CN109122601B - Silkworm frame moving method applied to intelligent silkworm feeding and disinfecting system - Google Patents
Silkworm frame moving method applied to intelligent silkworm feeding and disinfecting system Download PDFInfo
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- CN109122601B CN109122601B CN201811094418.8A CN201811094418A CN109122601B CN 109122601 B CN109122601 B CN 109122601B CN 201811094418 A CN201811094418 A CN 201811094418A CN 109122601 B CN109122601 B CN 109122601B
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- 241000255789 Bombyx mori Species 0.000 title claims abstract description 185
- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000000249 desinfective effect Effects 0.000 title claims abstract description 14
- 238000009395 breeding Methods 0.000 claims abstract description 21
- 230000001488 breeding effect Effects 0.000 claims abstract description 21
- 230000000384 rearing effect Effects 0.000 claims description 19
- 230000001954 sterilising effect Effects 0.000 claims description 4
- 230000008901 benefit Effects 0.000 abstract description 7
- 239000000843 powder Substances 0.000 abstract description 3
- 235000008708 Morus alba Nutrition 0.000 abstract description 2
- 240000000249 Morus alba Species 0.000 abstract description 2
- 235000008733 Citrus aurantifolia Nutrition 0.000 abstract 1
- 235000011941 Tilia x europaea Nutrition 0.000 abstract 1
- 239000004571 lime Substances 0.000 abstract 1
- 239000007921 spray Substances 0.000 abstract 1
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000004659 sterilization and disinfection Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000009366 sericulture Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K67/00—Rearing or breeding animals, not otherwise provided for; New or modified breeds of animals
- A01K67/033—Rearing or breeding invertebrates; New breeds of invertebrates
- A01K67/04—Silkworms
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- Animal Behavior & Ethology (AREA)
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- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Apparatus For Disinfection Or Sterilisation (AREA)
- Catching Or Destruction (AREA)
- Farming Of Fish And Shellfish (AREA)
Abstract
The invention provides a silkworm frame moving method applied to an intelligent silkworm feeding and disinfecting system, belonging to the field of silkworm breeding and comprising the following steps of: m (M is an integer more than or equal to 2) rows of silkworm frames are arranged in parallel in a silkworm breeding area, the number of a certain row of silkworm frames is marked as Mm (M is an integer more than or equal to 1 and M is less than M), each row of silkworm frames consists of N silkworm frames which are arranged in a straight line, and the number of the N silkworm frames in each row of silkworm frames from one end to the other end is respectively marked as 1, 2, … and N; the hidden AGV transfer robot is responsible for transferring each row of silkworm frames, and after the silkworm frames are transferred to a feeding point, the feeding machine automatically spreads mulberry leaves and sprays lime powder on each layer of silkworm seats of the silkworm frames quickly and quantitatively; after the hidden AGV transfer robot finishes the transfer operation of one row of silkworm frames, the transfer operation of the other row of silkworm frames is carried out. The silkworm frame moving method provided by the invention is used in an automatic silkworm feeding and disinfecting system, and can reduce the culture cost and increase the culture benefit.
Description
Technical Field
The invention belongs to the field of silkworm breeding, and particularly relates to a silkworm frame moving method applied to an intelligent silkworm feeding and disinfecting system.
Background
As one of the leading industries of agricultural industrialization, silkworm production has economic, social and ecological benefits, is a rich industry which accords with the basic national policy of resource conservation and environmental protection, and plays an important role in external trade, agricultural efficiency improvement, farmer income increase, ecological environment improvement of silkworm culture areas and the like. The large-scale, standardized, industrialized and intelligentized silkworm breeding is realized, and the method has important significance for improving the comprehensive benefit of silkworm production in China and promoting the sustainable development of silkworm production.
The silkworm breeding is a labor-intensive industry, the labor cost is high, time and labor are wasted, the workload is large, the working efficiency is extremely low, and the rapid development of the silkworm breeding industry is severely restricted. In recent years, with the progress and development of scientific technology, the modern electronic technology is applied to the intelligent silkworm breeding, the automation and intelligent control of the breeding process are realized, the method is an effective way for improving the silkworm breeding efficiency, and the method becomes the development direction and the trend of the silkworm breeding technology.
The prior art discloses a method for automatically feeding and sterilizing powder for silkworm breeding (application number is 201711173391.7). in the method, a silkworm frame is moved to a feeding area from a silkworm breeding area through a robot so as to sterilize and feed the silkworm frame, after the sterilization and the feeding are finished, the silkworm frame is moved to the original placement position of the silkworm frame in the silkworm breeding area by the robot, and then the next silkworm frame is moved. The method for moving the silkworm frame in the automatic silkworm feeding and disinfecting powder removing method has the following problems:
1. because at least a certain space is reserved between two adjacent rows of silkworm frames to be used as a channel for the robot to move the silkworm frames, the quantity of the silkworm frames which can be placed in the silkworm breeding area is less, and the breeding benefit is relatively low;
2. the cost of the robot is relatively high due to the complex working path of the robot and the high demands on the robot.
Disclosure of Invention
In view of the above, the present invention aims to provide a silkworm frame moving method applied to an intelligent silkworm feeding and disinfecting system, so as to reduce the cultivation cost and increase the cultivation benefit.
In order to achieve the purpose, the invention is realized by the following technical scheme: a silkworm frame moving method applied to an intelligent silkworm feeding and disinfecting system comprises the following steps: m (M is an integer more than or equal to 2) rows of silkworm frames are arranged in parallel in a silkworm breeding area, the number of a certain row of silkworm frames is marked as Mm (M is an integer more than or equal to 1 and M is less than M), each row of silkworm frames consists of N silkworm frames which are arranged in a straight line, and the number of the N silkworm frames in each row of silkworm frames from one end to the other end is respectively marked as 1, 2, … and N; the latent AGV transfer robot firstly moves to the position below the 1 st silkworm frame in the Mm row in a latent mode, then the 1 st silkworm frame is moved to a feeding area according to a set route for feeding and sterilizing, then the 1 st silkworm frame is moved to the back of the Nth silkworm frame in the Mm row, and the 1 st silkworm frame is driven by the latent AGV transfer robot to push the 2 nd to N silkworm frames by a distance of one silkworm frame in the direction of the initial position of the 1 st silkworm frame; and after the latent AGV transfer robot moves to the position below the 2 nd silkworm frame in the Mm row in a latent mode, starting the transfer operation of the 2 nd silkworm frame, which is the same as the 1 st silkworm frame, and repeating the steps until the transfer operation of all the silkworm frames in the Mm row is completed, moving the latent AGV transfer robot to the position below the 1 st silkworm frame in the other row of silkworm frames, and starting the transfer operation of all the silkworm frames in the other row of silkworm frames.
Furthermore, there are a plurality of latent AGV transfer robots, and each latent AGV transfer robot is responsible for the transfer of a plurality of rows of silkworm rearing frames.
Furthermore, each latent AGV transfer robot is responsible for the transfer of a plurality of rows of adjacent silkworm rearing frames, and the number of rows of silkworm rearing frames which are responsible for the latent AGV transfer robot in the charge area close to the feeding area is greater than or equal to the number of rows of silkworm rearing frames which are responsible for the latent AGV transfer robot in the charge area far from the feeding area.
Further, the silkworm frame is a movable silkworm frame.
Further, in the process of moving in the direction in which the mth row of racks is located, each rack in the mth row of racks is guided by the guide groove provided in the silkworm breeding area.
Furthermore, the silkworm raising area is composed of two half areas with the same area, each half area is respectively provided with 8-25 rows of silkworm frames, each row of silkworm frames is composed of 6-10 silkworm frames, and the number of the silkworm frames in the two half areas is the same.
Further, the number of the latent AGV transfer robots is 3-5.
Further, the latent AGV transfer robot transfers the silkworm rearing rack without jacking up the silkworm rearing rack.
The invention has the beneficial effects that:
1. according to the invention, a channel for the latent AGV transfer robot to move does not need to be reserved between two adjacent rows of silkworm frames, so that the distance between the two adjacent rows of silkworm frames can be set smaller, the number of silkworm frames which can be placed in a silkworm breeding area is increased, and the breeding benefit is improved.
2. Because the working path of the latent AGV transfer robot is simple, the latent AGV transfer robot has lower requirements on the robot when being applied to an automatic silkworm feeding and disinfecting system, and therefore the production cost is relatively lower.
Drawings
FIG. 1 is a schematic diagram of the operation of the present invention;
FIG. 2 is another schematic representation of the operation of the present invention;
10-silkworm frame, 20-latent AGV transfer robot, 30-silkworm raising area, 31-A half area, 32-B half area and 40-feeding area.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
Fig. 1 is a schematic working diagram of the present invention, and as shown in fig. 1, the present invention provides a silkworm rearing rack moving method, which is applied to an intelligent silkworm feeding and disinfecting system, and specifically comprises the following steps:
s101: m (M is an integer which is more than or equal to 2) rows of silkworm frames are arranged in parallel in the silkworm breeding area 30, the number of a certain row of silkworm frames is represented as Mm (M is an integer which is more than or equal to 1 and M is less than M), each row of silkworm frames consists of N silkworm frames 10 which are arranged in a straight line, the number of N silkworm frames in each row of silkworm frames from one end to the other end is respectively represented as 1, 2, … and N, preferably, M is 20, and N is 8.
S102: the latent AGV transfer robot 20 is responsible for transferring each row of racks, and the number of the latent AGV transfer robots is preferably plural, and more preferably 4, so that the transfer efficiency is higher. Each latent AGV transfer robot is responsible for the transfer of a plurality of rows of silkworm frames, and considering that the time spent for transferring the silkworm frames by the latent AGV transfer robot at a position farther from the feeding area is longer, the 4 latent AGV transfer robots are preferably responsible for 7 rows, 6 rows, 4 rows and 3 rows of silkworm frames respectively, and of course, other grouping modes are also possible, for example, the 4 latent AGV transfer robots are responsible for 6 rows, 4 rows and 4 rows of silkworm frames respectively. The latent AGV transfer robot can pass through the lower part of each row of silkworm rearing frames in a latent mode, and starts to work after receiving a working signal given by the central control system. Specifically, the 1 st latent AGV transfer robot moves to a position below the 1 st rack in the 1 st row, then moves the 1 st rack in the 1 st row to the feeding area 40 according to a set route to perform feeding and disinfecting operations, and then moves the 1 st rack in the 1 st row to the back of the 8 th rack in the 1 st row, and the 1 st rack in the 1 st row is driven by the latent AGV transfer robot to push the 2 nd to 8 th racks in the 1 st row to the entire 1 st row toward the initial position of the 1 st rack by the distance of one rack, so that the 2 nd rack in the 1 st row is located at the initial position of the 1 st rack, and so on, the 8 th rack in the 1 st row is located at the initial position of the 7 th rack in the 1 st row, and the 1 st rack in the 1 st row is located at the initial position of the 8 th rack in the 1 st row. In the working process of the 1 st latent AGV transfer robot, the 2 nd to 4 th latent AGV transfer robots correspondingly start to work, and the working sequence of the 4 latent AGV transfer robots is controlled by a preset program and is controlled by a central control system. The silkworm frame that 4 formula AGV transfer robot of hiding removed from sericulture district accomplishes feed, disinfection operation in proper order in the material loading district, and mutual work is not influenced.
S103: after the 1 st latent AGV transfer robot moves to the lower side of the 2 nd rack in the 1 st row, the same transfer operation as the 1 st rack of the 2 nd rack is started, and so on, until the transfer operation of all the 8 th racks in the 1 st row is completed, the 1 st latent AGV transfer robot moves to the lower side of the 1 st rack in the 2 nd row, the transfer operation of all the racks in the 2 nd row is started, until the 1 st latent AGV transfer robot completes the transfer operation of the 7 th rack, the 1 st latent AGV transfer robot returns to the initial position (the lower side of the 1 st rack in the 1 st row), and similarly, the 2 nd to 4 th latent AGV transfer robots also return to their respective initial positions after completing the operation. And after receiving the working signal for carrying out the next working cycle, the 4 latent AGV transfer robots start to carry out the next silkworm frame transfer operation for feeding and disinfecting the silkworms.
Fig. 2 is another schematic diagram of the present invention, as shown in fig. 2, in a preferred embodiment, the rearing area is divided into two half areas with equal area, each half area is provided with 20 rows of rearing frames, each row of rearing frames is composed of 8 rearing frames, the rearing frames in the two half areas have the same number, and the two half areas are respectively marked as a half area 31 and a half area B32. The feeding area 40 is arranged between the A half area 31 and the B half area 32, and the feeding area 40 is provided with two feeding points which are respectively used for feeding the A half area 31 and the B half area 32. After the latent AGV transfer robot finishes one-time transfer operation of the silkworm frame of one half area, the latent AGV transfer robot moves to the other half area to finish transfer operation of the silkworm frame of the other half area.
In the process of moving the silkworm frame, the preferably hidden AGV transfer robot adopts the mode of not jacking up the silkworm frame to move the silkworm frame, and specifically, the ejector pins on the hidden AGV transfer robot upwards extend out and are embedded into the corresponding grooves on the silkworm frame, so that the hidden AGV transfer robot can drive the silkworm frame to move together when moving, and the preferably silkworm frame is a movable silkworm frame, so that the silkworm frame can be moved more easily.
In order to avoid the situation that the latent AGV transfer robot drives one silkworm frame to push the whole of other silkworm frames in a certain row, the other silkworm frames deflect or are separated from the direction of the silkworm frame in the row, the preferred silkworm frame in the row is guided by a guide groove arranged in a silkworm raising area, two guide grooves are correspondingly arranged on the silkworm frame in the row, and the guide grooves can be paved on the ground and can be fixed on a ceiling above the silkworm frame.
The silkworm frame moving method is applied to the intelligent silkworm feeding and disinfecting system, and is suitable for industrial and intelligent large-scale cultivation in a mulberry field of 200 mu.
While there have been shown and described what are at present considered the fundamental principles and essential features of the invention and its advantages, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (8)
1. A silkworm frame moving method applied to an intelligent silkworm feeding and disinfecting system is characterized by comprising the following steps: the method comprises the following steps:
arranging M rows of silkworm frames in parallel in a silkworm breeding area, wherein M is an integer more than or equal to 2, and the mark number of a certain row of silkworm frames is marked as MmM is an integer of 1 or more and m<M, each row of silkworm frames consists of N silkworm frames which are arranged in a straight line, and the labels of the N silkworm frames in each row from one end to the other end are respectively marked as 1, 2, … and N;
the latent AGV transfer robot is responsible for the transfer of each row of silkworm rearing shelves and can move from the lower part of each row of silkworm rearing shelvesThe latent AGV transfer robot firstly moves to the Mth positionmBelow the 1 st silkworm frame in the row, moving the 1 st silkworm frame to a feeding area according to a set route for feeding and sterilizing, and then moving the 1 st silkworm frame to the Mth silkworm framemBehind the Nth silkworm frame in the row, the 1 st silkworm frame is driven by a latent AGV transfer robot to push the 2 nd to Nth silkworm frames to the initial position of the 1 st silkworm frame by the distance of one silkworm frame;
latent AGV transfer robot moves to the Mth of hidingmAfter the lower part of the 2 nd silkworm frame in the row, the same moving operation of the 2 nd silkworm frame as the 1 st silkworm frame is started, and the like is repeated until the M-th silkworm frame is completedmAfter the moving operation of all the silkworm frames in one row, the latent AGV moving robot moves to the position below the 1 st silkworm frame in the other row of silkworm frames again, and starts to move all the silkworm frames in the other row of silkworm frames.
2. The silkworm rack carrying method according to claim 1, wherein: the latent AGV transfer robots are multiple, and each latent AGV transfer robot is responsible for the transfer of multiple rows of silkworm rearing frames.
3. The silkworm rack carrying method according to claim 2, wherein: each latent AGV transfer robot is responsible for the transfer of a plurality of rows of adjacent silkworm rearing frames, and the row number of the silkworm rearing frames which are responsible for the latent AGV transfer robot with the region close to the feeding area is more than or equal to the row number of the silkworm rearing frames which are responsible for the latent AGV transfer robot with the region far away from the feeding area.
4. The silkworm rack carrying method according to claim 1, wherein: the silkworm frame is a movable silkworm frame.
5. The silkworm rack carrying method according to claim 1, wherein: at edge MmIn the process of moving the silkworm rack in the direction of the silkworm rack, the MthmEach silkworm rack in the silkworm discharge rack is arranged in the silkworm raising areaAnd guiding by the guide groove.
6. The silkworm rack carrying method according to claim 1, wherein: the silkworm raising area is composed of two half areas with the same area, each half area is provided with 8-25 rows of silkworm frames, each row of silkworm frames is composed of 6-10 silkworm frames, and the number of the silkworm frames in the two half areas is the same.
7. The silkworm rack transfer method according to claim 6, wherein: the number of the latent AGV transfer robots is 3-5.
8. The silkworm rack carrying method according to claim 1, wherein: the hidden AGV carrying robot carries the silkworm frame in a mode of not jacking up the silkworm frame.
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| CN109744208B (en) * | 2019-02-15 | 2021-07-06 | 贵州恒盛丝绸科技有限公司 | Small silkworm tray moving method applied to intelligent small silkworm feeding and disinfecting system |
| JPWO2020188506A1 (en) * | 2019-03-18 | 2020-09-24 | ||
| CN114287403A (en) * | 2021-12-29 | 2022-04-08 | 嵊州陌桑高科股份有限公司 | First-instar silkworm breeding line in full-instar industrial silkworm breeding and silkworm breeding process thereof |
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