CN114667928A - End effector and device for pollinating strawberry flowers - Google Patents
End effector and device for pollinating strawberry flowers Download PDFInfo
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- CN114667928A CN114667928A CN202210503643.2A CN202210503643A CN114667928A CN 114667928 A CN114667928 A CN 114667928A CN 202210503643 A CN202210503643 A CN 202210503643A CN 114667928 A CN114667928 A CN 114667928A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01H—NEW PLANTS OR NON-TRANSGENIC PROCESSES FOR OBTAINING THEM; PLANT REPRODUCTION BY TISSUE CULTURE TECHNIQUES
- A01H1/00—Processes for modifying genotypes ; Plants characterised by associated natural traits
- A01H1/02—Methods or apparatus for hybridisation; Artificial pollination ; Fertility
- A01H1/027—Apparatus for pollination
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Abstract
The invention discloses an end effector and a device for pollinating strawberry flowers, wherein the end effector comprises a control device, an air pump, a mechanism connecting piece and an air flow adjusting mechanism, the mechanism connecting piece comprises a connecting piece main body, a buffer air chamber connected with the connecting piece main body, an air chamber air inlet and an air chamber air outlet which are arranged on the buffer air chamber, and an air chamber air outlet guide pipe communicated with the air chamber air outlet; the air pump is connected with the connecting piece main body, and an air outlet of the air pump is communicated with an air inlet of the air chamber through an air pump conduit; the air flow adjusting mechanism comprises a bracket, a deflection mechanism and a connecting rod mechanism, the bracket is connected with the buffer air chamber, the deflection mechanism and the connecting rod mechanism are both arranged on the bracket, the connecting rod mechanism is connected with the deflection mechanism, and the air chamber air outlet guide pipe is connected with the connecting rod mechanism; the control device is used for controlling the air output of the air pump and the deflection of the deflection mechanism to drive the connecting rod mechanism to move, thereby controlling the size and the direction of the air flow blown out from the air outlet guide pipe of the air chamber. The invention can carry out precise pollination on pistils in a non-contact way.
Description
Technical Field
The invention relates to the technical field of agriculture and forestry of facilities, in particular to an end effector and a device for pollinating strawberry flowers.
Background
The strawberry is perennial herb plant of the Rosaceae strawberry, has strong adaptability, is one of the fruits with the widest cultivation area in the world, is the second largest berry in China at present because the strawberry has extremely high nutrition, medicinal value and anti-aging effect and tastes sour, sweet and delicious and is popular with people, in recent years, the strawberry picking garden is rapidly developed, the consumption of the strawberry gradually becomes an indispensable component of the domestic fruit market, and the pollination technology of the strawberry flowers in the strawberry cultivation technology is very key.
At present, natural pollination, artificial pollination and bee pollination are mainly used for pollinating strawberry flowers; the natural pollination mainly refers to opening a ventilation door of a greenhouse to enable insects to naturally fly into the greenhouse to pollinate strawberry flowers, but the natural pollination is different from the open outdoor environment, the pollination is assisted without the effect of wind in the greenhouse, the insects are difficult to enter the greenhouse to pollinate the flowers, even if the insects enter the greenhouse to pollinate, the efficiency is very low, the efficiency and the accuracy cannot be guaranteed, and the natural pollination mode also has the defect that the current temperature balance in the greenhouse can be possibly damaged, so that the crop growth is influenced; the artificial pollination mainly means that a brush is directly used for dipping stamen pollen on the surface of stamens and brushing the stamens pollen on the surface of the stamens, or air blowing is used for spraying the stamens one by one after the stamen pollen is collected, but because the number of strawberry flowers is large, the artificial pollination wastes time and energy and the situation of missing pollination exists possibly, the artificial pollination is difficult to ensure the uniformity and the accuracy of the applied force, if the brushing is not uniform, certain ovary structures cannot develop, deformed fruits lose economic value can be formed, if the applied force is not accurate, the ovary structures are damaged carelessly, the deformed fruits or sterile fruits can be generated, meanwhile, the strawberry pollen is different from the pollen of other crops and is very difficult to spray after the air blowing is collected; bee pollination mainly means that bees are raised to pollinate by virtue of the bees while strawberries are planted in a greenhouse, but bee colony management is difficult, and the bees are injured and killed due to improper management, so that the fruit setting rate is reduced.
Therefore, considering that the artificial pollination is time-consuming and labor-consuming in the prior greenhouse for planting strawberries, the pistil ovary structure is easy to damage due to inaccurate force application, the bee pollination is high in cost, the natural pollination efficiency and the accuracy are low, and the like, an automatic device capable of carrying out artificial pollination is urgently needed in the market to achieve the purposes of saving the labor cost and accurately controlling the pollination.
It is noted that the information disclosed in the above background section is only for understanding of the background of the present application and therefore may include information that does not constitute prior art that is known to a person of ordinary skill in the art.
Disclosure of Invention
The main purpose of the present invention is to overcome the above-mentioned drawbacks of the background art, and to provide an end effector and a device for pollinating strawberry flowers.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides an end effector for pollination of strawberry flower, includes controlling means, air pump, mechanism's connecting piece and air current adjustment mechanism, wherein: the mechanism connecting piece comprises a connecting piece main body, a buffer air chamber, an air chamber air inlet, an air chamber air outlet and an air chamber air outlet guide pipe, wherein the buffer air chamber is connected with the connecting piece main body, the air chamber air inlet and the air chamber air outlet are both arranged on the buffer air chamber, and the air chamber air outlet guide pipe is communicated with the air chamber air outlet; the air pump is connected with the connecting piece main body, and an air outlet of the air pump is communicated with an air inlet of the air chamber through an air pump conduit; the air flow adjusting mechanism comprises a support, a deflection mechanism and a connecting rod mechanism, the support is connected with the buffer air chamber, the deflection mechanism and the connecting rod mechanism are both arranged on the support, the connecting rod mechanism is also connected with the deflection mechanism, and the air chamber air outlet guide pipe is connected with the connecting rod mechanism; the control device is used for controlling the air outlet quantity of the air pump and controlling the deflection of the deflection mechanism to drive the connecting rod mechanism to move, so that the size and the direction of the air flow blown out from the air outlet guide pipe of the air chamber are controlled.
Preferably, the deflection mechanism comprises a steering engine and a steering wheel, the steering engine is mounted on the support, and the steering wheel and the steering engine are concentrically fixed on the steering engine and meshed with the steering engine.
Preferably, the link mechanism comprises a first link, a cross latch, a second link and a third link, one end of the first link is connected with the steering wheel, the other end of the first link is connected with the cross latch, two ends of the second link are respectively connected with the cross latch and one end of the third link, the third link is movably connected with the bracket, and the air chamber air outlet duct is fixedly connected with the tail end of the third link; the first connecting rod horizontally rotates along with the deflection of the rudder disc, and the cross lock catch and the second connecting rod convert the horizontal movement of the first connecting rod into the opening and closing movement of the tail end of the third connecting rod, so that the opening and closing angle of the tail end of the third connecting rod is controlled to control the direction of airflow blown out by the air chamber air outlet guide pipe.
Preferably, the buffer air chamber is a flange air chamber, the connecting piece main body is concentrically fixed with the flange air chamber, and the air chamber air inlet and the air chamber air outlet are both arranged on the side face of the flange air chamber.
Preferably, the number of the air chamber air outlets is 3-5, the number of the link mechanisms is equal to that of the air chamber air outlets, and one air chamber air outlet guide pipe is correspondingly connected and fixed to the tail end of one third link.
Preferably, the number of the air inlets of the air chamber is one, and the air outlets of the air chamber are distributed on the side surface of the buffer air chamber in an equal radian manner.
Preferably, the first link is arc-shaped.
Preferably, the deflection angle of the rudder disk is 0-90 °, and the opening and closing angle of the end of the third link is 0-60 °.
Preferably, the control device is a main control panel fixed to the top of the connector body, and the air pump is installed on the side of the connector body.
The utility model provides a device for pollinating strawberry flowers, includes end effector and the arm that has RGB-D ability, end effector installs the end of arm, end effector's controlling means with the controller communication connection of arm to control based on the instruction of the controller of arm the air output of air pump, and control deflection mechanism's deflection drives link mechanism moves, thereby control the size and the direction that the air chamber is given vent to anger the pipe and is blown out the air current.
The invention has the following beneficial effects: according to the invention, the control device can realize accurate control on the angle of the deflection mechanism and control on the size of the air flow output by the air pump, the deflection of the deflection mechanism further controls the opening and closing angle of the link mechanism relative to the axis of the deflection mechanism so as to control the direction of the air flow output by the air pump, so that the air flow is accurately blown onto the anther at a proper air flow and direction to lift the anther, and the anther is pollinated in a non-contact manner, therefore, the integration and the matching are higher, the accurate pollination automation of strawberries is realized, and the problems that labor and labor are wasted when people use pollination, the structure of the pistil is easily damaged when the force is not accurately exerted, the cost of bee pollination is high and the like are solved.
Drawings
FIG. 1 is a schematic perspective view of an end effector for pollinating strawberry flowers in an embodiment of the present invention;
FIG. 2 is an enlarged schematic view of a portion A of FIG. 1;
FIG. 3 is an enlarged schematic view of a portion B of FIG. 1;
FIG. 4 is a schematic structural diagram of a control device of an end effector in an embodiment of the present invention;
FIG. 5 is a schematic diagram of an end effector air pump according to an embodiment of the present disclosure;
FIG. 6 is a schematic structural view of a mechanical linkage of an end effector in an embodiment of the present invention;
fig. 7 is a schematic structural view of an air flow adjusting mechanism of an end effector in an embodiment of the present invention.
Detailed Description
The embodiments of the present invention will be described in detail below. It should be emphasized that the following description is merely exemplary and is not intended to limit the scope and application of the present invention, embodiments and features of the embodiments in the present application may be combined with each other without conflict
It will be understood that when an element is referred to as being "secured to," "disposed on," or "mounted to" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. In addition, the connection may be for either a fixed or coupled or communicating function.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the embodiments of the present invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be in any way limiting of the present invention.
Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to a number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.
Referring to fig. 1 to 7, an end effector for pollinating strawberry flowers according to an embodiment of the present invention includes a control device 1, an air pump 2, a mechanism connecting member 3, and an air flow adjusting mechanism 4, wherein: the mechanism connecting piece 3 comprises a connecting piece main body 31, a buffer air chamber 32, an air chamber air inlet 33, an air chamber air outlet 34 and an air chamber air outlet guide pipe 35, wherein the buffer air chamber 32 is connected with the connecting piece main body 31, the air chamber air inlet 33 and the air chamber air outlet 34 are both arranged on the buffer air chamber 32 and communicated with the interior of the buffer air chamber 32, and the air chamber air outlet guide pipe 35 is communicated with the air chamber air outlet 34; the air pump 2 is connected with the connecting piece main body 31, and the air outlet 22 of the air pump 2 is communicated with the air inlet 33 of the air chamber through an air pump conduit 23; the air flow adjusting mechanism 4 comprises a bracket 47, a deflection mechanism and a link mechanism, wherein the bracket 47 is connected with the buffer air chamber 32, the deflection mechanism and the link mechanism are both arranged on the bracket 47, the link mechanism is also connected with the deflection mechanism, and the air chamber outlet guide pipe 35 is connected with the link mechanism; controlling means 1 is used for controlling the air output of air pump 2, and the deflection of control deflection mechanism drives the link mechanism motion, thereby control air chamber air outlet pipe 35 blows off the size and the direction of air current, in order to reach the impact effect to the strawberry pollen, make pollen raise in the narrow range air, settle naturally on the pistil, the pollination automation to the strawberry has been realized, it takes trouble and laboursome to have solved to use artifical pollination, and destroy pistil structure hard not accurate easily hard, use bee pollination problem such as with high costs.
In a preferred embodiment, the control device 1 is a main control board, which is fixed on the top of the connector main body 31, for example, the main control board may be fixed in a slot hole at the top end of the connector main body, and may use a flat head screw to constrain the position of the main control board, referring to fig. 4, an XT30 power interface 11 and a Type-C interface 12 may be arranged on the main control board for power input and communication with an upper computer and a lower computer (such as a mechanical arm, a steering engine, and an air pump, which will be described later); the buffer air chamber 32 is a flange air chamber and is used for buffering the air flow coming out of the air pump 2 and uniformly blowing the air flow out of the air chamber air outlet 34 through the air chamber air outlet guide pipe 35, the buffer air chamber 32 and the connecting piece main body 31 are concentrically arranged at the bottom of the connecting piece main body 31, the air chamber air inlet 33 and the air chamber air outlet 34 are both arranged on the side surface of the flange air chamber, the air pump 2 is arranged on the side surface of the connecting piece main body 31, and the air flow adjusting mechanism 4 is positioned below the buffer air chamber 32.
In a preferred embodiment, as shown in fig. 5, the air pump 2 comprises a pump body 24, an air inlet 21, an air outlet 22, and an air pump guide 23, wherein the pump body 24 comprises a cylindrical big end and a cylindrical small end which are connected into a whole, the small end of the pump body 24 is inserted into a counterbore on the side surface of the connector body 31, the air inlet 22 is fixed on the back surface of the big end of the pump body 24, the air outlet 22 is fixed on the front surface of the big end of the pump body 24, and the air pump guide 23 is fixed on the air outlet 22 for outputting air flow with a certain pressure. Air pumps of different types can be adopted according to requirements to obtain the required air output, and in the example, the air pump with the air output controllable within the range of 0-18L/min is adopted.
In a preferred embodiment, as shown in fig. 6 to 7, the deflecting mechanism in the airflow adjusting mechanism 4 includes a steering wheel 41 and a steering wheel 42, the steering wheel 42 is mounted on a bracket 47, the steering wheel 41 and the steering wheel 42 are concentrically fixed on the steering wheel 42 and are engaged with the steering wheel 42, that is, the steering wheel 42 and the steering wheel 41 use teeth to perform engagement transmission, and the steering wheel 42 rotates to drive the steering wheel 41 to rotate by the same radian. The link mechanism in the airflow adjusting mechanism 4 includes a first link 43, a cross latch 44, a second link 45, and a third link 46, where the first link 43, the cross latch 44, the second link 45, and the third link 46 are sequentially connected one by one (for example, connected by a tuck bolt) to form the link mechanism, and specifically, the cross latch 44 is connected to one end of the first link 43 and one end of the second link 45 by a tuck bolt, the other end of the second link 45 is connected to one end of the third link 46 by a tuck bolt, the other end of the first link 43 is fixed to the steering wheel 41, the rod body of the third link 46 is movably connected to the bracket 47 (for example, movably connected by a shaft), the other end (i.e., the end) of the third link 46 is used as a free end, the air chamber outlet duct 35 is fixedly connected to the end of the third link (for example, as shown in fig. 1, a through hole is provided on the rod body of the third link 46, the air chamber outlet duct 35 is fixed to the end of the third connecting rod by interference fit with the through hole), when the control device 1 controls the rotation angle of the steering engine, the steering engine 42 rotates and drives the steering wheel 41 to rotate at the same angular velocity, so as to drive the first connecting rod 43 to rotate, when the first connecting rod 43 rotates, the cross lock 44 and the second connecting rod 45 convert the horizontal rotation of the first connecting rod 43 into the opening and closing movement of the end of the third connecting rod 46 (namely, the rod body of the third connecting rod 46 takes the position movably connected with the support 47 as a fulcrum, and the end of the third connecting rod is opened outwards or closed inwards relative to the axis of the steering wheel), and the direction of the air flow blown out from the air chamber outlet duct 35 can be controlled by the opening and closing movement of the end of the third connecting rod 46.
In the preferred example, the bracket 47 functions to support and connect the steering mechanism and the linkage mechanism, and is shaped so as not to interfere with the first link 43 during rotation, the first link being arc-shaped with an arc of 72 °, in this example the steering angle of the steering wheel can be controlled to be 0-90 °, and the opening and closing angle (i.e. opening angle) of the end of the third link with respect to the steering wheel axis is in the range of 0-60 °.
In a preferred embodiment, as shown in fig. 3, one air chamber air inlet is provided, but not limited to one air chamber air inlet, in other examples, there may be other numbers of air chamber air inlets, there are 3-5 air chamber air outlets, in this example, there are 5 air chamber air outlets, the 5 air chamber air outlets are distributed on the side of the buffer air chamber in an equal arc (i.e., at equal intervals), the number of the link mechanisms is equal to or 5 than the number of the air chamber air outlets, one air chamber air outlet conduit 35 is correspondingly connected and fixed to the end of one third link, and the change of the directions of the multiple paths of air flows can be realized only by rotating one steering engine using the link mechanisms.
When the end effector in the above embodiments is applied, the end effector may be fixed to the end of a six-degree-of-freedom (6DOF) robot arm having RGB-D (i.e., Depth image is common RGB three-channel color image + Depth Map) (for example, an RGB-D Depth camera is mounted at the end of the robot arm), so that the robot arm may perform object grabbing and accurate recognition and positioning in cooperation with hands and eyes, and after RGB-D image detection and pose generation, the robot arm may move the end effector to a suitable position for the next operation, specifically, the working process includes the following steps:
(1) the mechanical arm moves the end effector to a proper position according to the strawberry flowers and positions shot by the RGB-D depth camera;
(2) the end effector is close to a target strawberry flower and is communicated with the mechanical arm through a (Type-C) interface 12, the mechanical arm sends out a command to control the air pump 2 to output airflow with preset air flow and control the steering engine 42 to rotate by a preset angle, the steering engine 42 rotates and drives the steering wheel 41 to rotate at the same angular speed, and then the first connecting rod 43 is driven to rotate, the cross lock catch 44 and the second connecting rod 45 convert the horizontal rotation of the first connecting rod 43 into the opening and closing movement of the third connecting rod 46 relative to the axis of the steering wheel, so that the air chamber air outlet pipe 35 fixed at the tail end of the third connecting rod 46 is driven to open by a preset angle along with the tail end of the third connecting rod 46 to control the flow direction of air;
(3) the air chamber outlet duct 35 simultaneously blows the air flow to the anther accurately to lift the anther, so that the anther is settled on pistil independently to complete pollination, and pollination to the pistil in a non-contact manner is realized.
The end effector and the pollination device in the embodiment of the invention have the following advantages:
1. the airflow is used for one-by-one non-contact pollination, so that the anther is uniformly settled, a rigid object is not in direct contact with the ovary structure of the strawberry to cause the strawberry to be damaged, the fruit setting rate of the strawberry is improved, and the malformed fruit rate is reduced.
2. The color of the strawberry flower is pure white, stamens are bright yellow, branches, leaves and ovaries are green, and the threshold value difference of the color is large, so that the flower can be conveniently identified by using RGB-D, the pose of the mechanical arm can be adjusted accurately to the position of the flower, the end effector is opened to carry out pollination operation, the end effector can adjust the size and the direction of airflow, the airflow can be properly adjusted according to RGB-D during pollination, and the size and the direction of the airflow can reach the proper sizes of different flowers.
3. Because the number of flowers is large, the artificial pollination is troublesome and labor-consuming, the repeated labor can be reduced by directly using the artificial pollination machine disclosed by the invention.
The background of the present invention may contain background information related to the problem or environment of the present invention and does not necessarily describe the prior art. Accordingly, the inclusion in the background section is not an admission of prior art by the applicant.
The foregoing is a further detailed description of the invention in connection with specific/preferred embodiments and it is not intended to limit the invention to the specific embodiments described. It will be apparent to those skilled in the art that various substitutions and modifications can be made to the described embodiments without departing from the spirit of the invention, and these substitutions and modifications should be considered to fall within the scope of the invention. In the description herein, references to the description of the term "one embodiment," "some embodiments," "preferred embodiments," "an example," "a specific example," or "some examples" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Those skilled in the art will be able to combine and combine features of different embodiments or examples and features of different embodiments or examples described in this specification without contradiction. Although embodiments of the present invention and their advantages have been described in detail, it should be understood that various changes, substitutions and alterations can be made herein without departing from the scope of the claims.
Claims (10)
1. The utility model provides an end effector for pollination of strawberry flower which characterized in that, includes controlling means, air pump, mechanism's connecting piece and air current adjustment mechanism, wherein:
the mechanism connecting piece comprises a connecting piece main body, a buffer air chamber, an air chamber air inlet, an air chamber air outlet and an air chamber air outlet guide pipe, wherein the buffer air chamber is connected with the connecting piece main body, the air chamber air inlet and the air chamber air outlet are both arranged on the buffer air chamber, and the air chamber air outlet guide pipe is communicated with the air chamber air outlet;
the air pump is connected with the connecting piece main body, and an air outlet of the air pump is communicated with an air inlet of the air chamber through an air pump conduit;
the air flow adjusting mechanism comprises a support, a deflection mechanism and a connecting rod mechanism, the support is connected with the buffer air chamber, the deflection mechanism and the connecting rod mechanism are both arranged on the support, the connecting rod mechanism is also connected with the deflection mechanism, and the air chamber air outlet guide pipe is connected with the connecting rod mechanism;
the control device is used for controlling the air output of the air pump and controlling the deflection of the deflection mechanism to drive the connecting rod mechanism to move, so that the size and the direction of the air flow blown out from the air outlet conduit of the air chamber are controlled.
2. The end effector as set forth in claim 1 wherein: the deflection mechanism comprises a steering engine and a steering wheel, the steering engine is mounted on the support, and the steering wheel and the steering engine are concentrically fixed on the steering engine and meshed with the steering engine.
3. The end effector as set forth in claim 2 wherein: the connecting rod mechanism comprises a first connecting rod, a cross lock catch, a second connecting rod and a third connecting rod, one end of the first connecting rod is connected with the steering wheel, the other end of the first connecting rod is connected with the cross lock catch, two ends of the second connecting rod are respectively connected with the cross lock catch and one end of the third connecting rod, the third connecting rod is movably connected with the support, and the air chamber air outlet guide pipe is fixedly connected with the tail end of the third connecting rod;
the first connecting rod horizontally rotates along with the deflection of the rudder disc, and the cross lock catch and the second connecting rod convert the horizontal movement of the first connecting rod into the opening and closing movement of the tail end of the third connecting rod, so that the opening and closing angle of the tail end of the third connecting rod is controlled to control the direction of airflow blown out by the air chamber air outlet guide pipe.
4. The end effector as set forth in claim 1 wherein: the buffer air chamber is a flange air chamber, the connecting piece main body is concentrically fixed with the flange air chamber, and the air chamber air inlet and the air chamber air outlet are both arranged on the side face of the flange air chamber.
5. The end effector as set forth in claim 3 wherein: the number of the air chamber air outlets is 3-5, the number of the connecting rod mechanisms is equal to that of the air chamber air outlets, and one air chamber air outlet guide pipe is correspondingly connected and fixed at the tail end of one third connecting rod.
6. The end effector as set forth in claim 5 wherein: the number of the air inlets of the air chamber is one, and the air outlets of the air chamber are distributed on the side surface of the buffer air chamber in an equal radian manner.
7. The end effector as set forth in claim 5 wherein: the first link is arcuate.
8. The end effector as set forth in claim 3 wherein: the deflection angle of the rudder disc is 0-90 degrees, and the opening and closing angle of the tail end of the third connecting rod is 0-60 degrees.
9. The end effector as set forth in claim 1 wherein: the control device is a main control board and is fixed at the top of the connecting piece main body, and the air pump is installed on the side face of the connecting piece main body.
10. An apparatus for pollinating strawberry flowers, comprising an end effector as claimed in any one of claims 1 to 9 and an RGB-D-capable mechanical arm, wherein the end effector is mounted at the end of the mechanical arm, and a control device of the end effector is in communication with a controller of the mechanical arm, and controls the air output of the air pump based on the instruction of the controller of the mechanical arm, and controls the deflection of the deflection mechanism to drive the linkage mechanism to move, so as to control the size and direction of the air flow blown out from the air chamber outlet conduit.
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| CN202210503643.2A CN114667928B (en) | 2022-05-10 | 2022-05-10 | End effector and device for pollinating strawberry flowers |
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| CN202210503643.2A CN114667928B (en) | 2022-05-10 | 2022-05-10 | End effector and device for pollinating strawberry flowers |
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| CN114667928B CN114667928B (en) | 2022-12-20 |
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| CN113207675A (en) * | 2021-05-10 | 2021-08-06 | 北京农业智能装备技术研究中心 | Airflow vibration type facility crop automatic pollination device and method |
| CN113207680A (en) * | 2021-05-26 | 2021-08-06 | 钟秋银 | Big-arch shelter strawberry artificial pollination device |
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