A watermelon flower pollination and topping robot

Abstract

A watermelon flower pollination and topping robot belongs to the field of agricultural machinery. It is composed of a drone bracket, a topping device, a drone, a pollen box, a powder spraying device, an air pipe, an air pump mounting plate and an air pump. The drone bracket is fixedly installed at the bottom of the drone by bolts, the topping device is fixedly installed at the rear end of the drone bracket, the pollen box is fixedly installed at the front end of the drone bracket by bolts, the powder spraying device is fixedly installed at the lower end of the pollen box, the air pipe connects the air pump and the powder spraying device, the air pump mounting plate is fixedly installed at the back of the pollen box, and the air pump is fixedly installed on the air pump mounting plate by bolts. The invention uses a powder spraying device to pollinate watermelon flowers, which reduces the work intensity of melon farmers and improves the pollination rate of watermelon flowers. The topping device is used to top the melon vines, ensuring that the pollinated watermelon flowers can grow better.

Description

Technical Field

[0001] The invention relates to a watermelon flower pollination and topping robot, in particular to a robot which adopts an unmanned aerial vehicle equipped with a topping device, a pollen box and a powder spraying device and is used for pollinating watermelon flowers and topping watermelon vines, and belongs to the field of agricultural machinery. Background Art

[0002] Watermelon flowers are monoecious. Before human intervention, the pollination of watermelon flowers mainly relied on insect pollination, but the probability of this pollination is very low, which will lead to a decrease in watermelon yields and cannot meet the needs of melon farmers. Therefore, today's watermelon flower pollination is mostly assisted by artificial pollination; melon farmers pick the male flowers of the watermelon, remove the petals of the male flowers and leave only the anther part, and gently apply the anther of the male flowers on the female flowers to complete the pollination of the watermelon flowers. However, watermelon flowers generally open in the early morning and close in the afternoon, so the time for artificial pollination of watermelon flowers is very short, and artificial pollination is complicated and inefficient, which greatly increases the workload of melon farmers. After the watermelon flowers are pollinated, in order to ensure that the nutrients of the vines can be adequately supplied to the pollinated watermelon flowers so that the grown watermelons can be large and full, melon farmers also need to prune the vines around the watermelon flowers, commonly known as "topping", but the number of vines that need to be pruned is large, and the excessive workload of melon farmers will seriously affect their health. Therefore, there is an urgent need for a robot that can pollinate and topping watermelon flowers. Summary of the invention

[0003] In view of the above-mentioned shortcomings that artificial watermelon flower pollination is complicated, inefficient, and topping is labor-intensive and affects the health of watermelon farmers, the present invention provides a watermelon flower pollination and topping robot.

[0004] The present invention is achieved through the following technical scheme: a watermelon flower pollination and topping robot, which is composed of a drone bracket, a topping device, a drone, a pollen box, a powder spraying device, an air filling pipe, an air pump mounting plate and an air pump, wherein the drone bracket is fixedly installed at the bottom of the drone by bolts, the topping device is fixedly installed at the rear end of the drone bracket by welding, the pollen box is fixedly installed at the front end of the drone bracket by bolts, the powder spraying device is fixedly installed at the lower end of the pollen box by welding, the air filling pipe connects the air pump and the powder spraying device, the air pump mounting plate is fixedly installed at the back of the pollen box by welding, and the air pump is fixedly installed on the air pump mounting plate by bolts.

[0005] The UAV bracket is composed of a first leg, a second leg, a main mounting plate, a third leg and a fourth leg. The first leg is fixedly mounted on the lower right corner of the bottom surface of the main mounting plate by welding, the second leg is fixedly mounted on the upper right corner of the bottom surface of the main mounting plate by welding, the third leg is fixedly mounted on the upper left corner of the bottom surface of the main mounting plate by welding, and the fourth leg is fixedly mounted on the lower left corner of the bottom surface of the main mounting plate by welding.

[0006] The topping device is composed of a first fixed plate, a guide rail, a cylinder push rod, a transmission slider assembly, a second fixed plate, a rack and a knife assembly. The transmission slider assembly is installed on the guide rail, and the rear end of the transmission slider assembly is engaged with the rack. The cylinder push rod is fixedly installed on the transmission slider assembly by screws, the first fixed plate is fixedly installed on the left end of the rack by welding, the second fixed plate is fixedly installed on the right end of the rack by welding, and the knife assembly is fixedly installed on the cylinder push rod by screws.

[0007] The transmission slider assembly is composed of a slider, a DC motor, a gear and a fixing buckle. The DC motor is fixedly mounted on the rear end of the slider by screws, and the gear is mounted on the motor shaft of the DC motor and axially fixed by the fixing buckle.

[0008] The knife gate assembly is composed of a positioning housing, a first spring, a knife gate, a first column, a second spring and a second column. The first column is threadedly installed on the left side of the positioning housing, and the second column is threadedly installed on the right side of the positioning housing. The first spring is sleeved on the first column, and the second spring is sleeved on the second column. Both ends of the knife gate pass through the first column and the second column at the same time, and are supported by the first spring and the second spring.

[0009] The pollen box is composed of a plastic hose, a box body, a sealing cover, a pollen box mounting frame, a bearing side plate, a motor bracket, a motor, a coupling, a first bearing, a bevel gear shaft, a first bevel gear, a first buckle, a second buckle, a second bevel gear, a second bearing, a switch dial, an inner wall of the pollen box, a third bearing and a powder outlet plate. The plastic hose is fixedly mounted on the bottom end of the box body by super glue, the sealing cover is mounted on the side wall of the box body, the pollen box mounting frame is fixedly mounted on the top of the box body by welding, the bearing side plate is fixedly mounted on the left side of the pollen box mounting frame by welding, the motor bracket is fixedly mounted on the bearing side plate by screws, the motor is fixedly mounted on the motor bracket by screws, and the first bearing is mounted on the bearing side The rear end of the bevel gear shaft is connected to the motor shaft of the motor through a coupling and is installed on the first bearing, the first bevel gear is installed on the front end of the bevel gear shaft, the first buckle is installed on the bevel gear shaft and is located at the front end of the first bevel gear, the second bearing is installed on the pollen box mounting frame, the inner wall of the pollen box is fixedly installed at the middle position inside the box body by strong glue, the powder outlet plate is fixedly installed on the bottom of the inner wall of the pollen box by strong glue, the third bearing is installed on the powder outlet plate, the lower end of the switch turntable is installed in the third bearing, the upper end of the switch turntable is installed on the second bearing and extends out of the pollen box mounting frame, the second bevel gear is installed at the upper end of the switch turntable and is axially fixed by the second buckle.

[0010] The switch dial is made of plastic, which reduces the weight of the drone load.

[0011] The inner wall of the pollen box is processed by 3D printing and is made of plastic.

[0012] The powder spraying device is composed of a powder spraying outer tube, a fourth bearing, a left side plate, a right side plate, a nozzle, a steering gear, a fifth bearing, a compression spring and a powder spraying inner tube. The left end of the powder spraying outer tube is an inflatable end, and the right end of the powder spraying outer tube is a rotating end. The fourth bearing is installed at the left end of the powder spraying outer tube, and the left side plate is installed on the fourth bearing. The nozzle is installed on the powder spraying outer tube through a thread, and the fifth bearing is installed on the right end of the powder spraying outer tube. The right side plate is installed on the fifth bearing. The steering gear is fixedly installed on the right side plate by screws, and the motor shaft of the steering gear is connected to the right end of the powder spraying outer tube. One end of the compression spring is fixedly installed inside the right end of the powder spraying outer tube by super glue, and the other end of the compression spring is fixedly installed on the powder spraying inner tube by super glue.

[0013] The powder spraying outer tube is made of hard plastic and can be rotated 90 degrees.

[0014] The invention is beneficial in that the drone bracket used in the invention can provide support when the drone is idle and in operation, preventing the powder spraying device and the topping device from touching the bottom and causing wear; the topping device used in the invention can accurately fix and cut the melon vines, and the two actions of fixing and cutting the melon vines can be achieved only by pushing the cylinder push rod, reducing the complexity of the device and making the topping operation simpler and more efficient; the drone used in the invention can shorten the distance from the parking point to the watermelon planting area of ​​the device, avoiding the manpower and time costs consumed by manual transportation; the pollen box used in the invention has the function of automatic powder dropping, and the amount of pollen is controlled by controlling the rotation of the switch dial, avoiding blockage and waste caused by excessive pollen during powder spraying; the powder spraying device used in the invention inflates the inside of the powder spraying outer tube through an air pump so that the pollen in the powder spraying device has more impact when spraying, thereby improving the success rate of watermelon flower pollination; the powder spraying device uses a servo to connect the powder spraying outer tube so that the powder spraying outer tube can rotate, thereby improving the flexibility and pollination range of the nozzle. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of the present invention;

[0016] Figure 2 This is a schematic diagram of the structure of the UAV bracket;

[0017] Figure 3 It is a structural schematic diagram of the topping device;

[0018] Figure 4 This is a schematic diagram of the structure of the pollen box;

[0019] Figure 5 This is a cross-sectional view of the inside of the pollen box;

[0020] Figure 6 It is a schematic diagram of the structure of the powder spraying device;

[0021] Figure 7 Another view of the powder spraying device;

[0022] Figure 8 It is a structural schematic diagram of a transmission slider assembly;

[0023] Fig. 9 It is a structural schematic diagram of the knife switch assembly;

[0024] Fig.10 It is a schematic diagram of the structure of the switch dial;

[0025] Fig.11 It is a schematic diagram of the structure of the inner wall of the pollen box;

[0026] Fig.12 It is a schematic diagram of the structure of the foundation plate.

[0027] In the figure, 1, drone bracket, 2, topping device, 3, drone, 4, pollen box, 5, powder spraying device, 6, inflation tube, 7, air pump mounting plate, 8, air pump;

[0028] 101, first leg, 102, second leg, 103, main mounting plate, 104, third leg, 105, fourth leg;

[0029] 201, first fixed plate, 202, guide rail, 203, cylinder push rod, 204, transmission slider assembly, 205, second fixed plate, 206, rack, 207, knife assembly;

[0030] 401, plastic hose, 402, box body, 403, sealing cover, 404, pollen box mounting frame, 405, bearing side plate, 406, motor bracket, 407, motor, 408, coupling, 409, first bearing, 410, bevel gear shaft, 411, first bevel gear, 412, first buckle, 413, second buckle, 414, second bevel gear;

[0031] 415, second bearing, 416, switch dial, 417, inner wall of pollen box, 418, third bearing, 419, powder discharging plate;

[0032] 501, powder spraying outer tube, 502, fourth bearing, 503, left side plate, 504, right side plate, 505, spray head;

[0033] 506, steering gear, 507, fifth bearing, 508, compression spring, 509, powder-sprayed inner tube;

[0034] 20401, slider, 20402, DC motor, 20403, gear, 20404, fixing buckle;

[0035] 20701, positioning housing, 20702, first spring, 20703, knife switch, 20704, first column, 20705, second spring, 20706, second column. DETAILED DESCRIPTION

[0036] A watermelon flower pollination and topping robot is composed of an unmanned aerial vehicle (UAV) bracket 1, a topping device 2, an unmanned aerial vehicle (UAV) 3, a pollen box 4, a powder spraying device 5, an air charging tube 6, an air pump mounting plate 7 and an air pump 8. The UAV bracket 1 is fixedly mounted on the bottom of the UAV 3 by bolts, the topping device 2 is fixedly mounted on the rear end of the UAV bracket 1 by welding, the pollen box 4 is fixedly mounted on the front end of the UAV bracket 1 by bolts, the powder spraying device 5 is fixedly mounted on the lower end of the pollen box 4 by welding, the air charging tube 6 connects the air pump 8 and the powder spraying device 5, the air pump mounting plate 7 is fixedly mounted on the rear of the pollen box 4 by welding, and the air pump 8 is fixedly mounted on the air pump mounting plate 7 by bolts.

[0037] The drone bracket 1 is composed of a first leg 101, a second leg 102, a main mounting plate 103, a third leg 104 and a fourth leg 105. The first leg 101 is fixedly mounted on the lower right corner of the bottom surface of the main mounting plate 103 by welding, the second leg 102 is fixedly mounted on the upper right corner of the bottom surface of the main mounting plate 103 by welding, the third leg 104 is fixedly mounted on the upper left corner of the bottom surface of the main mounting plate 103 by welding, and the fourth leg 105 is fixedly mounted on the lower left corner of the bottom surface of the main mounting plate 103 by welding.

[0038] The topping device 2 is composed of a first fixed plate 201, a guide rail 202, a cylinder push rod 203, a transmission slider assembly 204, a second fixed plate 205, a rack 206 and a knife assembly 207. The transmission slider assembly 204 is installed on the guide rail 202, and the rear end of the transmission slider assembly 204 is engaged with the rack 206. The cylinder push rod 203 is fixedly installed on the transmission slider assembly 204 by screws, the first fixed plate 201 is fixedly installed on the left end of the rack 206 by welding, the second fixed plate 205 is fixedly installed on the right end of the rack 206 by welding, and the knife assembly 207 is fixedly installed on the cylinder push rod 203 by screws.

[0039] The transmission slider assembly 204 is composed of a slider 20401, a DC motor 20402, a gear 20403 and a fixing buckle 20404. The DC motor 20402 is fixedly mounted on the rear end of the slider 20401 by screws, and the gear 20403 is mounted on the motor shaft of the DC motor 20402 and axially fixed by the fixing buckle 20404.

[0040] The knife gate assembly 207 is composed of a positioning housing 20701, a first spring 20702, a knife gate 20703, a first column 20704, a second spring 20705 and a second column 20706. The first column 20704 is threadedly installed on the left side of the positioning housing 20701, and the second column 20706 is threadedly installed on the right side of the positioning housing 20701. The first spring 20702 is sleeved on the first column 20704, and the second spring 20705 is sleeved on the second column 20706. Both ends of the knife gate 20703 pass through the first column 20704 and the second column 20706 at the same time, and are supported by the first spring 20702 and the second spring 20705.

[0041] The pollen box 4 is composed of a plastic hose 401, a box body 402, a sealing cover 403, a pollen box mounting frame 404, a bearing side plate 405, a motor bracket 406, a motor 407, a coupling 408, a first bearing 409, a bevel gear shaft 410, a first bevel gear 411, a first buckle 412, a second buckle 413, a second bevel gear 414, a second bearing 415, a switch dial 416, an inner wall 417 of the pollen box, a third bearing 418 and a powder outlet plate 419. The hose 401 is fixedly mounted on the bottom end of the box body 402 by strong glue, the sealing cover 403 is mounted on the side wall of the box body 402, the pollen box mounting frame 404 is fixedly mounted on the top of the box body 402 by welding, the bearing side plate 405 is fixedly mounted on the left side of the pollen box mounting frame 404 by welding, the motor bracket 406 is fixedly mounted on the bearing side plate 405 by screws, the motor 407 is fixedly mounted on the motor bracket 406 by screws, the first bearing 409 is mounted on the bearing side plate 405, the rear end of the bevel gear shaft 410 is connected to the motor shaft of the motor 407 by a coupling 408, and is mounted on the first bearing 409, the first bevel gear 411 is mounted on the front end of the bevel gear shaft 410, the first buckle 412 is mounted on the bevel gear shaft 410 and is located at the front end of the first bevel gear 411, the second bearing 415 is mounted on the pollen box mounting frame 404, and the inner wall 417 of the pollen box is fixedly mounted by strong glue In the middle position inside the box body 402, the powder outlet plate 419 is fixedly mounted on the bottom of the inner wall 417 of the pollen box by strong glue, the third bearing 418 is mounted on the powder outlet plate 419, the lower end of the switch turntable 416 is mounted in the third bearing 418, the upper end of the switch turntable 416 is mounted on the second bearing 415 and extends out of the pollen box mounting frame 404, and the second bevel gear 414 is mounted on the upper end of the switch turntable 416 and axially fixed by the second buckle 413.

[0042] The switch dial 416 is made of plastic, which reduces the weight of the drone load.

[0043] The inner wall 417 of the pollen box is processed by 3D printing and is made of plastic.

[0044] The powder spraying device 5 is composed of a powder spraying outer tube 501, a fourth bearing 502, a left side plate 503, a right side plate 504, a nozzle 505, a steering gear 506, a fifth bearing 507, a compression spring 508 and a powder spraying inner tube 509. The left end of the powder spraying outer tube 501 is an inflatable end, the right end of the powder spraying outer tube 501 is a rotating end, the fourth bearing 502 is mounted on the left end of the powder spraying outer tube 501, the left side plate 503 is mounted on the fourth bearing 502, and the nozzle 505 is screwed in place. The fifth bearing 507 is installed on the right end of the powder spray outer tube 501, the right side plate 504 is installed on the fifth bearing 507, the servo 506 is fixedly installed on the right side plate 504 by screws, the motor shaft of the servo 506 is connected to the right end of the powder spray outer tube 501, one end of the compression spring 508 is fixedly installed inside the right end of the powder spray outer tube 501 by super glue, and the other end of the compression spring 508 is fixedly installed on the powder spray inner tube 509 by super glue.

[0045] The powder spraying outer tube 501 is made of hard plastic and can be rotated 90°.

[0046] When the invention is in use, firstly, pollen of male flowers of watermelon flowers is put into the pollen box 4, then the drone 3 takes off, flies to the watermelon planting area and then slowly lands in the area with watermelon flowers, then the motor 407 rotates to drive the switch dial 416 to rotate, when the hole on the switch dial 416 is aligned with the hole on the powder outlet base plate 419, the pollen in the pollen box 4 will fall into the powder spraying inner tube 509, then the servo 506 rotates to adjust the nozzle 505 to reach a suitable powder spraying position, the air pump 8 inflates the powder spraying outer tube 501, and as the air pressure in the powder spraying outer tube 501 gradually increases, it will push the powder spraying inner tube 509 to compress the compression spring 508, when After the powder spraying inner tube 509 overlaps with the nozzle 505, the gas sprays the pollen out of the nozzle 505, and the air pressure in the powder spraying outer tube 501 is reduced. The compression spring 508 rebounds the powder spraying inner tube 509 to the initial position again, and the pollination is completed. After the pollination is completed, the melon vine at the front end of the pollinated watermelon flower is toppled. The topping device 2 is first aimed at the target melon vine, and the cylinder push rod 203 is pushed down. The positioning shell 20701 first fixes the melon vine, and then under the thrust of the cylinder push rod 203, the gate knife 20703 will compress the first spring 20702 and the second spring 20705, so that the gate knife 20703 cuts off the melon vine and completes the topping operation.

[0047] For those skilled in the art, according to the teachings of the present invention, without departing from the principles and spirit of the present invention, changes, modifications, substitutions and variations made to the implementation methods are still within the protection scope of the present invention.

Claims

1. A watermelon flower pollination and topping robot, which is composed of a drone bracket, a topping device, a drone, a pollen box, a powder spraying device, an air filling tube, an air pump mounting plate and an air pump, and is characterized in that: The drone bracket is fixedly installed at the bottom of the drone by bolts, the topping device is fixedly installed at the rear end of the drone bracket by welding, the pollen box is fixedly installed at the front end of the drone bracket by bolts, the powder spraying device is fixedly installed at the lower end of the pollen box by welding, the inflation pipe connects the air pump and the powder spraying device, the air pump mounting plate is fixedly installed at the back of the pollen box by welding, the air pump is fixedly installed on the air pump mounting plate by bolts, the drone bracket is composed of a first leg, a second leg, a main mounting plate, a third leg and a fourth leg, the first leg is fixedly installed at the lower right corner of the bottom surface of the main mounting plate by welding, the second leg is fixedly installed at the upper right corner of the bottom surface of the main mounting plate by welding, the third leg is fixedly installed at the upper left corner of the bottom surface of the main mounting plate by welding, the fourth leg is fixedly installed at the lower left corner of the bottom surface of the main mounting plate by welding, the topping device is composed of a first fixed plate, a guide rail, a cylinder push rod, a transmission slider assembly, a second fixed plate, a rack and a knife assembly, the transmission The movable slider assembly is mounted on the guide rail, the rear end of the transmission slider assembly is meshed with the rack, the cylinder push rod is fixedly mounted on the transmission slider assembly by screws, the first fixed plate is fixedly mounted on the left end of the rack by welding, the second fixed plate is fixedly mounted on the right end of the rack by welding, the knife gate assembly is fixedly mounted on the cylinder push rod by screws, the transmission slider assembly is composed of a slider, a DC motor, a gear and a fixing buckle, the DC motor is fixedly mounted on the rear end of the slider by screws, the gear is mounted on the motor shaft of the DC motor, and axial fixation is achieved by the fixing buckle, the knife gate assembly is composed of a positioning housing, a first spring, a knife gate, a first column, a second spring and a second column, the first column is threadedly mounted on the left side of the positioning housing, the second column is threadedly mounted on the right side of the positioning housing, the first spring is sleeved on the first column, the second spring is sleeved on the second column, both ends of the knife gate pass through the first column and the second column at the same time, and are supported by the first spring and the second spring.

2. A watermelon flower pollination and topping robot as claimed in claim 1, characterized in that: The pollen box is composed of a plastic hose, a box body, a sealing cover, a pollen box mounting frame, a bearing side plate, a motor bracket, a motor, a coupling, a first bearing, a bevel gear shaft, a first bevel gear, a first buckle, a second buckle, a second bevel gear, a second bearing, a switch dial, an inner wall of the pollen box, a third bearing and a powder outlet plate. The plastic hose is fixedly mounted on the bottom end of the box body by super glue, the sealing cover is mounted on the side wall of the box body, the pollen box mounting frame is fixedly mounted on the top of the box body by welding, the bearing side plate is fixedly mounted on the left side of the pollen box mounting frame by welding, the motor bracket is fixedly mounted on the bearing side plate by screws, the motor is fixedly mounted on the motor bracket by screws, and the first bearing is mounted on the bearing side The rear end of the bevel gear shaft is connected to the motor shaft of the motor through a coupling and is installed on the first bearing, the first bevel gear is installed on the front end of the bevel gear shaft, the first buckle is installed on the bevel gear shaft and is located at the front end of the first bevel gear, the second bearing is installed on the pollen box mounting frame, the inner wall of the pollen box is fixedly installed at the middle position inside the box body by strong glue, the powder outlet plate is fixedly installed on the bottom of the inner wall of the pollen box by strong glue, the third bearing is installed on the powder outlet plate, the lower end of the switch turntable is installed in the third bearing, the upper end of the switch turntable is installed on the second bearing and extends out of the pollen box mounting frame, the second bevel gear is installed at the upper end of the switch turntable and is axially fixed by the second buckle.

3. A watermelon flower pollination and topping robot as claimed in claim 1, characterized in that: The powder spraying device is composed of a powder spraying outer tube, a fourth bearing, a left side plate, a right side plate, a nozzle, a steering gear, a fifth bearing, a compression spring and a powder spraying inner tube. The left end of the powder spraying outer tube is an inflatable end, and the right end of the powder spraying outer tube is a rotating end. The fourth bearing is installed at the left end of the powder spraying outer tube, and the left side plate is installed on the fourth bearing. The nozzle is installed on the powder spraying outer tube through a thread, and the fifth bearing is installed on the right end of the powder spraying outer tube. The right side plate is installed on the fifth bearing. The steering gear is fixedly installed on the right side plate by screws, and the motor shaft of the steering gear is connected to the right end of the powder spraying outer tube. One end of the compression spring is fixedly installed inside the right end of the powder spraying outer tube by super glue, and the other end of the compression spring is fixedly installed on the powder spraying inner tube by super glue.

4. A watermelon flower pollination and topping robot as claimed in claim 3, characterized in that: The powder spraying outer tube is made of hard plastic and can be rotated 90 degrees.

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