CN109997733A - A kind of Queen transporting machine tool hand - Google Patents
A kind of Queen transporting machine tool hand Download PDFInfo
- Publication number
- CN109997733A CN109997733A CN201810974335.1A CN201810974335A CN109997733A CN 109997733 A CN109997733 A CN 109997733A CN 201810974335 A CN201810974335 A CN 201810974335A CN 109997733 A CN109997733 A CN 109997733A
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- Prior art keywords
- bee
- keeping
- detector
- section
- moving needle
- Prior art date
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- 238000009341 apiculture Methods 0.000 claims abstract description 94
- 238000001514 detection method Methods 0.000 claims abstract description 33
- 238000010276 construction Methods 0.000 claims description 18
- 238000009434 installation Methods 0.000 claims description 13
- 238000009738 saturating Methods 0.000 claims 1
- 102000002322 Egg Proteins Human genes 0.000 abstract description 8
- 108010000912 Egg Proteins Proteins 0.000 abstract description 8
- 210000004681 ovum Anatomy 0.000 abstract description 8
- 230000004083 survival effect Effects 0.000 abstract description 2
- 241000256844 Apis mellifera Species 0.000 description 39
- 210000000952 spleen Anatomy 0.000 description 18
- 210000004027 cell Anatomy 0.000 description 14
- 238000005452 bending Methods 0.000 description 7
- 239000002002 slurry Substances 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 241000883966 Astrophytum capricorne Species 0.000 description 2
- 241000272814 Anser sp. Species 0.000 description 1
- 238000009395 breeding Methods 0.000 description 1
- 230000001488 breeding effect Effects 0.000 description 1
- 235000009508 confectionery Nutrition 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000013601 eggs Nutrition 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 229940109850 royal jelly Drugs 0.000 description 1
Classifications
-
- 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
- A01K49/00—Rearing-boxes; Queen transporting or introducing cages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Sampling And Sample Adjustment (AREA)
- Catching Or Destruction (AREA)
- Apparatus Associated With Microorganisms And Enzymes (AREA)
- Toys (AREA)
Abstract
A kind of Queen transporting machine tool hand, including Moving needle for bee-keeping, mounting blocks and detection device, Moving needle for bee-keeping and detector are installed on mounting blocks, detector is for identifying bee worm worm's ovum, Moving needle for bee-keeping is used to carry out bee worm crawl and setting-out, Moving needle for bee-keeping and detection device are installed by mounting blocks, realize the connection of Moving needle for bee-keeping and detection device and automation equipment, it can be improved by the flexible setting for moving worm elastic piece of arc and efficiency taken to bee worm, improve the survival rate of bee worm, certain angle is equipped between detector and detector connector, so that between the detection light issued when detecting and honeycomb spleen honeycomb nest wall at an angle, detector of being more convenient for detects bee ovum, improve the accuracy rate of detection.
Description
Technical field
The present invention relates to a kind of Queen transporting machine tool hands, specifically, being related to a kind of dedicated Queen transporting machine tool hand of Queen transporting machine.
Background technique
After honeybee queen lays eggs spleen, is hatched by ovum spleen into larva, needed at this time by manually by larva together with a small amount of bee
For emperor's slurry together in shovel to artificial royal cell, the house bee in bee colony, which is seen, larva in royal cell, and the royal jelly that can spue feeds larva, until
Larva grows up into queen bee.
Head, using goose quill or horn film, is worn into hook in larva transplanting by some breeding enterprises, by larva under hook,
It is being put into queen cell cup strip, what such hook came out is only a very weak larva, and house bee does not like receiving, and is easy hook wound, at
Motility rate is lower, and speed is slow and working efficiency is not high, in addition this mode for moving worm be also all removed by artificial mode, thus
Lead to inefficiency.
This just needs to improve existing shifting worm, provides a kind of dedicated Queen transporting machine tool hand of shifting worm of higher efficiency.
Summary of the invention
Against the above deficiency, technical problem to be solved by the invention is to provide a kind of Queen transporting machine tool hands, for improving certainly
Dynamicization moves the shifting worm efficiency of worm equipment and moves worm accuracy.
In order to solve the above technical problems, the technical scheme adopted by the invention is that,
A kind of Queen transporting machine tool hand, including Moving needle for bee-keeping, mounting blocks and detection device, Moving needle for bee-keeping and detector are installed in mounting blocks
On.
While using above technical scheme, the present invention, which is also further used or combined, uses following technical side
Case.
Mounting blocks include Moving needle for bee-keeping installing zone and the area that is slidably installed, and Moving needle for bee-keeping installing zone is fixedly connected with the area that is slidably installed.
Moving needle for bee-keeping installing zone includes Moving needle for bee-keeping mounting groove and movable block mounting groove, and the setting of movable block mounting groove is pacified in Moving needle for bee-keeping
Above tankage.
One side opening of Moving needle for bee-keeping mounting groove can install Moving needle for bee-keeping by the opening.
Detection device includes detector and detector connector, detector and the removable connection of detector connector, detection
Angle is equipped between device and detector connector.
The angular dimension of angle is 8 ° -12 °.
Detector includes sensor and sensor leads, and sensor is arranged above sensor leads, and sensor is mounted on
In detector connector.
Moving needle for bee-keeping includes fixed link, moves worm elastic piece and release element, moves worm elastic piece and connect with fixed link, releases element
It is flexibly connected with fixed link.
Moving worm elastic piece includes that construction section and shovel take section, and construction section is removable to be mounted in fixed link, and shovel takes section and installation
Section connection；Alternatively, the shovel takes section arc-shaped.
The thickness of construction section is greater than the thickness that shovel takes section, and shovel takes the thickness of section to take the junction of section and construction section to shovel from shoveling
Take the end of section gradually thinning；Alternatively, it is elastic component that the shovel, which takes section,.
The invention has the advantages that (1) installs Moving needle for bee-keeping and detection device by mounting blocks, Moving needle for bee-keeping and detection are realized
The connection of device and automation equipment.
(2) efficiency that takes to bee worm can be improved by the flexible setting for moving worm elastic piece of arc, improves bee worm
Survival rate.
(3) certain angle is equipped between detector and detector connector, so that the detection light issued when detecting and bee
Between honeycomb honeycomb nest wall at an angle, detector of being more convenient for detects bee ovum, improves the accuracy rate of detection.
Detailed description of the invention
Fig. 1 is the configuration diagram of manipulator.
Fig. 2 is the front view of Moving needle for bee-keeping.
Fig. 3 is the cross-sectional view of Moving needle for bee-keeping.
Fig. 4 is the perspective view of mounting blocks.
Fig. 5 is the perspective view of the another side of mounting blocks.
Fig. 6 is detection device installation perspective view.
Fig. 7 is detector link block front view.
Fig. 8 is detection device perspective view.
Fig. 9 is detector connecting rod front view.
Figure 10 is detector mounting rod perspective view.
Appended drawing reference: Moving needle for bee-keeping 1A, mounting blocks 2B, rack 3D, cover 4E, feed well 5F；
Fixed link 1 moves worm spoon 2, releases element 3, and construction section 4 takes section 5, upper section 6, middle section 7, lower section 8, swing protrusion 9, rubber
Gum cover 10, pushes away tongue 11, Moving needle for bee-keeping connecting rod 12, connector 13, channel 14, stop collar 15, mounting hole 16, Moving needle for bee-keeping installing zone 17,
Be slidably installed area 18, movable block 19, Moving needle for bee-keeping mounting groove 20, movable block mounting groove 21, the first plate 22, the second plate 23, third plate
24, the 4th plate 25, Moving needle for bee-keeping mounting hole 26 swings groove 27, the 5th plate 28, the first oscillating stroke slot 29, detection device installation
Block 30, T-slot 31 move worm device sliding block mounting groove 39, move worm device sliding block screw hole 40, the 6th plate 42, movable block protrusion sliding slot
50, movable block protrusion 51, movable block spring installation protrusion 52 orients mounting plate 53.
Sensor 101, detector 102, detector connector 103, sensor leads 104, the first lens segment 105, second
Lens segment 106, screw thread 108, detector connecting rod 109, detector link block 110, spacing head 111, detector connect club shaft
112, mounting head 113, anti-rotation protrusion 114, link block scoreboard 115, detector mounting groove 116, detector connecting rod mounting groove
117。
Specific embodiment
The present invention is described further with reference to the accompanying drawing.
A kind of Queen transporting machine tool hand, including Moving needle for bee-keeping, mounting blocks and detection device, Moving needle for bee-keeping and detector are installed in installation
On block.
Mounting blocks include: Moving needle for bee-keeping installing zone 17 and are slidably installed area 18, Moving needle for bee-keeping installing zone 17 and the area 17 that is slidably installed
It is fixedly connected, for installing Moving needle for bee-keeping and movable block 19, the area 17 that is slidably installed is used for this mounting blocks 2A Moving needle for bee-keeping installing zone 17
It is installed on the shifting worm device sliding rail of automation equipment, this mounting blocks is moved along worm device sliding rail is moved.
Moving needle for bee-keeping installing zone 17 includes Moving needle for bee-keeping mounting groove 20 and movable block mounting groove 21, and the setting of movable block mounting groove 21 exists
20 top of Moving needle for bee-keeping mounting groove, is equipped with movable block 19, movable block 19 rotatably connects with Moving needle for bee-keeping in movable block mounting groove 20
It connects, movable block 19 moves in movable block mounting groove 21, to control the swing of Moving needle for bee-keeping.
In some preferred modes, it is equipped with movable block protrusion sliding slot 50 on the inner wall of movable block mounting groove 21, is moving
Motion block 19 is equipped with movable block protrusion 51, and 51 movement of movable block protrusion is mounted in movable block protrusion sliding slot 50, can to move
Motion block 19 moves along the direction movement of the setting of block protrusion sliding slot 50, and improving Moving needle for bee-keeping can be improved with the stability of swing angle
Move worm accuracy.
In some preferred modes, movable block spring installation protrusion 52 is equipped on the rear end face of movable block 19, it can be with
The direction for controlling spring deformation, improves the stability of this shifting worm pendulous device, is also symmetrically arranged with orientation mounting plate 53 in rear end face,
Movable block protrusion 51 is mounted on orientation mounting plate 53, and structure is simple, and stability is high.
In some preferred modes, spring is installed in movable block 19 and the area that is slidably installed, spring is used for so that moving
Motion block resets, so that Moving needle for bee-keeping returns to initial angle position, during once moving worm, movable block is moved back and forth once, moves
Worm needle movement swings back and forth once.
In some preferred modes, power device is installed in the outside of movable block 19, power device is moved for driving
The reciprocating motion of motion block 19, to drive the swing of Moving needle for bee-keeping.
Moving needle for bee-keeping mounting groove 20 includes the first plate 22, the second plate 23, third plate 24 and the 4th plate 25, the first plate 22 and second
Plate 23 is symmetrically mounted on the two sides of third plate 24, is equipped with the 4th plate 25 in the lower end surface of the first plate 22 and the second plate 23,
Four plates 25 are equipped with Moving needle for bee-keeping mounting hole 26, are equipped on Moving needle for bee-keeping mounting hole 26 and swing groove 27, and swinging groove 27 is in be inverted
Triangle, be equipped with raised face in the lower end surface of the 4th plate 25, the position of raised face with to swing the position of groove corresponding, be used for general
The strong intensity for swinging groove 27, Moving needle for bee-keeping may be rotatably mounted in the swing groove 27 of Moving needle for bee-keeping mounting hole 26.
In some preferred modes, swing groove 27 lower end be it is arc-shaped, with swing protrusion 9 radian it is identical, just
It is mutually rotated between Moving needle for bee-keeping and swing groove 27.
It is fixedly connected with the 5th plate 28 in the upper surface of the first plate 22, the second plate 23 and third plate 24, in the 5th plate 28
It is equipped with the first oscillating stroke slot 29, the depth of the first oscillating stroke slot 29 controls according to the swing angle of Moving needle for bee-keeping, passes through
29 slot of the first oscillating stroke is controlled to control the extreme angles of Moving needle for bee-keeping swing.
In some preferred modes, the width of the first oscillating stroke slot 19 is consistent with the diameter of Moving needle for bee-keeping mounting groove, excellent
Choosing, Moving needle for bee-keeping mounting hole 26 is rectangle, can be relatively rotated in Moving needle for bee-keeping mounting hole 26 convenient for Moving needle for bee-keeping, it is preferred that is swung
The position of groove 27 is corresponding with the middle position of Moving needle for bee-keeping mounting hole 26, so that the structure of the present apparatus is more compact.
Detection device mounting blocks 30 are installed in the outside of the second plate 23, the outside of detection device mounting blocks 30 is for fixing
Installation detecting device, so that at an angle convenient for detection device to the bee in honeycomb spleen between detection device and honeycomb spleen nest wall
Worm is detected.
It is fixedly installed with the area 18 that is slidably installed in the outside of third plate 24, it is sliding that shifting worm device is equipped in the area 18 that is slidably installed
Block mounting groove 39 is equipped on moving worm device sliding block mounting groove 39 and moves worm device sliding block screw hole 40, is moving the installation of worm device sliding block
It is equipped in slot 39 and moves worm device sliding block, be equipped with move worm device sliding rail on the rack, move the position of worm device sliding rail and move worm
Device sliding block is corresponding, and moving worm device sliding block can move in Moving needle for bee-keeping sliding rail stroke.
The 6th plate 42, the first plate 22, the second plate 23, the 5th plate 28 and are additionally provided between the first plate 22 and the second plate 23
Six plates 42 surround movable block mounting groove 21, are equipped with the second oscillating stroke slot 43 on the 6th plate 42, the second oscillating stroke slot 43 with
The structure of first oscillating stroke slot 29 is consistent and in the same vertical plane.
A kind of Moving needle for bee-keeping, including fixed link 1, shifting worm elastic piece 2 and release element 3, move worm elastic piece 2 and fixed link 1 connect
It connects, releases element 3 and be flexibly connected with fixed link 1, move worm elastic piece 2 for taking bee worm from honeycomb spleen, release element 3 and be used for
It will move in the push-in queen cell cup strip of the bee worm in worm elastic piece, fixed link 1 is used to entire Queen transporting machine structure being fixed on Queen transporting machine, passes through
It releases element 3 and releases bee ovum out of shifting worm elastic piece, so that the movement of bee ovum is more simple and fast, improve the shifting worm effect of Queen transporting machine
Rate.
Moving worm elastic piece 2 includes that construction section 4 and shovel take section 5, and construction section 4 is removable to be mounted in fixed link 1, and shovel takes section 5
It is connect with construction section 4, shovel takes section 5 arc-shaped, it is preferred that shovel takes the arc of section 5 to be bent to fixed link 1, when shovel takes section and honeycomb
When spleen contacts, since shovel takes section 5 arc-shaped, so that shovel takes section 5 to be easier, deformation occurs, when shovel takes section 5 deformation occurs after and honeycomb
Spleen bottom is more bonded, and is moved in worm elastic piece 2 so that larva of bee is easier to be attached to, and since shovel takes section 5 is arc-shaped to be convenient for pushing away
Element 3 is released the larva of bee in worm elastic piece 2 is moved out.
The thickness of construction section 4 is greater than the thickness that shovel takes section 5, shovels the connection for taking the thickness of section 5 to take section 5 Yu construction section 4 by shoveling
Place takes the end of section 5 thinning to shovel, and it is flexible member that shovel, which takes section 5, it is preferred that shovel takes section 5 can be to arc after encountering queen cell cup strip
Inside bending, rear shovel that deformation occurs take section 5 to be more bonded with honeycomb spleen bottom, so that bee ovum, which is easier to be attached to, moves worm elastic piece 2
It is interior, in some preferred modes, move worm elastic piece 2 using goat's horn piece or horn film, goat's horn piece or horn film can be with
The number of bends of receiving is more, improves the service life for moving worm elastic piece.
Fixed link 1 includes upper section 6, middle section 7 and lower section 8, and upper section 6 is connect with middle section 7, and middle section 7 is connect for three section 8 with degree,
The outer surface of upper section 6 is equipped with symmetrical protrusion 9, connect convenient for protrusion 9 with the mounting blocks of Moving needle for bee-keeping.
The side that protrusion is divided into the first protrusion 9A and the second protrusion 9B, the first protrusion 9A is vertical plane, the first protrusion 9A's
Lower end surface be it is arc-shaped, the side of the second protrusion 9B is inclined-plane, and the upper surface length of the second protrusion 9B is greater than lower end surface length, the
The lower end surface of two protrusion 9B be it is arc-shaped, it is in order to just that the lower end surface of the first protrusion 9A and the second protrusion 9B, which are arranged to semicircle,
Swung during the work time in Moving needle for bee-keeping, convenient for shovel take section 5 to be more bonded with the bottom surface of honeycomb spleen, more effectively to honeycomb into
Row picks up, and improves the working efficiency of Queen transporting machine, and the angle of Moving needle for bee-keeping swing is further controlled by the length of control protrusion 9,
Prevent Moving needle for bee-keeping from driving amplitude excessive, the side of the second protrusion, which is inclined-plane, is installed for the ease of Moving needle for bee-keeping, when second convex
The side risen is that the installation resistance on the inclined-plane side raised relative to second is the installation resistance faced directly.
Upper section 6, middle section 7 and lower section 8 be it is cylindric, during the area of section of the area of section of upper section 6 and lower section 8 is respectively less than
The area of section of section 7, the area of section of upper section 6 are greater than the area of section of lower section 8, it is preferred that protrusion is equipped between 9 and middle section 7
Moving needle for bee-keeping is installed on Queen transporting machine by spacing by the gap between protrusion 9 and middle section 7, in some preferred modes, protrusion
Spacing between 9 and middle section 7 is greater than the thickness of Moving needle for bee-keeping mounting hole installation place, and the size of spacing controls the width of Moving needle for bee-keeping swing
Range is spent, spacing is bigger, and the opposite angle swung of Moving needle for bee-keeping is bigger, and spacing is smaller, and the opposite angle swung of Moving needle for bee-keeping is smaller.
In some preferred modes, the construction section 4 for moving worm elastic piece 2 is mounted on 8 outside of lower section of fixed link, preferably
, it is equipped with rubber sleeve 10 in the outer sheath of construction section 4, rubber sleeve 10 has certain elasticity, construction section 4 can be fixed on lower section
On 8, rubber sleeve 10 is elastic component, convenient for dismounting to rubber sleeve 10, is also convenient for replacing shifting worm elastic piece 2, improve
Replace the efficiency of component.
Upper section 6, middle section 7 and the shaft core position of lower section 8 are equipped with the channel 14 being connected to, and in some preferred modes, lead to
Road 14 be it is cylindric, release element 3 and be movably arranged in channel 14, release element 3 and moved up and down in channel 14, realized bee
For worm from moving in worm elastic piece in push-in queen cell cup strip, completion moves worm process.
Releasing element 3 includes pushing away tongue 11, connecting rod 12 and connector 13, pushes away one end that tongue 11 is mounted on connecting rod 12, connector
13 are mounted on the other end of connecting rod 12, and connecting rod 12 is movably arranged in channel 14, by pushing 13 pairs of release elements 3 of connector
It is moved, pushing away tongue 11 is flexible member, prevents from colliding between tongue 11 due to honeycomb and pushing away and damage to bee worm.
The length of connecting rod 12 be greater than fixed link 1 length, push away the outside that tongue 11 is mounted on 8 end of lower section, push away tongue 11 with
Shovel takes to be contacted with each other between section 5, is prevented from taking between section 5 due to pushing away tongue 11 and shovel there are gap, is caused to damage bee worm, connect
First 13 are mounted on the outside of 6 end of upper section, and the movement row of cart 11 is controlled by the distance between control joint 13 and upper section 6
Journey guarantees that pushing away tongue can will move in the push-in queen cell cup strip of the bee worm in worm elastic piece 2, improve working efficiency.
Connector 13 is cylindrical, and the diameter of connector 13 is less than the diameter in channel 14, is equipped with stop collar in one end of connector 13
15, the diameter of stop collar 15 is greater than the diameter in channel 14, and mounting hole 16 is equipped on the other end of connector 13, and connecting rod 12 is installed
In mounting hole 16, connector 13 is prevented to be pushed into channel 14 by stop collar 15, by between control stop collar 15 and upper section 6
Spacing control the promotion stroke for pushing away tongue 11.
In some preferred modes, the length of the joint face of connector 13 and connecting rod 12 to stop collar 15 with push away tongue 11
End takes the spacing on 5 head of section equally long to worm elasticity slice bar is moved, and the movement row for pushing away tongue 11 is controlled by the length of connector 13
Cheng Changdu, when stop collar 15 and upper section 6 contact when, push away tongue 11 and be moved to shovel taking the end position of section 5, worm elastic piece 2 will be moved
Interior bee worm releases, and improves Queen transporting machine structure and moves the completion rate of worm, and reduce the time for moving worm, improves and move worm efficiency.
In some preferred modes, reset spring 14A is equipped between connecting rod and channel, reset spring 14A is used for
Tongue 11 will be pushed away and be reset to the position contacted with the end face of lower section 8, convenient for moving worm work next time, it is preferred that when not working, push away tongue
11 contact with each other with 8 end face of lower section.
The course of work of the invention is that Moving needle for bee-keeping is moved to the surface of honeycomb spleen, and Moving needle for bee-keeping is turned over certain angle,
Then Moving needle for bee-keeping is moved down, until shovel takes section to occur bending and deformation, it is preferred that the amount for digging slurry section bending deformation, which is at least, digs slurry section
One third, dig slurry section occur bending and deformation by honeycomb spleen bee worm move worm elastic piece 2 in, Queen transporting machine will move on Moving needle for bee-keeping
The initial position of Moving needle for bee-keeping, then Moving needle for bee-keeping is carried out to rotate backward certain angle, it rotates backward and refers to relative to rotation side for the first time
To opposite direction rotation, queen cell cup strip is moved to the underface of Moving needle for bee-keeping, and Moving needle for bee-keeping is moved downward to and queen cell cup strip bottom by Moving needle for bee-keeping
Face contact position, Queen transporting machine push away tongue, will move in worm elastic piece in bee worm push-in queen cell cup strip, and Queen transporting machine lifts Moving needle for bee-keeping,
And the rotational angle of Moving needle for bee-keeping is restored to initial position.
In some preferred modes, the angle turned over for the first time is arranged the angle setting turned over for the second time at 5 ° -8 ° and exists
10 ° -16 °, rotation for the first time is can to move worm elastic piece along honeycomb spleen to make the spoon face of shifting worm elastic piece obliquely
The movement of nest wall, more effectively bee worm can be moved into worm elastic piece, second rotation be in order to enable moving worm elastic piece
Obliquely, preventing from shaking due to Queen transporting machine causes bee worm to skid off in shifting worm elastic piece, and is more convenient for bee worm being pushed into platform in spoon face
In base item.
Detection device includes detector 102 and detector connector 103, and detector 102 and detector connector 103 are removable
Formula connection is equipped with angle between detector 102 and detector connector 103, the angular dimension of angle is 8 ° -12 °, so that examining
Between the detection light issued when survey and honeycomb spleen honeycomb nest wall at an angle, detector of being more convenient for detects bee ovum, mentions
The accuracy rate of high detection.
Detector 102 includes sensor 101 and sensor leads 104, and sensor 101 is arranged in sensor leads 118
Side, sensor 101 are mounted in detector connector 103, and sensor issues the light beam of detection, right by sensor leads 118
Light beam is focused, convenient for that will check that light beam is aligned with honeycomb spleen.
Sensor leads include the first lens segment 105 and the second lens segment 106, the first lens segment 105 and the second lens segment
106 connections, the area of section of the area of section of the first lens segment 105 less than the second lens segment 106, and 105 He of the first lens segment
On the same line, the first lens segment 105 is mounted in detector connector 103 axis of second lens segment 106.
It is equipped with screw thread 108 in the outside of the first lens segment 105, it is corresponding, it is equipped in detector connector 103 and also is provided with pair
Sensor leads 104 are fixedly mounted in detector connector 103 by the thread segment answered by thread segment, convenient for sensor
Lens 104 are dismounted.
Detector connector 103 includes detector connecting rod 109 and detector link block 110, and detector connecting rod 109 is pacified
In detector link block 110, detector connecting rod 109 is for check device and mounting blocks to be attached, so that detection
Device is moved together with Queen transporting machine structure.
Detector connecting rod 109 includes spacing head 111, detector connection club shaft 112 and mounting head 113, spacing head 111
One end of detector connection club shaft 112 is set, and the other end of detector connection club shaft 112, limit is arranged in mounting head 113
Potential head 111 is fixedly mounted on for preventing detector connecting rod 109 from skidding off out of mounting blocks convenient for will test device connecting rod 109
In mounting blocks, mounting head 113 is symmetricly set on the outside of detector connecting rod 109 in pairs, and mounting head 113 is protrusion, can be to prevent
It is only relatively moved between detector connecting rod 109 and detector link block 110, causes detector 102 also to relatively move, shadow
Ring the recognition effect of detector 102.
Anti-rotation protrusion 114 is equipped on the side wall of detector connection club shaft 112,114 setting of anti-rotation protrusion is being leaned on
For preventing opposite turn occurs for the position of nearly spacing head, anti-rotation protrusion 114 between detector connection club shaft 112 and mounting blocks
It is dynamic, cause detector 102 also to relatively move, influences the recognition effect of detector 102.
Detector link block 110 includes two pieces of link block scoreboards 115 being oppositely arranged, and link block scoreboard 115 is equipped with detection
Device mounting groove 116 and detector connecting rod mounting groove 117 are equipped on the outside of detector mounting groove and detector connecting rod mounting groove
Through-hole, two pieces of link block scoreboards 115 for being fixedly connected by through-hole, in some preferred modes, detector mounting groove
Installation groove corresponding with mounting head 113 is set in 116, is installed convenient for detector connecting rod 109, it is preferred that detector connecting rod
Mounting groove 117 is stepped, and the diameter of axle of upper section is consistent with the diameter of axle of mounting rod first segment 104, lower section and mounting rod second segment 105
Connection.
Between detector mounting groove 116 and detector connecting rod mounting groove 117 be equipped with certain angle, angular dimension be 8 °-
12 °, it is preferred that detector mounting groove 116 is vertically arranged, and has 8 ° -12 ° between detector connecting rod mounting groove 117 and vertical plane
Angle, since the nest wall of honeycomb spleen has certain angle, between detector connecting rod mounting groove 117 and vertical plane be equipped with angle
Degree, so that also having certain angle between detector 102 and vertical plane, to improve the discrimination of detection device.
Be arranged with spring outside detector connecting rod 109, in detection device folding process, if detection device and machine or
Person's honeycomb spleen interferes, then detection device can be carried out contraction, and spring-compressed moves up check device, due to the elastic force of spring
It will test device and be reset to initial point.
The detection optical wavelength that detector 101 issues is 800-1200nm, colour temperature 8000-12000K, due to bee worm and bee
There are certain color difference between honeycomb, the wavelength issued by control sensor 101 and colour temperature, and carried out according to the color difference received
The identification of bee worm, improves identification probability, to improve the degree of automation of Queen transporting machine.
The course of work of manipulator, manipulator translate on honeycomb spleen, and detector is sweet to whether there is in honeycomb spleen honeycomb
Larva of bee is detected, when having detected bee larva, the downward mechanical of Moving needle for bee-keeping hand down it is dynamic, until shovel take section to send out
Raw bending deformation, it is preferred that the amount for digging slurry section bending deformation is 3-5mm, digs slurry section and occurs bending and deformation bee worm in honeycomb spleen
It moves in worm elastic piece 2, manipulator is moved to initial position, then Moving needle for bee-keeping is carried out to rotate backward certain angle, and rotating backward is
Refer to and Moving needle for bee-keeping is turned into the position of Moving needle for bee-keeping spoon face obliquely, queen cell cup strip is moved to the underface of Moving needle for bee-keeping, and manipulator is downward
It is moved to Moving needle for bee-keeping and queen cell cup strip bottom surface contact position, Queen transporting machine pushes away tongue, will move bee worm in worm elastic piece and is pushed into queen cell cup strip
Interior, manipulator is moved upward to initial position, and the rotational angle of Moving needle for bee-keeping is restored to initial position.
In some preferred modes, under preliminary examination state, the spoon face of Moving needle for bee-keeping be it is downward, between spoon face and vertical plane
Angle is 6 ° -10 °, is moved convenient for will move worm elastic piece during manipulator decline along the nest wall of honeycomb spleen, can be more effectively
Bee worm is moved into worm elastic piece, the counter-rotational angle of Moving needle for bee-keeping is 12 ° -20 °, and the spoon of Moving needle for bee-keeping faces upward after rotation,
And the angle between spoon face and vertical plane is 6 ° -10 °, and preventing from shaking due to Queen transporting machine causes bee worm to skid off shifting worm elastic piece
It is interior, and be more convenient for for bee worm being pushed into queen cell cup strip.
Claims (10)
1. a kind of Queen transporting machine tool hand, which is characterized in that including Moving needle for bee-keeping, mounting blocks and detection device, Moving needle for bee-keeping and detector are equal
It is mounted on mounting blocks.
2. a kind of Queen transporting machine tool hand according to claim 1, which is characterized in that mounting blocks include Moving needle for bee-keeping installing zone and cunning
Dynamic installing zone, Moving needle for bee-keeping installing zone are fixedly connected with the area that is slidably installed.
3. a kind of Queen transporting machine tool hand according to claim 2, which is characterized in that Moving needle for bee-keeping installing zone includes Moving needle for bee-keeping installation
Slot and movable block mounting groove, movable block mounting groove are arranged above Moving needle for bee-keeping mounting groove.
4. a kind of Queen transporting machine tool hand according to claim 3, which is characterized in that a side opening of Moving needle for bee-keeping mounting groove leads to
Moving needle for bee-keeping can be installed by crossing the opening.
5. a kind of Queen transporting machine tool hand according to claim 1, which is characterized in that detection device includes detector and detector
Connector, detector and the removable connection of detector connector are equipped with angle between detector and detector connector.
6. a kind of Queen transporting machine tool hand according to claim 5, which is characterized in that the angular dimension of angle is 8 ° -12 °.
7. a kind of Queen transporting machine tool hand according to claim 5, which is characterized in that detector includes that sensor and sensor are saturating
Mirror, sensor are arranged above sensor leads, and sensor is mounted in detector connector.
8. a kind of Queen transporting machine tool hand according to claim 1, which is characterized in that Moving needle for bee-keeping includes fixed link, moves worm elasticity
Piece and release element, move worm elastic piece and connect with fixed link, release element and are flexibly connected with fixed link.
9. a kind of Queen transporting machine tool hand according to claim 8, which is characterized in that moving worm elastic piece includes that construction section and shovel take
Section, construction section is removable to be mounted in fixed link, and shovel takes section to connect with construction section；Alternatively, the shovel takes section arc-shaped.
10. a kind of Queen transporting machine tool hand according to claim 9, which is characterized in that the thickness of construction section is greater than shovel and takes section
Thickness, shovel take the thickness of section to take the junction of section and construction section to take the end of section gradually thinning to shovel from shoveling；Alternatively, the shovel
Taking section is elastic component.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2018107704386 | 2018-07-13 | ||
| CN201810770438 | 2018-07-13 |
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| CN109997733A true CN109997733A (en) | 2019-07-12 |
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| CN201821374600.4U Active CN209299980U (en) | 2018-07-13 | 2018-08-24 | A kind of shifting worm element |
| CN201821376134.3U Active CN209299983U (en) | 2018-07-13 | 2018-08-24 | A kind of Moving needle for bee-keeping installing mechanism |
| CN201821376142.8U Active CN209089703U (en) | 2018-07-13 | 2018-08-24 | A kind of manipulator F.F. device |
| CN201810974288.0A Pending CN109997731A (en) | 2018-07-13 | 2018-08-24 | A kind of Queen transporting machine |
| CN201810974335.1A Pending CN109997733A (en) | 2018-07-13 | 2018-08-24 | A kind of Queen transporting machine tool hand |
| CN201821375571.3U Active CN209299982U (en) | 2018-07-13 | 2018-08-24 | A kind of Queen transporting machine structure mounting blocks |
| CN201821374659.3U Active CN209711125U (en) | 2018-07-13 | 2018-08-24 | A kind of Moving needle for bee-keeping fixed link |
| CN201821374658.9U Active CN209711124U (en) | 2018-07-13 | 2018-08-24 | A kind of Queen transporting machine |
| CN201821375559.2U Active CN209299981U (en) | 2018-07-13 | 2018-08-24 | A kind of Queen transporting machine tool hand |
| CN201810975326.4A Pending CN109997734A (en) | 2018-07-13 | 2018-08-24 | A kind of shifting worm element |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821376123.5U Active CN209693768U (en) | 2018-07-13 | 2018-08-24 | A kind of Moving needle for bee-keeping |
| CN201821374600.4U Active CN209299980U (en) | 2018-07-13 | 2018-08-24 | A kind of shifting worm element |
| CN201821376134.3U Active CN209299983U (en) | 2018-07-13 | 2018-08-24 | A kind of Moving needle for bee-keeping installing mechanism |
| CN201821376142.8U Active CN209089703U (en) | 2018-07-13 | 2018-08-24 | A kind of manipulator F.F. device |
| CN201810974288.0A Pending CN109997731A (en) | 2018-07-13 | 2018-08-24 | A kind of Queen transporting machine |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821375571.3U Active CN209299982U (en) | 2018-07-13 | 2018-08-24 | A kind of Queen transporting machine structure mounting blocks |
| CN201821374659.3U Active CN209711125U (en) | 2018-07-13 | 2018-08-24 | A kind of Moving needle for bee-keeping fixed link |
| CN201821374658.9U Active CN209711124U (en) | 2018-07-13 | 2018-08-24 | A kind of Queen transporting machine |
| CN201821375559.2U Active CN209299981U (en) | 2018-07-13 | 2018-08-24 | A kind of Queen transporting machine tool hand |
| CN201810975326.4A Pending CN109997734A (en) | 2018-07-13 | 2018-08-24 | A kind of shifting worm element |
Country Status (2)
| Country | Link |
|---|---|
| CN (11) | CN209693768U (en) |
| WO (1) | WO2020038489A1 (en) |
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| CN113796355A (en) * | 2020-06-12 | 2021-12-17 | 杭州晶雁电子科技有限公司 | Method for transferring insects |
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| CN209693768U (en) * | 2018-07-13 | 2019-11-29 | 杭州晶雁电子科技有限公司 | A kind of Moving needle for bee-keeping |
| CN109997735A (en) * | 2018-08-24 | 2019-07-12 | 杭州晶雁电子科技有限公司 | A kind of queen cell cup strip feed device |
| CN110447573B (en) * | 2019-08-19 | 2024-04-05 | 中国计量大学 | Vision-based intelligent insect transferring and supplementing device for royal jelly |
| CN111716337B (en) * | 2020-07-30 | 2022-11-22 | 王源浩 | Manipulator device for robot assembly and operation method |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN209299980U (en) | 2019-08-27 |
| CN209299982U (en) | 2019-08-27 |
| CN109997731A (en) | 2019-07-12 |
| CN209299983U (en) | 2019-08-27 |
| WO2020038489A1 (en) | 2020-02-27 |
| CN209299981U (en) | 2019-08-27 |
| CN209089703U (en) | 2019-07-12 |
| CN209711125U (en) | 2019-12-03 |
| CN209693768U (en) | 2019-11-29 |
| CN209711124U (en) | 2019-12-03 |
| CN109997734A (en) | 2019-07-12 |
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