CN115299384A

CN115299384A - Unmanned honey collection equipment and collection method for small complex bee field

Info

Publication number: CN115299384A
Application number: CN202211113606.7A
Authority: CN
Inventors: 刘平; 杨明国; 王春颖; 李双双; 胥保华; 刘振国; 李祥
Original assignee: Shandong Agricultural University
Current assignee: Shandong Agricultural University
Priority date: 2022-09-14
Filing date: 2022-09-14
Publication date: 2022-11-08

Abstract

The invention relates to unmanned honey collecting equipment and a collecting method for a small-sized complex bee field. According to the invention, through the arrangement of the gripping device and the honey shaking device, manual honey comb taking out, honey bee sweeping and manual cutting are replaced, so that the manpower work is reduced, the contact of the honey bees is avoided, and the risk of being bitten is reduced; the grabbing device grabs the bee plate through the arrangement of the first electromagnet and the iron plate; through the setting of two blades, be convenient for to the beeswax excision on the bee board, make the beeswax fall in the surge drum to make honey expose, the honey centrifugation of being convenient for is collected, thereby further from the collection speed that improves honey.

Description

Unmanned honey collection equipment and collection method for small complex bee field

Technical Field

The invention relates to the field of honey collection, in particular to the technical field of automatic honey collection, and specifically relates to unmanned honey collection equipment and a collection method for a small-sized complex bee field.

Background

Honey is a popular health care product from the appearance of the industry to the present. In China, various products in the bee breeding industry belong to typical labor and resource intensive products, most of beekeepers belong to small bee farms with the breeding quantity of less than one hundred colonies, and the majority of collection modes are manual cutting and centrifugal honey taking.

In the modern collection technology of traditional comb honey and centrifugal honey, beekeepers start to take honey through a manually or electrically driven centrifuge. However, the techniques still need to manually take out the honey spleens, sweep the bees and manually cut, so that the efficiency is low, the process is complicated, and the working personnel can be bitten. In the small bee field cultivation, how to improve the efficiency and reduce the honey waste, how to reduce the labor work and avoid the contact of the bees so as to reduce the risk of being stinged is the key point to be solved.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides the unmanned honey collection equipment and the collection method for the small-sized complex bee field, which improve the honey collection efficiency, reduce the honey waste, reduce the manpower work and avoid the contact of the bees so as to reduce the risk of being stinged.

The invention is realized by the following technical scheme, and the unmanned honey collection equipment for the small-sized complex bee farms comprises a honey shaking device and a walking device, wherein the honey shaking device comprises a collecting cylinder, a rotating frame positioned in the collecting cylinder and a first driving device for driving the rotating frame to rotate, and a grabbing device for grabbing a bee plate is arranged on the walking device.

When the honey collecting device is used, the driving walking device drives the grabbing device to move to the position of a beehive, a beehive is taken out from the beehive through the grabbing device, then the walking device drives the beehive to move to the honey shaking device, the grabbing device is driven to place the beehive into the rotating frame, then the rotating frame is driven to rotate, honey and beewax are thrown out of the beehive into the collecting cylinder under the action of centrifugal force, and therefore honey collection is achieved.

Preferably, the grabbing device comprises a bottom plate provided with a first electromagnet, a second driving device for driving the bottom plate to move vertically, and a third driving device for driving the second driving device to move horizontally, and an iron plate matched with the first electromagnet is fixedly connected to the bee board.

This preferred scheme makes the bottom plate remove directly over the bee board under running gear, third drive arrangement's cooperation when using, then drives second drive arrangement and drives the bottom plate downstream, makes first electro-magnet and iron plate be connected, then for first electro-magnet circular telegram, makes first electro-magnet hold iron plate to make the bottom plate grasp the bee board, simultaneously, after cutting off the power supply to first electro-magnet, thereby make the bottom plate release the bee board.

Preferably, the bottom plate is further provided with air outlet pipes located on two sides of the honeycomb board, the bottom plate is further provided with a fan communicated with the top end of the air outlet pipe, and an air outlet of the air outlet pipe extends along the extending direction of the honeycomb board.

When this preferred scheme is in use, when the bottom plate was held the bee board, the fan of both sides was sent into the air-out intraductal with wind to the honeybee that will be located bee board both sides blows away.

Preferably, the walking device comprises a frame connected with the grabbing device, a plurality of walking wheels coupled to the frame, and a fourth driving device which is arranged corresponding to the walking wheels and drives the walking wheels to rotate.

This preferred scheme is through the setting of walking wheel and motor to realize the walking of frame, through adjusting different motor pivoted speeds, thereby adjust the slew velocity of walking wheel, thereby realize the turn of frame.

Preferably, the collecting cylinder is further provided with two second electromagnets which are oppositely arranged.

This optimization scheme is when using, when the revolving frame stall, switches on two second electro-magnets, and under the effect of magnetic force, the static angle of adjustment revolving frame is the angle when the revolving frame rotates the bee board and places to make things convenient for the bee board to take out in the collector cylinder.

As an optimization, still be equipped with the cutter that is located rotatory frame top on the collecting vessel, the cutter includes along transversely arranging and being located two blades of bee board both sides, the blade extends along the extending direction of bee board.

This optimization scheme is when using, and grabbing device drives the bee board and passes from between two blades, and the beeswax excision on the bee board of blade makes the beeswax fall in the surge drum to make honey expose, the honey centrifugation of being convenient for is collected, thereby further from the collection speed that improves honey.

As an optimization, the collecting cylinder is arranged on the support, the collecting tank is arranged below the collecting cylinder and is connected to the support in a sliding mode, the support is also connected to a filtering tank arranged between the collecting tank and the collecting cylinder in a sliding mode, a filtering hole is formed in the tank bottom of the filtering tank, a filtering net is arranged in the filtering hole, a liquid leakage hole formed above the filtering tank is formed in the bottom end of the collecting cylinder, and the top surface of the bottom of the filtering cylinder is an inclined surface inclined towards the liquid leakage hole.

This optimization scheme is when using, under the effect on inclined plane, makes honey flow to weeping hole department to in flowing into the filter-tank from the weeping hole, through the filtration of filter screen, honey finally flows into to the collecting tank, through the setting of filter-tank butt joint on the support, the cleanness of the filter-tank of being convenient for, through the setting of collecting vat butt joint on the support, taking out of honey in the collecting vat of being convenient for.

Preferably, the walking device is further provided with a camera and a controller electrically connected with the camera, and the controller is further internally provided with a GPS positioning module.

When the optimal scheme is used, the walking device moves in the bee space, the map information of the camera bee space, the position information of the beehive and the honey shaking device in the bee space are collected, the collected signals are transmitted to the controller, the path planning of honey collection operation is completed through an A-x algorithm, the controller controls the walking device to run through the path planning result, meanwhile, the GPS positioning module is used for real-time self-positioning, the course angle error occurring in the steering process is corrected through PID, the device is controlled through a Pure pursuit algorithm to continuously determine a forward looking point to perform tracing tracking movement, and therefore the back-and-forth operation of the walking device between the beehive and the honey shaking device is achieved.

A method for collecting unmanned honey for small complex bee farms comprises the following steps: make grabbing device remove the beehive top, then drive grabbing device and grasp the bee board to drive the bee board rebound, make the bee board leave the beehive, make running gear remove to the surge drum department next, and drive grabbing device drive the bee board and move down, and place the bee board in the honey extractor, then make grabbing device loosen the bee board, then make the honey extractor carry out the honey extraction.

Preferably, map information of a bee yard and position information of the beehive and the honey extractor in the bee yard are collected, and a moving path of the grabbing device is planned.

This preferred scheme is through the operation that comes and goes of drive grabbing device along moving path between beehive and honey extractor, then controls grabbing device again and carry out automatic snatching to realize automatic honey collection, improve honey collection efficiency, reduce honey extravagant, reduce manpower work, avoid people bee contact in order to reduce the danger of being stinging.

The beneficial effects of the invention are as follows: through the arrangement of the grabbing device and the honey shaking device, the honey comb is taken out, the bees are swept and cut manually instead of manual work, so that the manual work is reduced, the contact of the bees is avoided, and the risk of being bitten is reduced; the grabbing device grabs the bee plate through the arrangement of the first electromagnet and the iron plate; the walking of the frame is realized by arranging the walking wheels and the motors, and the rotation speed of the walking wheels is adjusted by adjusting the rotation speed of different motors, so that the turning of the frame is realized; through the arrangement that the filter tank, the collecting tank and the bottom surface of the collecting cylinder are inclined planes, the honey can be conveniently filtered and collected; through the setting of two blades, be convenient for to the beeswax excision on the bee board, make the beeswax fall in the surge drum to make honey expose, the honey centrifugation of being convenient for is collected, thereby further from the collection speed that improves honey.

Drawings

FIG. 1 is a schematic perspective view of the structure of the apparatus of the present invention

Fig. 2 is a schematic perspective view of the walking device of the present invention.

FIG. 3 is a perspective view of a part of the structure of the walking device of the present invention.

Fig. 4 is a schematic view of the camera of the apparatus of the present invention.

Fig. 5 is a schematic view of the bottom end of the vertical sliding table of the device.

Fig. 6 is a perspective view of the honey extractor of the present invention.

Fig. 7 is a perspective view of another angle of the honey extractor of the present invention.

Fig. 8 is a perspective view of another angle at the honey extractor of the apparatus of the present invention.

Figure 9 is a schematic view of a beehive of the apparatus of the present invention.

FIG. 10 is a schematic flow chart of the operation of the apparatus of the present invention;

shown in the figure:

1. a traveling device; 2. a traveling wheel; 3. a fourth motor; 4. a controller; 5. a power supply box; 6. a first stepper motor; a first coupling; 8. a vertical sliding table; 9. a transverse sliding table; 10. a second coupling; 11. a second stepping motor; 12. a fan; 13. a first electromagnet; 14. a camera; 15. an air outlet pipe; 16. a collection canister; 17. a first driving device; 18. rotating the frame; 19. connecting blocks; 20. a chute; 21. an iron plate; 22. a beehive; 23. a supporting seat; 24. a first slider; 25 a second slide; 26. an adapter plate; 27. a track groove; 28. a lens module; 29. a base plate; 30. a blade; 31. a second electromagnet; 32. a filter tank; 33. collecting tank; 34. a weep hole; 35. and (4) a filter screen.

Detailed Description

In order to clearly explain the technical features of the present solution, the present solution is explained by the following detailed description.

Referring to the attached drawings 1-10, the unmanned honey collection equipment facing the small complex bee field comprises a honey shaking device and a walking device 1, wherein the honey shaking device comprises a collecting barrel 16, a rotating frame 18 extending along the radial direction of the collecting barrel 16 is arranged in the collecting barrel 16, a first driving device 17 driving the rotating frame 18 to rotate is further arranged in the collecting barrel 16, the first driving device 17 comprises a motor, a connecting block 19 is fixedly connected to an output shaft of the first driving device 17, the connecting block 19 is fixedly connected with the rotating frame 18, and the axis of the first driving device 17 and the axis of the collecting barrel 16 are arranged in a collinear mode.

The collecting cylinder 16 is further provided with a cutter located above the rotating frame 18, the cutter comprises two blades 30 which are arranged transversely and located on two sides of the bee board, the two blades 30 extend longitudinally, and the cylinder wall of the collecting cylinder 16 is further fixedly connected with two second electromagnets 31 which are arranged longitudinally and are arranged oppositely.

The collecting cylinder 16 is placed on the support, a collecting groove 33 located below the collecting cylinder 16 is further arranged on the support, a filtering groove 32 located between the collecting groove 33 and the collecting cylinder 16 is further arranged on the support, the collecting groove 33 and the filtering groove 32 are connected to the support in a sliding mode, and a sliding groove 20 matched with the collecting groove 33 and the filtering groove 32 is formed in the support.

The bottom of the filter tank 32 is provided with a filter hole, a filter screen 35 is arranged in the filter hole, the bottom end of the collecting cylinder 16 is provided with a liquid leakage hole 34 positioned above the filter tank 32, and the top surface of the bottom of the filter cylinder is an inclined plane inclined towards the liquid leakage hole 34.

The traveling device 1 comprises a frame, four traveling wheels 2 are coupled to the frame, four fourth driving devices 3 are further arranged on the frame and correspond to the four traveling wheels 2, each fourth driving device 3 comprises a motor, and the traveling wheels 2 extend along the longitudinal direction.

Still be equipped with on the frame along horizontal slip table 9 of horizontal extension, horizontal slip table 9 passes through supporting seat 23 and installs on the frame, be equipped with the belt of horizontal conveying on the horizontal slip table 9, still be equipped with the first step motor 6 of drive belt conveying on the horizontal slip table 9, the rigid coupling has first slider 24 on the belt, the rigid coupling has keysets 26 on the first slider 24, keysets 26 becomes L shape, another mountain rigid coupling of keysets 26 has second slider 25, it has vertical slip table 8 along vertical gliding to have slided on the second slider 25, still be equipped with the second step motor 11 of vertical slip table 8 along vertical removal of drive on the keysets 26.

The output shaft of the first stepping motor 6 is provided with a first coupler 7, and the output shaft of the second stepping motor is provided with a second coupler 10.

The bottom rigid coupling of vertical slip table 8 has bottom plate 29, the rigid coupling has first electro-magnet 13 on the bottom surface of bottom plate 29, the rigid coupling has two fans 12 that are located first electro-magnet 13 both sides on the bottom plate 29, two fans 12 are arranged along transversely, be connected with out tuber pipe 15 on the fan 12, the cross-section of going out tuber pipe 15 is the toper, the path end that goes out tuber pipe 15 is connected with fan 12, the big footpath end that goes out tuber pipe 15 is located the below that goes out 15 footpath ends of tuber pipe, the big footpath end that goes out tuber pipe 15 is along longitudinal extension.

Still be equipped with camera 14 on the frame, camera 14 includes along the track piece of vertical sliding joint on the frame to and set up the camera lens module 28 on the track piece, set up the track groove 27 of L shape on the track piece, camera lens module 28 sliding joint is in track groove 27, still be equipped with controller 4 and power supply box 5 on the frame, first step motor 6, second step motor 11, first drive arrangement 17, camera lens module 28, fourth drive arrangement 3 all with controller 4 electric connection, and first step motor 6, second step motor 11, first drive arrangement 17, camera lens module 28, fourth drive arrangement 3 all are connected with power supply box 5, still are equipped with GPS orientation module in the controller 4.

In particular, a plurality of bee boards are arranged in the beehive 22 along the transverse direction, the bee boards extend along the longitudinal direction, and the top surfaces of the bee boards are provided with iron plates matched with the first electromagnets.

When the invention is used, the air conditioner is provided with a fan,

a. the controller 4 controls the walking device 1 to move around the bee field, controls the lens module 28 to photograph the bee field, realizes panoramic three-dimensional map reconstruction of the bee field through the controller 4, recovers the space position information of the beehive 22 and the collecting cylinder 16, and finally rasterizes the three-dimensional map to obtain a two-dimensional grid map of the bee field, and codes the beehives 22 and the honey extractor.

b. And then path planning of honey collection operation is completed through an A-x algorithm. The controller 4 controls the motors of the four travelling wheels 2 through the path planning result to realize the running of the device through differential control, simultaneously utilizes a GPS positioning module in the controller 4 to carry out real-time self-positioning, corrects course angle errors in the steering process through PID (proportion integration differentiation), controls the device to continuously determine a forward looking point through a Pure pursuit algorithm to carry out tracing and movement, and realizes the back-and-forth operation of the travelling device 1 between the first beehive 22 to be processed and the honey extractor, particularly, the back-and-forth times of the travelling device 1 when processing a single beehive 22 are determined by the quantity of beehives in the beehive 22.

c. And driving the fourth driving device 3 to stop the walking device 1 right above the target beehive 22, driving the adapter plate 26 to move right above the target beehive by the first stepping motor 6, and driving the vertical sliding table to move downwards by the second stepping motor 11 until the electromagnet is contacted with the iron sheet of the beehive. At the moment, the controller 4 controls the electromagnet to start electrifying and attract the iron sheet so as to realize the grabbing of the bee board.

d. The second stepper motor 11 drives the vertical slide upwards and at the same time the blower 12 starts working, and the blower 12 blows away surface bees as the bee plate is lifted out of the hive 22.

e. Running gear 1 carries the bee board and advances to directly over the collector barrel 16, and the vertical slip table of 11 drive of second step motor slow motion downwards puts into rotatory frame 18 with the bee board from double-layer blade 30's gap in, and this in-process both sides wax layer can be amputated by double-layer blade 30, then drops naturally and shake honey machine ladle body bottom, first electro-magnet 13 and air-blower 12 stop work, and first drive arrangement 17 drive is rotatory 18 and is carried out honey centrifugation operations of rotatory frame.

f. After the centrifugal operation stops, the electromagnets on the two sides of the barrel body are electrified, the static angle of the rotating frame 18 is fixed to be the angle when the rotating frame is placed through the action of magnetic force, even if the rotating frame 18 extends longitudinally, the vertical sliding table moves downwards, the first electromagnet 13 on the bottom is electrified to suck the processed bee boards, and the walking device 1 carries the processed bee boards to return to the position right above the original beehive 22 to put down the bee boards. Then the honey collection work of the next bee board is carried out.

Of course, the above description is not limited to the above examples, and the undescribed technical features of the present invention may be implemented by or using the prior art, which is not described herein again; the above embodiments and drawings are only for illustrating the technical solutions of the present invention and not for limiting the present invention, and the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that changes, modifications, additions or substitutions within the spirit and scope of the present invention may be made by those skilled in the art without departing from the spirit of the present invention, and shall also fall within the scope of the claims of the present invention.

Claims

1. The utility model provides an unmanned honey collection equipment towards small-size complicated bee field which characterized in that: including honey extractor and running gear (1), honey extractor includes collecting vessel (16), is located rotatory frame (18) of collecting vessel (16) to and rotatory frame of drive (18) pivoted drive arrangement (17), be equipped with the grabbing device who snatchs the bee board on running gear (1).

2. Unmanned honey collection device towards small complex bee farms, according to claim 1, characterized in that: grabbing device is including bottom plate (29), the second drive arrangement of drive bottom plate (29) along vertical migration that is equipped with first electro-magnet (13) to and drive second drive arrangement along lateral shifting's third drive arrangement, on the bee board rigid coupling have with first electro-magnet (13) complex iron plate (21).

3. Unmanned honey collection equipment towards small complex bee farms, as claimed in claim 2, wherein: still be equipped with on bottom plate (29) and be located air-out pipe (15) of bee board both sides, still be equipped with on bottom plate (29) with fan (12) that go out wind pipe (15) top intercommunication, the extending direction of air outlet edge bee board of air-out pipe (15) extends.

4. Unmanned honey collection device towards small complex bee farms, according to claim 1, characterized in that: running gear (1) is including connecting grabbing device's frame, a plurality of walking wheels (2) of coupling on the frame to and set up and drive walking wheel (2) pivoted fourth drive arrangement with walking wheel (2) correspondence.

5. Unmanned honey collection device towards small complex bee farms, according to claim 1, characterized in that: and the collecting cylinder (16) is also provided with two second electromagnets (31) which are oppositely arranged.

6. Unmanned honey collection device towards small complex bee farms, according to claim 1, characterized in that: still be equipped with the cutter that is located rotatory frame (18) top on collection cylinder (16), the cutter includes along transversely arranging and be located two blades (30) of bee board both sides, blade (30) extend along the extending direction of bee board.

7. Unmanned honey collection device towards small complex bee farms, according to claim 1, characterized in that: the collecting cylinder (16) is arranged on the support, the support is further provided with a collecting tank (33) which is located below the collecting cylinder (16) and is in sliding connection with the support, the support is also provided with a filter tank (32) which is located between the collecting tank (33) and the collecting cylinder (16) in sliding connection, the tank bottom of the filter tank (32) is provided with a filter hole, a filter screen (35) is arranged in the filter hole, the bottom end of the collecting cylinder (16) is provided with a liquid leakage hole (34) which is located above the filter tank (32), and the top surface of the bottom of the filter cylinder is an inclined plane which inclines towards the liquid leakage hole (34).

8. Unmanned honey collection apparatus towards small complex bee farms, as claimed in claim 1, wherein: still be equipped with camera (14) on running gear (1), with camera (14) electric connection's controller (4), still be equipped with GPS orientation module in controller (4).

9. A method for collecting unmanned honey for small complex bee farms is characterized by comprising the following steps: make grabbing device move beehive (22) top, then drive grabbing device and grasp the bee board to drive the bee board rebound, make the bee board leave beehive (22), make running gear (1) remove to a collecting vessel (16) department next, and drive grabbing device and drive the bee board rebound, and place the bee board in the honey extractor, then make grabbing device loosen the bee board, then make the honey extractor carry out the honey extraction.

10. An unmanned honey collection apparatus towards small complex bee farms, according to claim 9, further comprising the steps of: map information of the bee field and position information of the beehive (22) and the honey extractor in the bee field are collected, and a moving path of the grabbing device is planned.