on the inside of the square column, the fixed frame with
Movable clamp groove is equipped between position-limited rack, the movable clamp groove two sides are slidably connected to the first slideway, the fixed frame by sliding block
Side is equipped with lifting control motor, and the position-limited rack side is equipped with the first fixed runner, and the lifting control motor passes through first
Synchronous belt is socketed on the first fixed runner, and the movable clamp groove is connected to the first synchronous belt, and the movable clamp groove is equipped with connection
Leg, described connection leg one end bottom are equipped with first movement foot, and other end bottom is equipped with the second mobile foot, outside described connection leg one end
Side is fixed with the first control motor, and the second fixed runner is equipped at the top of the other end, is equipped with first at the top of the first control motor
Synchronizing wheel, first synchronizing wheel are socketed on the second fixed runner by the second synchronous belt, and the bottom of the frame side is equipped with the
Two slideways, the other side are equipped with third slideway, and second slideway side is equipped with the second control motor being fixed in rack, another
Side is equipped with the fixed runner of the third being fixed in rack, and the second control motor is equipped with the second synchronizing wheel, and described second is same
Step wheel is socketed on the fixed runner of third by third synchronous belt, and the third synchronous belt is equipped with and is slidably connected to the second slideway
Third moves foot, and third slideway side is equipped with the third control motor being fixed in rack, and the other side, which is equipped with, is fixed on machine
The 4th fixed runner on frame, the third control motor are equipped with third synchronizing wheel, and the described 4th fixed runner passes through the 4th
Synchronous belt is socketed on the 4th fixed runner, and the 4th synchronous belt is equipped with the 4th mobile foot for being slidably connected to third slideway.
Preferably, the first movement foot, the second mobile foot, the mobile foot of third and the 4th mobile foot are domes,
The first movement foot and the second mobile foot bottom are equipped with the long microswitch of technical grade.
Preferably, the input terminal of the hydraulic pump is connected to inside spray tank, and output end is connected to medical fluid delivery pipe.
Preferably, the stirring motor bottom is equipped with the paddle protruded into spray tank.
Preferably, waterproof membrane is coated on the rack outer surface.
The invention has the following advantages over the prior art: being suitable for greenhouse gardening, pesticide spraying effect in greenhouse is improved
Rate realizes that spray is uniform, it is possible to reduce pesticide injures operator.
Detailed description of the invention
Fig. 1 is a kind of positive structure schematic of agricultural of present invention four-footed spray robot.
Fig. 2 is a kind of structure schematic diagram of agricultural of present invention four-footed spray robot.
Fig. 3 is a kind of bottom surface structure schematic diagram of agricultural of present invention four-footed spray robot.
It is as shown in the figure: 1, spray tank, 2, rack, 3, hydraulic pump, 4, liquid medicine sprayer, 5, medical fluid delivery pipe, 6, stirring motor,
7, fixed frame, 8, course changing control motor, 9, square column, 10, position-limited rack, the 11, first slideway, 12, movable clamp groove, 13, sliding block, 14,
Lifting control motor, the 15, first fixed runner, the 16, first synchronous belt, 17, connection leg, 18, first movement foot, 19, second moves
Dynamic foot, the 20, first control motor, the 21, second fixed runner, the 22, first synchronizing wheel, the 23, second synchronous belt, the 24, second slideway,
25, third slideway, the 26, second control motor, 27, the fixed runner of third, the 28, second synchronizing wheel, 29, third synchronous belt, 30, the
Three mobile feet, 31, third control motor, the 32, the 4th fixed runner, 33, third synchronizing wheel, the 34, the 4th synchronous belt, the 35, the 4th
Mobile foot, 36, the long microswitch of technical grade.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings.
In conjunction with attached drawing, a kind of agricultural four-footed spray robot, it is characterised in that: described including spray tank 1 and rack 2
The bottom of spray tank 1 is equipped with hydraulic pump 3, and 2 two sides of rack are equipped with liquid medicine sprayer 4, and the hydraulic pump 3 passes through medical fluid delivery pipe
5 are connected to liquid medicine sprayer 4, and stirring motor 6 is equipped at the top of the spray tank 1, is located in rack 2 immediately below the spray tank 1 and connects
It is equipped with fixed frame 7, the fixed frame 7 is equipped with course changing control motor 8, and 7 bottom of fixed frame is connected with square column 9, institute
It states 9 bottom of square column and is connected with position-limited rack 10, the first slideway 11, the fixed frame 7 and position-limited rack 10 are equipped on the inside of the square column 9
Between be equipped with movable clamp groove 12,12 two sides of movable clamp groove are slidably connected to the first slideway 11, the fixation by sliding block 13
7 side of frame is equipped with lifting control motor 14, and 10 side of position-limited rack is equipped with the first fixed runner 15, and the lifting controls motor
14 are socketed on the first fixed runner 15 by the first synchronous belt 16, and the movable clamp groove 12 is connected to the first synchronous belt 16, described
Movable clamp groove 12 is equipped with connection leg 17, and 17 one end bottom of connection leg is equipped with first movement foot 18, and other end bottom is equipped with
Second mobile foot 19,17 one end of connection leg outside are fixed with the first control motor 20, and it is fixed to be equipped with second at the top of the other end
Runner 21, described first controls equipped with the first synchronizing wheel 22 at the top of motor 20, and first synchronizing wheel 22 passes through the second synchronous belt
23 are socketed on the second fixed runner 21, and 2 bottom side of rack is equipped with the second slideway 24, and the other side is equipped with third slideway 25,
Second slideway, 24 side is equipped with the second control motor 26 being fixed in rack 2, and the other side, which is equipped with, to be fixed in rack 2
Third fixes runner 27, and the second control motor 26 is equipped with the second synchronizing wheel 28, and second synchronizing wheel 28 passes through third
Synchronous belt 29 is socketed on the fixed runner 27 of third, and the third synchronous belt 29 is equipped with the third for being slidably connected to the second slideway 24
Mobile foot 30,25 side of third slideway are equipped with the third control motor 31 being fixed in rack 2, and the other side, which is equipped with, to be fixed on
The 4th fixed runner 32 in rack 2, the third control motor 31 are equipped with third synchronizing wheel 33, the described 4th fixed runner
32 are socketed on the 4th fixed runner 32 by the 4th synchronous belt 34, and the 4th synchronous belt 34 is sliding equipped with third is slidably connected to
The mobile foot 35 of the 4th of road 25.
The mobile foot 30 of the mobile foot 19 of the first movement foot 18, second, third and the 4th mobile foot 35 are domes,
The first movement foot 18 and the second mobile 19 bottom of foot are equipped with the long microswitch 36 of technical grade.
The input terminal of the hydraulic pump 3 is connected to inside spray tank 1, and output end is connected to medical fluid delivery pipe 5.
6 bottom of stirring motor is equipped with the paddle protruded into spray tank 1.
Waterproof membrane is coated on 2 outer surface of rack.
The mobile foot of of the invention four is domes design, since the soil on farm is complicated and changeable, is needed machine
The leg structure of people, with stronger adaptability and stability, domes design the field that can be stuck in different in width
On, it walks freely in field along ridge, in face of different ridges, foot structure can make corresponding transformation, and then keep upper layer
The stabilization of mechanism guarantees the stable and uniform of pesticide spraying.
One paddle is set in spray tank, by driving above stirring motor spray tank, constantly medical fluid is stirred,
To keep even concentration.The lower section of spray tank is arranged in hydraulic pump, and the input pipe of hydraulic pump is connected in spray tank, efferent duct with
Spray head connection, spray head are placed on the left and right sides of the rack, are sprayed to the plant of the left and right sides, spray head carries strainer, mist
Sprinkling, in case spray head blocks.
It is identical that lifting control motor, the first control motor, the second control motor and third, which control the control structure of motor,
, corresponding fixed rotation is connected to by synchronous belt by the synchronizing wheel on control motor, realizes driving effect, lifting control
Motor is used to control the lifting of mobile foot, and the first control motor is used to control the walking of the first and second mobile feet, the second control
The walking of the mobile foot of motor control third, third control the walking of the mobile foot of motor control the 4th, the first, second mobile foot bottom
It is placed with the long microswitch of technical grade, for the trigger switch after touching ridge, motor stalls is controlled, carries out in next step
Walking.Course changing control motor is used to control the steering of robot, covers one layer of waterproof membrane on the rack outer surface of robot, keeps away
Exempt from circuit board, lithium battery because of water inlet or short circuit due to medical fluid, machine is damaged.
The fixed frame of rack is internally provided with control system, and internal power module selects grignard 12V (3S) lithium battery to supply
Electricity can carry out charge and discharge to it by UN-A6.Motor is powered using 12V, and main control MCU supply voltage is 5V, it is therefore desirable to will
It is that 5V is powered it that 12V, which separates decompression all the way, and using one piece of adjustable voltage reduction module, this modular circuit uses synchronous rectification,
Circuit conversion efficiency is very high, shields inductance using high current, low internal resistance maximumlly improves transfer efficiency, reduces hair
Heat selects STM32F407VET6 as main control MCU, and such MCU is 32 8-digit microcontrollers based on ARM, kernel Cortx-
M4 framework, the memory storage of 512K byte.Resource includes 2 road USART serial ports, No. 8 timers, 2 road IIC interfaces, 2 tunnels in piece
SPI interface, 1 road CAN interface.It is more resources, higher since STM32F4 series ratio F1 series has more advanced kernel
Performance, lower power consumption increase more external interfaces again on basic function, while enhancing functions；Motor
Drive module is driven using dual H-bridge, while driving two control motors, and it is high-power that single channel can reach 7A；On plank plus optocoupler every
From input signal, while with isolation and under-voltage protection, can be directly controlled with I/O port, without interruption；Under-voltage protection is set, wink is prevented
Between high current burn module；There are electrostatic leakage circuit and high-power TVS, it is suppressed that glitch pulse and electrostatic enhance EMC
Performance.
The sensor that control system uses includes: wireless serial, liquid level detecting sensor, vola detection sensor.Wirelessly
Serial ports selects 2.4G radio receiving transmitting module, is communicated with main control MCU, and communication distance is remote, for carrying out four-footed spray robot
Remote control and spray (similar remote controler).Liquid level detecting sensor is used to the liquid level of real-time detection spray tank, so as to timely
Addition medical fluid.In type selecting, fast response time, liquidproof, anti-fluctuation, liquid level sensor with high accuracy need to be chosen.Vola inspection
It surveys sensor to be used to detect whether sole contacts to earth, and then judges the movement of next step, vola detector can select technical grade
Long microswitch.
The present invention and its embodiments have been described above, this description is no restricted, shown in the drawings
Only one of embodiments of the present invention, actual structure is not limited to this.All in all if the ordinary skill of this field
Personnel are enlightened by it, without departing from the spirit of the invention, are not inventively designed and the technical solution phase
As frame mode and embodiment, be within the scope of protection of the invention.
Claims (5)
- The robot 1. a kind of agricultural four-footed sprays, it is characterised in that: including spray tank (1) and rack (2), the spray tank (1) bottom is equipped with hydraulic pump (3), and rack (2) two sides are equipped with liquid medicine sprayer (4), and the hydraulic pump (3) is defeated by medical fluid It send pipe (5) to be connected to liquid medicine sprayer (4), is equipped with stirring motor (6) at the top of the spray tank (1), immediately below the spray tank (1) It is connected on rack (2) fixed frame (7), the fixed frame (7) is equipped with course changing control motor (8), the fixed frame (7) bottom is connected with square column (9), and square column (9) bottom is connected with position-limited rack (10), is equipped on the inside of the square column (9) First slideway (11) is equipped with movable clamp groove (12) between the fixed frame (7) and position-limited rack (10), the movable clamp groove (12) two Side is slidably connected to the first slideway (11) by sliding block (13), and fixed frame (7) side is equipped with lifting control motor (14), institute Position-limited rack (10) side is stated equipped with first fixed runner (15), lifting control motor (14) is covered by the first synchronous belt (16) First fixed runner (15) are connected to, the movable clamp groove (12) is connected to the first synchronous belt (16), on the movable clamp groove (12) Equipped with connection leg (17), connection leg (17) one end bottom is equipped with first movement foot (18), and other end bottom is equipped with second and moves Dynamic foot (19), connection leg (17) one end outside are fixed with the first control motor (20), and it is fixed to be equipped with second at the top of the other end Runner (21) is equipped with the first synchronizing wheel (22) at the top of first control motor (20), and first synchronizing wheel (22) passes through the Two synchronous belts (23) are socketed on second fixed runner (21), and rack (2) bottom side is equipped with the second slideway (24), the other side Equipped with third slideway (25), the second slideway (24) side is equipped with the second control motor (26) being fixed on rack (2), separately Side is equipped with the third being fixed on rack (2) and fixes runner (27), and it is synchronous that second control motor (26) is equipped with second It takes turns (28), second synchronizing wheel (28) is socketed on third by third synchronous belt (29) and fixes runner (27), and the third is same Step band (29) is equipped with third movement foot (30) for being slidably connected to the second slideway (24), and third slideway (25) side is equipped with Third control motor (31) being fixed on rack (2), the other side are equipped with the fixed runner of the 4th be fixed on rack (2) (32), third control motor (31) is equipped with third synchronizing wheel (33), and the described 4th fixed runner (32) are same by the 4th Step band (34) is socketed on the 4th fixed runner (32), and the 4th synchronous belt (34) is equipped with and is slidably connected to third slideway (25) The 4th mobile foot (35).
- The robot 2. a kind of agricultural four-footed according to claim 1 sprays, it is characterised in that: the first movement foot (18), second mobile foot (19), third mobile foot (30) and the 4th mobile foot (35) are domes, the first movement foot (18) and the second mobile foot (19) bottom is equipped with the long microswitch of technical grade (36).
- The robot 3. a kind of agricultural four-footed according to claim 1 sprays, it is characterised in that: the hydraulic pump (3) Input terminal is connected to spray tank (1) inside, and output end is connected to medical fluid delivery pipe (5).
- The robot 4. a kind of agricultural four-footed according to claim 1 sprays, it is characterised in that: the stirring motor (6) Bottom is equipped with the paddle protruded into spray tank (1).
- The robot 5. a kind of agricultural four-footed according to claim 1 sprays, it is characterised in that: rack (2) appearance Waterproof membrane is coated on face.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910670053.7A CN110352932B (en) | 2019-07-24 | 2019-07-24 | Pesticide spraying robot for agriculture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910670053.7A CN110352932B (en) | 2019-07-24 | 2019-07-24 | Pesticide spraying robot for agriculture |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110352932A true CN110352932A (en) | 2019-10-22 |
| CN110352932B CN110352932B (en) | 2024-04-16 |
Family
ID=68220742
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910670053.7A Active CN110352932B (en) | 2019-07-24 | 2019-07-24 | Pesticide spraying robot for agriculture |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110352932B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203692272U (en) * | 2013-12-13 | 2014-07-09 | 北京丰茂植保机械有限公司 | Self-walking type high-stalk crop spraying machine |
| CN203985727U (en) * | 2014-06-11 | 2014-12-10 | 孙建伟 | High for a kind of agricultural chemicals, liquid manure spreader, width automatic adjustable sprays medicine bracing frame |
| US20150034736A1 (en) * | 2013-07-30 | 2015-02-05 | Winfield Solutions, Llc | High clearance adjustable sprayer |
| US20150102593A1 (en) * | 2013-10-14 | 2015-04-16 | Agco Corporation | Vehicle with chassis height adjustment |
| CN106614474A (en) * | 2016-11-17 | 2017-05-10 | 江苏大学 | Self-steering mechanism about the multiple land gap in the field |
| CN107372434A (en) * | 2017-08-18 | 2017-11-24 | 杭州电子科技大学 | A kind of field pesticide spray truck and its spray method |
| CN210382365U (en) * | 2019-07-24 | 2020-04-24 | 孙瑞娟 | Agricultural four-foot pesticide spraying robot |
-
2019
- 2019-07-24 CN CN201910670053.7A patent/CN110352932B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150034736A1 (en) * | 2013-07-30 | 2015-02-05 | Winfield Solutions, Llc | High clearance adjustable sprayer |
| US20150102593A1 (en) * | 2013-10-14 | 2015-04-16 | Agco Corporation | Vehicle with chassis height adjustment |
| CN203692272U (en) * | 2013-12-13 | 2014-07-09 | 北京丰茂植保机械有限公司 | Self-walking type high-stalk crop spraying machine |
| CN203985727U (en) * | 2014-06-11 | 2014-12-10 | 孙建伟 | High for a kind of agricultural chemicals, liquid manure spreader, width automatic adjustable sprays medicine bracing frame |
| CN106614474A (en) * | 2016-11-17 | 2017-05-10 | 江苏大学 | Self-steering mechanism about the multiple land gap in the field |
| CN107372434A (en) * | 2017-08-18 | 2017-11-24 | 杭州电子科技大学 | A kind of field pesticide spray truck and its spray method |
| CN210382365U (en) * | 2019-07-24 | 2020-04-24 | 孙瑞娟 | Agricultural four-foot pesticide spraying robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110352932B (en) | 2024-04-16 |
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