End execution mechanism of pollination device

Abstract

The utility model discloses an end actuating mechanism of a pollination device, which is provided with a flange adapter plate and a powder spraying mounting plate, one side of the flange adapter plate is connected with a mechanical arm of the pollination device, the powder spraying mounting plate is vertically arranged at one end of the other side of the flange adapter plate, and a three-way electromagnetic valve is arranged at the middle section of the vertically arranged powder spraying mounting plate. An atomizing valve is arranged at the top end of the vertically-arranged pollen spraying mounting plate, a first port of the three-way electromagnetic valve is connected with an external air supply pipe, the three-way electromagnetic valve is communicated with a first connector of the atomizing valve through a first air pipe, and a second connector of the atomizing valve is externally connected with a pollen liquid supply pipe. The end executing mechanism is carried on a mechanical arm of a pollination device to execute mechanical batch pollination, so that the labor cost is saved, and the pollination efficiency is greatly improved.

Description

Technical Field

[0001] The utility model relates to the field of agricultural equipment, in particular to a terminal execution mechanism of a pollination device. Background Art

[0002] Pollination is an important part of fruit tree production and a key factor in ensuring fruit yield and quality. Artificial pollination mainly includes pollination by brush and syringe contact. During pollination, you need to manually find the flowers to be pollinated and manually apply the prepared pollination liquid to the flowers. During this process, you need to keep looking up to find the flowers for pollination. This not only easily leads to the loss of some flowers, but also easy to repeat pollination, and the success rate of pollination is not high. Utility Model Content

[0003] The utility model is proposed in view of the above technical problems, and provides an end-effector for a pollination device, through which the end-effector is mounted on a mechanical arm of the pollination device to perform mechanized batch pollination, thereby saving labor costs and greatly improving the efficiency of the pollination operation.

[0004] According to the first aspect of the embodiment of the utility model, there is provided an end actuator of a pollination device, which has a flange adapter plate and a powder spray mounting plate, one side of the flange adapter plate is connected to the mechanical arm of the pollination device, and the powder spray mounting plate is vertically arranged at one end of the other side of the flange adapter plate, a three-way solenoid valve is arranged in the middle section of the vertically arranged powder spray mounting plate, an atomizing valve is arranged at the top of the vertically arranged powder spray mounting plate, a first port of the three-way solenoid valve is connected to an external air supply pipe, the three-way solenoid valve is connected to a first interface of the atomizing valve through the first air pipe, and a second interface of the atomizing valve is externally connected to a liquid supply pipe of pollen liquid.

[0005] According to the second aspect of the embodiment of the utility model, there is provided an end effector mechanism of a pollination device as in the first aspect, the end effector mechanism also having a binocular camera, the binocular camera being arranged on the top end of a camera mounting plate, the camera mounting plate being vertically arranged on a camera extension plate, the camera extension plate being transversely arranged on the other side of the flange adapter plate connected to the robotic arm, and correspondingly arranged on the other end of the powder spray mounting plate.

[0006] Through such a setting, the binocular camera is combined with the pollination end actuator, installed on the end actuator, and then the end actuator is installed on the robot arm of the pollination device, which can greatly reduce the problem of frequent movement of the pollination device due to the camera field of view, and greatly improve the working efficiency of the pollination device. In addition, since the distance between the binocular camera and the target object is shortened, the recognition accuracy is greatly improved.

[0007] According to the third aspect of the embodiment of the utility model, there is provided an end actuator of a pollination device as in the second aspect, the end actuator also having a cleaning nozzle, the air outlet direction of the cleaning nozzle corresponds to the lens of the binocular camera, and the cleaning nozzle is connected to the three-way solenoid valve through a second air pipe.

[0008] With this setting, the high-speed gas ejected from the cleaning nozzle forms a wind knife above the lens surface of the binocular camera. When the falling pollen liquid approaches, it will be quickly blown away, thereby keeping the binocular camera lens clean and effectively preventing the binocular camera from being contaminated by pollen liquid during the pollination process and affecting imaging.

[0009] According to the fourth aspect of the embodiment of the utility model, there is provided an end effector of the pollination device as in the first aspect, the end effector also having a pollen liquid recovery funnel, wherein the recovery funnel is arranged at the top of the atomizing valve to recover excess pollen liquid after spraying.

[0010] The beneficial effect of the utility model is that by mounting the terminal actuator on the mechanical arm of the pollination device, the pollen liquid and gas meet in the atomizing valve to form atomized pollen liquid, which is sprayed on the flowers to be pollinated over a large area, thereby achieving a highly efficient pollination operation.

[0011] With reference to the following description and the accompanying drawings, specific embodiments of the present invention are disclosed in detail, indicating the manner in which the principles of the present invention can be employed.

[0012] It should be understood that the embodiments of the present invention are not limited thereby. Features described and / or shown for one embodiment may be used in one or more other embodiments in the same or similar manner, combined with features in other embodiments, or replace features in other embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The included drawings are used to provide a further understanding of the present invention, which constitute a part of the specification, illustrate the preferred embodiments of the present invention, and are used to explain the principles of the present invention together with the text description, wherein the same elements are always represented by the same figure marks.

[0014] In the attached picture:

[0015] Figure 1 It is a schematic diagram of the structure of a pollination device equipped with the terminal actuator of the utility model;

[0016] Figure 2 It is a structural schematic diagram of the terminal actuator of the pollination device of the utility model. DETAILED DESCRIPTION

[0017] With reference to the accompanying drawings, the above and other features of the utility model will become apparent through the following description. In the description and the accompanying drawings, specific embodiments of the utility model are specifically disclosed, which show some embodiments in which the principles of the utility model can be adopted, and it should be understood that the utility model is not limited to the described embodiments.

[0018] The utility model provides an end-actuating mechanism of a pollination device. Figure 1 It is a schematic diagram of the structure of a pollination device equipped with the terminal actuator of the utility model. Figure 2 It is a structural schematic diagram of the end actuator of the pollination device of the utility model. As shown in the figure, the end actuator 01 of the pollination device of the utility model has a flange adapter plate 1 and a powder spray mounting plate 2. One side of the flange adapter plate 1 is connected to the mechanical arm 02 of the pollination device 001, and the powder spray mounting plate 2 is vertically arranged at one end of the other side of the flange adapter plate 1. The middle section of the vertically arranged powder spray mounting plate 2 is provided with a three-way solenoid valve 3, and the top of the vertically arranged powder spray mounting plate 2 is provided with an atomizing valve 4. The first port of the three-way solenoid valve 3 is connected to an external air supply pipe (not shown in the figure), the three-way solenoid valve 3 is connected to the first interface of the atomizing valve 4 through the first air pipe (not shown in the figure), and the second interface of the atomizing valve 4 is externally connected to a liquid supply pipe of pollen liquid (not shown in the figure). By mounting the end effector of the utility model on the mechanical arm of the pollination device, when pollination operation needs to be performed, the three-way solenoid valve 3 is energized to control the gas to pass through for a specified time (usually set to 1 to 2S), and at the same time, the pollen liquid supply mechanism also pushes out a corresponding amount of pollen liquid. When the pollen liquid and gas pass through the atomizing valve 4, atomized pollen liquid is formed, which is evenly sprayed onto the flowers to be pollinated to complete pollination.

[0019] According to a preferred embodiment of the utility model, the end actuator 01 also has a binocular camera 5, which is arranged at the top of a camera mounting plate 6, and the camera mounting plate 6 is vertically arranged on a camera extension plate 7, and the camera extension plate 7 is horizontally arranged on the other side of the flange adapter plate 1 connected to the mechanical arm 02, and is correspondingly arranged at the other end of the powder spray mounting plate 2. Thus, the pollination device can identify the flowers to be pollinated and realize the intelligent pollination operation. Combining the binocular camera with the pollination end actuator can also greatly reduce the problem of frequent movement of the pollination device due to the field of view of the camera, and greatly improve the working efficiency of the pollination device. In addition, since the distance between the binocular camera and the target object is shortened, the recognition accuracy is greatly improved.

[0020] According to the preferred embodiment of the utility model, the end actuator 01 also has a cleaning nozzle 8, the air outlet direction of the cleaning nozzle 8 corresponds to the lens of the binocular camera 6, and the cleaning nozzle 8 is connected to the three-way electromagnetic valve 3 through the second air pipe 9. Through such a setting, the high-speed gas ejected from the cleaning nozzle 8 forms a wind knife above the lens surface of the binocular camera 5, and when the falling pollen liquid approaches, it will be quickly blown away, thereby keeping the lens of the binocular camera 5 clean, and effectively preventing the binocular camera 5 from being contaminated by pollen liquid during the pollination process and affecting imaging.

[0021] According to a preferred embodiment of the utility model, the end actuator 01 also has a pollen liquid recovery funnel 10, the recovery funnel 10 has a center hole, the threaded portion of the atomizing valve 4 passes through the center hole of the recovery funnel 10, and is tightened and fixed by a nut. The recovery funnel 10 is set at the top of the atomizing valve 4 to recover excess pollen liquid after spraying.

[0022] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, and many features and advantages of these embodiments are clear from this detailed description. In addition, since those skilled in the art can easily think of many modifications and changes, it is not intended to limit the embodiments of the present invention to the precise structures and operations illustrated and described.

Claims

1. An end effector of a pollination device, characterized in that: The end actuator comprises a flange adapter plate and a powder spray mounting plate, one side of the flange adapter plate is connected to the mechanical arm of the pollination device, the powder spray mounting plate is vertically arranged at one end of the other side of the flange adapter plate, the middle section of the vertically arranged powder spray mounting plate is provided with a three-way solenoid valve, the top of the vertically arranged powder spray mounting plate is provided with an atomizing valve, the first port of the three-way solenoid valve is connected to an external air supply pipe, the three-way solenoid valve is connected to the first interface of the atomizing valve through the first air pipe, and the second interface of the atomizing valve is externally connected to the liquid supply pipe of the pollen liquid.

2. The end effector of the pollination device according to claim 1, characterized in that: The end effector also has a binocular camera, which is arranged on the top of a camera mounting plate. The camera mounting plate is vertically arranged on a camera extension plate. The camera extension plate is horizontally arranged on the other side of the flange adapter plate connected to the robotic arm, and is correspondingly arranged on the other end where the powder spray mounting plate is installed.

3. The end effector of the pollination device according to claim 2, characterized in that: The end actuator also has a cleaning nozzle, the air outlet direction of the cleaning nozzle corresponds to the lens of the binocular camera, and the cleaning nozzle is connected to the three-way solenoid valve through a second air pipe.

4. The end effector of the pollination device according to claim 1, characterized in that: The end actuator also has a pollen liquid recovery funnel, which is arranged at the top of the atomizing valve to recover excess pollen liquid after spraying.

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