CN203399635U - New concept intelligent multifunctional spraying machine chassis - Google Patents
New concept intelligent multifunctional spraying machine chassis Download PDFInfo
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- CN203399635U CN203399635U CN201320411992.8U CN201320411992U CN203399635U CN 203399635 U CN203399635 U CN 203399635U CN 201320411992 U CN201320411992 U CN 201320411992U CN 203399635 U CN203399635 U CN 203399635U
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Abstract
The utility model discloses a new concept intelligent multifunctional spraying machine chassis which comprises a chassis machine frame, a medicine box fixing frame at the rear end of the chassis machine frame, a spraying rod lifting frame rotatably arranged at the front end of the chassis machine frame, a spraying rod switching mechanism forming a vertical moving pair with the spraying rod lifting frame, a sprayer arranged on the spraying rod switching mechanism and wheels disposed on the lower portion of the chassis machine frame through a longitudinal adjusting device and a transverse adjusting device. The new concept intelligent multifunctional spraying machine chassis has the advantages that pure hydraulic power is adopted, drive is stable, drive torque is large, steering is flexible, transmission is simple, the whole machine structure is concise, arrangement is reasonable, the gravity center is stable, wheel distances, ground clearance height and the like can be adjusted in a hydraulic and stepless mode, the spraying rod switching mechanism can be lifted, descended and rotated and can achieve horizontal type, U type and inverted U type switching, and the effect of all-direction spraying is achieved. By means of the new concept intelligent multifunctional spraying machine chassis, the requirement for all-terrain and all-direction spraying of different plants and in different growth and cultivation periods can be met.
Description
Technical field
The utility model relates to a kind of new ideas intelligent multifunctional sprayer chassis, belongs to equipment for plant protection technical field.
Background technology
Along with the attention of people to environmental protection and animals and plants product safety; restriction in various degree has all been made to the use of agricultural chemicals in countries in the world; technique in using agriculture chemical is constantly to low amount, accurate, intelligent future development, to guarantee that agricultural chemicals given play to maximum effectiveness in the amount ranges of restriction.Agricultural chemicals is used safety legislation more to emphasize the safeguard protection to agricultural chemicals user, reduces the chance that people directly contacts with agricultural chemicals, and these requirements have promoted the development of equipment for plant protection intellectualized technology.China's crop acreage is at the forefront in the world, but the output of agricultural product lags far behind developed country, and the residue of pesticide thing that exceeds standard often occurs.Wherein one of the main reasons is exactly crops in plantation and process of growth, and traditional equipment for plant protection operating efficiency is low, poor performance, and many areas still rest in large capacity, large droplet spray technique level.Domestic and international many scholars have carried out a large amount of research to technique in using agriculture chemical, have researched and developed a lot of advanced persons' pesticide application technology, such as ultra low volume spray, electrostatic spray, Intelligent target spraying, variable quantization spraying, aviation unmanned plane spraying etc., many R&D institutions have researched and developed relevant plant protection equipment, such as suspension type ultra-low volume mist sprayer, boom sprayer, axial flow wind spraying aid type trace electrostatic sprayer, automatic target detecting orchard sprayer, wide range air-assisted type spraying machine, spray boom transformation system etc., but the research of the power chassis supporting with these sprayer units is relative less, at present, mainly takes wheeled or caterpillar tractor traction both at home and abroad, suspension or vehicle-mounted mode are carried sprayer unit, especially in the majority with suspension type, also have some scholars to research and develop some chassis specials, but these chassis overall flex are poor, be difficult to meet the needs of complex-terrain landforms to chassis trafficability characteristic, in addition, Different Crop and crop different growing stages, the plant protection demand of different spacings has also proposed requirement, the pump that specification is different to the adjustment of chassis ground gap height and wheelspan, medicine-chest and the spray boom reasonable installation on chassis has also proposed higher demand to the flexibility on chassis, and the maneuverability on current sprayer chassis, ride comfort and safety when comfortableness and road surface travel position are also not ideal enough.
Summary of the invention
The purpose of this utility model is to provide a kind of new ideas intelligent multifunctional sprayer chassis for the full landform under complicated agricultural environment, comprehensive plant protection spraying operation.
For addressing the above problem, technical solution adopted in the utility model is:
An intelligent multifunctional sprayer chassis, comprise chassis main frame, be arranged on chassis main frame rear end medicine-chest fixed mount, rotate be arranged on chassis main frame front end spray lance lifting frame, with described spray lance lifting be configured to vertical moving sets spray boom mapping device, be arranged on the shower nozzle on spray boom mapping device and by longitudinal adjustment apparatus and lateral adjustment device, be arranged on the wheel of chassis main frame bottom.The utility model regulates the terrain clearance of chassis main frame by longitudinal adjustment apparatus, the plant that guarantees differing heights all can pass through from it, by lateral adjustment device regulating wheel distance, chassis can be passed through between the plant of different spacings, increased the trafficability characteristic on chassis; Spray boom mapping device can move up and down on spray lance lifting frame, can adjust according to the differing heights of plant the height of spray boom mapping device, make the spraying range of shower nozzle can cover the plant of differing heights, spray lance lifting frame can rotate the spraying range that has further increased shower nozzle on chassis main frame.
As further improvement of the utility model, also comprise the chassis rotary table that driven by worktable rotary motor and be arranged on the rotary table of chassis and drive the spray lance lifting oil cylinder of spray lance lifting frame lifting, described spray lance lifting frame is arranged on the rotary table of chassis.Hydraulic motor horizontal positioned, and send power to chassis rotary table by a pair of intermeshing conical gear, hydraulic motor axis horizontal is placed, can save installing space, by the transmission of power between the orthogonal diaxon in a pair of conical gear implementation space, output shaft is connected with chassis rotary table, such configuration can realize the adjustment of rotating speed of table easily by controlling hydraulic motor rotary speed, the spray lance lifting frame associated working of installing on itself and workbench, can meet the requirement of the comprehensive spraying of variform plant.
As further improvement of the utility model, described lateral adjustment device comprises that the wheelspan that is arranged on chassis main frame bottom adjusts hydraulic cylinder and adjust with wheelspan the back shaft that the piston rod of hydraulic cylinder is connected.By wheelspan, adjust the distance between the flexible adjustment both sides wheel of hydraulic cylinder piston rod, not only easily control, and the collapsing length of piston rod can control accurately, the distance between two wheels can realize accurate control.
As further improvement of the utility model, described longitudinal adjustment apparatus comprises the wheel carrier that the synchronization lifting hydraulic cylinder that is connected with back shaft by guide post is connected with the piston of synchronization lifting hydraulic cylinder with upper end, and described wheel carrier lower end arranges the hydraulic motor that drives vehicle wheel rotation.Guide post links together the back shaft of horizontally set and the synchronization lifting hydraulic cylinder longitudinally arranging, and has solved laterally and connectivity problem longitudinally; The terrain clearance of the flexible adjustment chassis main frame by synchronization lifting hydraulic cylinder piston rod, and the flexible of synchronization lifting hydraulic cylinder piston rod easily control, and can meet the requirement of precision while reconciling; Each wheel is by a fluid motor-driven, and the power that each wheel is advanced is more sufficient, is applicable to the use of various complex-terrains.
As further improvement of the utility model, described spray boom mapping device comprises horizontal beam and is no less than the lower horizontal beam group of, described lower horizontal beam group comprises three lower horizontal beams that form successively revolute pair, the described lower horizontal beam in one of centre is connected by vertical beam with upper horizontal beam, two lower horizontal beams at two ends convert hydraulic cylinder by spray boom and are connected with upper horizontal beam, and described shower nozzle is arranged on the bottom of lower horizontal beam group.In the middle of three lower horizontal beams, fix for one, two lower horizontal beams at two ends rotate relative to middle one under the effect of spray boom conversion hydraulic cylinder, make three lower horizontal beams can be the conversion of " one " font, " U " type and " U " type, be applicable to the different plants such as nursery, hedgerow, street tree to carry out spraying operation, further increase the spraying range of shower nozzle and the versatility on chassis.
As further improvement of the utility model, described lower horizontal beam group has two, is separately positioned on the two ends of horizontal beam.The number of suitable lower horizontal beam group is set according to the length of upper horizontal beam, makes can not influence each other between it.
As further improvement of the utility model, also comprise the hydraulic pump being arranged on chassis main frame, described spray lance lifting oil cylinder, wheelspan are adjusted hydraulic cylinder, synchronization lifting hydraulic cylinder, spray boom conversion hydraulic cylinder, hydraulic motor, worktable rotary motor by this hydraulic pump drive.Take so pure hydraulic power can give full play to hydraulicdriven advantage, stable drive, be easy to control, be applicable to using under low-speed heave-load operating mode; In addition, adopt pure hydraulic power, also can save many intermediate transmission mechanism, reduce complexity and the weight of complete machine, more energy-saving and emission-reduction.
As of the present utility model, further improve, described chassis main frame front end is also provided with gps system and laser range sensor.Gps system and laser range sensor are set and can realize the intelligent mobile on chassis, improve the safety of dispenser.
In sum, the beneficial effects of the utility model are: take pure hydraulic power, drive steadily, driving moment is large, turn to flexibly, transmission is simple, complete machine structure is succinct, configuration rationally, steadily of centre of gravity, wheelspan, ground gap height etc. all can be realized hydraulic stepless adjustment, spray boom mapping device liftable, rotatable, and can realize " one " font, " U " type and " U " type conversion, reach the effect of comprehensive spraying, pass through the utility model, totally can realize different plants growth nurturing period full landform different from plant, the requirement of comprehensive spraying operation, for the agrisilviculture machinery under agricultural complex environment provides a generalization intelligent platform.
Accompanying drawing explanation
Fig. 1 is front view of the present utility model.
Fig. 2 is that the P of Fig. 1 is to view.
Fig. 3 is three-dimensional structure diagram of the present utility model.
Fig. 4 is the hydraulic system layout drawing in reflection the utility model.
Embodiment
Below in conjunction with accompanying drawing, embodiment of the present utility model is described further.
New ideas intelligent multifunctional sprayer chassis as described in Fig. 1 to Fig. 3, comprise chassis main frame 8, be arranged on the medicine-chest fixed mount 10 of chassis main frame 8 rear ends, the chassis rotary table 1 being driven by worktable rotary motor 22, be arranged on the spray lance lifting frame 12 on chassis rotary table 1, be arranged on chassis rotary table 1 and drive the spray lance lifting oil cylinder 2 of spray lance lifting frame 12 liftings, form the spray boom mapping device of vertical moving sets with described spray lance lifting frame 12, be arranged on the shower nozzle 19 on spray boom mapping device and by longitudinal adjustment apparatus and lateral adjustment device, be arranged on the wheel 5 of chassis main frame 8 bottoms, during use, medicine-chest 9 is placed on medicine-chest fixed mount 10.
Described lateral adjustment device comprises that the wheelspan that is arranged on chassis main frame 8 bottoms adjusts hydraulic cylinder 21 and adjust with wheelspan the back shaft 20 that the piston of hydraulic cylinder 21 is connected, described longitudinal adjustment apparatus comprises the wheel carrier 3 that the synchronization lifting hydraulic cylinder 6 that is connected with back shaft 20 by guide post 7 is connected with the piston of synchronization lifting hydraulic cylinder 6 with upper end, described wheel carrier 3 lower ends arrange the hydraulic motor 4 that drives vehicle wheel rotation, and described wheel is set directly on hydraulic motor 4.
Described spray boom mapping device comprises upper horizontal beam 23 and two the lower horizontal beam groups that are connected with spray lance lifting frame 12 by horizontal girder 13, two described lower horizontal beam groups are separately positioned on the two ends of horizontal beam 23, described lower horizontal beam group comprises three lower horizontal beams 25 that form successively revolute pair, the described lower horizontal beam 25 in one of centre is connected by vertical beam 18 with upper horizontal beam 23, two lower horizontal beams 25 at two ends convert hydraulic cylinder 16 by spray boom and are connected with upper horizontal beam 23, described shower nozzle 19 is arranged on the bottom of lower horizontal beam group, between described lower horizontal beam 25, all by the first bearing pin 17, connect, described spray boom conversion hydraulic cylinder 16 upper ends are connected with upper horizontal beam 23 by the second bearing pin 15, the piston rod of lower end is directly fixedly connected with lower horizontal beam 23.
The utility model also comprise be arranged on chassis main frame 8 front ends gps system and laser range sensor 14, be arranged on the hydraulic pump 11 on chassis main frame 8, described spray lance lifting oil cylinder 2, wheelspan are adjusted all hydraulic cylinders such as hydraulic cylinder 21, synchronization lifting hydraulic cylinder 6, spray boom conversion hydraulic cylinder 16 by this hydraulic pump drive.
Hydraulic system layout drawing in the utility model as shown in Figure 4, diesel engine 41 connecting fluid press pumps 11, hydraulic pump 11, oil filter 43 and fuel tank 44 are connected by oil pipe, and the first overflow valve 45, the second overflow valve 47 are connected with two-position two-way solenoid valve 46, form boost-up circuit; 3 position-5 way solenoid directional control valve 36,37a～37e are connected in parallel, and solenoid directional control valve 36 is adjusted hydraulic cylinder 21 with four wheelspans and is connected, and forms wheelspan and adjusts loop; Solenoid directional control valve 37a is connected with the second check valve 34 and synchronization lifting oil cylinder 6 with flow speed control valve 35, forms gap height adjustment loop, ground; Solenoid directional control valve 37b is connected with the 3rd overflow valve 32 with chassis hydraulic motor travel motor 4 and the first check valve 31 with two-position four-way solenoid-operated proportional reversal valve 33, forms chassis and drives, turns to and brake circuit; Solenoid directional control valve 37c is connected with the first check valve 28, the 4th overflow valve 29 with chassis rotary table 22, forms worktable rotary loop, chassis; Solenoid directional control valve 37d is connected with oil return line flow speed control valve 27 with spray lance lifting hydraulic cylinder 2, the first hydraulic control one-way valve 26, forms spraying system elevating loop; Solenoid directional control valve 37e is connected with spray boom conversion hydraulic cylinder 16, the second hydraulic control one-way valve 30, forms spray boom transformation loop; By triggering different solenoid directional control valves, can realize corresponding action or realize the interlock of several actions.
Diesel engine 41 drives hydraulic pump 11 to rotate, the left position connecting system of solenoid directional control valve 37b, four hydraulic motors in parallel 4 are directly connected with four wheels 5, start to drive chassis walking, four hydraulic motors are controlled by two-position four-way solenoid-operated proportional reversal valve 33, capable of regulating hydraulic motor 4 rotating speeds and turning to, thus control the speed of travel on chassis, and realize differential steering and braking, the first check valve 31 and the 3rd overflow valve 32 are for preventing motor overload; When the difficulty in walking of chassis, can make two-position two-way solenoid valve 46 work by reinforcement button (not shown), the control far away mouthful of the first overflow valve 45 is blocked, by the second overflow valve 47 pressure regulation, system pressure is raise, make running gear walking smoothly.The right position connecting system of solenoid directional control valve 37b, can make chassis retreat.
Wheelspan of the present invention is adjusted, diesel engine 41 drives hydraulic pump 11 to rotate, the left position connecting system of solenoid directional control valve 36, wheelspan is adjusted hydraulic cylinder 21 and is comprised of four identical single pole single-action hydraulic cylinders of specification, wherein, solenoid directional control valve 21a, 21b series connection, before two wheelspans piston rod of adjusting hydraulic cylinders 21 shrink, drive wheel stand to realize front tread and reduce; Solenoid directional control valve 21c, 21d series connection, after two wheelspans piston rod of adjusting hydraulic cylinders 21 shrink, drive wheel stand to realize rear track and reduce; Solenoid directional control valve 21a, 21b is in parallel, solenoid directional control valve 21c, 21d parallel connection, can realize the synchronous variation of front and back wheel wheelspan simultaneously; During the right position connecting system of solenoid directional control valve 36, can realize the synchronous increase of front and back wheel wheelspan.
The present invention ground gap height adjustment, diesel engine 41 drives hydraulic pump 11 to rotate, the left position connecting system of solenoid directional control valve 37a, and ground gap adjustment synchronization lifting hydraulic cylinder 6 is comprised of the single pole single-action hydraulic cylinder of four specifications of the same race, 6a, 6b, 6c, 6d parallel connection, on hydraulic cylinder piston rod is synchronous, move, drive chassis synchronously to raise, ground gap height increases, the second check valve 34 plays counteresteer effect, can make chassis rest on a certain ground gap height, flow speed control valve 35 can be controlled chassis decrease speed, improves stability.During the right position connecting system of solenoid directional control valve 37a, can reduce ground, chassis gap height.
Chassis of the present invention worktable rotary, diesel engine 41 drives hydraulic pump 11 to rotate, the left position connecting system of solenoid directional control valve 37c, drive 22 rotations of worktable rotary motor, by Bevel Gear Transmission 24 drive chassis rotary table 1 rotations, during right the connecting system of solenoid directional control valve 37c, motor reverse rotation, drive chassis rotary table 1 opposite spin, the first check valve 28, the 4th overflow valve 29 prevent motor overload.
Spray lance lifting of the present invention, diesel engine 41 drives hydraulic pump 11 to rotate, the left position connecting system of solenoid directional control valve 37d, on spray lance lifting oil cylinder 2 piston rods, move, drive spray boom promotes, and the first hydraulic control one-way valve 26 plays counteresteer effect, can make spray boom rest on a certain height, oil return line flow speed control valve 27 can be controlled spray boom decrease speed, improves stability; During the right position connecting system of solenoid directional control valve 37d, can make spray boom decline.
Spray boom conversion of the present invention, diesel engine 41 drives hydraulic pump 11 to rotate, the left position connecting system of solenoid directional control valve 37e, spray boom conversion hydraulic cylinder 16 is comprised of four specification hydraulic cylinder 16a of the same race, 16b, 16c, 16d, hydraulic cylinder 16a, 16b series connection, 16c, 16d series connection, 16a, 16b are in parallel with 16c, 16d, can drive spray boom mapping device to complete " one " font and the conversion of " fall U " type, during the right position connecting system of solenoid directional control valve 37e, can drive spray boom mapping device to complete the conversion of " U " type; The second hydraulic control one-way valve 30 plays locking oil cylinder, can keep the attitude after spray bar mechanism conversion.
In technical scheme described in the utility model; all be not specifically noted; be prior art or can realize the technical program by the conventional means in this area; and should be understood that; for those of ordinary skills; can be improved according to the above description or convert, and all these improvement and conversion all should belong to the protection domain of the utility model claims.
Claims (8)
1. a new ideas intelligent multifunctional sprayer chassis, is characterized in that: comprise chassis main frame (8), be arranged on chassis main frame (8) rear end medicine-chest fixed mount (10), rotate be arranged on chassis main frame (8) front end spray lance lifting frame (12), with described spray lance lifting frame (12) form vertical moving sets spray boom mapping device, be arranged on the shower nozzle (19) on spray boom mapping device and by longitudinal adjustment apparatus and lateral adjustment device, be arranged on the wheel (5) of chassis main frame (8) bottom.
2. new ideas intelligent multifunctional sprayer according to claim 1 chassis, it is characterized in that: also comprise the chassis rotary table (1) being driven by worktable rotary motor (22) and be arranged on chassis rotary table (1) above and drive the spray lance lifting oil cylinder (2) of spray lance lifting frame (12) lifting, described spray lance lifting frame (12) is arranged on chassis rotary table (1).
3. new ideas intelligent multifunctional sprayer according to claim 1 chassis, is characterized in that: described lateral adjustment device comprises that the wheelspan that is arranged on chassis main frame (8) bottom adjusts hydraulic cylinder (21) and adjust with wheelspan the back shaft (20) that the piston of hydraulic cylinder (21) is connected.
4. new ideas intelligent multifunctional sprayer according to claim 3 chassis, it is characterized in that: described longitudinal adjustment apparatus comprises the wheel carrier (3) that the synchronization lifting hydraulic cylinder (6) that is connected with back shaft (20) by guide post (7) is connected with the piston of synchronization lifting hydraulic cylinder (6) with upper end, described wheel carrier (3) lower end arranges the hydraulic motor (4) that drives vehicle wheel rotation.
5. new ideas intelligent multifunctional sprayer according to claim 1 chassis, it is characterized in that: described spray boom mapping device comprises horizontal beam (23) and is no less than the lower horizontal beam group of, described lower horizontal beam group comprises three lower horizontal beams (25) that form successively revolute pair, the described lower horizontal beam in centre (25) is connected by vertical beam (18) with upper horizontal beam (23), two lower horizontal beams (25) at two ends convert hydraulic cylinder (16) by spray boom and are connected with upper horizontal beam (23), described shower nozzle (19) is arranged on the bottom of lower horizontal beam group.
6. new ideas intelligent multifunctional sprayer according to claim 5 chassis, is characterized in that: described lower horizontal beam group has two, is separately positioned on the two ends of horizontal beam (23).
7. according to the new ideas intelligent multifunctional sprayer chassis described in arbitrary of claim 2 to 6, it is characterized in that: also comprise the hydraulic pump (11) being arranged on chassis main frame (8), described spray lance lifting oil cylinder (2), wheelspan are adjusted hydraulic cylinder (21), synchronization lifting hydraulic cylinder (6), spray boom conversion hydraulic cylinder (16), hydraulic motor (4), worktable rotary motor (22) by this hydraulic pump drive.
8. new ideas intelligent multifunctional sprayer according to claim 7 chassis, is characterized in that: described chassis main frame (8) front end is also provided with gps system and laser range sensor (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320411992.8U CN203399635U (en) | 2013-07-11 | 2013-07-11 | New concept intelligent multifunctional spraying machine chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320411992.8U CN203399635U (en) | 2013-07-11 | 2013-07-11 | New concept intelligent multifunctional spraying machine chassis |
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| Publication Number | Publication Date |
|---|---|
| CN203399635U true CN203399635U (en) | 2014-01-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320411992.8U Withdrawn - After Issue CN203399635U (en) | 2013-07-11 | 2013-07-11 | New concept intelligent multifunctional spraying machine chassis |
Country Status (1)
| Country | Link |
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| CN (1) | CN203399635U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103329878A (en) * | 2013-07-11 | 2013-10-02 | 南京林业大学 | New-concept intelligent multifunctional spaying machine chassis |
| CN105941379A (en) * | 2016-06-23 | 2016-09-21 | 江苏大学 | Coordinated atomization control system of pneumatic intelligent atomizing robot and chemical applying method |
| CN107161002A (en) * | 2017-04-17 | 2017-09-15 | 燕山大学 | A kind of four-bar mechanism regulates and controls the ground gap adjustable sprayer chassis of wheelspan |
| CN108934226A (en) * | 2018-07-18 | 2018-12-07 | 徐州惠泉泵业有限公司 | A kind of multifunctional sprinkling machine |
| CN109042274A (en) * | 2018-07-24 | 2018-12-21 | 江苏大学 | A kind of package root system precisely spraying ultrasonic atomizatio cultivation case and its method |
| CN112809700A (en) * | 2021-02-01 | 2021-05-18 | 福州大学 | Mobile operation robot for field management and working method thereof |
-
2013
- 2013-07-11 CN CN201320411992.8U patent/CN203399635U/en not_active Withdrawn - After Issue
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103329878A (en) * | 2013-07-11 | 2013-10-02 | 南京林业大学 | New-concept intelligent multifunctional spaying machine chassis |
| CN105941379A (en) * | 2016-06-23 | 2016-09-21 | 江苏大学 | Coordinated atomization control system of pneumatic intelligent atomizing robot and chemical applying method |
| CN105941379B (en) * | 2016-06-23 | 2019-08-02 | 江苏大学 | A kind of wind send smart spraying robotic spray coordinated control system and application method |
| CN107161002A (en) * | 2017-04-17 | 2017-09-15 | 燕山大学 | A kind of four-bar mechanism regulates and controls the ground gap adjustable sprayer chassis of wheelspan |
| CN108934226A (en) * | 2018-07-18 | 2018-12-07 | 徐州惠泉泵业有限公司 | A kind of multifunctional sprinkling machine |
| CN109042274A (en) * | 2018-07-24 | 2018-12-21 | 江苏大学 | A kind of package root system precisely spraying ultrasonic atomizatio cultivation case and its method |
| CN109042274B (en) * | 2018-07-24 | 2020-11-20 | 江苏大学 | Ultrasonic atomization cultivation box capable of wrapping root system and spraying accurately and method thereof |
| CN112809700A (en) * | 2021-02-01 | 2021-05-18 | 福州大学 | Mobile operation robot for field management and working method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140122 Effective date of abandoning: 20150422 |