Field pollination device and field pollination rope robot

Abstract

The utility model discloses a field pollination device and a field pollination rope robot, the field pollination device comprises a fixed seat, a mounting bracket, a mounting seat, a pollen suction module, a pollen discharge module and a gas driving device, the mounting bracket is rotatably mounted on the fixed seat; the mounting seat is fixed on the mounting bracket; the powder suction module is provided with a powder suction channel; the powder outlet module is provided with a powder outlet channel; the air driving device is respectively communicated with the pollen suction channel and the pollen outlet channel to form suction airflow from the pollen suction channel to the pollen outlet channel through the air driving device, and the suction airflow drives the pollen to move from the male parent plant to the female parent plant. The field pollination device disclosed by the utility model is not influenced by an external environment, independently and intelligently operates in different plant planting fields in a matched manner, covers large-area crops, and is beneficial to improving the accuracy and the reliability of a pollination task.

Description

Technical Field

[0001] This utility model relates to the field of agricultural production technology, specifically to a field pollination device and a field pollination rope robot. Background Technology

[0002] Field pollination is a common task in agricultural production, especially in the cultivation of plants such as apples, tomatoes, and melons that require artificial pollination. Currently, most field pollination methods rely on manual labor or simple mechanized equipment, which usually suffers from low efficiency, labor-intensive nature, and susceptibility to environmental factors such as weather. Utility Model Content

[0003] The main purpose of this invention is to propose a field pollination device and a field pollination rope robot, which aims to solve the problems of excessive reliance on manual labor and high environmental requirements in traditional field pollination methods.

[0004] To achieve the above objectives, this utility model proposes a field pollination device, comprising:

[0005] Fixed base;

[0006] Mounting bracket, the upper end of which is rotatably mounted to the lower end of the fixed base about a vertically extending axis;

[0007] Mounting base, connected and fixed to the lower end of the mounting bracket;

[0008] The powder suction module is located on the horizontal side of the mounting base and has a powder suction channel;

[0009] A powder dispensing module is located on the other side of the mounting base in the horizontal direction and is provided with a powder dispensing channel; and,

[0010] An air-driving device is connected to the pollen-absorbing channel and the pollen-exiting channel respectively, so as to form a suction airflow from the pollen-absorbing channel through the air-driving device to the pollen-exiting channel. The suction airflow carries pollen from the male plant to the female plant.

[0011] Optionally, the powder-absorbing module includes:

[0012] The first block has the powder-absorbing channel formed inside. The powder-absorbing channel has multiple mounting holes distributed on the side opposite to the mounting base. The powder-absorbing channel also has a first connecting hole.

[0013] A first pipe connector, installed in the first connecting hole and protruding from the first block, is connected to the air intake port of the air-driving device via a pipe; and...

[0014] Multiple contacts are provided, each corresponding to one of the mounting holes, and are detachably connected to the corresponding mounting holes. Each contact has a powder suction port, and at least the portion of the contact that forms the powder suction port is made of a flexible material.

[0015] Optionally, the powder-absorbing module is oscillatingly mounted on the mounting base about an axis extending in the horizontal direction;

[0016] The field pollination device further includes a drive mechanism, which is disposed on the mounting base and drivenly connected to the pollen-absorbing module. The drive mechanism includes:

[0017] The first driver has a first output shaft that rotates about an axis extending in a horizontal direction;

[0018] The drive gear is coaxially mounted on the first output shaft; and,

[0019] The driven gear is installed in the powder suction module and meshes with the driving gear.

[0020] Optionally, the powder dispensing module includes:

[0021] The second block has the powder outlet channel formed inside, and the powder outlet channel has an opening on the side opposite to the mounting base. The powder outlet channel is also provided with a second connecting hole.

[0022] A second pipe connector, installed in the second connecting hole and protruding from the second block, is connected to the exhaust port of the air-driving device via a pipe; and...

[0023] A grid element is provided over the opening, and the grid element defines a plurality of powder outlets.

[0024] Optionally, the air-driving device is fixedly installed on the upper end of the fixed base; and / or,

[0025] The mounting bracket includes at least two bracket units, and each pair of adjacent bracket units is hinged to each other by a pivot extending in the horizontal direction.

[0026] Optionally, the field pollination device further includes:

[0027] A rotating gimbal is disposed between the fixed base and the mounting bracket to drive the mounting bracket to rotate relative to the fixed base; and / or,

[0028] A counterweight is provided on the mounting base to limit the shift of the center of gravity of the field pollination device during the rotation of the mounting base relative to the fixed base by the mounting bracket.

[0029] In addition, to achieve the above objectives, this utility model also provides a field pollination rope robot comprising:

[0030] frame;

[0031] The field pollination device described above is movably mounted on the frame in both the transverse and longitudinal directions.

[0032] A lateral walking device, connected to the field pollination device, to drive the field pollination device to move laterally; and,

[0033] A longitudinal walking device is connected to the field pollination device to drive the field pollination device to move longitudinally.

[0034] Optionally, the lateral walking device includes:

[0035] The first steel cable extends in a loop both horizontally and vertically;

[0036] The first movable seat, the field pollination device is suspended below the first movable seat by a rope;

[0037] A second driver is disposed on the first movable seat and has a second output shaft that rotates about an axis extending longitudinally.

[0038] The guide wheel assembly is located on the first movable seat and includes an active guide wheel and a driven guide wheel respectively located on the upper and lower sides of a section of the first steel cable. The active guide wheel is coaxially mounted on the second output shaft, and the driven guide wheel interferes with and abuts against the active guide wheel through the first steel cable.

[0039] Optionally, the field pollination rope robot further includes at least two counterweight components, each of which is equally distributed on both sides of the lateral walking device; the counterweight components include:

[0040] The main block has first clearance channels extending laterally at the upper and lower sections of the first steel cable, respectively; and,

[0041] Two first wheel sets are respectively located at the two first clearance channels. Each first wheel set includes at least two first idler wheels located on the upper and lower sides of the corresponding steel cable segment. Each first idler wheel interferes with and abuts against the corresponding steel cable segment.

[0042] Optionally, two longitudinal traveling devices are provided, and are respectively arranged on both sides of the transverse traveling device. Each longitudinal traveling device includes:

[0043] The second steel cable extends in a loop along both the longitudinal and vertical directions;

[0044] The second movable seat has a second clearance channel running longitudinally through the upper and lower sections of the second steel cable, respectively.

[0045] Two second wheel sets are respectively located at two second clearance channels. Each second wheel set includes at least two second idler wheels located on the upper and lower sides of the corresponding steel cable segment. Each second idler wheel interferes with and abuts against the corresponding steel cable segment.

[0046] The first guide wheel is rotatably mounted on the second movable seat about an axis extending longitudinally, and is used for the first steel cable to be movably wound around.

[0047] Two second guide wheels are longitudinally spaced on the frame and are respectively provided for the two ends of the second steel cable to be movably wound around; and,

[0048] A third drive, disposed on the frame, has a third output shaft that rotates about a laterally extending axis, the third output shaft being coaxially mounted with at least one of the second guide wheels.

[0049] In the technical solution provided by this utility model, the field pollination device can be applied in plant cultivation fields and operates independently and intelligently with minimal impact from the external environment. Under the operation of the air-driving device, the pollen-absorbing module draws the pollen from the male parent plant into the pollen-absorbing channel, and then transfers it to the pollen-discharging channel of the pollen-discharging module via the air-driving device, and finally discharges it to the female parent plant, completing efficient pollination. The mounting bracket can drive the mounting seat to rotate circumferentially relative to the fixed seat, thereby enabling the field pollination device to be adapted to different plant cultivation fields, covering a large area of ​​crops, and helping to improve the accuracy and reliability of pollination tasks. Attached Figure Description

[0050] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0051] Figure 1 A perspective view of an embodiment of the field pollination rope robot provided by this utility model;

[0052] Figure 2 for Figure 1 Enlarged structural diagram at point A;

[0053] Figure 3 for Figure 1 Enlarged structural diagram at point B;

[0054] Figure 4 for Figure 1 Enlarged structural diagram at point C;

[0055] Figure 5 for Figure 1 Enlarged structural diagram at point D;

[0056] Figure 6 for Figure 1 A schematic diagram of the transverse travel device;

[0057] Figure 7 for Figure 1 A three-dimensional schematic diagram of the pollination device in the field from a first-person perspective;

[0058] Figure 8 for Figure 1 A three-dimensional schematic diagram of the pollination device in the middle field from a second perspective;

[0059] Figure 9 for Figure 1 A partial structural diagram of the field pollination device;

[0060] Figure 10 This is a schematic diagram of an embodiment of the walking route of the field pollination rope robot provided by this utility model in a planting field.

[0061] Explanation of icon numbers:

[0062] 100 Frame; 200 Field pollination device; 210 Mounting base; 220 Mounting bracket; 221 Frame unit; 222 Rotating shaft; 230 Mounting base; 240 Pollen suction module; 241 First block; 242 First pipe connector; 243 Contact element; 250 Pollen discharge module; 251 Second block; 252 Second pipe connector; 253 Grating element; 260 Air drive device; 270 Drive mechanism; 271 First driver; 272 Drive gear; 273 Driven gear; 280 Rotating gimbal; 290 Counterweight block ; 300 Lateral travel device; 310 First steel cable; 320 First movable seat; 330 Second drive; 341 Active guide wheel; 342 Driven guide wheel; 400 Longitudinal travel device; 410 Second steel cable; 420 Second movable seat; 421 Second clearance channel; 430 Second wheel set; 431 Second idler wheel; 440 First guide wheel; 450 Second guide wheel; 460 Third drive; 500 Counterweight assembly; 510 Main block; 511 First clearance channel; 520 First wheel set; 521 First idler wheel.

[0063] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0064] 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.

[0065] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0066] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0067] Please see Figures 1 to 10 This utility model provides a field pollination device 200. This field pollination device 200 can be used independently or applied in, for example, a field pollination rope robot. For ease of understanding, in the following embodiments, the field pollination rope robot / field pollination device 200 is defined as having a generally vertical vertical and horizontal plane. The vertical direction has an upward and a downward direction arranged opposite each other; the horizontal direction is any direction on the horizontal plane. In the following embodiments, the transverse and longitudinal directions are two generally vertical horizontal directions.

[0068] Specifically, the field pollination device 200 includes a fixed base 210, a mounting bracket 220, a mounting base 230, a pollen-absorbing module 240, a pollen-discharging module 250, and an air-driving device 260. The upper end of the mounting bracket 220 is rotatably mounted on the lower end of the fixed base 210 around a vertically extending axis; the mounting base 230 is fixedly connected to the lower end of the mounting bracket 220; the pollen-absorbing module 240 is located on one side of the mounting base 230 in the horizontal direction and has a pollen-absorbing channel; the pollen-discharging module 250 is located on the other side of the mounting base 230 in the horizontal direction and has a pollen-discharging channel; the air-driving device 260 connects to both the pollen-absorbing channel and the pollen-discharging channel to form a suction airflow from the pollen-absorbing channel through the air-driving device 260 to the pollen-discharging channel, which carries pollen from the male plant to the female plant.

[0069] In the technical solution provided by this utility model, the field pollination device 200 can be applied in plant cultivation fields and operates independently and intelligently with minimal impact from the external environment. Under the operation of the air-driving device 260, the pollen-absorbing module 240 draws the pollen of the male parent plant into the pollen-absorbing channel, and then transfers it through the air-driving device 260 to the pollen-discharging channel of the pollen-discharging module 250, and finally discharges it to the female parent plant, thus completing efficient pollination. The mounting bracket 220 can drive the mounting base 230 to rotate circumferentially relative to the fixed base 210, thereby enabling the field pollination device 200 to be adapted to different plant cultivation fields, covering a large area of ​​crops, and helping to improve the accuracy and reliability of pollination tasks.

[0070] In this design, the specific forms of the fixed base 210 and the mounting base 230 are not limited; they can be, but are not limited to, plate-like structures, block-like structures, frame-like structures, etc. For example... Figures 7 to 9 As shown, the fixing base 210 can be roughly plate-shaped, and the mounting base 230 can be roughly frame-shaped.

[0071] In practical applications, the powder suction module 240 forms a powder suction channel inside. The powder suction channel has at least a powder suction port. Specifically, the powder suction module 240 includes a first block 241, a first pipe connector 242, and multiple contact members 243. The powder suction channel is formed inside the first block 241. Multiple mounting holes are distributed on the side of the powder suction channel opposite to the mounting base 230. The powder suction channel also has a first connection hole. The first pipe connector 242 is installed in the first connection hole and protrudes from the first block 241. The first pipe connector 242 is connected to the air suction port of the air driving device 260 through a pipe. Multiple contact members 243 are arranged one-to-one with multiple mounting holes and are detachably connected to the corresponding mounting holes. Each contact member 243 has a powder suction port, and at least the part of the contact member 243 that constitutes the powder suction port is made of flexible material.

[0072] Specifically, for example, when the mounting base 230 has a generally vertical first horizontal direction and a second horizontal direction, the first block 241 can be disposed on one side of the mounting base 230 in the first horizontal direction and extend elongated along the second horizontal direction. The correspondence between the pollen-absorbing channels and pollen-absorbing ports formed inside the first block 241 is not limited. For example, multiple pollen-absorbing channels can be provided, and each channel can correspond one-to-one with a specific port, so that each pollen-absorbing port has an independent channel for its pollen. Alternatively, each channel can correspond to at least two ports. Or, a single channel can be provided, and it can communicate with all the ports.

[0073] In practical applications, the contact element 243 is used to directly contact the flower. Specifically, the contact element 243 can be constructed, for example, from a suction cup structure. On one hand, the suction cup structure defines a flared suction port, providing a sufficiently large contact surface to contact the flower and improve the efficiency of pollen extraction; on the other hand, at least the portion of the suction cup structure forming the suction port is made of a flexible material, and further, an elastic material, allowing for flexible contact with the flower and preventing damage.

[0074] Generally, the contacts 243 and mounting holes are provided in a one-to-one correspondence. The arrangement of the contacts 243 / mounting holes on the first block 241 is not limited; they can be arranged in an array, radially, spirally, or randomly. The contacts 243 / mounting holes can be located on any side surface of the first block 241, specifically, for example, on the side of the first block 241 away from the mounting base 230 along the first horizontal direction.

[0075] The powder discharging module 250 includes a second block 251, a second pipe connector 252, and a grille 253. The second block 251 forms a powder discharging channel inside, and the powder discharging channel has an opening on the side opposite to the mounting base 230. The powder discharging channel is also provided with a second connection hole. The second pipe connector 252 is installed in the second connection hole and protrudes from the second block 251. The second pipe connector 252 is connected to the exhaust port of the air driving device 260 through a pipe. The grille 253 covers the opening and defines multiple powder outlets.

[0076] Similarly, the second block 251 can be disposed on the other side of the mounting base 230 in the first horizontal direction and extend elongated along the second horizontal direction. A pollen outlet channel is formed inside the second block 251. The opening can be located on any side surface of the second block 251, specifically, for example, on the side of the second block 251 away from the mounting base 230 along the first horizontal direction. A grid member 253 covers the opening and, through its grid structure, divides the opening into multiple pollen outlets, making the pollen discharged through the pollen outlets more dispersed and facilitating large-area pollination of the parent plant's flowers.

[0077] The aeration device 260 can be specifically fixedly installed on the upper end of the mounting base 210. The aeration device 260 can be a fan, and more specifically a high-pressure blower, with an air intake port and an air exhaust port. The air intake port can be connected to the first pipe connector 242 through a pipe; the air exhaust port can be connected to the second pipe connector 252 through a pipe, thereby forming a pollen flow path consisting of a pollen intake port, a pollen intake channel, the aeration device 260, a pollen outlet channel, and a pollen outlet.

[0078] Because the aforementioned pollen-absorbing module 240 and pollen-discharging module 250 are respectively located on opposite sides of the mounting base 230 in the first horizontal direction, when the field pollination device 200 is applied in situations such as... Figure 10 When in the planting field shown, you can follow... Figure 10 The path shown by the dashed line is followed so that the pollen-absorbing module 240 remains adjacent to and directly facing the parent plant, and the pollen-producing module 250 remains adjacent to and directly facing the parent plant, so that the parent plant absorbs pollen and the parent plant pollinates simultaneously.

[0079] In practical field pollination, the aforementioned field pollination device 200 can rotate around a vertically extending axis, its function being to ensure that during planting, the pollination device can rotate as described above. Figure 10 As shown, the male parent plants are planted together, and the female parent plants are planted together. This arrangement allows the field pollination device 200 to pollinate both sides of the female parent, improving pollination efficiency. Furthermore, since the optimal planting ratio of male to female parents in hybrid rice is 2:8, this optimizes planting management and allows for more efficient allocation of land in the field. Considering that the air intake and exhaust ports of the aforementioned air-driving device 260 are essentially two separate ducts, the field pollination device 200 can only rotate a maximum of 180°.

[0080] Furthermore, the pollen-absorbing module 240 is oscillatingly mounted on the mounting base 230 about an axis extending horizontally; the field pollination device 200 also includes a drive mechanism 270, which is located on the mounting base 230 and drivenly connected to the pollen-absorbing module 240. The drive mechanism 270 includes a first driver 271, a drive gear 272, and a driven gear 273. The first driver 271 has a first output shaft that rotates about an axis extending horizontally; the drive gear 272 is coaxially mounted on the first output shaft, and the driven gear 273 is mounted on the pollen-absorbing module 240, with the drive gear 272 and driven gear 273 meshing. Driven by the drive mechanism 270, the pollen-absorbing module 240 can oscillate relative to each other, thereby helping to improve the efficiency of pollen entering the pollen-absorbing channel.

[0081] In the above description, the mounting base 230 is rotatably mounted on the fixed base 210 via the mounting bracket 220 about a vertically extending axis. Specifically, in one embodiment, the field pollination device 200 further includes a rotating platform 280, which is located between the fixed base 210 and the mounting bracket 220. The rotating platform 280 integrates a bearing structure and a power source, and can directly drive the mounting bracket 220 to perform a relatively stable rotational movement relative to the fixed base 210 about a vertically extending axis. Since both the powder suction module 240 and the powder discharge module 250 are located on one side of the mounting base 230 in the horizontal direction, the orientation of the powder suction port and the powder discharge port can be flexibly adjusted when the mounting bracket 220 drives the mounting base 230 to rotate.

[0082] The mounting bracket 220 can be directly constructed from a single bracket unit 221, such that the orientation of the mounting base 230 relative to the fixed base 210 remains fixed in the non-rotated state. Alternatively, the mounting bracket 220 may include at least two bracket units 221, with each pair of adjacent bracket units 221 hinged to each other via a horizontally extending pivot 222. In this way, the orientation of the mounting base 230 relative to the fixed base 210 can be adjusted as needed in the non-rotated state by adjusting the hinge between adjacent bracket units 221.

[0083] In addition, the field pollination device 200 also includes a counterweight 290, which is located on the mounting base 230. When the mounting bracket 220 drives the mounting base 230 to rotate relative to the fixed base 210, and the center of gravity of the mounting bracket 220 shifts, the counterweight 290 is used to counteract the shift of the center of gravity of the field pollination device 200, ensuring a more stable rotation process.

[0084] Furthermore, based on one or more of the above embodiments, when the field pollination device 200 is specifically applied to a field pollination rope robot, the field pollination rope robot may further include a frame 100, a lateral walking device 300, and a longitudinal walking device 400. The field pollination device 200 is movably mounted on the frame 100 along both the lateral and longitudinal directions; the lateral walking device 300 is connected to the field pollination device 200 to drive the field pollination device 200 to move laterally; the longitudinal walking device 400 is connected to the field pollination device 200 to drive the field pollination device 200 to move longitudinally.

[0085] Specifically, the lateral walking device 300 includes a first steel cable 310, a first movable seat 320, a second driver 330, and a guide wheel assembly. The first steel cable 310 extends in a loop both laterally and vertically, and specifically extends elongated laterally. The first movable seat 320 can move laterally along the first steel cable 310. The field pollination device 200 is suspended below the first movable seat 320 by a suspension rope, so that the field pollination device 200 moves synchronously laterally while the first movable seat 320 moves laterally. The second driver 330 is located on the first movable seat 320 and has a second output shaft that rotates about an axis extending longitudinally. The guide wheel assembly is located on the first movable seat 320 and includes an active guide wheel 341 and a driven guide wheel 342 located on the upper and lower sides of a section of the first steel cable 310, respectively. The active guide wheel 341 is coaxially mounted on the second output shaft, and the driven guide wheel 342 interferes with and abuts against the active guide wheel 341 through the first steel cable 310. Specifically, when the first driver 271 starts running, it drives the active guide wheel 341 to rotate, which in turn drives the driven guide wheel 342 to rotate through the steel cable segment of the first steel cable 310, so that the first movable seat 320 can move along the first steel cable 310.

[0086] In addition, the field pollination rope robot also includes at least two counterweight components 500, each of which is equally distributed on both sides of the lateral walking device 300. Each counterweight component 500 includes a main block 510 and two first wheel sets 520. The main block 510 has first clearance channels 511 extending laterally at the upper and lower sections of the first steel cable 310, respectively. The two first wheel sets 520 are located at the two first clearance channels 511. Each first wheel set 520 includes at least two first idler wheels 521 located on the upper and lower sides of the corresponding steel cable section, with each first idler wheel 521 interfering with and abutting against the corresponding steel cable section. The counterweight components 500 help to make the field pollination device 200 more stable during lateral movement driven by the first movable seat 320.

[0087] Specifically, the frame 100 can be represented as four upright structures, located at the four corners of a rectangle. In this case, there are two longitudinal traveling devices 400, positioned on either side of the transverse traveling device 300. Each longitudinal traveling device 400 corresponds to two frames 100. Each longitudinal traveling device 400 includes a second steel cable 410, a second movable seat 420, two second wheel sets 430, a first guide wheel 440, two second guide wheels 450, and a third drive unit 460. The second steel cable 410 extends in a loop along both the longitudinal and vertical directions; the second movable seat 420 is provided with a second clearance channel 421 along the longitudinal direction at the upper and lower sections of the second steel cable 410 respectively; two second wheel sets 430 are respectively disposed at the two second clearance channels 421, each second wheel set 430 includes at least two second idler wheels 431 disposed on the upper and lower sides of the corresponding steel cable section, each second idler wheel 431 interfering with and abutting against the corresponding steel cable section; the first guide wheel 440 is rotatably mounted on the second movable seat 420 around the longitudinally extending axis, and is allowed to be movably wound around the first steel cable 310; two second guide wheels 450 are longitudinally spaced on the frame 100, and are respectively allowed to be movably wound around the two ends of the second steel cable 410; the third drive 460 is disposed on the frame 100 and has a third output shaft that rotates around the transversely extending axis, the third output shaft being coaxially mounted with at least one second guide wheel 450.

[0088] When the third drive 460 starts running, guided by the two second guide wheels 450, it drives the second steel cable 410 to rotate in its own ring, which in turn drives the second movable seat 420 to move longitudinally, and the entire lateral walking device 300 to move longitudinally. The operation of the third drive 460 in the two longitudinal walking devices 400 is basically synchronized, so that the second movable seats 420 connected to the lateral ends of the lateral walking device 300 by the first steel cable 310 move synchronously, ensuring that the field pollination device 200 moves more smoothly and efficiently in the field in both the lateral and longitudinal directions.

[0089] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A field pollination device, characterized in that, include: Fixed base; Mounting bracket, the upper end of which is rotatably mounted to the lower end of the fixed base about a vertically extending axis; Mounting base, connected and fixed to the lower end of the mounting bracket; The powder suction module is located on the horizontal side of the mounting base and has a powder suction channel; A powder dispensing module is located on the other side of the mounting base in the horizontal direction and is provided with a powder dispensing channel; and, An air-driving device is connected to the pollen-absorbing channel and the pollen-exiting channel respectively, so as to form a suction airflow from the pollen-absorbing channel through the air-driving device to the pollen-exiting channel. The suction airflow carries pollen from the male plant to the female plant.

2. The field pollination device of claim 1, wherein, The powder absorption module includes: The first block has the powder-absorbing channel formed inside. The powder-absorbing channel has multiple mounting holes distributed on the side opposite to the mounting base. The powder-absorbing channel also has a first connecting hole. A first pipe connector, installed in the first connecting hole and protruding from the first block, is connected to the air intake port of the air-driving device via a pipe; and... Multiple contacts are provided, each corresponding to one of the mounting holes, and are detachably connected to the corresponding mounting holes. Each contact has a powder suction port, and at least the portion of the contact that forms the powder suction port is made of a flexible material.

3. The field pollination device of claim 1, wherein, The powder-absorbing module is oscillatingly mounted on the mounting base around an axis extending horizontally. The field pollination device further includes a drive mechanism, which is disposed on the mounting base and drivenly connected to the pollen-absorbing module. The drive mechanism includes: The first driver has a first output shaft that rotates about an axis extending in a horizontal direction; The drive gear is coaxially mounted on the first output shaft; and, The driven gear is installed in the powder suction module and meshes with the driving gear.

4. The field pollination device of claim 1, wherein, The powder dispensing module includes: The second block has the powder outlet channel formed inside, and the powder outlet channel has an opening on the side opposite to the mounting base. The powder outlet channel is also provided with a second connecting hole. A second pipe connector, installed in the second connecting hole and protruding from the second block, is connected to the exhaust port of the air-driving device via a pipe; and... A grid element is provided over the opening, and the grid element defines a plurality of powder outlets.

5. The field pollination device of claim 1, wherein, The air-driving device is fixedly installed on the upper end of the fixed base; and / or, The mounting bracket includes at least two bracket units, and each pair of adjacent bracket units is hinged to each other by a pivot extending in the horizontal direction.

6. The field pollination device of claim 1, wherein, The field pollination device also includes: A rotating gimbal is disposed between the fixed base and the mounting bracket to drive the mounting bracket to rotate relative to the fixed base; and / or, A counterweight is provided on the mounting base to limit the shift of the center of gravity of the field pollination device during the rotation of the mounting base relative to the fixed base by the mounting bracket.

7. A field pollination cord robot, characterized in that, include: frame; The field pollination device as described in any one of claims 1 to 6, wherein the field pollination device is movably mounted on the frame in both the transverse and longitudinal directions; A lateral walking device, connected to the field pollination device, to drive the field pollination device to move laterally; and, A longitudinal walking device is connected to the field pollination device to drive the field pollination device to move longitudinally.

8. The field pollination cord robot of claim 7, wherein, The lateral walking device includes: The first steel cable extends in a loop both horizontally and vertically; The first movable seat, the field pollination device is suspended below the first movable seat by a rope; A second driver is disposed on the first movable seat and has a second output shaft that rotates about an axis extending longitudinally. The guide wheel assembly is located on the first movable seat and includes an active guide wheel and a driven guide wheel respectively located on the upper and lower sides of a section of the first steel cable. The active guide wheel is coaxially mounted on the second output shaft, and the driven guide wheel interferes with and abuts against the active guide wheel through the first steel cable.

9. The field pollination cord robot of claim 8, wherein, The field pollination rope robot also includes at least two counterweight components, each of which is equally distributed on both sides of the lateral walking device; the counterweight components include: The main block has first clearance channels extending laterally at the upper and lower sections of the first steel cable, respectively; and, Two first wheel sets are respectively located at the two first clearance channels. Each first wheel set includes at least two first idler wheels located on the upper and lower sides of the corresponding steel cable segment. Each first idler wheel interferes with and abuts against the corresponding steel cable segment.

10. The field pollination rope robot as described in claim 8, characterized in that, Two longitudinal traveling devices are provided, and are respectively arranged on both sides of the transverse traveling device. Each longitudinal traveling device includes: The second steel cable extends in a loop along both the longitudinal and vertical directions; The second movable seat has a second clearance channel running longitudinally through the upper and lower sections of the second steel cable, respectively. Two second wheel sets are respectively located at two second clearance channels. Each second wheel set includes at least two second idler wheels located on the upper and lower sides of the corresponding steel cable segment. Each second idler wheel interferes with and abuts against the corresponding steel cable segment. The first guide wheel is rotatably mounted on the second movable seat about an axis extending longitudinally, and is used for the first steel cable to be movably wound around. Two second guide wheels are longitudinally spaced on the frame and are respectively provided for the two ends of the second steel cable to be movably wound around; and, A third drive, disposed on the frame, has a third output shaft that rotates about a laterally extending axis, the third output shaft being coaxially mounted with at least one of the second guide wheels.

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