The invention relates to a self-balancing spray boom spraying
machine belonging to the field of
plant protection spraying machinery. The self-balancing spray boom spraying
machine provided by the invention comprises a mechanism part and a control part, wherein the mechanism part is composed of a walking
chassis, a spraying
machine main body, a moving rack, a spray boom, a static
hydraulic cylinder, a movable
hydraulic cylinder and the like; the position and orientation adjustment on a spray boom is realized by the moving rack, the static
hydraulic cylinder and the movable hydraulic cylinder together; the spray boom is L-shaped in the length direction, the horizontal rigidity of the spray boom is improved greatly while the vertical rigidity of the spray boom is ensured, and simultaneously the L-shaped structure is good for realizing air-curtain type spraying and targeting type spraying; and the control part is composed of a
level sensor, a
digital transmitter / an analog
transducer, a processor, a proportional controller and a proportional
reversing valve. According to the invention, the position and orientation of the spray boom can be detected in real time when the constructed self-balancing spray boom spraying machine operates, the real-time compensation can be carried out, and the elastic deformation and
rigid motion of the spray boom can be reduced greatly, thus the spray uniformity can be improved.