Greenhouse tomato breeding pollination auxiliary mechanical arm

Abstract

The utility model relates to the technical field of pollination mechanical arms, and discloses a greenhouse tomato breeding pollination auxiliary mechanical arm which comprises a base, the top of the base is connected with a moving vehicle in a sliding mode, a control arm is arranged at the top of the moving vehicle, a pollination mechanism is arranged in the moving vehicle, and a dismounting mechanism is arranged outside the control arm. The pollination mechanism comprises an air pump, the exterior of the air pump is fixedly connected to the interior of the mobile vehicle, an air inlet of the air pump is fixedly connected with a filter, the exterior of the filter is fixedly connected with a separation net, and an air outlet of the air pump is fixedly connected with a communication assembly. According to the tomato pollination device, airflow is guided to the second air tap through the inducing pipe, and the airflow jet structure of the second air tap forms an airflow field around tomato flowers to attract pollen and assist pollination, so that the efficient and comprehensive pollination effect on the tomato flowers is achieved, and the problem that the gas jet intensity generated by gas pollination is too high is solved.

Description

Technical Field

[0001] This utility model relates to the field of pollination robotic arm technology, and in particular to a pollination auxiliary robotic arm for greenhouse tomato breeding. Background Technology

[0002] With the rapid development of facility agriculture, the planting area of ​​greenhouse tomatoes is constantly expanding. Facility agriculture provides a relatively controllable environment for tomato growth, enabling year-round production and meeting the continuous market demand for tomatoes. However, in the greenhouse environment, natural pollination media are limited, and artificial intervention in pollination is required to ensure fruit setting rate and fruit quality.

[0003] A typical greenhouse tomato breeding pollination auxiliary robotic arm consists of a moving device, a control device, and a gas pollination device. The moving device, driven by wheels, moves precisely to the pollination position of the tomato plant according to a preset path, ensuring that the robotic arm can cover the working area. The control device receives instructions from programming settings, sensor signals, etc., coordinates the movements of each joint of the robotic arm, and adjusts the moving speed, angle, and timing of pollination operations to achieve automated and precise control. After reaching the designated position, the gas pollination device uses compressed gas to generate an airflow, blowing pollen onto the stigma of the female flower to complete the pollination process.

[0004] Existing technologies using gas pollination methods have significant shortcomings. These devices generate excessively high gas jets during operation, which can easily cause physical damage to delicate parts of tomato flowers, such as the stamens, affecting normal flower development and subsequent fruiting. Furthermore, the high-intensity gas jets can lead to uneven pollen distribution, significantly reducing the pollination effect and consequently impacting tomato yield and fruit quality stability. Therefore, a greenhouse tomato breeding pollination auxiliary robotic arm is proposed to address these issues. Utility Model Content

[0005] To overcome the above shortcomings, this utility model provides a greenhouse tomato breeding pollination auxiliary robotic arm, which aims to improve the problems of some existing devices being unable to pollinate tomato flowers efficiently and comprehensively, and the excessively high gas jet intensity generated by using gas pollination.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A greenhouse tomato breeding pollination auxiliary robotic arm includes a base, a moving vehicle slidably connected to the top of the base, a control arm mounted on the top of the moving vehicle, a pollination mechanism inside the moving vehicle, and a disassembly mechanism outside the control arm. The pollination mechanism includes an air pump, which is externally fixedly connected to the inside of the moving vehicle. A filter is fixedly connected to the air inlet of the air pump, and a mesh is fixedly connected to the outside of the filter. A connecting component is fixedly connected to the air outlet of the air pump, and a connecting pipe is fixedly connected to the other end of the connecting component. A fixed cavity one is fixedly connected to the other end of the connecting pipe. Fixed cavities two are fixedly connected to both sides of the outside of fixed cavity one. Air guide plates are rotatably connected inside both fixed cavities two. Two air outlet components are fixedly connected to the far side of each of the two fixed cavities two.

[0008] As a further description of the above technical solution:

[0009] The disassembly mechanism includes a limiting block, the outside of which is snapped onto the outside of the control arm, the inside of which is provided with an installation hole, and the top of which is snapped onto two support plates, each of which has a connection hole at both ends.

[0010] As a further description of the above technical solution:

[0011] The outermost side of the two support plates is engaged with a limiting block, the limiting block has an engagement groove inside, and the top two sides of the limiting block have two connecting holes.

[0012] As a further description of the above technical solution:

[0013] The external support of the limiting block is outside the limiting block, the internal support of the mounting hole is outside the pollination mechanism, and the internal support of the snap-fit ​​groove is outside the pollination mechanism.

[0014] As a further description of the above technical solution:

[0015] The limiting block is externally supported on the outside of the pollination mechanism, the inside of the second connecting hole is rotatably connected to the outside of the control arm, and the outside of the first connecting hole is rotatably connected to the outside of the control arm.

[0016] As a further description of the above technical solution:

[0017] The connecting component includes an air pipe, the outside of which is fixedly connected to the air outlet of the air pump, a limiting member is slidably connected to the outside of the air pipe, the outside of which is fixedly connected to the outside of the control arm, and the outside of which is fixedly connected to the outside of the mobile vehicle.

[0018] As a further description of the above technical solution:

[0019] The air outlet assembly includes a fixed tube, the outside of which is fixedly connected to the outside of the fixed cavity two, and an air nozzle one is fixedly connected to the outside of the fixed tube.

[0020] As a further description of the above technical solution:

[0021] The air pump has two induction pipes fixedly connected to its outlet, and each of the two induction pipes has an air nozzle two fixedly connected to its other end. A scanner is fixedly connected to the outside of the fixed cavity one. The outside of the induction pipes is fixedly connected to the inside of the mobile vehicle, and the outside of the air nozzle two is fixedly connected to the top of the mobile vehicle.

[0022] This utility model has the following beneficial effects:

[0023] 1. In this utility model, an air pump drives outside air through a filter and a mesh structure, allowing clean air to enter the air pump. The airflow is evenly distributed to the two fixed chambers on both sides through a fixed chamber one. At the same time, the air guide plate adjusts the airflow intensity and direction, so that the airflow is sprayed out from different air outlet components at appropriate speeds and angles, carrying pollen to complete pollination and achieve the pollination effect. The airflow is guided to the air nozzle two through the induction tube. The airflow jet structure of the air nozzle two forms an airflow field around the tomato flowers to attract pollen and assist in pollination, thereby achieving a highly efficient and comprehensive pollination effect on the tomato flowers and solving the problem of excessively high gas jet intensity caused by using gas pollination.

[0024] 2. In this utility model, the limiting block is snapped onto the outside of the control arm, providing a basic positioning for the overall structure; the support plate rotates around the first connecting hole to fit the side of the pollination mechanism, and the limiting block rotates around the second connecting hole and clamps the pollination mechanism with the snap-fit ​​groove, together completing the fixed installation of the pollination mechanism, so as to solve the problems of difficult installation and disassembly, long time consumption, and unstable fixing in the traditional method when maintaining the pollination mechanism. Attached Figure Description

[0025] Figure 1 A three-dimensional schematic diagram of the greenhouse tomato breeding pollination auxiliary robotic arm proposed in this utility model;

[0026] Figure 2 This is a schematic diagram of the moving vehicle of the greenhouse tomato breeding pollination auxiliary robotic arm proposed in this utility model.

[0027] Figure 3 This is a schematic diagram of the air nozzle 2 of the greenhouse tomato breeding pollination auxiliary robotic arm proposed in this utility model.

[0028] Figure 4 for Figure 3 Enlarged view of point A in the middle;

[0029] Figure 5 This is a schematic diagram of the limiting block of the greenhouse tomato breeding pollination auxiliary robotic arm proposed in this utility model.

[0030] Legend:

[0031] 1. Base; 2. Mobile vehicle; 3. Control arm; 4. Pollination mechanism; 41. Air pump; 42. Filter; 43. Partition screen; 44. Connecting assembly; 441. Air pipe; 442. Limiting component; 45. Connecting pipe; 46. Fixed cavity one; 47. Fixed cavity two; 48. Air guide plate; 49. Air outlet assembly; 491. Fixed pipe; 492. Air nozzle one; 410. Initiating pipe; 411. Air nozzle two; 412. Scanner; 5. Disassembly mechanism; 51. Limiting block; 52. Mounting hole; 53. Support plate; 54. Connecting hole one; 55. Limiting block; 56. Connecting hole two; 57. Snap-fit ​​groove. Detailed Implementation

[0032] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0033] Reference Figures 1 to 3 This utility model provides an embodiment of a greenhouse tomato breeding pollination auxiliary robotic arm, including a base 1. The base 1 provides a stable sliding platform for a mobile vehicle 2, ensuring the stability of the robotic arm during operation and preventing it from shaking or shifting due to uneven ground or other factors in the greenhouse environment, which would affect the accuracy of pollination. The mobile vehicle 2 is slidably connected to the top of the base 1, enabling the robotic arm to move within the greenhouse and cover a larger area of ​​tomato plants during pollination. A control arm 3 is installed on the top of the mobile vehicle 2. The control arm 3 integrates a transmission device and sensors. The transmission device drives the control arm 3 to perform extension, rotation, and other actions based on signals sent by the control system. The sensors monitor the position, angle, and other parameters of the control arm 3 in real time and feed them back to the control system, allowing the control system to adjust control commands according to the actual situation. The control arm 3 can then adjust the position and angle of the pollination mechanism 4 according to the commands of the control system, ensuring that the pollination mechanism 4 can accurately align with the tomato flowers, improving the accuracy and efficiency of pollination. The pollination mechanism 4 is installed inside the mobile vehicle 2, and a disassembly mechanism 5 is installed outside the control arm 3.

[0034] The pollination mechanism 4 includes an air pump 41, which serves as the power source for generating airflow. The air pump 41 is externally and fixedly connected to the interior of the mobile vehicle 2. A filter 42 is fixedly connected to the air inlet of the air pump 41. The filter 42 filters the air entering the air pump 41, preventing dust, impurities, and other particles from entering the air pump 41 and damaging key components such as the impeller. A mesh 43 is fixedly connected to the outside of the filter 42, protecting it from larger debris that could directly impact the filter element and extend its service life. A connecting component 44 is fixedly connected to the air outlet of the air pump 41. The connecting component 44 includes an air pipe 441, which serves as a channel for airflow transmission, connecting the air pump 41... The generated airflow is delivered to the connecting pipe 45. The external part of the air pipe 441 is fixedly connected to the air outlet of the air pump 41. The external part of the air pipe 441 is slidably connected to the limiting member 442. The limiting member 442 fixes the position of the air pipe 441 and limits the bending range of the air pipe 441 when the control arm 3 moves, preventing the air pipe 441 from being excessively bent or twisted, which would obstruct the airflow or even damage the air pipe 441. The external part of the limiting member 442 is fixedly connected to the outside of the control arm 3. The external part of the air pipe 441 is fixedly connected to the outside of the moving vehicle 2. The other end of the connecting component 44 is fixedly connected to the connecting pipe 45. The connecting pipe 45 smoothly guides the airflow delivered by the air pipe 441 into the fixed cavity 46. The other end of the connecting pipe 45 is fixedly connected to the fixed cavity 46, which serves as an airflow distribution chamber. The central component receives the airflow from the connecting pipe 45 and evenly distributes the airflow to the two fixed cavities 47 on both sides. Fixed cavities 47 are fixedly connected to both sides of the external fixed cavity 46. The fixed cavities 47 receive the airflow distributed from the fixed cavity 46 and guide it to the air guide plate 48 and the air outlet assembly 49 for further adjustment and distribution. Air guide plates 48 are rotatably connected inside both fixed cavities 47. The air guide plates 48 are installed inside the fixed cavities 47 and their angle is adjusted by being blown by the gas, changing the direction of the airflow within the fixed cavities 47. This allows the airflow to generate different wind speeds and be ejected from the air outlet assemblies 49 at different positions. Two air outlet assemblies 49 are fixedly connected to the far side of each of the two fixed cavities 47. Component 49 includes a fixed pipe 491, which serves as a channel for airflow ejection. The fixed pipe 491 guides the airflow within the second fixed cavity 47 to the first air nozzle 492, ensuring the stability of the airflow during transmission, preventing airflow leakage, and ensuring sufficient airflow pressure and volume reach the first air nozzle 492. The fixed pipe 491 is externally fixedly connected to the outside of the second fixed cavity 47, and the first air nozzle 492 is also externally fixedly connected to it. The first air nozzle 492 ejects the airflow from the fixed pipe 491 at a suitable speed and angle, spraying it onto the tomato flowers. This allows the pollen to be evenly distributed in the greenhouse, increasing the chance of pollen contacting the stigma of the female flower and completing the pollination operation. Its shape and nozzle size are specially designed to create a relatively concentrated and uniform spray pattern.Two induction pipes 410 are fixedly connected to the air outlet of the air pump 41. The induction pipes 410 connect the air outlet of the air pump 41 to the second air nozzle 411, guiding part of the airflow generated by the air pump 41 to the second air nozzle 411. The other end of each induction pipe 410 is fixedly connected to the second air nozzle 411, which sprays out the airflow from the induction pipes 410, creating an airflow field around the tomato flowers to attract pollen, assisting the pollination process and preventing pollen from contacting the control arm 3. A scanner 412 is fixedly connected to the outside of the fixed cavity 46. The scanner 412 scans and collects information such as the position, shape, and degree of opening of the tomato flowers, transmitting this information to the control system. The control system, based on the data provided by the scanner 412, controls the movement of the control arm 3 and the pollination mechanism 4, enabling more precise pollination and improving pollination efficiency and success rate. The induction pipes 410 are fixedly connected to the inside of the mobile vehicle 2, and the second air nozzle 411 is fixedly connected to the top of the mobile vehicle 2.

[0035] Reference Figures 1 to 3 The disassembly mechanism 5 includes a limiting block 51, which is snapped onto the outside of the control arm 3, providing a mounting base and positioning for the entire disassembly mechanism 5. The limiting block 51 is externally snapped onto the outside of the control arm 3. An installation hole 52 is provided inside the limiting block 51, providing support and positioning for the pollination mechanism 4, ensuring the stability of the pollination mechanism 4 during operation. It also facilitates operation of the pollination mechanism 4 during disassembly, making the disassembly process more orderly. Two support plates 53 are snapped onto the top of the limiting block 51. The support plates 53 cooperate with the limiting block 51 and the limiting block 55 to clamp and fix the pollination mechanism 4. Connecting holes 54 are provided at both ends of the two support plates 53, serving as the connection hub between the support plates 53 and the control arm 3. A limiting block 55 is snapped onto the outermost side of the two support plates 53. The limiting block 55 and the limiting block 55... Working in conjunction with the support plate 53, the limiting block 55 further secures the pollination mechanism 4. The limiting block 55 has an internal snap-fit ​​groove 57 for snapping the pollination mechanism 4. This tight snap-fit ​​provides a stable fixing point for the pollination mechanism 4. Connecting holes 56 are provided on both sides of the top of the limiting block 55. These connecting holes 56 allow for the rotational connection between the limiting block 55 and the control arm 3, ensuring accurate engagement between the limiting block 55 and the pollination mechanism 4, enabling effective fixing and disassembly. The external support of the limiting block 51 is located outside the limiting block 55, the internal support of the mounting hole 52 is located outside the pollination mechanism 4, the internal support of the snap-fit ​​groove 57 is located outside the pollination mechanism 4, the external support of the limiting block 55 is located outside the pollination mechanism 4, the internal rotational connection of the connecting hole 56 is located outside the control arm 3, and the external rotational connection of the connecting hole 54 is located outside the control arm 3.

[0036] Working principle: When the greenhouse tomato breeding and pollination auxiliary robotic arm is working, the base 1 provides stable support, and the moving vehicle 2 slides on top of it. After the air pump 41 inside the moving vehicle 2 is started, it creates negative pressure. Outside air enters the air pump 41 after being filtered by the filter 42 and the screen 43. The compressed airflow is output from the air outlet. Part of the airflow passes through the connecting component 44. Under the constraint of the limiting component 442, the air pipe 441 transmits the airflow to the connecting pipe 45, and then enters the fixed cavity 46. The fixed cavity 46 evenly distributes the airflow to the two fixed sides. In cavity 2 47, the air guide plate 48 can adjust the airflow direction, so that the airflow generates different flow rates and flows out from the fixed pipe 491 of different air outlet components 49. It is then sprayed out at a suitable speed and angle through the first air nozzle 492, carrying pollen to complete pollination. At the same time, another part of the airflow from the air pump 41 outlet reaches the second air nozzle 411 through the induction pipe 410. The sprayed airflow forms an airflow field around the tomato flower to attract pollen and assist pollination. The scanner 412 outside the fixed cavity 1 46 scans the flower position, shape and other information in real time and transmits it to the control system.

[0037] The disassembly mechanism 5 is used to facilitate the maintenance of the pollination mechanism 4. The limiting block 51 is snapped onto the outside of the control arm 3. The mounting hole 52 supports the pollination mechanism 4. During installation, the support plate 53 rotates around the first connecting hole 54 to fit against the side of the pollination mechanism 4, and the limiting block 55 rotates around the second connecting hole 56 to make the snapping groove 57 snap into the pollination mechanism 4, thus fixing the pollination mechanism 4 together. During disassembly, the components are unsecured by reversing the operation.

[0038] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A greenhouse tomato breeding pollination auxiliary mechanical arm, comprising a base (1), characterized in that: The top of the base (1) is slidably connected with a moving vehicle (2), the top of the moving vehicle (2) is provided with a control arm (3), the inside of the moving vehicle (2) is provided with a pollination mechanism (4), the outside of the control arm (3) is provided with a dismounting mechanism (5); The pollination mechanism (4) comprises a gas pump (41), the outside of the gas pump (41) is fixedly connected in the inside of the moving vehicle (2), the air inlet of the gas pump (41) is fixedly connected with a filter (42), the outside of the filter (42) is fixedly connected with a screen (43), the air outlet of the gas pump (41) is fixedly connected with a communication assembly (44), the other end of the communication assembly (44) is fixedly connected with a communication pipe (45), the other end of the communication pipe (45) is fixedly connected with a fixed cavity I (46), the outside of the fixed cavity I (46) is fixedly connected with a fixed cavity II (47) on both sides, the inside of the two fixed cavity II (47) is rotatably connected with a gas guide plate (48), the farther side of the two fixed cavity II (47) is fixedly connected with two air outlet assemblies (49).

2. The mechanical arm for assisting pollination of greenhouse tomato breeding according to claim 1, characterized in that: The dismounting mechanism (5) comprises a limiting block (51), the outside of the limiting block (51) is clamped outside the control arm (3), the inside of the limiting block (51) is provided with a mounting hole (52), the top of the limiting block (51) is clamped with two supporting plates (53), the two ends of the two supporting plates (53) are provided with a connecting hole I (54).

3. The mechanical arm for assisting pollination of greenhouse tomato breeding according to claim 2, characterized in that: The farther side of the outside of the two supporting plates (53) is clamped with a limiting block (55), the inside of the limiting block (55) is provided with a clamping groove (57), the top of the limiting block (55) is provided with a connecting hole II (56) on both sides.

4. The mechanical arm for assisting pollination of greenhouse tomato breeding according to claim 3, characterized in that: The outside of the limiting block (51) is supported outside the limiting block (55), the inside of the mounting hole (52) is supported outside the pollination mechanism (4), and the inside of the clamping groove (57) is supported outside the pollination mechanism (4).

5. The mechanical arm for assisting pollination of greenhouse tomato breeding according to claim 3, characterized in that: The outside of the limiting block (55) is supported outside the pollination mechanism (4), the inside of the connecting hole II (56) is rotatably connected outside the control arm (3), and the outside of the connecting hole I (54) is rotatably connected outside the control arm (3).

6. The mechanical arm for assisting pollination of greenhouse tomato breeding according to claim 1, characterized in that: The communication assembly (44) comprises a gas pipe (441), the outside of the gas pipe (441) is fixedly connected with the air outlet of the gas pump (41), the outside of the gas pipe (441) is slidably connected with a limiting piece (442), the outside of the limiting piece (442) is fixedly connected with the outside of the control arm (3), and the outside of the gas pipe (441) is fixedly connected with the outside of the moving vehicle (2).

7. The mechanical arm for assisting pollination of greenhouse tomato breeding according to claim 1, characterized in that: The air outlet assembly (49) comprises a fixed pipe (491), the outside of the fixed pipe (491) is fixedly connected with the outside of the fixed cavity II (47), and the outside of the fixed pipe (491) is fixedly connected with a gas nozzle I (492).

8. The mechanical arm for assisting pollination of greenhouse tomato breeding according to claim 1, characterized in that: The air outlet of the air pump (41) is fixedly connected with two lead pipes (410), the other ends of the two lead pipes (410) are fixedly connected with air nozzles two (411), the outside of the fixed cavity one (46) is fixedly connected with a scanner (412), the outside of the lead pipe (410) is fixedly connected in the inside of the mobile trolley (2), and the outside of the air nozzle two (411) is fixedly connected on the top of the mobile trolley (2).

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