CN103181257A - Telescopic truss structure for field operation - Google Patents
Telescopic truss structure for field operation Download PDFInfo
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- CN103181257A CN103181257A CN2013100911378A CN201310091137A CN103181257A CN 103181257 A CN103181257 A CN 103181257A CN 2013100911378 A CN2013100911378 A CN 2013100911378A CN 201310091137 A CN201310091137 A CN 201310091137A CN 103181257 A CN103181257 A CN 103181257A
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Abstract
The invention discloses a telescopic truss structure for field operation, which comprises a power device, a transmission mechanism and a plurality of trusses sequentially sleeved from outside to inside in a sliding manner. Meanwhile, except for a first stage of truss and a truss on the innermost layer, the outer end of each truss on other layers is provided with an extending pulley and the inner end of the truss is provided with a retracting pulley; an extending steel wire rope is arranged on each extending pulley; both ends of each extending steel wire rope are respectively fixed at the inner ends of two trusses adjacent to the truss with the corresponding extending pulley; each retracting pulley is provided with a retracting steel wire rope; and both ends of each retracting steel wire rope are respectively fixed at the outer ends of two trusses adjacent to the truss with the corresponding retracting pulley. The telescopic truss structure adopts the telescopic structure, so as to effectively improve a spraying range of spraying operation for each time, can also stably and reliably bear required field operation tools, and has high operating efficiency.
Description
Technical field
The present invention relates to agriculture apparatus, be specifically related to a kind of telescopic truss mechanism for farmland operation.
Background technology
Though China is large agricultural country, China's crop field management machinery equalization level is also lower, particularly sprays aspects such as (agricultural chemicals and foliage fertilizer etc.) and crop production of hybrid seeds supplementary pollination in the crop field.The current crop field management of China is with craft, semi-mechanized operation is main, belong to the labor-intensive mode of production, the labour who drops into is many, labour intensity is big, and the field management mode is extensive, the agricultural resources effective rate of utilization is low, crop yield and difficult quality are protected, bring serious water and soil resources to pollute simultaneously, the ecosystem is unbalance, problems such as quality of agricultural product decline and people's health is on the hazard, can't adapt to the requirement of modern agricultural development, therefore demand researching and developing high efficiency field management machinery urgently, improve crop field management machinery equalization level.
In order to improve the availability of agricultural resources, effectively reduce waste and excessively use the pollution that brings, improve farm work efficient, after the seventies in 20th century, some advanced persons' the technology that sprays is at home and abroad used successively, comprises that mainly automatic target detection spraying, wind send low volume, wind to send remote spray, electrostatic spray, recovery circulation spraying, anti-droplet drift spraying (with anti-waft shower nozzle and air curtain technology), aviation dispenser, spray boom spraying etc.But all there is different limitations in these technology, and some technology are still under test, do not see large-scale marketing application; Though some technology are applied, be difficult to average out at the aspects such as operating cost, efficient, accuracy, reliability and regional adaptability of dispenser.Especially wet crop, paddy rice for example, line-spacing is little, and when paddy growth after seal the departure date, the row ridge is unintelligible, the field management Work machine is difficult to enter the field piece and carries out operation.
Existing air-assisted spraying machine is installed on the road vehicles usually, adds the high-speed centrifugal fan supply air system on the basis of hydraulic atomization, to reach secondary-atomizing and the remote spray to droplet, can be with droplet by the nearly mist curtain that extremely far forms, penetration power is strong, and labour intensity is low, high efficiency.But this machinery exist droplet easily drift about, accurately control spraying effect relatively poor, be subject to limitation such as road conditions restriction, be generally used for tall and big crop, fruit tree etc. and spray operation, the difficult needs that the less field crops of agriculture requirement line-spacing sprayed operation that adapt to; In addition, when the land for growing field crops piece crop that increases range at needs sprays operation, the demand of power of fan is sharply increased, and it is wayward to spray precision.
Existing efficient wide cut long drive journey engine-driven atomiser adopts high-pressure fog and wide cut long drive journey even spraying technology, can adopt the operating type of not going to the field, the operating efficiency height, labour intensity is low, dispenser safety, range does not wait from 10m to 20m according to the difference of supporting power power, when spraying swath〉during 20m, operating pressure requires to reach 3.5MPa, power is 37kW, and is when spraying swath requires further to increase, bigger to the power demand of power, and in the difficult control of the mist type of far-end, spray effect also has the sensation of " beyond one's ability to help ".
Existing boom sprayer tool adopts tractor mounted usually, and the operating efficiency height can independently be controlled the switching of spray boom upper nozzle, realize accurately spraying, and operating efficiency is higher.But used spray boom is collapsible at present, folding controlling organization complexity, and when farm work, owing to being uneven of soil, farmland, spray boom easily produces swing during machine-walking, is difficult to make spray boom and ground mobile in parallel; Along with the increase of spray bar length, the more difficult control of the balance of spray boom, easily contacting to earth in two ends, causes parts damages; And because the defective of spray boom folding joint place connected mode, spray boom can produce vibration during with the power machine-walking unavoidably, easily causes spray boom crossbeam and folding joint place to damage; Because the restriction of the load-carrying ability at folding joint place adopts the fabric width of folding mode to be limited to, further expand relatively difficulty of working width.
Summary of the invention
The present invention provides a kind of simple in structure in order to overcome the deficiency that above prior art exists, reliable operation, and raising sprays precision, increases the telescopic truss mechanism that is used for farmland operation that single sprays working width.
Purpose of the present invention realizes by following technical scheme: this is used for the telescopic truss mechanism of farmland operation, the truss that comprises power set, transmission mechanism and a plurality of sockets of sliding successively from outside to inside, wherein, being positioned at outermost truss is first order truss, and inferior outer field truss is second level truss;
Described power set are installed on first order truss, and described power set are connected with second level truss by transmission mechanism; Except the truss of first order truss and innermost layer, the outer end of remaining each layer truss is equipped with stretches out pulley, and the inner is equipped with the withdrawal pulley; Described stretch out to be equipped with on the pulley stretch out steel wire rope, and the two ends of stretching out steel wire rope are individually fixed in the inner with adjacent two truss that is provided with this truss that stretches out pulley; Be equipped with the withdrawal steel wire rope on the described withdrawal pulley, and the two ends of withdrawal steel wire rope are individually fixed in the outer end of the truss adjacent with two of truss that are provided with this withdrawal pulley.
Described transmission mechanism comprises gear and tooth bar, and described gear is installed on the power take-off of power set, and described tooth bar is fixed in second level truss, and meshes with gear.
The quantity of described truss is 4, and each truss outside to inside is followed successively by first order truss, second level truss, third level truss and fourth stage truss certainly; The outer end of described second level truss and third level truss is respectively equipped with first and stretches out pulley and second pulley, and the inner is respectively equipped with the first withdrawal pulley and the second withdrawal pulley;
Stretch out the inner that two ends of stretching out steel wire rope on the pulley are individually fixed in first order truss and third level truss around first; Stretch out the inner that two ends of stretching out steel wire rope on the pulley are individually fixed in second level truss and fourth stage truss around second;
Be individually fixed in the outer end of first order truss and third level truss around the two ends of the withdrawal steel wire rope of first withdrawal on the pulley; Be individually fixed in the outer end of second level truss and fourth stage truss around the two ends of the withdrawal steel wire rope of second withdrawal on the pulley.Because steel wire rope is can not be from principal elongation, therefore for same steel wire rope, when the length of steel wire rope of pulley one side was elongated, the length of steel wire rope of the opposite side of this pulley must shorten.As when second level truss stretches out the inner chamber of first order truss, first length of steel wire rope of stretching out of stretching out the pulley upside can be elongated gradually, then first stretches out stretching out length of steel wire rope and must shortening gradually of pulley downside, thereby pulling third level truss makes third level truss stretch out from the inner chamber of second level truss.
Be provided with first installing space between the following outside of described second level truss and the following inboard of first order truss; Be provided with second installing space between the following outside of described third level truss and the following inboard of second level truss.Described first installing space and second installing space are all for the instrument that shower nozzle, sebific duct and switch valve etc. are used for spraying operation is installed.And the downside of first order truss can be used for installing these and sprays power tool, also can be used for equally installing in the inner chamber of fourth stage truss spraying power tool, thereby improve the scope that single sprays operation.
For the wearing and tearing that reduce each truss and the relative slip that guarantees adjacent two-stage truss, be provided with sliding aiding elements between the described truss of adjacent two-stage, first order truss, second level truss, third level truss and fourth stage truss are successively by sliding aiding elements slip socket.
Described first order truss, second level truss, third level truss and fourth stage truss are any one in rectangle truss, triangular truss, parallel chord truss and the circular arc truss.The preferred rectangle truss of the present invention.
Impulsive force when withdrawing each inner chamber for alleviating each truss, the inner of described first order truss and second level truss is equipped with buffer; Described buffer is buffering adhesive or buffer spring.
Described telescopic truss mechanism for farmland operation also comprises limit sensors, and described limit sensors is installed on first order truss.Utilize limit sensors to detect the movement of second level truss, thereby effectively control the extension elongation of truss at different levels, the length of avoiding truss at different levels to stretch out is long.
Described power set comprise hydraulic motor, reversal valve, hydraulic pump, flow speed control valve and fuel tank, described hydraulic motor is connected with hydraulic pump, flow speed control valve respectively by reversal valve, described hydraulic pump all is connected with fuel tank with flow speed control valve, and described gear is installed on the power take-off of hydraulic motor.Described reversal valve is three position four-way directional control valve, by the position of control three position four-way directional control valve, thereby reaches the turning to of power take-off of control hydraulic motor.Described power set also can comprise air motor and with the supporting pneumatic circuit of air motor, thereby rotating that equally can control gear realizes the flexible of truss at different levels with activation.
Operation principle of the present invention is as follows: the primer fluid pressure motor, and when the power take-off of hydraulic motor was just changeing, the gear that is installed on power take-off just changeed; Because the cooperation of wheel and rack, then second level truss stretches out from the inner chamber of first order truss, and simultaneously, because first stretch out pulley and first and stretch out the effect of stretching out steel wire rope on the pulley, third level truss stretches out from the inner chamber of second level truss; Stretch out the effect of stretching out steel wire rope on the pulley because second stretches out pulley and second, fourth stage truss stretches out from the inner chamber of third level truss; When the power take-off of hydraulic motor reverses, since the cooperation of wheel and rack, the inner chamber of second level truss withdrawal first order truss; Simultaneously, since the effect of the withdrawal steel wire rope on the first withdrawal pulley and the first withdrawal pulley, the inner chamber of third level truss withdrawal second level truss; Since the effect of the withdrawal steel wire rope on the second withdrawal pulley and the second withdrawal pulley, the inner chamber of fourth stage truss withdrawal third level truss.
The present invention has following advantage with respect to prior art:
1, the telescopic truss mechanism for farmland operation of the present invention has adopted telescopic structure, thereby has avoided problems such as the folding joint place is stressed greatly in the common accordion structure, Yi Song is spacious, vibration is big, the folding joint place is fragile.
2, the level truss junction load-carrying ability of the telescopic truss mechanism for farmland operation of the present invention is strong, and the easier expansion of single operation fabric width can reduce the number of times that tractor enters field piece operation, reduces and presses the seedling loss; And more stable and stronger can steadily be carried required farmland operation apparatus (shower nozzle, high pressure nozzle etc.) reliably, and operating efficiency height and accurate rate height have improved the utilization of agricultural resources utilization rate; The present invention simultaneously also can be in supplementary pollination.
3, the telescopic truss mechanism for farmland operation of the present invention can be realized step-less adjustment as required on length when operation, have simultaneously that sole mass is light, the single operation fabric width is big, be convenient to the flexible volume of controlling, withdraw little, be convenient to deposit advantage such as transportation.
Description of drawings
Fig. 1 is the structural representation of the telescopic truss mechanism for farmland operation of the present invention.
Fig. 2 is the right view of the telescopic truss mechanism for farmland operation of the present invention.
Fig. 3 is the front view of the telescopic truss mechanism for farmland operation of the present invention.
Fig. 4 is the hydraulic circuit diagram of power set of the present invention.
Embodiment
The invention will be further described below in conjunction with drawings and Examples.
Basis as shown in Figure 1 to Figure 3 is used for the telescopic truss mechanism of farmland operation, it is characterized in that: the truss that comprises power set, transmission mechanism and a plurality of sockets of sliding successively from outside to inside, wherein, being positioned at outermost truss is first order truss 1, and inferior outer field truss is second level truss 2;
Described power set are installed on first order truss 1, and described power set are connected with second level truss 2 by transmission mechanism; Except the truss of first order truss 1 and innermost layer, the outer end of remaining each layer truss is equipped with stretches out pulley, and the inner is equipped with the withdrawal pulley; Described stretch out to be equipped with on the pulley stretch out steel wire rope 14, and the two ends of stretching out steel wire rope 14 are individually fixed in the inner with adjacent two truss that is provided with this truss that stretches out pulley; Be equipped with withdrawal steel wire rope 15 on the described withdrawal pulley, and the two ends of withdrawal steel wire rope 15 are individually fixed in the outer end of the truss adjacent with two of truss that are provided with this withdrawal pulley.Described first order truss 1, second level truss 2, third level truss 3 and fourth stage truss 4 are any one in rectangle truss, triangular truss, parallel chord truss and the circular arc truss.The preferred rectangle truss of present embodiment.
Described transmission mechanism comprises gear 6 and tooth bar 5, and described gear 6 is installed on the power take-off of power set, and described tooth bar 5 is fixed in second level truss 2, and meshes with gear 6.
The quantity of described truss is 4, and each truss outside to inside is followed successively by first order truss 1, second level truss 2, third level truss 3 and fourth stage truss 4 certainly; The outer end of described second level truss 2 and third level truss 3 is respectively equipped with first and stretches out pulley 11 and second pulley 10, and the inner is respectively equipped with the first withdrawal pulley 12 and the second withdrawal pulley 13;
Stretch out the inner that two ends of stretching out steel wire rope 14 on the pulley 11 are individually fixed in first order truss 1 and third level truss 2 around first; Stretch out the inner that two ends of stretching out steel wire rope 14 on the pulley 10 are individually fixed in second level truss 2 and fourth stage truss 4 around second;
Be individually fixed in the outer end of first order truss 1 and third level truss 3 around the two ends of the withdrawal steel wire rope 15 of first withdrawal on the pulley 12; Be individually fixed in the outer end of second level truss 2 and fourth stage truss 4 around the two ends of the withdrawal steel wire rope 15 of second withdrawal on the pulley 13.Because steel wire rope is can not be from principal elongation, therefore for same steel wire rope, when the length of steel wire rope of pulley one side was elongated, the length of steel wire rope of the opposite side of this pulley must shorten.As when second level truss 2 stretches out the inner chamber of first order truss 1, first length of stretching out steel wire rope 14 of stretching out pulley 11 upsides can be elongated gradually, then first length of stretching out steel wire rope 14 of stretching out pulley 11 downsides must shorten gradually, thereby pulling third level truss 3 makes third level truss 3 stretch out from the inner chamber of second level truss 2.
Be provided with first installing space 16 between the following outside of described second level truss 2 and the following inboard of first order truss 1; Be provided with second installing space 17 between the following outside of described third level truss 3 and the following inboard of second level truss 2.Described first installing space 16 and second installing space 17 are all for the instrument that shower nozzle, sebific duct and switch valve etc. are used for spraying operation is installed.And the downside of first order truss 1 can be used for installing these and sprays power tool, also can be used for equally installing in the inner chamber of fourth stage truss 4 spraying power tool, thereby improve the scope that single sprays operation.As shown in Figure 3, the cross bar of the below in the second level truss 2 and the lower surface of montant have certain distance, thereby the cross bar of the montant of the cross bar of second level truss 2 belows, second level truss 2 and first order truss 1 below forms first installing space 16; The formation principle of second installing space 17 is identical with first installing space 16.
For the wearing and tearing that reduce each truss and the relative slip that guarantees adjacent two-stage truss, be provided with sliding aiding elements 18 between the described truss of adjacent two-stage, first order truss 1, second level truss 2, third level truss 3 and fourth stage truss 4 are successively by sliding aiding elements 18 slip sockets.Described sliding aiding elements 18 is the close materials of other attributes such as nylon sheet or rubber, preferred nylon sheet in the present embodiment.This nylon sheet is L-shaped, and is individually fixed in four angles of the inner chamber of first order truss 1, second level truss 2 and third level truss 3, thereby avoids the truss of adjacent two-stage directly to contact.
Impulsive force when withdrawing each inner chamber for alleviating each truss, the inner of described first order truss 1, second level truss 2 and third level truss 3 is equipped with buffer 9; Described buffer 9 is buffering adhesive or buffer spring, and present embodiment is preferably buffering adhesive.
Described telescopic truss mechanism for farmland operation also comprises limit sensors 8, and described limit sensors 8 is installed on first order truss 1.As a kind of preferred, described limit sensors 8 is installed on the outer end of first order truss 1.Utilize limit sensors 8 to detect the movement of second level truss 2, thereby effectively control the extension elongation of truss at different levels, the length of avoiding truss at different levels to stretch out is long.
As shown in Figure 4, described power set comprise hydraulic motor 7, reversal valve 19, hydraulic pump 20, flow speed control valve 21 and fuel tank 22, described hydraulic motor 7 is connected with hydraulic pump 20, flow speed control valve 21 respectively by reversal valve 19, described hydraulic pump 20 all is connected with fuel tank 22 with flow speed control valve 21, and described gear 6 is installed on hydraulic motor 7 power take-offs.Described reversal valve 19 is three position four-way directional control valve, by the position of control three position four-way directional control valve, thereby reaches the turning to of power take-off of control hydraulic motor 7.
Operation principle of the present invention is as follows: primer fluid pressure motor 7, and when the power take-off of hydraulic motor 7 was just changeing, the gear 6 that is installed on power take-off was just changeing; Because gear 6 cooperates with tooth bar 5, then second level truss 2 stretches out from the inner chamber of first order truss 1, simultaneously, because first stretch out pulley 11 and first and stretch out the effect of stretching out steel wire rope 14 on the pulley 11, third level truss 3 stretches out from the inner chamber of second level truss 2; Stretch out on the pulley 10 the effect of stretching out steel wire rope 14 because second stretches out pulley 10 and second, fourth stage truss 4 stretches out from the inner chamber of third level truss 3; When the counter-rotating of the power take-off of hydraulic motor 7, because the cooperating of gear 6 and tooth bar 5, the withdraw inner chamber of first order truss 1 of second level truss 2; Simultaneously, since the effect of the withdrawal steel wire rope 15 on the first withdrawal pulley 12 and the first withdrawal pulley 12, the inner chamber of third level truss 3 withdrawal second level truss 2; Since the effect of the withdrawal steel wire rope 15 on the second withdrawal pulley 13 and the second withdrawal pulley 13, the inner chamber of fourth stage truss 4 withdrawal third level truss 3.
Above-mentioned embodiment is the preferred embodiments of the present invention, can not limit the present invention, and other any change or other equivalent substitute mode that does not deviate from technical scheme of the present invention and make is included within protection scope of the present invention.
Claims (9)
1. telescopic truss mechanism that is used for farmland operation, it is characterized in that: the truss that comprises power set, transmission mechanism and a plurality of sockets of sliding successively from outside to inside, wherein, being positioned at outermost truss is first order truss, and inferior outer field truss is second level truss;
Described power set are installed on first order truss, and described power set are connected with second level truss by transmission mechanism; Except the truss of first order truss and innermost layer, the outer end of remaining each layer truss is equipped with stretches out pulley, and the inner is equipped with the withdrawal pulley; Described stretch out to be equipped with on the pulley stretch out steel wire rope, and the two ends of stretching out steel wire rope are individually fixed in the inner with adjacent two truss that is provided with this truss that stretches out pulley; Be equipped with the withdrawal steel wire rope on the described withdrawal pulley, and the two ends of withdrawal steel wire rope are individually fixed in the outer end of the truss adjacent with two of truss that are provided with this withdrawal pulley.
2. a kind of telescopic truss mechanism for farmland operation according to claim 1, it is characterized in that: described transmission mechanism comprises gear and tooth bar, described gear is installed on the power take-off of power set, and described tooth bar is fixed in second level truss, and meshes with gear.
3. a kind of telescopic truss mechanism for farmland operation according to claim 1, it is characterized in that: the quantity of described truss is 4, is followed successively by first order truss, second level truss, third level truss and fourth stage truss from outside to inside each truss; The outer end of described second level truss and third level truss is respectively equipped with first and stretches out pulley and second pulley, and the inner is respectively equipped with the first withdrawal pulley and the second withdrawal pulley;
Stretch out the inner that two ends of stretching out steel wire rope on the pulley are individually fixed in first order truss and third level truss around first; Stretch out the inner that two ends of stretching out steel wire rope on the pulley are individually fixed in second level truss and fourth stage truss around second;
Be individually fixed in the outer end of first order truss and third level truss around the two ends of the withdrawal steel wire rope of first withdrawal on the pulley; Be individually fixed in the outer end of second level truss and fourth stage truss around the two ends of the withdrawal steel wire rope of second withdrawal on the pulley.
4. a kind of telescopic truss mechanism for farmland operation according to claim 3 is characterized in that: be provided with first installing space between the following outside of described second level truss and the following inboard of first order truss; Be provided with second installing space between the following outside of described third level truss and the following inboard of second level truss.
5. a kind of telescopic truss mechanism for farmland operation according to claim 3, it is characterized in that: be provided with sliding aiding elements between the described truss of adjacent two-stage, first order truss, second level truss, third level truss and fourth stage truss are successively by sliding aiding elements slip socket.
6. a kind of telescopic truss mechanism for farmland operation according to claim 3, it is characterized in that: described first order truss, second level truss, third level truss and fourth stage truss are any one in rectangle truss, triangular truss, parallel chord truss and the circular arc truss.
7. a kind of telescopic truss mechanism for farmland operation according to claim 3, it is characterized in that: the inner of described first order truss and second level truss is equipped with buffer; Described buffer is buffering adhesive or buffer spring.
8. a kind of telescopic truss mechanism for farmland operation according to claim 1, it is characterized in that: also comprise limit sensors, described limit sensors is installed on first order truss.
9. a kind of telescopic truss mechanism for farmland operation according to claim 1, it is characterized in that: described power set comprise hydraulic motor, reversal valve, hydraulic pump, flow speed control valve and fuel tank, described hydraulic motor is connected with hydraulic pump, flow speed control valve respectively by reversal valve, described hydraulic pump all is connected with fuel tank with flow speed control valve, and described gear is installed on the power take-off of hydraulic motor or air motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310091137.8A CN103181257B (en) | 2013-03-20 | 2013-03-20 | A kind of Telescopic truss mechanism for farmland operation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310091137.8A CN103181257B (en) | 2013-03-20 | 2013-03-20 | A kind of Telescopic truss mechanism for farmland operation |
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| CN103181257A true CN103181257A (en) | 2013-07-03 |
| CN103181257B CN103181257B (en) | 2015-11-04 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104115582A (en) * | 2014-07-22 | 2014-10-29 | 湖南省烟草公司长沙市公司浏阳市分公司 | Cantilever type flue-cured tobacco farming device |
| CN104538897A (en) * | 2014-12-25 | 2015-04-22 | 徐州海伦哲专用车辆股份有限公司 | Bridge type stringing trolley telescopic workbench |
| CN107223655A (en) * | 2017-07-01 | 2017-10-03 | 围场满族蒙古族自治县援农机械制造有限公司 | Telescopic spraying machine |
| CN109197844A (en) * | 2018-11-12 | 2019-01-15 | 南京林业大学 | A kind of foldable self-balancing damping spray boom |
| CN109465807A (en) * | 2018-10-19 | 2019-03-15 | 上海应用技术大学 | A kind of longitudinal axis structure and robot of truss robot |
| CN111411783A (en) * | 2020-03-24 | 2020-07-14 | 广东博智林机器人有限公司 | Multi-section telescopic composite truss and elevator shaft type straight arm construction equipment with same |
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| CN202535969U (en) * | 2012-01-14 | 2012-11-21 | 河南科技大学 | Remote control type pesticide spraying device used in greenhouse |
| CN102923586A (en) * | 2012-11-13 | 2013-02-13 | 郑州新大方重工科技有限公司 | Telescopic truss structure connected by web members and plug pins |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104115582A (en) * | 2014-07-22 | 2014-10-29 | 湖南省烟草公司长沙市公司浏阳市分公司 | Cantilever type flue-cured tobacco farming device |
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| CN107223655A (en) * | 2017-07-01 | 2017-10-03 | 围场满族蒙古族自治县援农机械制造有限公司 | Telescopic spraying machine |
| CN109465807A (en) * | 2018-10-19 | 2019-03-15 | 上海应用技术大学 | A kind of longitudinal axis structure and robot of truss robot |
| CN109197844A (en) * | 2018-11-12 | 2019-01-15 | 南京林业大学 | A kind of foldable self-balancing damping spray boom |
| CN111411783A (en) * | 2020-03-24 | 2020-07-14 | 广东博智林机器人有限公司 | Multi-section telescopic composite truss and elevator shaft type straight arm construction equipment with same |
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|---|---|
| CN103181257B (en) | 2015-11-04 |
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