CN111149777A - Automatic black soldier fly breeding and unloading system - Google Patents
Automatic black soldier fly breeding and unloading system Download PDFInfo
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- CN111149777A CN111149777A CN202010155804.4A CN202010155804A CN111149777A CN 111149777 A CN111149777 A CN 111149777A CN 202010155804 A CN202010155804 A CN 202010155804A CN 111149777 A CN111149777 A CN 111149777A
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- 238000009395 breeding Methods 0.000 title claims abstract description 46
- 230000001488 breeding effect Effects 0.000 title claims abstract description 46
- 241000709785 Hermetia illucens Species 0.000 title claims abstract description 21
- 239000000463 material Substances 0.000 claims abstract description 50
- 238000007599 discharging Methods 0.000 claims abstract description 37
- 230000007306 turnover Effects 0.000 claims description 26
- 230000007246 mechanism Effects 0.000 claims description 15
- 238000004804 winding Methods 0.000 claims description 6
- 238000005452 bending Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 241000255632 Tabanus atratus Species 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000000034 method Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 235000013601 eggs Nutrition 0.000 description 2
- 238000009423 ventilation Methods 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 244000208734 Pisonia aculeata Species 0.000 description 1
- 241001481656 Stratiomyidae Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004332 deodorization Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 238000000855 fermentation Methods 0.000 description 1
- 230000004151 fermentation Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 239000010806 kitchen waste Substances 0.000 description 1
- 239000010813 municipal solid waste Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000010815 organic waste Substances 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 238000006467 substitution reaction 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
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- Cultivation Receptacles Or Flower-Pots, Or Pots For Seedlings (AREA)
- Farming Of Fish And Shellfish (AREA)
Abstract
The invention discloses an automatic black soldier fly breeding and unloading system, which comprises: the automatic feeding device comprises a side-turning type culture bed device, an AGV positioning control device, an AGV automatic feeding vehicle and an AGV automatic receiving vehicle; the side-turning type cultivation bed device is fixedly arranged on the ground and is provided with a cultivation bed capable of turning on one side; the AGV positioning device is arranged on the side surface of the side-turning type culture bed device and is respectively provided with a feeding guide route from a feeding point to the side surface ground of the side-turning type culture bed device and a discharging guide route from the side surface ground of the side-turning type culture bed device to the discharging chute; the AGV automatic feeding vehicle can feed materials to a culture bed of the side-turning type culture bed device along a feeding guide path of the AGV positioning device; the AGV automatic material receiving vehicle can convey the discharged materials received from the culture bed of the side-turning culture bed device to the discharge chute along the discharging guide route. Can realize automatic even material loading, breed and the ejection of compact, use manpower sparingly, degree of automation is high, is fit for the production of big handling capacity.
Description
Technical Field
The invention relates to the field of hermetia illucens breeding, in particular to an automation system for breeding and unloading hermetia illucens.
Background
In the existing black soldier fly breeding treatment process, the automation degree is a key factor for restricting the whole production yield. Most of the cultivation is still in the ground trough form of artificial cultivation or the form of a shelf, and the artificial feeding and discharging and the artificial discharging are assisted. Thus, there are problems in that a workshop must be manually entered, the operating environment of workers is poor, and the yield of the entire production is difficult to be enlarged.
Disclosure of Invention
Based on the problems in the prior art, the invention aims to provide an automatic black soldier fly breeding and unloading system, which can solve the problems that the existing black soldier fly breeding treatment process mostly adopts manpower, the automation degree is low, the working environment of workers is poor, and the yield of the whole production is difficult to expand.
The purpose of the invention is realized by the following technical scheme:
the embodiment of the invention provides an automatic hermetia illucens breeding and unloading system, which comprises:
the automatic feeding device comprises a side-turning type culture bed device, an AGV positioning control device, an AGV automatic feeding vehicle and an AGV automatic receiving vehicle; wherein,
the side-turning type cultivation bed device is fixedly arranged on the ground and is provided with a cultivation bed capable of turning on one side;
the AGV positioning device is arranged on the side surface of the side-turning type culture bed device and is respectively provided with a feeding guide route from a feeding point to the side surface ground of the side-turning type culture bed device and a discharging guide route from the side surface ground of the side-turning type culture bed device to a discharging chute;
the AGV automatic feeding vehicle can feed materials to a culture bed of the side-turning culture bed device along a feeding guide path of the AGV positioning device;
the AGV automatic material receiving vehicle can send the discharged materials received from the culture bed of the side-turning culture bed device to a discharge chute along a discharging guide route of the AGV positioning device;
AGV positioning control device respectively with AGV automatic feeding car and AGV automatic receiving skip communication connection can be according to predetermined command control AGV automatic feeding car warp the feeding guide route by the feed point to the bed of breeding of bed device is bred to the formula of turning on one's side carries out automatic feeding, and control AGV automatic receiving skip warp ejection of compact guide route is followed the bed of breeding of bed device is bred to the formula of turning on one's side carries out automatic discharge to the blowpit.
According to the technical scheme provided by the invention, the automatic black soldier fly breeding and unloading system provided by the embodiment of the invention has the beneficial effects that:
through setting up AGV automatic feeding car and AGV automatic material receiving car cooperation AGV positioning control device respectively, can realize the automatic even material loading of bed device is bred to the offside formula of turning over, breed and automatic discharging, because AGV automatic feeding car and AGV automatic material receiving car can automatic positioning, automatic walking under AGV positioning control device control and guidance, save artificial labour and drop into, whole workshop need not manual operation, use manpower sparingly, degree of automation is high, suitable large-handling capacity production.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a schematic diagram of an automated hermetia illucens breeding and unloading system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a side panel opening and closing mechanism according to an embodiment of the present invention; wherein (a) is a schematic state diagram of the side plate closing mechanism for closing the side plate; (b) a schematic diagram of the state that the side plate opening and closing mechanism opens the side plate;
the parts corresponding to each mark in the figure are: 1-a culture bed; 2-side plate opening and closing mechanism; 3-a connection frame; 4-positioning blocks; 5-side plate; 6-a support frame; 7-a junction point; 8-turning over the arm; 9-turning over the oil cylinder; 10-connecting the hook heads; 11-AGV automatic material receiving vehicle; 12-a hydraulic device; 13-positioning an AGV; 14-an AGV positioning control; 15-a traveling mechanism; 16-a power assembly; 17-a discharging oil cylinder; 18-a receiving hopper; 19-a discharge chute; 20-AGV automatic feeding vehicle; 21-positioning blocks; 22-a rope; 23-a pin shaft; c-a support end connection point of the rope; d-a breeding bed end connecting point of the rope.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the specific contents of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention. Details which are not described in detail in the embodiments of the invention belong to the prior art which is known to the person skilled in the art.
As shown in fig. 1, an automatic black soldier fly breeding and unloading system according to an embodiment of the present invention includes:
the automatic feeding device comprises a side-turning type culture bed device, an AGV positioning control device, an AGV automatic feeding vehicle and an AGV automatic receiving vehicle; wherein,
the side-turning type cultivation bed device is fixedly arranged on the ground and is provided with a cultivation bed capable of turning on one side;
the AGV positioning device is arranged on the side surface of the side-turning type culture bed device and is respectively provided with a feeding guide route from a feeding point to the side surface ground of the side-turning type culture bed device and a discharging guide route from the side surface ground of the side-turning type culture bed device to a discharging chute;
the AGV automatic feeding vehicle can feed materials to a culture bed of the side-turning culture bed device along a feeding guide path of the AGV positioning device;
the AGV automatic material receiving vehicle can send the discharged materials received from the culture bed of the side-turning culture bed device to a discharge chute along a discharging guide route of the AGV positioning device;
AGV positioning control device respectively with AGV automatic feeding car and AGV automatic receiving skip communication connection can be according to predetermined command control AGV automatic feeding car warp the feeding guide route by the feed point to the bed of breeding of bed device is bred to the formula of turning on one's side carries out automatic feeding, and control AGV automatic receiving skip warp ejection of compact guide route is followed the bed of breeding of bed device is bred to the formula of turning on one's side carries out automatic discharge to the blowpit.
In the above-mentioned system, the formula of turning on one's side breeds a bed device and includes:
the multi-layer cultivation bed comprises a support frame, a connecting frame, a multi-layer cultivation bed, a side plate opening and closing mechanism, a positioning block, a turnover arm and a turnover oil cylinder; wherein, the supporting frame is fixedly arranged on the ground;
the multi-layer cultivation beds are horizontally arranged on the support frame at intervals from top to bottom, each layer of cultivation bed is movably connected with the support frame and can be turned over outwards on the support frame, and each layer of cultivation bed is of a box-shaped structure with an openable side plate arranged on the outer side;
the connecting frame is movably connected with the multilayer culture bed and can drive the multilayer culture bed to synchronously turn outwards along a connecting point connected with the supporting frame on the supporting frame;
the front end of the side plate opening and closing mechanism is fixedly connected with the support frame, the rear end of the side plate opening and closing mechanism is fixedly connected with the side plates of each layer of cultivation bed, and the side plates of each layer of cultivation bed can be synchronously opened and closed when the multi-layer cultivation bed is turned over and reset;
the turnover arm is arranged below the bottommost cultivation bed, the upper end of the turnover arm is connected with the bottommost cultivation bed, the lower end of the turnover arm is connected with the support frame through a cross rod, and the turnover arm can be pulled to be in a bending state through the AGV automatic material receiving vehicle to drive the multilayer cultivation bed connected through the connecting frame to synchronously turn outwards; specifically, the overturning arm is of a two-section movably connected straight rod structure and can be straightened or bent towards one side of the support frame, each layer of cultivation bed can be driven to synchronously overturn towards the outer side of the support frame in a bending state, each layer of cultivation bed can be driven to synchronously return in a straightening state, and each layer of cultivation bed can be horizontally placed back to the support frame;
the positioning blocks are arranged at intervals from top to bottom in the middle position on the supporting frame, and each positioning block is positioned at the rear end of the cultivation bed on the same layer and can position and support the rear end of the cultivation bed on the same layer. Specifically, the locating piece can guarantee to breed the bed and return to the target position, can play the effect of supporting breeding the bed rear end simultaneously. Preferably, the positioning block can adopt a structure body with an inverted T-shaped section, so that the positioning block can simultaneously play a role in positioning and supporting the rear end of the culture bed arranged on two sides of the same layer in parallel.
In the side-turning type cultivation bed device, the cultivation bed is of a frame box-shaped structure, and a gauze is laid in the cultivation bed.
Referring to fig. 2, the side plate opening and closing mechanism in the side-turning type cultivation bed device adopts a rope winding structure, the rear end of the rope winding structure is fixedly connected with the support frame (i.e., a point C in fig. 2 and a support frame end connection point of the rope), the rear end of the rope winds around a pin shaft arranged at the rear end of the cultivation bed at the uppermost layer and winds around from the upper side, and the rear end of the rope winds around the support frame from the upper side to the lower side plate upper end of the cultivation bed in sequence (i.e., a point D in fig. 2 and a cultivation bed end connection point of the.
When the rope winding structure is in a fixed state, ropes of the rope winding structure are pressed down by a pin shaft arranged on a rear end plate of the breeding bed, the ropes are folded from fixed points connected with the rear end to parts bypassing the support frame through the pin shaft, the distance between the fixed point of the rear end connecting with the support frame and the fixed point of the upper end of the connecting side plate is minimum due to the fact that the length of the total rope is unchanged, the ropes are in a tensioned state, and the side plates of each layer of the breeding bed are closed; under each layer of cultivation bed overturn state, the hinge pin at the rear end of the uppermost layer of cultivation bed can not press the rope folding part any more, namely the rope folding part is loosened, so that the distance between the fixed points of the front end and the rear end of the rope is the largest, the rope is in a loosening state, and the side plates of the cultivation bed are opened under the pressure of materials.
Among the above-mentioned system, AGV automatic feeding car includes:
the system comprises a first AGV body, a feeding hopper, a conveying pump and a conveying mechanical arm; wherein,
go up hopper, delivery pump and transport robotic arm and all set up on the AGV automobile body, the inlet pipe of delivery pump with the feeding hopper is connected, the discharging pipe of delivery pump with transport robotic arm connects, transport robotic arm can drive the discharging pipe and breed the bed and carry the material to each layer. Specifically, the hopper is responsible for receiving materials, and the materials are conveyed to the culture bed through the conveying pump and the discharging pipe. Preferably, the conveying robot arm may be an industrial robot that performs positioning at multiple points, as long as the robot can perform lifting, extending, and moving operations.
Among the above-mentioned AGV automatic feeding car, electronic AGV automobile body is adopted to first AGV automobile body.
Among the above-mentioned system, the automatic skip that connects of AGV includes:
the second AGV body, the receiving hopper, the discharging oil cylinder, the hydraulic device, the overturning oil cylinder and the connecting hook head; wherein,
the receiving hopper, the discharging oil cylinder, the hydraulic device and the overturning oil cylinder are all arranged on the AGV body;
the overturning oil cylinder is arranged at the front end of the second AGV body and is connected with the hydraulic device;
the connecting hook head is arranged at the front end of the overturning oil cylinder and can extend out or retract to stretch and bend or push straight the overturning arm of the side-overturning type cultivation bed device under the driving of the overturning oil cylinder; specifically, the turnover oil cylinder extends forwards, the turnover arm is pushed to bend towards the direction of the support frame through the connecting hook head, the multi-layer cultivation bed is synchronously turned towards the outer side of the support frame, and the side plate is opened to discharge materials into the material receiving hopper; after discharging is finished, the turnover oil cylinder retracts, the connecting hook head pulls the turnover arm to return to drive the multi-layer cultivation bed to return synchronously, and the multi-layer cultivation bed is horizontally placed on the support frame;
the rear end of the receiving hopper is movably connected with the rear end of the AGV body, and the middle front end position of the bottom of the receiving hopper is connected with the AGV body through the unloading oil cylinder and can be driven by the unloading oil cylinder to turn to one side;
the discharging oil cylinder is connected with the hydraulic device.
In the automatic skip that connects of above-mentioned AGV, second AGV automobile body adopts electronic AGV automobile body.
Preferably, the AGV positioning control device is composed of a computer, an electric control device, and positioning devices such as a magnetic induction or laser reflection plate, and the AGV automatic feeding vehicle and the AGV automatic receiving vehicle are both provided with automatic guiding devices such as an electromagnetic or optical device, and can travel along a specified guiding path, and a rechargeable battery is used as a power source. Generally, the traveling route and behavior of the AGV can be controlled by a computer, or the traveling route is set up by using an electromagnetic track (electromagnetic path-following system), the electromagnetic track is adhered to the floor, and the AGV automatic loading vehicle move and operate according to the information brought by the electromagnetic track.
According to the automatic black soldier fly breeding and unloading system, the AGV is used for automatic trolley feeding, breeding automation is realized, the AGV is used for discharging, the automatic operation of the whole workshop is ensured, and no auxiliary labor is needed; because the culture bed adopts a frame type structure, the whole culture bed is wrapped by gauze in different areas, and the problem of material leakage is avoided; materials (including kitchen waste treatment, kitchen treatment, excrement and other organic wastes) are arranged in the length direction of the culture bed, worm eggs in a single bed body are quantified, according to the growth rule, feed is quantified, the culture environment is automatically controlled, the AGV robot automatically discharges materials, and the discharged materials fall into a discharge chute to be subjected to the subsequent screening process; the whole machine has high degree of automation, greatly reduces human factors and improves the product quality.
The embodiments of the present invention are described in further detail below.
According to the automatic black soldier fly breeding and discharging system, according to the growth rule of black soldier flies, the AGV automatic feeding cart automatically feeds, larvae can be automatically distributed through the larva arrangement device, feeding is carried out on the cart for multiple times every day in a breeding link, and after 7 days of breeding, the AGV automatic receiving cart automatically receives the larvae to the discharging chute to automatically overturn and discharge.
The whole circulation is characterized by fixing the quantity of the eggs of the insects, feeding at regular time, fixing the quantity of the feed, discharging at regular time and realizing automation of the whole process.
The system of the invention is shown in fig. 1 and 2, and specifically comprises:
the support frame consists of rectangular pipes, is fixed on the ground and is used as a support structure of the whole culture bed;
the breeding bed is in a box shape with a frame structure, the inner side of the breeding bed is paved with gauze, the breeding bed is provided with a side plate which can be opened, the breeding bed is opened when unloading is carried out, and the breeding bed is closed in a normal state; preferably, a plurality of layers of culture beds (for example, five layers of culture beds can be arranged, so that the occupied area can be saved), the culture beds of all layers are arranged on the support frame at intervals from top to bottom, and each layer of culture bed is horizontally arranged on the support frame; each layer of cultivation bed can be overturned outwards on the support frame along the connection point;
the connecting frame is connected with the multi-layer cultivation beds arranged up and down and is movably hinged with each layer of cultivation bed, so that each layer of cultivation bed can be driven to synchronously turn over towards the outer side of the supporting frame;
the turnover arm is of a structure with two straight rods movably connected in the middle and is arranged below the bottommost cultivation bed, the upper end of the turnover arm is connected with the bottommost cultivation bed, the lower end of the turnover arm is connected with the support through a cross rod and is controlled by a turnover oil cylinder of the automatic material receiving vehicle of the AGV, the turnover arm is in a bent state when rotating inwards (towards one side of the support frame), the multi-layer cultivation bed synchronously rotates towards the outer side of the support frame along the A point, meanwhile, the side plates of the cultivation beds are opened under the action of a side plate opening and closing mechanism, the cultivation bed unloads materials from a material receiving hopper of the automatic material receiving vehicle of the AGV in the cultivation bed, after the unloading is completed, the turnover arm stretches under the pull-back action of the turnover oil cylinder, the multi-layer cultivation bed.
The locating piece sets up in the middle part of support frame, can guarantee to breed the bed and return to target in place to breeding bed rear end location and support, can cooperate the upset arm supports jointly and breeds the bed.
The AGV automatic material receiving vehicle for receiving materials is provided with a travelling mechanism, is flexible to operate, is provided with a positioning identification guide device, can realize positioning identification under the guidance and control of the AGV positioning control device, travels according to a set guide route, is positioned under a culture bed according to requirements, and conveys a discharge chute after the material receiving is completed to finish the discharging.
The AGV automatic material receiving vehicle is provided with a turnover oil cylinder and a connecting hook head, and under the action of a hydraulic device, the AGV automatic material receiving vehicle drives the turnover arm connected with the culture bed to bend and support, so that the multilayer culture bed is synchronously turned over, unloaded and the side plates of the culture bed are opened.
The AGV automatic receiving vehicle is provided with a discharging oil cylinder and a hydraulic device, the hydraulic device can adopt a hydraulic station, the discharging oil cylinder can be driven to complete the action of driving the receiving hopper to overturn, the material in the receiving hopper is emptied, and the material is poured into the discharging chute.
The power assembly of the AGV automatic material receiving vehicle comprises a battery assembly and the like, and provides walking and hydraulic power for the trolley.
And a channel is reserved between the breeding beds in the workshop, so that the operation of the larva arrangement device, the AGV automatic feeding vehicle and the AGV automatic receiving vehicle is facilitated.
Furthermore, the invention considers the requirements of ventilation and deodorization and environmental temperature and humidity control, and achieves the control of the culture environment through a ventilation system and constant temperature and humidity control.
Compared with the prior art, the system has the advantages that the equipment automatically controls the operation, and can realize automatic and uniform feeding, cultivation and automatic discharging. The automatic AGV is adopted to material loading truck and material receiving truck, and automatic positioning, automatic walking saves artificial labour and drops into, and at the in-process of AGV automatic material loading truck walking, can realize arranging organic rubbish from the hopper evenly on breeding the bed, can obtain suitable thickness, satisfies a lot of even feed, and the heisui river horsefly of being convenient for is edible, reduces the material fermentation and generates heat. Secondly, after the cultivation is finished, the AGV automatic material receiving vehicle automatically walks and positions to finish the operation of dumping the cultivation bed, receives materials, restores the normal position of the cultivation bed after receiving the materials, and walks to the discharge chute to discharge the materials. The whole workshop does not need manual operation, saves manpower, has high automation degree and is suitable for large-throughput production.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. The utility model provides a heisui river horsefly is bred and automatic system of unloading, its characterized in that includes:
the automatic feeding device comprises a side-turning type culture bed device, an AGV positioning control device, an AGV automatic feeding vehicle and an AGV automatic receiving vehicle; wherein,
the side-turning type cultivation bed device is fixedly arranged on the ground and is provided with a cultivation bed capable of turning on one side;
the AGV positioning device is arranged on the side surface of the side-turning type culture bed device and is respectively provided with a feeding guide route from a feeding point to the side surface ground of the side-turning type culture bed device and a discharging guide route from the side surface ground of the side-turning type culture bed device to a discharging chute;
the AGV automatic feeding vehicle can feed materials to a culture bed of the side-turning culture bed device along a feeding guide path of the AGV positioning device;
the AGV automatic material receiving vehicle can send the discharged materials received from the culture bed of the side-turning culture bed device to a discharge chute along a discharging guide route of the AGV positioning device;
AGV positioning control device respectively with AGV automatic feeding car and AGV automatic receiving skip communication connection can be according to predetermined command control AGV automatic feeding car warp the feeding guide route by the feed point to the bed of breeding of bed device is bred to the formula of turning on one's side carries out automatic feeding, and control AGV automatic receiving skip warp ejection of compact guide route is followed the bed of breeding of bed device is bred to the formula of turning on one's side carries out automatic discharge to the blowpit.
2. The automated hermetia illucens breeding and unloading system of claim 1, wherein the side-turning breeding bed device comprises:
the multi-layer cultivation bed comprises a support frame, a connecting frame, a multi-layer cultivation bed, a side plate opening and closing mechanism, a positioning block, a turnover arm and a turnover oil cylinder; wherein,
the supporting frame is fixedly arranged on the ground;
the multi-layer cultivation beds are horizontally arranged on the support frame at intervals from top to bottom, each layer of cultivation bed is movably connected with the support frame and can be turned over outwards on the support frame, and each layer of cultivation bed is of a box-shaped structure with an openable side plate arranged on the outer side;
the connecting frame is movably connected with the multilayer culture bed and can drive the multilayer culture bed to synchronously turn outwards along a connecting point connected with the supporting frame on the supporting frame;
the front end of the side plate opening and closing mechanism is fixedly connected with the support frame, the rear end of the side plate opening and closing mechanism is fixedly connected with the side plates of each layer of cultivation bed, and the side plates of each layer of cultivation bed can be synchronously opened and closed when the multi-layer cultivation bed is turned over and reset;
the turnover arm is arranged below the bottommost cultivation bed, the upper end of the turnover arm is connected with the bottommost cultivation bed, the lower end of the turnover arm is connected with the support frame through a cross rod, and the turnover arm can be pulled to be in a bending state through the AGV automatic material receiving vehicle to drive the multilayer cultivation bed connected through the connecting frame to synchronously turn outwards;
the positioning blocks are arranged at intervals from top to bottom in the middle position on the supporting frame, and each positioning block is positioned at the rear end of the cultivation bed on the same layer and can position and support the rear end of the cultivation bed on the same layer.
3. The automated black soldier fly breeding and unloading system of claim 2, wherein the breeding bed is a frame box-like structure with a gauze laid inside.
4. The automatic black soldier fly breeding and unloading system according to claim 2, wherein the side plate opening and closing mechanism adopts a rope winding structure, the rope rear end of the rope winding structure is fixedly connected with the supporting frame, the rope rear portion bypasses a pin shaft arranged at the rear end of the breeding bed at the uppermost layer, and the rope rear portion bypasses the supporting frame from above and then is fixedly connected with the upper end of the side plate of each layer of breeding bed from top to bottom in sequence.
5. The automated hermetia illucens breeding and unloading system of any one of claims 1 to 4, wherein the AGV automatic loading cart comprises:
the system comprises a first AGV body, a feeding hopper, a conveying pump and a conveying mechanical arm; wherein,
go up hopper, delivery pump and transport robotic arm and all set up on the AGV automobile body, the inlet pipe of delivery pump with the feeding hopper is connected, the discharging pipe of delivery pump with transport robotic arm connects, transport robotic arm can drive the discharging pipe and breed the bed and carry the material to each layer.
6. The automated hermetia illucens breeding and unloading system of claim 5, wherein the first AGV body is an electric AGV body.
7. The automated hermetia illucens breeding and unloading system of any one of claims 1 to 4, wherein the AGV automatic take-up cart comprises:
the second AGV body, the receiving hopper, the discharging oil cylinder, the hydraulic device, the overturning oil cylinder and the connecting hook head; wherein,
the receiving hopper, the discharging oil cylinder, the hydraulic device and the overturning oil cylinder are all arranged on the AGV body;
the overturning oil cylinder is arranged at the front end of the second AGV body and is connected with the hydraulic device;
the connecting hook head is arranged at the front end of the overturning oil cylinder and can extend out or retract to stretch and bend or push straight the overturning arm of the side-overturning type cultivation bed device under the driving of the overturning oil cylinder;
the rear end of the receiving hopper is movably connected with the rear end of the AGV body, and the middle front end position of the bottom of the receiving hopper is connected with the AGV body through the unloading oil cylinder and can be driven by the unloading oil cylinder to turn to one side;
the discharging oil cylinder is connected with the hydraulic device.
8. The automated hermetia illucens breeding and unloading system of claim 7, wherein the second AGV body is an electric AGV body.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111713459A (en) * | 2020-07-22 | 2020-09-29 | 华南农业大学 | Black soldier fly larva breeding device based on slope shifts |
| CN111903620A (en) * | 2020-08-14 | 2020-11-10 | 四川汇达通机械设备制造有限公司 | Utilize heisui river horsefly to degrade device of rubbish from cooking |
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| CN114503958A (en) * | 2022-01-14 | 2022-05-17 | 宁波丽景环保科技有限公司 | Breeding device |
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