CN107593629A - A kind of intelligent robot and intelligent cocoonery - Google Patents
A kind of intelligent robot and intelligent cocoonery Download PDFInfo
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- CN107593629A CN107593629A CN201711049377.6A CN201711049377A CN107593629A CN 107593629 A CN107593629 A CN 107593629A CN 201711049377 A CN201711049377 A CN 201711049377A CN 107593629 A CN107593629 A CN 107593629A
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- control device
- intelligent robot
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- 241000255789 Bombyx mori Species 0.000 claims abstract description 105
- 239000007921 spray Substances 0.000 claims abstract description 61
- 240000000249 Morus alba Species 0.000 claims abstract description 40
- 235000008708 Morus alba Nutrition 0.000 claims abstract description 39
- 239000003814 drug Substances 0.000 claims abstract description 33
- 230000033001 locomotion Effects 0.000 claims abstract description 12
- 230000001954 sterilising effect Effects 0.000 claims abstract description 7
- 238000004659 sterilization and disinfection Methods 0.000 claims abstract description 7
- 238000005507 spraying Methods 0.000 claims description 16
- 238000000151 deposition Methods 0.000 claims description 8
- 230000005611 electricity Effects 0.000 claims description 3
- 235000018639 Terminalia sericea Nutrition 0.000 claims 1
- 241000844454 Terminalia sericea Species 0.000 claims 1
- 230000007480 spreading Effects 0.000 abstract description 6
- 230000000694 effects Effects 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 3
- 230000000384 rearing effect Effects 0.000 description 3
- 238000009366 sericulture Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
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- 239000004576 sand Substances 0.000 description 2
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 1
- 235000017491 Bambusa tulda Nutrition 0.000 description 1
- 235000006721 Morus bombycis Nutrition 0.000 description 1
- 244000082204 Phyllostachys viridis Species 0.000 description 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 239000011425 bamboo Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009395 breeding Methods 0.000 description 1
- 230000001488 breeding effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The invention provides a kind of intelligent robot and intelligent cocoonery, it is related to agriculture field.Wherein intelligent robot, for to the silkworm sterilization on silkworm frame and to mulberry, intelligent robot includes frame, drive device, control device, signal acquisition device, spray assembly and spreads leaf component, drive device, control device, spray assembly and spreads leaf component and is connected with frame；Signal acquisition device is connected with control device, for obtaining the parameter information of silkworm frame, and is transferred to control device；Control device is connected with drive device, for according to parameter information control drive device motion；Control device is connected with spray assembly, is additionally operable to when drive device is moved, and control spray assembly spills medicine to the silkworm on silkworm frame；Control device is connected with spreading leaf component, is additionally operable to when drive device is moved, and control spreads leaf component to the silkworm on silkworm frame to mulberry.The silkworm that intelligent robot provided by the invention can be given on silkworm frame sterilizes and to mulberry, improves intelligence machine task efficiency.
Description
Technical field
The present invention relates to agriculture field, in particular to a kind of intelligent robot and intelligent cocoonery.
Background technology
For cocoonery as the term suggests being exactly the house for being used for breeding silkworms, the workload of sericulture is concentrated mainly on big silkworm rearing season（4~5 ages
Phase）, the workload of big silkworm rearing season accounts for the 82% of sericulture workload.It is concentrated mainly on picking leaves, feeds leaf, removes sand, picking up upper cluster of matured silkworm etc.
In process.It is all to be raised in bamboo tray for raising silkworms the full age of silkworm that tradition, which is bred silkworms, and the work such as big silkworm rearing season feeds leaf, removed sand not only had been taken time but also flower power
Gas, have a strong impact on kind of Sang Yangcan economic benefit and silkworm raiser's sericulture enthusiasm.
Cocoonery on the market spills medicine and is all to use manpower to mulberry at present, result in and spills medicine and the operating efficiency pole to mulberry
It is low.
The content of the invention
It is an object of the invention to provide a kind of intelligent robot, intelligent robot provided by the invention can be given on silkworm frame
Silkworm sterilization and to mulberry, improve intelligence machine task efficiency.
It is an object of the invention to provide a kind of intelligent cocoonery, intelligent cocoonery provided by the invention can sterilize and give to silkworm
Mulberry, improve the operating efficiency of intelligent cocoonery.
The present invention provides a kind of technical scheme：
A kind of intelligent robot, for the silkworm sterilization on silkworm frame and to mulberry, the intelligent robot to include frame, driving dress
Put, control device, signal acquisition device, spray assembly and spread leaf component, the drive device, the control device, the spray
Spill component and the leaf component that spreads is connected with the frame；
The signal acquisition device is connected with the control device, for obtaining the parameter information of the silkworm frame, and is transferred to institute
State control device；
The control device is connected with the drive device, for controlling the drive device motion according to the parameter information；
The control device is connected with the spray assembly, is additionally operable to, when the drive device is moved, control the sprinkling group
Part spills medicine to the silkworm on the silkworm frame；
The control device is connected with the leaf component that spreads, and is additionally operable to, when the drive device is moved, leaf group be spread described in control
Part is to the silkworm on the silkworm frame to mulberry.
Further, in preferred embodiments of the present invention,
The signal acquisition device is used for the appearance and size information for obtaining the silkworm frame；
The control device is additionally operable to according to the appearance and size information planning path, and controls the drive device along the rule
Draw path motion.
Further, in preferred embodiments of the present invention, the path planning includes first paragraph and second segment, and described
One section opposite with second segment path equidirectional；
The control device is used for when the drive device is moved along the first paragraph, controls the spray assembly to the silkworm
Silkworm on frame spills medicine；
The control device is used for when the drive device is moved along the second segment, and leaf component is spread described in control to the silkworm
Silkworm on frame is to mulberry.
Further, in preferred embodiments of the present invention, the spray assembly includes the first linking arm, medicine-chest and sprinkling
Part, one end and the gantry motion of first linking arm, the spraying pack unit are arranged on first linking arm away from described
One end of frame, the medicine-chest are arranged on first linking arm.
Further, in preferred embodiments of the present invention, the spraying pack unit includes shell, the first motor, shower nozzle
Formed and shower nozzle connecting rod, the shell are connected with first linking arm, between the shell and first linking arm empty
Chamber, first motor are connected by the shower nozzle connecting rod with the shower nozzle, and first motor is used to work as institute
Stating medicine enters to drive the shower nozzle connection to rotate, to drive the sprinkler rotation, by the herbal sprinkling to the silkworm frame
On.
Further, in preferred embodiments of the present invention, guide groove is provided with the shower nozzle, for draining the medicine
Thing.
Further, in preferred embodiments of the present invention, the leaf component that spreads includes the second linking arm, the second driving electricity
Machine, leaf cylinder and foliage component are deposited, the leaf cylinder of depositing is connected by second linking arm with the frame, and the foliage component is set
Put and deposit the one end of leaf cylinder away from second linking arm described,
The leaf cylinder of depositing is used to deposit mulberry leaf；
The drive device is connected to drive the foliage component movement with the foliage component, is deposited described in leaf cylinder
Mulberry leaf paving is spilt to the silkworm frame.
Further, in preferred embodiments of the present invention, the foliage component is oppositely arranged on rotating shaft including two, and two
Form gap between the individual rotating shaft, second motor is used to drive two axis of rotation, makes described to deposit leaf cylinder
In mulberry leaf discharged from the gap described in deposit leaf cylinder paving spill to the silkworm frame.
Further, in preferred embodiments of the present invention, the foliage component also includes guide plate, and the guide plate is set
Put and deposited described in leaf cylinder, in the mulberry leaf placement and the guide plate.
A kind of intelligent cocoonery, including multiple silkworm framves and intelligent robot, multiple silkworm framves are arranged in order, the intelligent machine
Device people includes frame, drive device, control device, signal acquisition device, spray assembly and spreads leaf component, the drive device,
The control device, the spray assembly and the leaf component that spreads are connected with the frame；
The signal acquisition device is connected with the control device, for obtaining the parameter information of the silkworm frame, and is transferred to institute
State control device；
The control device is connected with the drive device, for controlling the drive device motion according to the parameter information；
The control device is connected with the spray assembly, is additionally operable to, when the drive device is moved, control the sprinkling group
Part spills medicine to the silkworm on the silkworm frame；
The control device is connected with the leaf component that spreads, and is additionally operable to, when the drive device is moved, leaf group be spread described in control
Part is to the silkworm on the silkworm frame to mulberry.
The beneficial effect of intelligent robot provided by the invention and intelligent cocoonery is：In the present invention, signal acquisition device
The parameter information of silkworm frame is obtained, and is transferred to control device；Control device is according to parameter information control drive device motion；Control
Device is additionally operable to when drive device is moved, and control spray assembly spills medicine to the silkworm on silkworm frame；Control device is additionally operable to when driving
When device moves, control spreads leaf component to the silkworm on silkworm frame to mulberry.Intelligent robot provided by the invention and intelligent cocoonery can
To the silkworm sterilization on silkworm frame and to mulberry, intelligence machine task efficiency is improved.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 is the structural representation for the intelligent robot that the embodiment of the present invention one provides.
Fig. 2 is the composition frame chart for the intelligent robot that the embodiment of the present invention one provides.
Fig. 3 is the structural representation of the spraying pack unit of the spray assembly for the intelligent robot that the embodiment of the present invention one provides.
Fig. 4 is the knot of the first spray section of the spraying pack unit of the spray assembly for the intelligent robot that the embodiment of the present invention one provides
Structure schematic diagram.
Fig. 5 is the knot of the second spray section of the spraying pack unit of the spray assembly for the intelligent robot that the embodiment of the present invention one provides
Structure schematic diagram.
Fig. 6 is the structural representation for spreading leaf component for the intelligent robot that the embodiment of the present invention one provides.
Fig. 7 is the structural representation of the guidance set for spreading leaf component for the intelligent robot that the embodiment of the present invention one provides.
Icon：10- intelligent robots；100- spray assemblies；110- spraying pack units；112- shells；114- shower nozzles；1142-
One spray section；The cutting parts of 1143- first；The spray sections of 1144- second；The cutting parts of 1145- second；1146- connecting portions；1148- is led
To groove；116- shower nozzle connecting rods；The linking arms of 120- first；130- medicine-chests；200- spreads leaf component；210- foliage components；212- turns
Axle；214- gaps；The linking arms of 220- second；240- deposits leaf cylinder；250- guidance sets；The side plates of 252- first；The side plates of 2522- first
Body；The open plates of 2524- first；The side plates of 254- second；The side plate bodies of 2542- second；The open plates of 2544- second；256- is oriented to
Road；258- open channels；300- signal acquisition devices；400- control devices；500- drive devices；600- frames.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, rather than whole embodiments.The present invention implementation being generally described and illustrated herein in the accompanying drawings
The component of example can be configured to arrange and design with a variety of.
Therefore, below the detailed description of the embodiments of the invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.It is common based on the embodiment in the present invention, this area
The every other embodiment that technical staff is obtained under the premise of creative work is not made, belong to the model that the present invention protects
Enclose.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent accompanying drawing in individual accompanying drawing.
In the description of the invention, it is to be understood that term " on ", " under ", etc. instruction orientation or position relationship be
Based on orientation shown in the drawings or position relationship, or the invention product using when the orientation usually put or position relationship,
The orientation or position relationship that either those skilled in the art usually understand, are for only for ease of the description present invention and simplification is retouched
State, rather than instruction or imply signified equipment or element there must be specific orientation, with specific azimuth configuration and operation,
Therefore it is not considered as limiting the invention.
In addition, term " first ", " second " etc. are only used for distinguishing description, and it is not intended that indicating or implying relatively important
Property.
In the description of the invention, it is also necessary to explanation, unless otherwise clearly defined and limited, term " setting ",
" connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can be
Mechanically connect or electrically connect；Can be joined directly together, can also be indirectly connected by intermediary, can be two
The connection of element internal.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood in the present invention
In concrete meaning.
Embodiment one
Fig. 1 and Fig. 2 are referred to, present embodiments provides a kind of intelligent robot 10, the intelligent robot 10 that the present embodiment provides
The silkworm sterilization that can give on silkworm frame and to mulberry, improves the operating efficiency of intelligent robot 10.
In the present embodiment, intelligent robot 10 includes frame 600, drive device 500, control device 400, signal acquisition
Device 300, spray assembly 100 and leaf component 200 is spread, drive device 500, control device 400, spray assembly 100 and spread leaf group
Part 200 is connected with frame 600.
Signal acquisition device 300 is connected with control device 400, for obtaining the parameter information of silkworm frame, and is transferred to control
Device 400.
Control device 400 is connected with drive device 500, for being moved according to parameter information control drive device 500.
Control device 400 is connected with spray assembly 100, is additionally operable to when drive device 500 is moved, and controls spray assembly
100 spill medicine to the silkworm on silkworm frame.
Control device 400 is connected with spreading leaf component 200, is additionally operable to when drive device 500 is moved, and leaf component is spread in control
200 silkworms given on silkworm frame are to mulberry.
In the present embodiment, signal acquisition device 300 is used for the appearance and size information for obtaining silkworm frame.
Control device 400 is additionally operable to according to appearance and size information planning path, and controls drive device 500 along path planning
Motion.
In the present embodiment, after signal acquisition device 300 gets the appearance and size information of silkworm frame, control device 400 according to
According to the appearance and size path planning of silkworm frame, the path planning is moved along the appearance and size of silkworm frame, allows intelligent robot 10 and silkworm
The air line distance of frame remains pre-determined distance.So as to which ensure intelligent robot 10 spills medicine and effect to mulberry.
It should be noted that in the present embodiment, control device 400 carrys out path planning according to the dimension information of silkworm frame, but
This is not limited to, in other embodiments of the invention, intelligent robot 10 can also include navigation module, navigation module foundation
The appearance and size information planning path of silkworm frame, control device 400 move according to path planning control drive device 500 again.With this
The equivalent scheme of embodiment, can reach the effect of the present embodiment, within the scope of the present invention.
In the present embodiment, path planning includes first paragraph and second segment, first paragraph and second segment path equidirectional phase
Instead.
Control device 400 is used for when drive device 500 is moved along first paragraph, and control spray assembly 100 is on silkworm frame
Silkworm spills medicine.
Control device 400 is used for when drive device 500 is moved along second segment, and control spreads leaf component 200 on silkworm frame
Silkworm is to mulberry.
In the present embodiment, first paragraph is identical with second segment path, in the opposite direction.Can be understood as first paragraph is positive row
Walk, second segment is reversely walking.Control device 400 first controls the 500 positive walking of control drive device, while controls spray assembly
100 spill medicine to the silkworm on silkworm frame.After drive device 500 is positive has walked, rotate along backtracking, it is same what is reversely walked
When, control device 400, which controls, spreads leaf component 200 to the silkworm on silkworm frame to mulberry.
In the present embodiment, spray assembly 100 includes the first linking arm 120, medicine-chest 130 and spraying pack unit 110, the first connection
One end of arm 120 is connected with frame 600, and spraying pack unit 110 is arranged on first one end of linking arm 120 away from frame 600, and and medicine
Case 130 is connected, and medicine-chest 130 is arranged on the first linking arm 120.
In the present embodiment, when drive device 500 drives frame 600 to be moved along first paragraph, the first linking arm 120 moves
To the surface of silkworm frame, being spilt by spraying pack unit 110 to silkworm frame in medicine-chest 130.
In the present embodiment, medicine-chest 130 is located at the surface of spraying pack unit 110, the work that the medicine in medicine-chest 130 passes through gravity
With spilling from spraying pack unit 110.
It should be noted that in the present embodiment, medicine-chest 130 is located at the surface of spraying pack unit 110, the medicine in medicine-chest 130
Spilt by the effect of gravity.But not limited to this, in other embodiments of the invention, medicine-chest 130 can be located at first and connect
The optional position of arm 120 is connect, the scheme being equal with the present embodiment, the effect of the present embodiment can be reached, the present invention's
In protection domain.
Referring to Fig. 3, in the present embodiment, spraying pack unit 110 includes shell 112, the first motor, shower nozzle 114 and spray
Head connecting rod 116, shell 112 are connected with the first linking arm 120, and cavity is formed between the linking arm 120 of shell 112 and first, the
One motor is connected by shower nozzle connecting rod 116 with shower nozzle 114, and the first motor is used for when medicine enters cavity, is driven
Dynamic shower nozzle connecting rod 116 rotates, to drive shower nozzle 114 to rotate, by herbal sprinkling to silkworm frame.
In the present embodiment, guide groove 1148 is provided with shower nozzle 114, for draining medicine.
In the present embodiment, shower nozzle 114 includes the first spray section 1142, the second spray section 1144 and connecting portion 1146, the
One spray section 1142 is connected with shower nozzle connecting rod 116, and the second spray section 1144 passes through the spray section 1142 of connecting portion 1146 and first
Connection, passage is formed between the first spray section 1142 and the second spray section 1144, and passage connects with cavity, and medicine enters from cavity
To after passage, drained into by passage on silkworm frame.
In the present embodiment, it is provided with guide groove 1148 in the first spray section 1142 and the second spray section 1144.
It should be noted that in the present embodiment, it is provided with and leads in the first spray section 1142 and the second spray section 1144
To groove 1148, but not limited to this, can be only in the first spray section 1142 or second in other embodiments of the invention
Spray section 1144 sets guide groove 1148 on one of them, can also both be not provided with guide groove 1148.With this in time
Equivalent scheme, the effect of the present embodiment can be reached, within the scope of the present invention.
Guide groove 1148 in first spray section 1142 is positioned close to the side of the second spray section 1144, the second spray section
Guide groove 1148 on 1144 is positioned close to the side of the second spray section 1144.
Referring to Fig. 4, in the present embodiment, the first spray section 1142 is additionally provided with close to the side of the second spray section 1144
First cutting part 1143, the first cutting part 1143 are connected with guide groove 1148, and the first cutting part 1143 is used to cut from guiding
The medicine that groove 1148 flows out.
In the present embodiment, medicine can be into column after guide groove 1148, and the first cutting part 1143 is by the medicine of column
Cut into powdered, allow medicament to uniform shakedown and be sprinkled upon on silkworm frame, to be sterilized to the silkworm on silkworm frame.
In the present embodiment, the first spray section 1142 is horn-like.
It should be noted that in the present embodiment, the first spray section 1142 is horn-like, but not limited to this, in this hair
In bright other embodiment, the first spray section 1142 can be for other shapes such as cylinders, the scheme being equal with the present embodiment, energy
Enough reach the effect of the present embodiment, within the scope of the present invention.
Referring to Fig. 5, in the present embodiment, the second spray section 1144 is additionally provided with close to the side of the first spray section 1142
Second cutting part 1145, the second cutting part 1145 are connected with guide groove 1148, and the second cutting part 1145 is used to cut from guiding
The medicine that groove 1148 flows out.
In the present embodiment, medicine can be into column after guide groove 1148, and the second cutting part 1145 is by the medicine of column
Cut into powdered, allow medicament to uniform shakedown and be sprinkled upon on silkworm frame, to be sterilized to the silkworm on silkworm frame.
In the present embodiment, the second spray section 1144 is horn-like.
It should be noted that in the present embodiment, the second spray section 1144 is horn-like, but not limited to this, in this hair
In bright other embodiment, the second spray section 1144 can be for other shapes such as cylinders, the scheme being equal with the present embodiment, energy
Enough reach the effect of the present embodiment, within the scope of the present invention.
Fig. 1 and Fig. 6 is referred to, in the present embodiment, spreading leaf component 200 includes the second linking arm 220, second driving electricity
Machine, leaf cylinder 240 and foliage component 210 are deposited, deposit leaf cylinder 240 and be connected by the second linking arm 220 with frame 600, foliage component 210
It is arranged on and deposits the one end of leaf cylinder 240 away from the second linking arm 220,
Leaf cylinder 240 is deposited to be used to deposit mulberry leaf.
Drive device 500 is connected with foliage component 210, for driving foliage component 210 to be used for, will be deposited in leaf cylinder 240
Mulberry leaf paving spill to silkworm frame.
In the present embodiment, foliage component 210 includes two rotating shafts 212 being oppositely arranged, and is formed between two rotating shafts 212
Gap 214, the second motor are used to drive two rotating shafts 212 to rotate, make to deposit the mulberry leaf in leaf cylinder 240 and arranged from gap 214
Go out to silkworm frame.
In the present embodiment, two rotating shafts 212 relatively rotate.
In the present embodiment, the second motor is two, drives two rotating shafts 212 respectively, enables two rotating shafts 212
Relatively rotate.
It should be noted that in the present embodiment, the second motor is two, but not limited to this, the present invention's
In other embodiment, the second motor can be one, and spreading leaf component 200 also includes transmission component, one of rotating shaft 212
Directly it is connected with the second motor, another rotating shaft 212 is connected by transmission component with the second motor.Transmission component is real
The function of being now driven and commutate, makes two rotations to relatively rotate.The scheme being equal with the present embodiment, this implementation can be reached
The effect of example, within the scope of the present invention.
Referring to Fig. 7, in the present embodiment, foliage component 210 also includes guidance set 250, guidance set 250 is arranged on
Deposit in leaf cylinder 240, connected with gap 214, mulberry leaf is entered to gap 214.
In the present embodiment, guidance set 250 includes the first side plate 252 and the second side plate 254, the first side plate 252 and
Two side plates 254 are connected with depositing leaf cylinder 240.First side plate 252 is oppositely arranged with the second side plate 254, the first side plate 252 and second
Formed between side plate 254 and be oriented to road 256, be oriented to road 256 and gap 214 and deposit leaf cylinder 240 and connect.
In the present embodiment, the first side plate 252 includes the first side plate body 2522 and the first open plate 2524, the first opening
Plate 2524 is connected with the first side plate body 2522 with depositing leaf cylinder 240, and the first open plate 2524 is inclined with the first side plate body 2522
Tiltedly connection, the first open plate 2524 and the second side plate 254 form open channel 258.
In the present embodiment, the second side plate 254 includes the second side plate body 2542 and the second open plate 2544, the second opening
Plate 2544 is connected with the second side plate body 2542 with depositing leaf cylinder 240, and the second open plate 2544 is inclined with the second side plate body 2542
Tiltedly connection, the second open plate 2544 and the first open plate 2524 form open channel 258.First side plate body 2522 and the second side
Plate body 2542, which is formed, is oriented to road 256.
In the present embodiment, the first open plate 2524 and the second open plate 2544 form the open channel 258 of horn shape,
Mulberry leaf is quickly move through open channel 258 and enter guiding road 256, enter back into gap 214.Improve paving mulberry leaf
Efficiency, so as to improve the operating efficiency of intelligent robot 10.
The operation principle for the intelligent robot 10 that the present embodiment provides：In the present embodiment, signal acquisition device 300 obtains
The appearance and size information of silkworm frame, appearance and size information planning path of the control device 400 according to silkworm frame, and control drive device
500 motions, when drive device 500 is moved along first paragraph, control device 400 controls the first motor to rotate, the first driving
Motor drives shower nozzle 114 to rotate by shower nozzle connecting rod 116, makes medicine from guide groove 1148 by the first cutting part 1143 and the
Two cutting parts 1145 are spilt to silkworm frame.After drive device 500 has been moved along first paragraph, when reversely being moved along second segment, control
Device 400 controls two rotating shafts 212 to rotate by the second motor, and mulberry leaf enter to go to from open channel 258 and guiding road 256
In gap 214, two rotating shafts 212 rotate, by the frictional force between rotating shaft 212 and mulberry leaf by mulberry leaf from depositing the transfer of leaf cylinder 240
Go out.
In summary, the intelligent robot 10 that the present embodiment provides can improve to the silkworm sterilization on silkworm frame and to mulberry
The operating efficiency of intelligent robot 10.
Embodiment two
Present embodiments provide a kind of intelligent cocoonery（It is not shown）, the present embodiment provide intelligent cocoonery can to silkworm sterilize and to
Mulberry, improve the operating efficiency of intelligent cocoonery.
In order to briefly describe, the present embodiment does not refer to part, can refer to embodiment one.
In the present embodiment, intelligent cocoonery includes multiple silkworm framves（It is not shown）And the intelligent robot that embodiment one provides
10, multiple silkworm framves are arranged in order.
In the present embodiment, appearance and size information planning path of the control device 400 according to multiple silkworm framves.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (10)
- A kind of 1. intelligent robot, for the silkworm sterilization on silkworm frame and to mulberry, it is characterised in that the intelligent robot includes Frame, drive device, control device, signal acquisition device, spray assembly and leaf component is spread, the drive device, the control Device, the spray assembly and the leaf component that spreads are connected with the frame；The signal acquisition device is connected with the control device, for obtaining the parameter information of the silkworm frame, and is transferred to institute State control device；The control device is connected with the drive device, for controlling the drive device motion according to the parameter information；The control device is connected with the spray assembly, is additionally operable to, when the drive device is moved, control the sprinkling group Part spills medicine to the silkworm on the silkworm frame；The control device is connected with the leaf component that spreads, and is additionally operable to, when the drive device is moved, leaf group be spread described in control Part is to the silkworm on the silkworm frame to mulberry.
- 2. intelligent robot according to claim 1, it is characterised in thatThe signal acquisition device is used for the appearance and size information for obtaining the silkworm frame；The control device is additionally operable to according to the appearance and size information planning path, and controls the drive device along the rule Draw path motion.
- 3. intelligent robot according to claim 2, it is characterised in that the path planning includes first paragraph and second Section, the first paragraph are opposite with second segment path equidirectional；The control device is used for when the drive device is moved along the first paragraph, controls the spray assembly to the silkworm Silkworm on frame spills medicine；The control device is used for when the drive device is moved along the second segment, and leaf component is spread described in control to the silkworm Silkworm on frame is to mulberry.
- 4. intelligent robot according to claim 1, it is characterised in that the spray assembly includes the first linking arm, medicine Case and spraying pack unit, one end of first linking arm are connected with the frame, and the spraying pack unit is arranged on first linking arm One end away from the frame, and be connected with the medicine-chest, the medicine-chest is arranged on first linking arm.
- 5. intelligent robot according to claim 4, it is characterised in that the spraying pack unit includes shell, the first driving electricity Machine, shower nozzle and shower nozzle connecting rod, the shell are connected with first linking arm, between the shell and first linking arm Cavity is formed, first motor is connected by the shower nozzle connecting rod with the shower nozzle, and first motor is used In when the medicine enters the cavity, driving the shower nozzle connecting rod to rotate, to drive the sprinkler rotation, will described in On herbal sprinkling to the silkworm frame.
- 6. intelligent robot according to claim 5, it is characterised in that guide groove is provided with the shower nozzle, for drawing Flow the medicine.
- 7. intelligent robot according to claim 1, it is characterised in that the leaf component that spreads includes the second linking arm, the Two motors, leaf cylinder and foliage component are deposited, the leaf cylinder of depositing is connected by second linking arm with the frame, the cluster Leaf component deposits the one end of leaf cylinder away from second linking arm described in being arranged on,The leaf cylinder of depositing is used to deposit mulberry leaf；The drive device is connected to drive the foliage component movement with the foliage component, is deposited described in leaf cylinder Mulberry leaf paving is spilt to the silkworm frame.
- 8. intelligent robot according to claim 7, it is characterised in that what the foliage component was oppositely arranged including two Rotating shaft, gap is formed between two rotating shafts, second motor is used to drive two axis of rotation, makes described The mulberry leaf in leaf cylinder are deposited to be expelled to from the gap on the silkworm frame.
- 9. intelligent robot according to claim 8, it is characterised in that the foliage component also includes guidance set, institute State guidance set be arranged on it is described deposit in leaf cylinder, with the gap area, mulberry leaf is entered to the gap.
- 10. a kind of intelligent cocoonery, it is characterised in that including the intelligent robot as described in claim any one of 1-9 and multiple Silkworm frame, multiple silkworm framves are arranged in order.
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| CN201711049377.6A CN107593629B (en) | 2017-10-31 | 2017-10-31 | Intelligent robot and intelligent silkworm house |
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| CN107736313A (en) * | 2017-10-31 | 2018-02-27 | 四川省农业机械研究设计院 | Silkworm treasured monitoring method and system |
| CN110235869A (en) * | 2019-07-29 | 2019-09-17 | 四川省农业机械研究设计院 | A kind of silkworm disinfecting mechanism |
| CN113180015A (en) * | 2021-05-25 | 2021-07-30 | 四川省农业机械研究设计院 | Silkworm rearing room and three-section type assembly line silkworm rearing method |
| CN113841659A (en) * | 2021-09-27 | 2021-12-28 | 四川省农业机械研究设计院 | Automatic mulberry leaf feeding equipment and method |
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| CN107593629B (en) | 2024-04-26 |
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Address after: No.5 niusha Road, section 4, 2nd Ring Road, Chengdu, Sichuan 610000 Applicant after: Sichuan Agricultural Machinery Science Research Institute Address before: 610066 Sichuan city of Chengdu province Jinjiang District cattle Road No. 5 Applicant before: SICHUAN RESEARCH & DESIGN INSTITUTE OF AGRICULTURAL MACHINERY |
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