CN110393111A - A kind of agricultural multipurpose automated spray robot - Google Patents
A kind of agricultural multipurpose automated spray robot Download PDFInfo
- Publication number
- CN110393111A CN110393111A CN201910628832.0A CN201910628832A CN110393111A CN 110393111 A CN110393111 A CN 110393111A CN 201910628832 A CN201910628832 A CN 201910628832A CN 110393111 A CN110393111 A CN 110393111A
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- CN
- China
- Prior art keywords
- support beam
- fixed
- mounting plate
- agriculture
- sliding seat
- 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.)
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/16—Control of watering
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/16—Control of watering
- A01G25/167—Control by humidity of the soil itself or of devices simulating soil or of the atmosphere; Soil humidity sensors
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
- A01G9/24—Devices or systems for heating, ventilating, regulating temperature, illuminating, or watering, in greenhouses, forcing-frames, or the like
- A01G9/247—Watering arrangements
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
-
- 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
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/25—Greenhouse technology, e.g. cooling systems therefor
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Environmental Sciences (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Water Supply & Treatment (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Catching Or Destruction (AREA)
Abstract
The present invention relates to agriculture fields, specifically disclose a kind of agriculture multipurpose automated spray robot, including mounting plate, shell, support beam, injection spray pipe and blower；The mounting plate upper surface is fixed with electric connection socket and water suction seat, and the top in the water suction seat is fixed with the suction hose extended downwardly, the sink of horizontal recess is offered in the corresponding support beam of suction hose, suction hose protrudes into the bottom in screw clamp；Water hole is offered on one end of sink, and block is fixed on the corresponding support beam end of the other end in water hole, inverted liquid reserve tank is detachably installed on block.It is mobile in greenhouse top horizontal, high-pressure pump inside when mobile extracts the liquid in sink by pipette, it is sprayed downwards by injection spray pipe, pipette is always positioned in sink during moving horizontally, therefore robot does not need to be equipped with longer water pipe, is not take up biggish space, does not need to carry liquid reserve tank yet, mitigate the weight of robot, reduces energy consumption.
Description
Technical field
The present invention relates to agriculture field, specifically a kind of agricultural multipurpose automated spray robot.
Background technique
Agricultural robot is a kind of machine, is the utilization of robot in agricultural production, is that one kind can be soft by distinct program
Part control, to adapt to various operations, can feel and adapt to crop species or environmental change, there is detection (such as vision) and calculation etc.
Artificial intelligence a new generation nobody be automatically brought into operation machinery；Japan attaches great importance to the research and development of agricultural robot, achieves
Great successes occupy rank first；With the development of national economy and agricultural, also there is an urgent need to by using existing in China
It for agricultural technology and equipment, raises labour productivity, improves quality of agricultural product, promote urbanization, the marketization, letter in China rural area
Breathization and modernization, promote the agricultural product in China to move towards international market.The Eleventh Five-Year Plan period, China is set in " 863 Program "
The relevant research topic of multiple agricultural robots, including fruit, vegetable harvesting machine device people, agricultural machinery intelligent navigation skill are set
Art, AUTONOMOUS TASK agricultural robot, automatic acquiring technology of agricultural land information etc..
Existing agricultural greenhouse plantation needs that relevant robot is cooperated to carry out mechanized cultivation management, and Chinese patent is (public
Accuse number: a kind of reading intelligent agriculture multipurpose spraying robot ' disclosed in 206462264 U of CN) carries liquid reserve tank in robot, stores up
Liquid case follows robot mobile, to carry out spray pesticide to the crops of surrounding, such robot need manually to push into
Row spray, personnel need to carry out self-protection, and drug is avoided to cause harm to the human body, and still further aspect, liquid reserve tank volume is larger,
Needing people to provide biggish power when following mobile can move, be unfavorable for using.
Summary of the invention
The purpose of the present invention is to provide a kind of agriculture multipurpose automated spray robots, to solve above-mentioned background technique
The problem of middle proposition.
To achieve the above object, the invention provides the following technical scheme:
A kind of agricultural multipurpose automated spray robot, including mounting plate, shell, support beam, injection spray pipe and blower；It is described
Shell is fixed on horizontally disposed mounting plate lower surface, and shell follows mounting plate to move together, and mounting plate is located at horizontal support
Below the crossbeam is provided with the sliding seat of gantry structure in mounting plate, cooperates in sliding seat with support beam, and support beam from
It is passed through in sliding seat, be located at sliding seat upper movement, sliding seat can there are two being arranged in the horizontal direction in support beam
The left and right ends of mounting plate are fixed with horizontal support base in the upper end of sliding seat；The mounting plate upper surface is fixed with gantry
The electric connection socket and water suction seat of structure, electric connection socket, water suction seat are identical as sliding holder structure；Top in electric connection socket is fixed
There is the conductive column extended downwardly, the conductive trough of horizontal recess, the side in conductive trough are offered in the corresponding support beam of conductive column
Conductive sheet is fixed on wall, conductive column extend into conductive trough and contacts with conductive sheet, is electrically connected at robot on alternating current, no
It needs to drive using accumulator structure, mitigates robot weight；Top in the water suction seat is fixed with the water suction extended downwardly
It manages, the sink of horizontal recess is offered in the corresponding support beam of suction hose, suction hose protrudes into the bottom in screw clamp, passes through suction
Water pipe can draw the liquid in sink；Water hole, the corresponding support beam of the other end in water hole are offered on one end of sink
It is fixed with block on end, is connected in water hole and block, inverted liquid reserve tank, the water in liquid reserve tank is detachably installed on block
It is able to enter in block, is flowed into screw clamp by water hole, the lower end bottleneck of liquid reserve tank is lower than the height in the sink, water
Liquid in slot is internally filled into after reducing by liquid reserve tank, and liquid sufficient in sink, the liquid in sink, Neng Goutong are kept
The pipette being located on water suction seat moved is crossed, can draw liquid at an arbitrary position；It is equipped on the support base
Driving device, drive installation plate move horizontally.
Further: the pipette in the water suction seat is communicated with positioned at the intracorporal high-pressure pump of shell, and high-pressure pump passes through pipeline
It is communicated with the horizontal injection spray pipe being located on housing exterior walls, several nozzles is offered on the downside of injection spray pipe, water mist is passed through into spray
Mist pipe sprays downwards.
It is further: horizontal deflector to be fixed in the bottom end of shell, deflector upper end two sides are respectively provided with diagonally downward
Inclined-plane, make the water mist sprayed downwards to two sides disperse, increase the coverage area of water mist.
Further: the side wall of the shell is fixedly installed with sensor group and camera support.
It is further: to be provided with temperature sensor, humidity sensor and optical sensor in sensor group, pass through sensor
Environment around monitoring, sensor group connect on the controller, and controller is electrically connected on external control computer, convenient for looking into
See real time information.
It is further: camera being rotatably equipped with by universal joint in the downside of camera support, camera can be adjusted
Direction, to crops monitoring camera-shooting, convenient for remotely grasping the growing state of crops, camera is also connected on the controller.
Further: the top on the inside of sliding seat is fixed with downwardly convex limited block, and the corresponding support of limited block is horizontal
Beam upper surface offers the limiting slot in the horizontal direction, and limited block and limiting slot cooperate, extend into limiting slot, make sliding seat
It will not be moved forward and backward when in support beam, guarantee the mobile stability of sliding seat.
It is further: to be fixed by a stay bolt between sliding seat, electric connection socket, water suction seat and mounting plate, support base
Connection makes mounting plate, sliding seat, electric connection socket, water suction seat, support base synchronizing moving.
Further: the width of sink is the 1/3-1/2 of support beam width.
Further: the driving device on the support base includes motor and driving gear, and motor is positioned horizontally in support
In seat, driving gear is fixedly and coaxially connected on the output shaft of motor, is rotated by motor driven sliding tooth wheel, in driving gear
The gear grooved of horizontal recess is offered in the corresponding support beam in underface, and the tooth engaged with driving gear is fixed in gear grooved
Item is rotated by sliding tooth wheel, and driving driving gear and mounting plate move horizontally under the action of tooth.
Compared with prior art, the beneficial effects of the present invention are: robot is erected at the top of greenhouse by the present invention, big
Ceiling portion moves horizontally, when mobile inside high-pressure pump by the liquid in pipette extraction sink, sprayed downwards by injection spray pipe
Out, pipette is always positioned in sink during moving horizontally, therefore robot does not need to be equipped with longer water pipe, does not account for
With biggish space, does not need to carry liquid reserve tank yet, mitigate the weight of robot, reduce energy consumption；By leading in moving process
Conductive sheet is connect with the conductive column on electric connection socket in electric slot, is connected to power supply when making mobile, robot does not need built-in electric power storage
Pond power supply, equally mitigation weight.The water mist sprayed downwards is dispersed by deflector, improves coverage area.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of agriculture multipurpose automated spray robot.
Fig. 2 is a kind of structural schematic diagram of support beam in agriculture multipurpose automated spray robot.
Fig. 3 is the structural schematic diagram on mounting plate in a kind of agriculture multipurpose automated spray robot.
Fig. 4 is a kind of structural schematic diagram of deflector in agriculture multipurpose automated spray robot.
In figure: 1- mounting plate, 2- shell, 3- support beam, 4- injection spray pipe, 5- deflector, 6- blower, 7- sensor group,
8- sliding seat, 9- electric connection socket, 10- water suction seat, 11- controller, 12- support base, 13- block, 14- liquid reserve tank, 15- camera shooting
Head, 16- conductive trough, 17- gear grooved, 18- limiting slot, 19- sink, the water hole 20-, 21- drive gear, 22- universal joint, and 23- takes the photograph
As head support.
Specific embodiment
Embodiment 1
Please refer to figure, in the embodiment of the present invention, a kind of agricultural multipurpose automated spray robot, including mounting plate 1, shell 2,
Support beam 3, injection spray pipe 4 and blower 6；The shell 2 is fixed on horizontally disposed 1 lower surface of mounting plate, and shell 2 follows installation
Plate 1 moves together, and mounting plate 1 is located at horizontal 3 lower section of support beam, and mounting plate 1 is provided with the sliding seat 8 of gantry structure,
Cooperate in sliding seat 8 with support beam 3, and support beam 3 is passed through out of sliding seat 8, makes sliding seat 8 in support beam 3
Downwardly convex limited block, the corresponding support of limited block can be fixed in upper movement, the top on the inside of sliding seat 8 in the horizontal direction
3 upper surface of crossbeam offers the limiting slot 18 in the horizontal direction, and limited block and limiting slot 18 cooperate, and extend into limiting slot 18
It is interior, it be moved forward and backward sliding seat 8 will not when in support beam 3, guarantee the mobile stability of sliding seat 8, sliding seat 8 is provided with
Two, be located at the left and right ends of mounting plate 1, be fixed with horizontal support base 12 in the upper end of sliding seat 8, sliding seat 8 with
It is fixedly connected between mounting plate 1, support base 12 by a stay bolt, makes mounting plate 1, sliding seat 8,12 synchronizing moving of support base.
1 upper surface of mounting plate is fixed with the electric connection socket 9 and water suction seat 10 of gantry structure, electric connection socket 9, water suction seat
10 is identical as 8 structure of sliding seat, is bolted between mounting plate 1, support base 12；Top in electric connection socket 9
It is fixed with the conductive column extended downwardly, the conductive trough 16 of horizontal recess, conductive trough are offered in the corresponding support beam 3 of conductive column
Conductive sheet is fixed on side wall in 16, conductive column extend into conductive trough 16 and contacts with conductive sheet, is electrically connected robot
On alternating current, does not need to drive using accumulator structure, mitigate robot weight；Top fixation in the water suction seat 10 is oriented
The suction hose of lower stretching, the sink 19 of horizontal recess is offered in the corresponding support beam 3 of suction hose, and the width of sink 19 is branch
The 1/3-1/2 of 3 width of crossbeam is supportted, suction hose protrudes into the bottom in screw clamp 19, can draw in sink 19 by suction hose
Liquid；Water hole 20 is offered on one end of sink 19, the other end in water hole 20 is fixed with case on corresponding 3 end of support beam
It is connected in seat 13, water hole 20 and block 13, inverted liquid reserve tank 14, the water energy in liquid reserve tank 14 is detachably installed on block 13
It enough enters in block 13, is flowed into screw clamp 19 by water hole 20, the lower end bottleneck of liquid reserve tank 14 is lower than in the sink 19
Height, the liquid in sink 19 internally filled into after reducing by liquid reserve tank 14, and liquid sufficient in sink 19, sink are kept
Liquid in 19 can draw liquid by the mobile pipette being located on water suction seat 10 at an arbitrary position.
Pipette in the water suction seat 10 is communicated with the high-pressure pump in shell 2, and high-pressure pump is communicated with by pipeline
Horizontal injection spray pipe 4 on 2 outer wall of shell, the downside of injection spray pipe 4 offers several nozzles, water mist is passed through injection spray pipe
4 spray downwards；It is fixed with horizontal deflector 5 in the bottom end of shell 2,5 upper end two sides of deflector are respectively provided with diagonally downward oblique
Face disperses the water mist sprayed downwards to two sides, increases the coverage area of water mist.
The side wall of the shell 2 is fixedly installed with sensor group 7 and camera support 23, is provided with temperature in sensor group 7
Sensor, humidity sensor and optical sensor are spent, by the environment around sensor monitoring, sensor group 7 is connected to control
On device 11, controller 11 is electrically connected on external control computer, convenient for checking real time information；Under camera support 23
Side is rotatably equipped with camera 15 by universal joint 22, can adjust the direction of camera 15, to crops monitoring camera-shooting, be convenient for
The long-range growing state for grasping crops, camera 15 are also connected on controller 11.
Driving device is installed, drive installation plate 1 moves horizontally on the support base 12.
In use, support beam 3 to be erected to the top of greenhouse, mounting plate 1 is erected at support beam 3 by sliding seat 8
On, when mounting plate 1 moves in the horizontal direction, internal high-pressure pump extracts the liquid in sink 19 by pipette, passes through spray
Mist pipe 4 downwards spray, pipette is always positioned in sink 19 during moving horizontally, thus robot do not need be equipped with compared with
Long water pipe, is not take up biggish space, does not also need to carry liquid reserve tank, mitigates the weight of robot, reduces energy consumption；In movement
It is connect, is connected to power supply when making mobile, robot with the conductive column on electric connection socket 9 by conductive sheet in conductive trough 16 in the process
Internal battery power supply, equally mitigation weight are not needed.The water mist sprayed downwards is dispersed by deflector 5, improves coverage area.
Embodiment 2
On the basis of embodiment 1, the driving device on the support base 12 includes motor and driving gear 21, and motor is horizontal
In support base 12, driving gear 21 is fixedly and coaxially connected on the output shaft of motor, drives gear 21 by motor driven
Rotation offers the gear grooved 17 of horizontal recess in the corresponding support beam 3 in 21 underface of driving gear, consolidates in gear grooved 17
Surely have and drive the rack gear that engage of gear 21, rotated by driving gear 21, under the action of tooth driving drive gear 21 and
Mounting plate 1 moves horizontally.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (10)
1. a kind of agricultural multipurpose automated spray robot, including mounting plate (1), shell (2), support beam (3), injection spray pipe
(4) and blower (6)；The shell (2) is fixed on horizontally disposed mounting plate (1) lower surface, and mounting plate (1) is located at horizontal branch
It supports below crossbeam (3), mounting plate (1) is provided with the sliding seat (8) of gantry structure, matches in sliding seat (8) with support beam (3)
It closes, and support beam (3) move up sliding seat (8) can in the horizontal direction on support beam (3) from interior pass through of sliding seat (8)
Dynamic, there are two sliding seat (8) settings, is located at the left and right ends of mounting plate (1), is fixed with water in the upper end of sliding seat (8)
Flat support base (12)；It is characterized in that, mounting plate (1) upper surface is fixed with the electric connection socket (9) of gantry structure and inhales
Water seat (10), electric connection socket (9), water suction seat (10) are identical as sliding seat (8) structure；Top in electric connection socket (9) is fixed
There is the conductive column extended downwardly, the conductive trough (16) of horizontal recess, conductive trough are offered in the corresponding support beam of conductive column (3)
(16) conductive sheet is fixed on the side wall in, conductive column extend into conductive trough (16) and contacts with conductive sheet；The water suction seat
(10) top in is fixed with the suction hose extended downwardly, offers horizontal recess in the corresponding support beam of suction hose (3)
Sink (19), suction hose protrude into the bottom in screw clamp (19)；It is offered on one end of sink (19) water hole (20), water hole (20)
The corresponding support beam of other end (3) end on be fixed with block (13), is connected in water hole (20) and block (13), block
(13) inverted liquid reserve tank (14) are detachably installed on；Driving device is installed on the support base (12).
2. a kind of agriculture multipurpose automated spray robot according to claim 1, it is characterised in that: the water suction seat
(10) pipette in is communicated with the high-pressure pump in shell (2), and high-pressure pump is communicated with by pipeline positioned at shell (2) outer wall
On horizontal injection spray pipe (4), injection spray pipe offers several nozzles on the downside of (4).
3. a kind of agriculture multipurpose automated spray robot according to claim 2, it is characterised in that: in shell (2)
Bottom end be fixed with horizontal deflector (5), deflector (5) upper end two sides are respectively provided with inclined-plane diagonally downward.
4. a kind of agriculture multipurpose automated spray robot according to claim 1, it is characterised in that: the shell
(2) side wall is fixedly installed with sensor group (7) and camera support (23).
5. a kind of agriculture multipurpose automated spray robot according to claim 4, it is characterised in that: sensor group
(7) it is provided with temperature sensor, humidity sensor and optical sensor in, sensor group (7) is connected on controller (11).
6. a kind of agriculture multipurpose automated spray robot according to claim 5, it is characterised in that: in camera branch
The downside of seat (23) is rotatably equipped with camera (15) by universal joint (22), and camera (15) is also connected to controller (11)
On.
7. a kind of agriculture multipurpose automated spray robot according to claim 1, it is characterised in that: in sliding seat
(8) top on the inside of is fixed with downwardly convex limited block, and the corresponding support beam of limited block (3) upper surface is offered along level
Limiting slot (18) on direction, limited block and limiting slot (18) cooperate, extend into limiting slot (18).
8. a kind of agriculture multipurpose automated spray robot according to claim 1, it is characterised in that: sliding seat (8),
Electric connection socket (9), water suction seat (10) are fixedly connected by a stay bolt between mounting plate (1), support base (12).
9. a kind of agriculture multipurpose automated spray robot according to claim 1, it is characterised in that: the sink
(19) width is the 1/3-1/2 of support beam (3) width.
10. -9 any a kind of agriculture multipurpose automated spray robot according to claim 1, it is characterised in that: institute
Stating the driving device on support base (12) includes motor and driving gear (21), and motor is positioned horizontally in support base (12), is driven
Moving gear (21) is fixedly and coaxially connected on the output shaft of motor, the corresponding support beam (3) immediately below driving gear (21)
On offer the gear grooved (17) of horizontal recess, is fixed in gear grooved (17) and the rack gear that drives gear (21) to engage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910628832.0A CN110393111B (en) | 2019-07-12 | 2019-07-12 | Agricultural multipurpose automatic spraying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910628832.0A CN110393111B (en) | 2019-07-12 | 2019-07-12 | Agricultural multipurpose automatic spraying robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110393111A true CN110393111A (en) | 2019-11-01 |
| CN110393111B CN110393111B (en) | 2021-10-26 |
Family
ID=68325379
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910628832.0A Active CN110393111B (en) | 2019-07-12 | 2019-07-12 | Agricultural multipurpose automatic spraying robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN110393111B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112889380A (en) * | 2021-02-03 | 2021-06-04 | 山东原产地信息科技有限公司 | Fixed rural area management robot based on artificial intelligence |
| NO20211250A1 (en) * | 2021-10-18 | 2023-04-19 | Autostore Tech As | A service vehicle for an automated storage and retrieval system |
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| JPH0421448B2 (en) * | 1985-07-16 | 1992-04-10 | Hiroyuki Ura | |
| CN201690857U (en) * | 2010-01-15 | 2011-01-05 | 张宋 | Track-type large-area automatic spray irrigation device |
| CN205292307U (en) * | 2016-01-11 | 2016-06-08 | 山西农机新技术服务中心 | Cable formula electric minitiller |
| CN108496654A (en) * | 2018-05-23 | 2018-09-07 | 曲阜师范大学 | A kind of greenhouse intelligent robot for agricultural |
| CN108726129A (en) * | 2018-07-02 | 2018-11-02 | 韩芹 | A kind of full-automatic transport device of agricultural greenhouse |
| CN108835073A (en) * | 2018-05-03 | 2018-11-20 | 阜阳市卓创科技服务生产力促进中心 | A kind of agricultural greenhouse sprays insecticide device |
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2019
- 2019-07-12 CN CN201910628832.0A patent/CN110393111B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0421448B2 (en) * | 1985-07-16 | 1992-04-10 | Hiroyuki Ura | |
| CN201690857U (en) * | 2010-01-15 | 2011-01-05 | 张宋 | Track-type large-area automatic spray irrigation device |
| CN205292307U (en) * | 2016-01-11 | 2016-06-08 | 山西农机新技术服务中心 | Cable formula electric minitiller |
| CN108835073A (en) * | 2018-05-03 | 2018-11-20 | 阜阳市卓创科技服务生产力促进中心 | A kind of agricultural greenhouse sprays insecticide device |
| CN108496654A (en) * | 2018-05-23 | 2018-09-07 | 曲阜师范大学 | A kind of greenhouse intelligent robot for agricultural |
| CN108726129A (en) * | 2018-07-02 | 2018-11-02 | 韩芹 | A kind of full-automatic transport device of agricultural greenhouse |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112889380A (en) * | 2021-02-03 | 2021-06-04 | 山东原产地信息科技有限公司 | Fixed rural area management robot based on artificial intelligence |
| NO20211250A1 (en) * | 2021-10-18 | 2023-04-19 | Autostore Tech As | A service vehicle for an automated storage and retrieval system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110393111B (en) | 2021-10-26 |
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