CN210869387U - Device for transferring and supplementing royal jelly - Google Patents

Abstract

The utility model discloses a device that is used for bee-keeping of royal jelly to mend worm. The movable insect feeding device comprises a larva spleen moving mechanism, a pulp strip conveying mechanism, an insect moving mechanism, a machine vision system and an insect supplementing mechanism, wherein the insect moving mechanism can be driven to the upper side of a larva spleen, and then driven to the upper side of a pulp strip after insect digging is carried out, the transverse distance of an insect moving manipulator is pulled by using an air cylinder, and the larva is placed in a pulp cup. The machine vision system is arranged above the pulp strips, and the pulp strips after the larva transferring are subjected to image acquisition by the camera to identify and position larvae; the insect supplementing mechanism comprises an insect moving mechanical arm and a CCD camera, moves to the upper part of a larva spleen, is matched with a short screw rod by the camera to carry out larva identification and space positioning on the larva spleen, and then is used for digging insects and supplementing the insects into the hollow pulp cup. The utility model discloses a device can realize moving the worm to thick liquid strip from the larva dish to utilize machine vision to carry out the bat worm feedback, mend the worm according to the feedback condition, guarantee to move the larva quantity of the thick liquid strip after the worm accomplishes.

Description

Device for transferring and supplementing royal jelly

Technical Field

The utility model belongs to bee industry production machine design field, concretely relates to a device that is used for bee milk bat moth to mend worm.

Background

China is a world-wide bee-keeping big country, and the number of bee colonies and the yield of bee products are steadily at the top of the world for many years. It is always an important component of agriculture, and is a career integrating economic, social and ecological benefits. Royal jelly is an important agricultural product in the bee industry. Royal jelly is a pasty substance secreted by young worker bees and is used as a food for feeding larva of bee. Royal jelly is rich in protein, amino acids and other nutrients, and thus has several functions.

The production of the royal jelly is roughly divided into four steps: transferring insects, producing royal jelly by worker bees, cutting wax, removing insects and scraping pulp. Nowadays, royal jelly is still produced by hands basically, and the mechanized popularization rate is not high; the bee larva is transparent and has a size of only 3-5 mm, and the larva transfer has higher requirements on the eyesight of operators. These are the reasons for the low yield of royal jelly. The demand of the society for royal jelly is rapidly increased, the yield problem limits the development of the bee industry in China, and the China urgently needs to develop the research on the mechanized production of the royal jelly to solve the problems.

At present, the mechanical production of royal jelly has been researched and manufactured by devices such as a part of royal jelly extractor, a larva transferring machine and the like. The larva is the most difficult of four parts in royal jelly production, and is small, fragile and easy to die. The current larva transferring machine has the larva transferring success rate of less than 50 percent, or the larva is stored in the small hole of the larva spleen, however, in the actual situation, only a part of the larva spleen can store the larva. The survival rate of larvae cannot be guaranteed after the larvae are transferred. In order to ensure the production efficiency of the royal jelly, the full-load state of the royal jelly strips after the larva transfer is finished must be ensured. The mechanical production equipment functions of other parts can basically meet the requirements of production, and the production efficiency is ensured. Therefore, the efficiency of royal jelly production can be improved and the yield of royal jelly can be improved only by improving the success rate of transferring the larva of the mechanical equipment of the larva transferring part and ensuring the survival rate of the larva after the larva transferring is finished.

SUMMERY OF THE UTILITY MODEL

In order to overcome the not enough of current bat worm equipment, the utility model provides a device for royal jelly bat worm benefit worm can accomplish the bat worm in the royal jelly production process, and rethread machine vision system and relevant image processing and space positioning algorithm realize the location of thick liquid strip empty cup, and rethread is mended worm mechanism and is supplied the larva to the empty cup.

The utility model adopts the technical scheme as follows:

the utility model comprises a stainless steel frame type supporting frame, a transferring mechanism, a feeding mechanism, a pulp strip conveying mechanism and a machine vision system which are arranged on the stainless steel frame type supporting frame; the stainless steel frame type support frame is provided with four layers of a first layer, a second layer, a third layer and a fourth layer from top to bottom; the grout strip conveying mechanism comprises a grout strip track plate, a grout strip inclined slide rail and a grout strip collecting box, the grout strip track plate is arranged on the third layer of the stainless steel frame type supporting frame on the inlet side, the grout strip collecting box is arranged on the fourth layer of the stainless steel frame type supporting frame on the outlet side, the grout strip inclined slide rail is arranged between the third layer and the fourth layer of the stainless steel frame type supporting frame, the top of the grout strip inclined slide rail is connected with the front part of the grout strip track plate, and the bottom of the grout strip inclined slide rail is connected with the grout strip collecting box; a plurality of grout strips are placed on the grout strip track plate and are closely arranged in parallel, a double-shaft push rod cylinder and a grout strip push plate are installed on the grout strip track plate, the double-shaft push rod cylinder is installed on the grout strip track plate and is close to the inlet side, a cylinder rod of the double-shaft push rod cylinder is fixedly connected with the grout strip push plate, and the grout strip push plate pushes the grout strips to move horizontally towards the outlet side; larva spleen conveying mechanisms are installed on the third layer of the stainless steel frame type supporting frame above the grout strip collecting box, worm moving mechanisms and worm supplementing mechanisms are installed on the second layer of the stainless steel frame type supporting frame above the larva spleen conveying mechanisms, and a machine vision system is installed on the first layer of the stainless steel frame type supporting frame above the grout strip track plate.

The larva spleen conveying mechanism comprises a larva spleen conveying base, a larva spleen mounting base and a larva spleen transmission stepping motor; install on the third layer of stainless steel frame type support frame, and be located thick liquid strip collection box top, larva spleen conveying base top is equipped with larva spleen mount pad, place fixed larva spleen on the larva spleen mount pad, install short slider base and larva spleen transmission step motor on the larva spleen conveying base, install short slide rail on the short slider base, larva spleen mount pad bottom inlays the dress and follows short slide rail horizontal migration on short slide rail, larva spleen transmission step motor output shaft screw shaft, the axial of screw shaft is on a parallel with short slide rail, larva spleen mount pad bottom fixed mounting has screw nut, screw nut passes through the screw suit on the screw shaft.

The machine vision system comprises a pulp strip CCD camera and an insect supplementing CCD camera; the insect supplementing CCD camera is installed on the bottom surface of the insect supplementing pull rod block of the insect supplementing mechanism, and the plurality of pulp strip CCD cameras are installed on the first layer of the stainless steel frame type supporting frame.

The two sides of the second layer of the stainless steel frame type support frame are both provided with long slide rails, an upper transverse bar is arranged between the two sides of the second layer of the stainless steel frame type support frame in a crossing manner, and two ends of the upper transverse bar are embedded on the long slide rails; the insect supplementing mechanism comprises a transverse slide rail base, a transverse ball screw, a moving stepping motor, a transverse screw moving seat, an insect supplementing up-down moving single-shaft push rod cylinder, an insect supplementing digging single-shaft push rod cylinder and an insect supplementing pull rod block; two transverse slide rails which are respectively positioned in parallel above and below the transverse slide rail base are installed on the side face of the upper portion of the transverse slide rail base, a transverse screw rod tail end fixing seat is installed on one end of the transverse slide rail base, a transverse moving stepping motor is installed on the other end of the transverse slide rail base, a transverse ball screw rod is installed between the transverse screw rod tail end fixing seat and the transverse moving stepping motor, a transverse screw rod moving seat is sleeved on the transverse ball screw rod through threads, and the transverse screw rod moving seat is respectively connected with the two transverse slide rails in an embedded mode; fixed mounting has the benefit worm to reciprocate unipolar push rod cylinder on the horizontal lead screw removes the seat, the benefit worm reciprocates unipolar push rod cylinder's push rod down and with benefit worm manipulator connecting plate fixed connection, install the benefit worm on the benefit worm manipulator connecting plate and dig and get unipolar push rod cylinder, benefit worm manipulator fixing base is fixed in benefit worm manipulator connecting plate bottom surface, the benefit worm digs the push rod of getting unipolar push rod cylinder down and with benefit worm pull rod piece fixed connection, benefit worm CCD camera is installed to benefit worm pull rod piece one side, benefit worm pull rod piece opposite side and benefit worm push rod are connected, benefit worm push rod and benefit worm manipulator fixing base all link to each other with the benefit worm manipulator.

The larva transferring mechanism comprises a single-shaft push rod cylinder, a larva transferring connecting plate, a larva transferring digging single-shaft push rod cylinder, a larva pushing single-shaft push rod cylinder, a larva transferring mounting plate, a larva transferring pull rod and a larva transferring push rod block; two single-shaft push rod cylinders are fixedly mounted on the upper cross bar, cylinder rods of the single-shaft push rod cylinders downwards penetrate through the upper cross bar and are fixedly connected with a larva transferring connecting plate, two larva transferring digging single-shaft push rod cylinders and two larva pushing single-shaft push rod cylinders are mounted on the larva transferring connecting plate, a vertically arranged larva transferring mounting plate is fixedly mounted on the bottom surface of the larva transferring connecting plate, and a row of larva transferring push rod blocks and a row of larva transferring hand fixing seats are arranged on the side of the larva transferring mounting plate and below the larva transferring connecting plate; the cylinder rod of the single-shaft push rod cylinder for transferring the insects penetrates through the connecting plate and then is fixedly connected with the pull rod for transferring the insects, the upper parts of a row of push rod blocks for transferring the insects are fixedly connected with the pull rod for transferring the insects, the lower ends of the push rod blocks for transferring the insects penetrate through the lower part of the fixing seat of the insect transferring hand and are connected with the insect transferring mechanical hand, and the insect transferring mechanical hand is used for extending into honeycomb holes in larva spleens to dig out the larvae and transfer the larvae to upper hole positions of the strips for transferring the insects; in the row of the larva moving hand fixing seats, two adjacent larva moving hand fixing seats are connected through a limiting piece between the side faces respectively close to the larva supplementing mechanism, one end of each limiting piece is provided with a through hole, the other end of each limiting piece is provided with a waist-shaped hole, the larva moving hand fixing seats are provided with convex shafts on the side faces close to the larva supplementing mechanism, the convex shafts of one larva moving hand fixing seat are sleeved in the waist-shaped holes of the limiting pieces, and the convex shafts of the other larva moving hand fixing seat are sleeved in the through holes of the limiting pieces, so that a hinge translation connecting structure capable of relatively separating and moving close to each other is formed; the side surface of the bottom of the larva mounting plate, which is close to the larva hand fixing seat, is provided with a larva fixing seat slide rail, and the larva hand fixing seat is embedded and connected with the larva fixing seat slide rail; a transverse spacing push rod cylinder is arranged on the side wall of the pest moving mounting plate close to the pest supplementing mechanism, and a cylinder rod of the transverse spacing push rod cylinder penetrates through the pest moving mounting plate and then is fixedly connected with one of the pest moving elastic push rods and the row of pest moving hand fixing seats; the transverse spacing push rod cylinder operates, one of a row of larva moving hand fixing seats is driven to move through the larva moving elastic push rod, and then each larva moving hand fixing seat is driven to move horizontally along the larva moving fixing seat slide rail in a separated or close mode through the hinge translation connecting structure so as to adjust and adapt to the hole spacing change between the upper hole position of the starch strip and the upper honeycomb hole of the larva spleen; the cylinder rod of the single-shaft worm pushing cylinder penetrates through the worm moving connecting plate and is fixedly connected with the worm pushing plate, the worm pushing plate is located on the side of the worm moving manipulator, the single-shaft worm pushing cylinder operates to drive the worm pushing plate to move up and down, and then the worm pushing plate is driven to scrape larvae on the surface of the worm moving manipulator.

The structure of the transferring manipulator is the same as that of the insect supplementing manipulator.

The insect supplementing manipulator comprises an insect supplementing push-pull rod, an insect supplementing upper rod and an insect supplementing lower rod, a connecting push rod, a scraping seat and an insect supplementing head rocker; the upper and lower insect-supplementing rods are fixed at the bottom of the fixed seat of the insect-supplementing manipulator, the upper end of the insect-supplementing push rod is fixedly connected with the other side of the insect-supplementing pull rod block, the lower end of the insect-supplementing push rod is hinged with the upper end of the insect-supplementing push-pull rod, the upper end of the insect-supplementing head rocker and one end of the connecting push rod are hinged to the lower end of the insect-supplementing push-pull rod, the lower end of the insect-supplementing push-pull rod penetrates through the fixed seat of the insect-supplementing manipulator, one end of the scraping sheet seat is hinged with the lower end of the insect-supplementing head rocker, the other end of the connecting push rod is hinged to the middle part; the single-shaft worm-supplementing digging and taking push rod cylinder operates to drive the worm-supplementing push rod to move up and down, further drive the worm-supplementing push rod to move up and down, drive the scraping plate seat to swing around an indefinite point, and achieve the action of digging and taking the larvae, wherein the scraping plate seat extends into honeycomb holes of the larva spleen.

An in-place sensor hole position is arranged at the edge of the thick liquid strip track plate close to the outlet side, an in-place sensor is installed in the in-place sensor hole position, and the in-place sensor is used for detecting whether thick liquid strips exist at the edge position or not and whether the thick liquid strips reach the position (insect moving position) of the in-place sensor hole position or not.

The utility model discloses it is main including larva spleen moving mechanism, thick liquid strip conveying mechanism, move worm mechanism, machine vision system and benefit worm mechanism. The larva transferring mechanism can be driven to the upper side of a larva spleen along with a long ball screw, after the larva is dug, the larva is driven to the upper side of the pulp strips along with the long ball screw, the transverse distance of the larva transferring mechanical arms is pulled by using the air cylinder, the size of the interval of the larva transferring mechanical arms is the same as the interval of pulp cup holes, and the larva is placed into the pulp cup. Five CCD cameras contained in the machine vision system are arranged above the pulp strips, the distances among the cameras are the same, and the cameras shoot vertically downwards. And (4) carrying out image acquisition on the pulp strips subjected to the larva transferring by using a camera, identifying and positioning the larvae, and determining the number and the positions of the empty cups. The larva supplementing mechanism consists of a single larva moving manipulator and a CCD camera, the larva moving manipulator moves to the upper side of a larva spleen along with the longitudinal movement of the long ball screw, the short screw is responsible for the transverse movement of the larva supplementing mechanism and the camera, and the camera is matched with the short screw to perform larva identification and space positioning on the larva spleen. And digging insects by an insect supplementing mechanism, and supplementing the insects into the empty pulp cup recognized by the machine vision system.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model discloses creatively provides a device that is used for royal jelly bat to mend worm, adopts the bionics design, and the action that the manual larva of digging was got in the imitation designs out a novel bat mechanism, can accomplish the bat work in the royal jelly production process on the basis of guaranteeing the larva survival rate, has improved bat speed, and the efficiency of royal jelly production has been improved to a certain extent. The cooperation royal jelly bat move worm benefit worm device based on vision can carry out image processing to the thick liquid strip that the bat was accomplished through machine vision system, detect and fix a position the empty thick liquid cup, feed back to overall system in, carry out the benefit worm operation to the empty thick liquid cup of location through benefit worm mechanism to reduce the quantity of the empty thick liquid cup of thick liquid strip, improved royal jelly production efficiency.

Drawings

FIG. 1 is a schematic view of the overall structure of the device of the present invention;

fig. 2 is a schematic structural view of the device of the present invention from another angle;

FIG. 3 is a schematic view of a larval spleen transport mechanism;

FIG. 4 is a schematic view of a paddle conveyor mechanism;

FIG. 5 is a schematic view of one of the insect replenishing mechanisms;

FIG. 6 is a second schematic view of the insect replenishing mechanism;

FIG. 7 is one of the schematic illustrations of the insect removal mechanism;

FIG. 8 is a second schematic view of the mechanism for transferring insects;

FIG. 9 is a horizontal oblique side view of the insect dislodging mechanism;

FIG. 10 is a horizontal front side view of the insect removal mechanism;

FIG. 11 is a partial enlarged view of the armpit fixing base;

FIG. 12 is a schematic view of a worm transfer robot;

FIG. 13 is a mechanical schematic diagram of the insect-transferring robot;

FIG. 14 is a state change diagram of the transferring manipulator;

FIG. 15 is a flow chart of the embodiment of the present invention;

fig. 16 is a flow chart of the bug-feeding control in the embodiment of the present invention.

In the figure: 1. stainless steel frame type supporting frame, 2 pulp strip track plates, 3 pulp strip inclined slide rails, 4 pulp strip collecting boxes, 5 larva spleen conveying bases, 6 pulp strip CCD cameras, 7 long ball screws, 8 longitudinal moving stepping motors, 9 couplers, 10 filament rod tail end bases, 11 filament rod moving bases, 12 upper cross bars, 13 larva moving upper and lower single-shaft push rod air cylinders, 14 larva spleen mounting bases, 15 long slide rails, 16 larva spleens, 17 transverse screw rod tail end fixing bases, 18 transverse ball screws, 19 transverse moving stepping motors, 20 transverse screw rod moving bases, 21 transverse slide rails, 22 transverse slide rail bases, 23 short slide block bases, 24 larva spleen driving stepping motors, 25 short slide rails, 27 double-shaft push rod air cylinders, 28 pulp strip push plates, 29 pulp strips, 30 in-place sensors, 28 in-place sensors, 23 transverse slide rail bases, 23 short slide block bases, 24 larva spleen driving stepping motors, 25 short slide rails, 27 double-shaft push rod air cylinders, 28 pulp strip push plates, 29 pulp strips, 30 in-place sensors, 31. The system comprises a bug-supplementing vertical moving single-shaft push rod cylinder, a 32 bug-supplementing digging single-shaft push rod cylinder, a 33 bug-supplementing mechanical arm connecting plate, a 34 bug-supplementing mechanical arm fixing seat, a 35 bug-supplementing push rod, a 36 bug-supplementing CCD camera, a 37 bug-supplementing mechanical arm, a 38 bug-supplementing pull rod block, a 39 bug-moving scraping blade, a 40 bug-supplementing push rod, a 41 bug-moving connecting plate, a 42 bug-moving mounting plate, a 43 bug-moving single-shaft push rod cylinder, a 44 bug-moving digging single-shaft push rod cylinder, a 45 bug-moving push rod, a 46 horizontal distance push rod cylinder, a 47 bug-moving hand fixing seat, a 48 bug-moving pull rod, a 49 bug-moving plate, a 50 bug-moving mechanical arm, a 51 bug-supplementing upper and lower rod, a 52-connecting push rod, a 53 bug scraping seat, a 54 bug-moving elastic push rod, a 55-limiting piece, a 56, a bug-supplementing head rocker.

Detailed Description

The following description of the embodiments of the present invention will be made with reference to the accompanying drawings in order to clearly understand the present invention. It is to be noted that only the main contents of the present invention are pointed out here, and some known functions and detailed descriptions will be omitted here.

As shown in fig. 1 and 2, the specific implementation includes a stainless steel frame type support frame 1, and a pest moving mechanism, a pest supplementing mechanism, a pulp sliver conveying mechanism and a machine vision system which are installed on the stainless steel frame type support frame 1; stainless steel frame type support frame 1 has four layers of installation space on first layer, second floor, third layer and fourth layer from last to down, and four layers of installation space is from last to highly different down, and 1 one side of stainless steel frame type support frame is the entrance side, and the opposite side is the exit side.

As shown in fig. 1 and 4, the grout strip conveying mechanism comprises a grout strip track plate 2, a grout strip inclined slide rail 3 and a grout strip collecting box 4, the grout strip track plate 2 is installed on the third layer of the stainless steel frame type support frame 1 on the inlet side, the grout strip collecting box 4 is installed on the fourth layer of the stainless steel frame type support frame 1 on the outlet side, the grout strip inclined slide rail 3 is arranged between the third layer and the fourth layer of the stainless steel frame type support frame 1, the grout strip inclined slide rail 3 is an obliquely arranged guide structure, the top of the grout strip inclined slide rail 3 is connected with the front part of the grout strip track plate 2, and the bottom of the grout strip inclined slide rail 3 is connected with the grout strip collecting box 4; a plurality of grout strips 29 are placed on the grout strip track plate 2, the grout strips 29 are closely arranged in parallel, a double-shaft push rod cylinder 27 and a grout strip push plate 28 are installed on the grout strip track plate 2, the double-shaft push rod cylinder 27 is installed on the grout strip track plate 2 and close to the inlet side, a cylinder rod of the double-shaft push rod cylinder 27 is fixedly connected with the grout strip push plate 28, a cylinder rod of the double-shaft push rod cylinder 27 is arranged towards the outlet side, and the grout strip push plate 28 pushes the grout strips to move towards the outlet side; the double-shaft push rod air cylinder 27 works to push the pulp strip push plate 28, so that the pulp strips 29 which are transplanted with the insects are pushed to move towards the pulp strip inclined slide rails 3, and fall down to the pulp strip collecting box 4 from the inclined surfaces of the pulp strip inclined slide rails 3, and the insect transplanting and supplementing process of the pulp strips is completed.

As shown in fig. 4, an in-place sensor hole 30 is provided at an edge of the grout rail plate 2 near the outlet side, and an in-place sensor is installed in the in-place sensor hole 30, and the in-place sensor is used for detecting whether a grout strip exists at the edge position and whether the grout strip reaches the position (the worm transfer position) of the in-place sensor hole 30. If the pulp strips exist, the double-shaft push rod air cylinder 27 stops working; if the pulp strips do not exist, the double-shaft push rod air cylinder 27 works to push the pulp strips to advance.

Larva spleen conveying mechanisms are installed on the third layer of the stainless steel frame type supporting frame 1 above the grout strip collecting box 4, worm moving mechanisms and worm supplementing mechanisms are installed on the second layer of the stainless steel frame type supporting frame 1 above the larva spleen conveying mechanisms, and a machine vision system is installed on the first layer of the stainless steel frame type supporting frame 1 right above the grout strip track plate 2.

As shown in fig. 3, the larval spleen transfer mechanism comprises a larval spleen transfer base 5, a larval spleen mounting base 14 and a larval spleen drive stepping motor 24; is arranged on the third layer of the stainless steel frame type supporting frame 1 and is positioned above the stuff collecting box 4, a larva spleen mounting seat 14 is arranged above the larva spleen conveying base 5, a fixed larva spleen 16 is arranged on the larva spleen mounting seat 14, a short slide block base 23 and a larva spleen transmission stepping motor 24 are arranged on the larva spleen conveying base 5, a short slide rail 25 is arranged on the short slide block base 23, the bottom of the larva spleen mounting seat 14 is embedded on the short slide rail 25 and moves horizontally along the short slide rail 25, the short slide rail 25 is arranged perpendicular to the conveying direction of the stuff 29, an output shaft of the larva spleen transmission stepping motor 24 is connected with a lead screw shaft, the axial direction of the lead screw shaft is parallel to the short slide rail 25, a lead screw nut is fixedly arranged at the bottom of the larva spleen mounting seat 14 and is sleeved on the lead screw shaft through a, thereby forming a screw nut pair, leading the larva spleen to drive the stepping motor 24 to run and driving the larva spleen conveying base 5 to horizontally move along the short slide rail 25.

The machine vision system comprises a pulp strip CCD camera 6 and a pest-supplementing CCD camera 36; the insect supplementing CCD camera 36 is arranged on the bottom surface of an insect supplementing pull rod block 38 of the insect supplementing mechanism, and the plurality of pulp strip CCD cameras 6 are arranged on the first layer of the stainless steel frame type supporting frame 1 through camera supports.

As shown in fig. 1, the two sides of the second layer of the stainless steel frame type supporting frame 1 are both provided with long slide rails 15, the upper horizontal bar 12 is arranged between the two sides of the second layer of the stainless steel frame type supporting frame 1 in a crossing way, and the two ends are embedded on the long slide rails 15, so that the upper horizontal bar 12 moves horizontally along the long slide rails 15, near the end part of the long slide rails 15 on one side, a longitudinal moving stepping motor 8 is arranged, the longitudinal moving stepping motor 8 is fixedly arranged and connected to the second layer of the stainless steel frame type supporting frame 1, the output shaft of the longitudinal moving stepping motor 8 is connected with one end of a long ball screw 7 through a coupler 9, the other end of the long ball screw 7 is arranged on a long filament rod end base 10 in a supporting way, the long filament rod end base 10 is fixed on the second layer of the stainless steel frame type supporting frame 1, the long ball screw 7 is sleeved with a long filament rod moving seat, go up whippletree 12 and horizontal slide rail base 22 fixed connection, horizontal slide rail base 22 is installed in last whippletree 12 one side near the entry, moves worm mechanism and installs in last whippletree 12, mends worm mechanism and installs in horizontal slide rail base 22.

As shown in fig. 5 and 6, the insect supplementing mechanism comprises a transverse slide rail base 22, a transverse ball screw 18, a moving stepping motor 19, a transverse screw moving base 20, an insect supplementing up-down single-shaft push rod cylinder 31, an insect supplementing digging single-shaft push rod cylinder 32 and an insect supplementing pull rod block 38; two transverse slide rails 21 which are respectively positioned in parallel above and below are installed on the side face of the upper portion of a transverse slide rail base 22, one end of the upper portion of the transverse slide rail base 22 is provided with a transverse screw rod tail end fixing seat 17, the other end of the upper portion of the transverse slide rail base 22 is provided with a transverse moving stepping motor 19, a transverse ball screw rod 18 is installed between the transverse screw rod tail end fixing seat 17 and the transverse moving stepping motor 19, a transverse screw rod moving seat 20 is sleeved on the transverse ball screw rod 18 through threads, the upper portion and the lower portion of the transverse screw rod moving seat 20 are respectively connected with the two transverse slide rails 21 in an embedded mode, and; the transverse moving stepping motor 19 works to drive the transverse ball screw 18 to rotate, and then the screw nut pair drives the transverse screw moving seat 20 to horizontally move along the transverse sliding rail 21; fixed mounting has the benefit worm to reciprocate unipolar push rod cylinder 31 on horizontal lead screw removes seat 20, the benefit worm reciprocates unipolar push rod cylinder 31 the push rod down and with benefit worm manipulator connecting plate 33 fixed connection, install the benefit worm on the benefit worm manipulator connecting plate 33 and dig and get unipolar push rod cylinder 32, benefit worm manipulator fixing base 34 is fixed in benefit worm manipulator connecting plate 33 bottom surface, the benefit worm is dug the push rod of getting unipolar push rod cylinder 32 down and with benefit worm pull rod piece 38 fixed connection, benefit worm pull rod piece 38 is Z type structure, benefit worm CCD camera 36 is installed to benefit worm pull rod piece 38 one side, benefit worm pull rod piece 38 opposite side and benefit worm push rod 35 are connected, benefit worm push rod 35 and benefit worm manipulator fixing base 34 all link to each other with benefit worm manipulator 37.

As shown in fig. 7 to 10, the worm moving mechanism comprises a single-shaft push rod cylinder 13, a worm moving connecting plate 41, a worm moving digging single-shaft push rod cylinder 44, a worm pushing single-shaft push rod cylinder 43, a worm moving mounting plate 42, a worm moving pull rod 48 and a worm moving push rod block 45; go up horizontal bar 12 and go up fixed mounting and have unipolar push rod cylinder 13, the concrete implementation has two unipolar push rod cylinders 13, and unipolar push rod cylinder 13's cylinder pole passes last horizontal bar 12 and move worm connecting plate 41 fixed connection down, moves and installs on the worm connecting plate 41 and move worm and dig unipolar push rod cylinder 44 and push away worm unipolar push rod cylinder 43, and in the concrete implementation, move worm and dig unipolar push rod cylinder 44 and one and push away worm unipolar push rod cylinder 43 all to install one in the both sides of worm connecting plate 41. A vertically arranged larva-moving mounting plate 42 is fixedly mounted on the bottom surface of the larva-moving connecting plate 41, and a plurality of larva-moving push rod blocks 45 in a row and a plurality of larva-moving hand fixing seats 47 in a row are arranged on the side of the larva-moving mounting plate 42 and below the larva-moving connecting plate 41; the cylinder rods of the single-shaft worm-moving digging push rod cylinders 44 penetrate through the worm-moving connecting plate 41 and then are fixedly connected with worm-moving pull rods 48, the upper parts of a row of worm-moving push rod blocks 45 are fixedly connected with the worm-moving pull rods 48, the worm-moving pull rods 48 are of U-shaped structures, two ends of each U-shaped structure are respectively connected to the cylinder rods of two worm-moving digging single-shaft push rod cylinders 44 on two sides of the worm-moving connecting plate 41, and the middle of each U-shaped structure is fixedly connected with each worm-moving push rod block 45 in the row; as shown in fig. 11, the lower end of the worm moving pusher block 45 passes through the lower part of the worm moving hand fixing seat 47 and is connected with a worm moving manipulator 50, meanwhile, the worm moving manipulator 50 is also connected with the worm moving hand fixing seat 47, and the worm moving manipulator 50 is used for extending into honeycomb holes on the larva spleen to dig out the larva and transfer the larva to the upper hole of the pulp strips for worm moving.

In the row of the larva moving hand fixing seats 47, two adjacent larva moving hand fixing seats 47 are connected through a limiting piece 55 between the side faces close to the larva supplementing mechanism respectively, one end of the limiting piece 55 is provided with a through hole, the other end of the limiting piece 55 is provided with a waist-shaped hole, the larva moving hand fixing seats 47 are provided with convex shafts on the side faces close to the larva supplementing mechanism, the convex shaft of one larva moving hand fixing seat 47 is sleeved in the waist-shaped hole of the limiting piece 55, and the convex shaft of the other larva moving hand fixing seat 47 is sleeved in the through hole of the limiting piece 55, so that a hinge translation connecting structure capable of relatively separating and moving close to each other is; a larva fixing seat sliding rail 57 is arranged on the side surface of the bottom of the larva mounting plate 42 close to the larva hand fixing seat 47, and the larva hand fixing seat 47 is embedded and connected with the larva fixing seat sliding rail 57, so that the larva hand fixing seat 47 can move along the larva fixing seat sliding rail 57; a transverse spacing push rod cylinder 46 is arranged on the side wall of the pest moving mounting plate 42 close to the pest supplementing mechanism, and a cylinder rod of the transverse spacing push rod cylinder 46 penetrates through the pest moving mounting plate 42 and then is fixedly connected with one of the pest moving hand fixing seats 47 through a pest moving elastic push rod 54; the transverse spacing push rod cylinder 46 operates, one of the row of the larva moving hand fixing seats 47 is driven to move through the larva moving elastic push rod 54, and then the larva moving hand fixing seats 47 are driven to horizontally move along the larva moving fixing seat slide rail 57 in a separated or close mode through the hinge translation connecting structure so as to adjust and adapt to the hole spacing change between the upper hole position of the starch strip and the upper honeycomb hole of the larva spleen; the cylinder rod of the worm pushing single-shaft push rod cylinder 43 passes through the worm moving connecting plate 41 and then is fixedly connected with the worm pushing plate 49, the worm pushing plate 49 is located on the side of the worm moving mechanical arm 50, the worm pushing single-shaft push rod cylinder 43 operates to drive the worm pushing plate 49 to move up and down, then the worm pushing plate 49 is driven to scrape the larvae on the surface of the worm moving mechanical arm 50, and the worm moving mechanical arm 50 is correspondingly arranged on one row of the worm moving mechanical arm fixing seat 47.

In specific implementation, as shown in fig. 11, a plurality of mounting holes are formed in the bottom of the fixing seat 47 for the worm transferring hand, and a plurality of worm transferring manipulators 50 are respectively mounted, so that more worm transferring manipulators 50 can work simultaneously, and the efficiency is improved.

As shown in fig. 12, the transferring robot 50 and the insect replenishing robot 37 have the same configuration, and the insect replenishing robot will be described below as an example.

The insect-supplementing manipulator 37 comprises an insect-supplementing push-pull rod 40, an insect-supplementing upper rod 51, an insect-supplementing lower rod 51, a connecting push rod 52, a scraping seat 53 and an insect-supplementing head swing rod 56; the upper and lower insect-supplementing rods 51 are fixed at the bottom of the fixed seat 34 of the insect-supplementing manipulator, the upper end of the insect-supplementing push rod 35 is fixedly connected with the other side of the insect-supplementing pull rod block 38, the lower end of the insect-supplementing push rod 35 is hinged with the upper end of the insect-supplementing push-pull rod 40, the upper end of the insect-supplementing head swing rod 56 and one end of the connecting push rod 52 are hinged to the lower end of the insect-supplementing push-pull rod 40, the lower end of the insect-supplementing push-pull rod 40 penetrates through the fixed seat 34 of the insect-supplementing manipulator, one end of the scraping plate seat 53 is hinged with the lower end of the insect-supplementing head swing rod 56, the other end of the connecting push rod 52 is hinged to the middle part of the upper and lower insect-supplementing rod 51, and the lower end of the scraping plate seat 53 are hinged, as shown in fig; as shown in fig. 14, the bug-supplementing digging single-shaft push rod cylinder 32 operates to drive the bug-supplementing push rod 35 to move up and down, further drive the bug-supplementing push rod 40 to move up and down, drive the scraper seat 53 to swing around an indefinite point, and realize the action of digging and fetching the larvae, wherein the scraper seat 53 extends into the honeycomb holes of the larva spleen 16. Otherwise, the larva placing action is carried out.

The insect transferring manipulator 50 also comprises an insect transferring push-pull rod, an insect transferring upper rod, an insect transferring lower rod, a connecting push rod, a scraping seat and an insect transferring head rocker 56; the upper and lower worm-moving rods are fixed at the bottom of the worm-moving hand fixing seat 47, the lower end of the worm-moving push rod block 45 is hinged with the upper end of the worm-moving push rod, the upper end of the worm-moving head rocker 56 and one end of the connecting push rod are hinged to the lower end of the worm-moving push rod together, the lower end of the worm-moving push rod penetrates through the worm-moving hand fixing seat 47, one end of the blade seat is hinged with the lower end of the worm-moving head rocker 56, the other end of the connecting push rod is hinged to the middle of the upper and lower worm-moving rods, and the lower end of the upper and lower worm-moving rods is hinged with the other end of the blade seat, so that the lower half part of the worm; the single-shaft moving and digging push rod cylinder 44 operates to drive the moving worm pull rod 48 to move up and down, further drive the moving worm push rod block 45 to move up and down, drive the scraper seat to swing around an indefinite point, and realize the digging and fetching of the larva when the scraper seat extends into the honeycomb hole of the larva spleen 16.

In specific implementation, the grout strip is placed on the grout strip track plate 2, a machine vision system is initialized, all driving devices and sensors are electrified pneumatically, the current line number and the current grout strip pest transferring frequency data are initialized, and all driving devices are controlled to be initialized through a PLC.

The double-shaft push rod air cylinder 27 retracts, the step motor 8 is driven to move longitudinally to enable the larva moving mechanism to return to the initial position of one side of the larva spleen, the step motor 19 is driven to move transversely to enable the larva supplementing mechanism to return to the initial position of one side of the filament rod, and the larva spleen is driven to drive the step motor 24 to enable the larva spleen to return to the initial position. The number of lines of larvae stored on the spleen of the input larvae, and the system records the current number of lines. The PLC controller controls the double-shaft push rod air cylinder 27 to push out, the double-shaft push rod air cylinder 27 retracts after the worm moving position sensor detects a signal, and at the moment, the pulp strips 29 reach the worm moving position. After the system judges the current line number and the current number of times of transferring the larvae, the larva spleen conveying mechanism enables the larva spleen 16 to move to a corresponding position. The longitudinal movement stepping motor 8 drives the long ball screw 7 to move the larva moving mechanism to the upper side of the current row of the larva spleen 16, and the larva is dug by the larva moving mechanism. After the digging is finished, the stepping motor 8 is moved longitudinally to reversely drive the long ball screw 7, so that the larva moving mechanism moves to a larva moving position, larvae are placed in a row of pulp cups of the pulp strips 29 by the larva moving mechanism, and the larva moving mechanism returns to the initial position. And a pulp strip CCD camera 6 of the machine vision system acquires images, transmits the images to a computer for image processing and recognition, positions the empty cup and feeds back the position. The longitudinal moving stepping motor 8 drives the long ball screw 7 to enable the insect supplementing mechanism to move to the upper side of a current row of the larva spleen 16, the insect supplementing CCD camera carries out image acquisition, the image acquisition is transmitted to a computer to carry out image recognition and positioning, the hole with the larva is positioned, the transverse stepping motor 19 drives the insect supplementing mechanical arm 37 of the insect supplementing mechanism to the upper side of the positioned hole to dig the insect, the insect is supplemented into the recognized empty cup, the operation is repeatedly circulated until the insect supplementing is completed in all the empty cups, and the current number of times of moving the pulp strips is increased by one. Judging the number of times of transferring the current pulp strips: when the number of times of transferring the larvae of the current thick liquid stick is 1, the judgment of the current line number and the number of times of transferring the larvae of the current thick liquid stick 29 is repeated, and the larva spleen conveying mechanism is driven to enable the larva spleen 16 to move to the corresponding position. And driving the larva transferring mechanism to complete larva transfer. And the insect supplementing mechanism completes all empty cup insect supplementing, and the current frequency of transferring the soybean milk strips is increased by one. And judging the current times of transferring the larvae of the thick liquid strips to be 2, driving the double-shaft push rod cylinder 27 to push out again, and repeatedly circulating the steps of transferring and supplementing the larvae until all the thick liquid strips 29 finish transferring the larvae or the current row of the larva spleen exceeds the maximum row number.

The specific implementation steps of the insect transferring mechanism are shown in fig. 15.

In specific implementation, the larva moving mechanism is initialized at the beginning, after receiving a signal for starting larva moving, the longitudinal moving stepping motor 8 drives the larva moving mechanism to move to the upper side of the current row of the larva spleen 16, the larva moving mechanical arm 50 is lowered, the larva is dug and taken by the larva moving mechanical arm 50, and the larva moving mechanical arm 50 is raised. Move the worm mechanism and remove the thick liquid strip and arrange the top at present, pull open the horizontal interval of 32 bat worm manipulators 50, move worm manipulator 50 and transfer, move worm manipulator 50 and place the larva, the larva board is released and is pushed away the larva of pasting on the bat worm doctor blade down. The insect pushing plate retracts, and the insect transferring mechanical arm 50 ascends.

The insect supplementing mechanism is implemented by the steps as shown in fig. 16.

In specific implementation, after receiving an empty cup detection and positioning signal of a machine vision system, the insect supplementing mechanism is initialized. And then the insect supplementing mechanism moves longitudinally to the upper part of the current row of the larva spleen 16, and the insect supplementing CCD camera 36 acquires and processes images to identify and position the larva on the larva spleen 16. If the larvae cannot be identified, the larva supplementing mechanism moves transversely for a certain distance, the larva supplementing CCD camera 36 collects images again, image processing is carried out, and the larvae on the larva spleen 16 are identified and positioned until the larvae are identified and positioned. After the larva is located, the insect supplementing mechanism moves transversely to enable the insect supplementing mechanical hand 37 to be located right above the located larva, the insect supplementing mechanical hand 37 is placed downwards, the insect is taken out by the insect supplementing mechanical hand 37, and the insect supplementing mechanical hand 37 rises. The insect supplementing mechanism longitudinally moves to the position above the pulp strips, the transverse movement enables the insect supplementing mechanical hand 37 to be located above the positioning empty cup and put down the insect supplementing mechanical hand 37, the insect supplementing mechanical hand 37 takes out insects, and the insect supplementing mechanical hand 37 rises. And judging whether an empty cup exists after the insect supplement. If the empty cup exists, the insect supplement is repeated. If no empty cup exists, the insect supplement is completed, and a new round of empty cup detection and positioning signal of the machine vision system is waited

In the concrete implementation, in order to realize the automatic control of image acquisition of the larva transferring and the machine vision, the royal jelly larva transferring and larva supplementing device based on the vision actually can also comprise:

a solenoid valve for controlling the cylinder;

a signal amplifier;

a drive module for controlling the motor;

a DC power supply for each of the driver and the sensor;

the computer is used for processing the acquired image information;

the Programmable Logic Controller (PLC) controls the driving mechanism to act so as to complete the longitudinal and up-and-down movement of the larva moving mechanism and the action of digging and placing larvae; finishing the actions of transverse movement, up-and-down movement and digging and placing larvae of the larva supplementing mechanism; controlling the conveying of the strips and the transverse movement of the larva spleen.

The utility model discloses a royal jelly bat worm benefit worm implementation process specifically does:

step one, initializing 5 pulp strip CCD cameras 6 and an insect-supplementing CCD camera 36 in a machine vision system, and initializing each mechanism: returning the insect transferring mechanism and the insect supplementing mechanism to the initial positions; the double-shaft push rod cylinder 27 of the pulp strip conveying mechanism retracts; the upper and lower single-shaft push rod cylinder 13, the single-shaft push rod cylinder 44, the single-shaft push rod cylinder 43 and the transverse distance push rod cylinder 46 of the worm moving mechanism contract; the insect-supplementing vertical moving single-shaft push rod cylinder 31 and the insect-supplementing digging single-shaft push rod cylinder 32 of the insect-supplementing mechanism contract.

And step two, inputting the line number of the larvae stored on the larva spleen 16, and recording the line number as the current line number.

And step three, pushing the pulp strips 29 out by a double-shaft push rod air cylinder 27 of the pulp strip conveying mechanism for conveying, stopping conveying after a pulp strip positioning sensor receives a signal, enabling the pulp strips 29 to reach a pest moving position, namely right below a machine vision system CCD camera 6, and recording that the pest moving times of the current pulp strips is 0.

Step four, judging whether the current line number exceeds the maximum line number of the larva spleen, and stopping operation if the current line number exceeds the maximum line number; and judging the parity of the rows, judging the current times of transferring the larvae, and driving the larva spleen 16 to a corresponding position through a larva spleen transmission stepping motor 24 of the larva spleen transmission mechanism.

And step five, after the larva spleen 16 is moved, the long ball screw 7 is driven by the longitudinally moving stepping motor 8, so that the larva moving mechanism moves to the position above the current row of the larva spleen 16. The upper and lower single-shaft push rod cylinders 13 for transferring the insects are pushed out, so that the manipulator 50 for transferring the insects is put down. The single-shaft push rod cylinder 44 for transferring insects is pushed out to drive the moving insect pull rod 48, and the moving insect pull rod 48 pulls the moving insect push rod block 45 to control the moving insect manipulator 50 to complete the insect digging operation. The upper and lower single-shaft push rod cylinders 13 for transferring the insects contract, so that the manipulator 50 for transferring the insects ascends.

And step six, after the insect digging is finished, the longitudinal stepping motor 8 drives the long ball screw 7 to move reversely to the position above the pulp strips 29 at the insect transferring position, and the transverse distance push rod air cylinders 46 pull apart the transverse distances of the 32 insect transferring mechanical arms 50 to enable the distance between the insect transferring mechanical arms 50 to be the same as the distance between the pulp cups. The upper and lower single-shaft push rod cylinders 13 for transferring the insects lower the transferring manipulator 50. The single-shaft push rod cylinder 44 for transferring insects is contracted to drive the pull rod 48 for transferring insects, the pull rod 48 for transferring insects pulls the push rod block 45 for transferring insects to control the manipulator 50 for transferring insects to complete the operation of placing the larvae, and the single-shaft push rod cylinder 43 for pushing insects pushes out to drive the plate 49 for transferring insects and pushes down the larvae stuck on the scraper 39 for transferring insects. The single-shaft insect-pushing push rod cylinder 43 retracts to drive the insect-pushing plate 49 to ascend. The upper and lower single-shaft push rod cylinders 13 for transferring the insects contract, so that the manipulator 50 for transferring the insects ascends. The lateral spacing ram cylinder 46 is retracted to reduce the lateral spacing of the 32 insect movers robots 50. And finishing the larva transfer of the row of the pulp strips 29 of the pulp cups, and recording the current larva transfer frequency of the pulp strips plus 1.

Seventhly, the CCD camera 6 of the machine vision system collects images, transmits the images to a computer for image processing and recognition, positions the position of the empty cup and feeds back the position

And step eight, controlling the longitudinal stepping motor 8 to drive the long ball screw 7, enabling the insect supplementing mechanism to move to the upper part of the current row of the larva spleen 16 along with the long ball screw 7, carrying out image acquisition by the insect supplementing CCD camera 36, transmitting the image acquisition to a computer for image recognition and positioning, positioning the hole of the larva spleen 16 where the larva is stored, and driving the transverse ball screw 18 by transversely moving the stepping motor 19, so that the insect supplementing mechanical arm 37 of the insect supplementing mechanism moves to the upper part of the positioned hole. The single-shaft push rod cylinder 31 is pushed out by the bug-supplementing up-down moving mechanism, and the bug-supplementing manipulator 37 is lowered. The single-shaft push rod cylinder 32 for insect supplement digging is pushed out to drive the insect supplement pull rod block 38, and the insect supplement pull rod block 38 pulls the insect supplement push rod 35 to enable the insect supplement manipulator 37 to complete insect digging operation. The single-shaft push rod cylinder 31 moves up and down to contract, so that the insect-supplementing manipulator 37 ascends.

And step nine, controlling the longitudinal stepping motor 8 to drive the long ball screw 7, so that the insect supplementing mechanism moves to the position above the current row of the pulp strips 29 at the insect transferring position along with the long ball screw 7. The transverse moving stepping motor 19 drives the transverse ball screw 18 to move the insect supplementing mechanical hand 37 of the insect supplementing mechanism to the position above the identified and positioned blank slurry cup. The single-shaft push rod cylinder 31 is pushed out by the bug-supplementing up-down moving mechanism, and the bug-supplementing manipulator 37 is lowered. The single-shaft push rod cylinder 32 for insect supplement digging contracts to drive the insect supplement pull rod block 38, and the insect supplement pull rod block 38 pulls the insect supplement push rod 35 to enable the insect supplement manipulator 37 to complete the operation of placing the larvae. The single-shaft push rod cylinder 31 for insect supplement moves up and down to contract, so that the insect supplement manipulator 37 rises to complete insect supplement of the row of pulp cups of the pulp strips 29.

And step ten, repeatedly circulating the step eight to the step nine until all empty cups in the current row are filled with the insects.

And step eleven, repeating the step four to the step ten once to finish the larva transferring and supplementing of two rows of pulp cups of the pulp strips 29, wherein the current line number is added with 1.

And step twelve, repeating the step three to the step eleven until all the pulp strips 29 finish transferring and supplementing the larva or the current line number exceeds the maximum line number of the larva spleen.

Finally, it should be noted that the above embodiments and the examples are merely representative examples of the present invention, and it is obvious that the technical solution of the present invention is not limited to the above embodiments and the examples, and many variations are possible. All modifications which can be derived or suggested by a person skilled in the art from the disclosure of the invention should be considered as within the scope of the invention.

Claims (7)

1. The utility model provides a device that is used for bee removal of royal jelly to mend worm which characterized in that: the insect-removing and feeding device comprises a stainless steel frame type supporting frame (1), and an insect-moving mechanism, an insect-supplementing mechanism, a pulp strip conveying mechanism and a machine vision system which are arranged on the stainless steel frame type supporting frame (1); the stainless steel frame type support frame (1) is provided with four layers of a first layer, a second layer, a third layer and a fourth layer from top to bottom; the thick liquid strip conveying mechanism comprises a thick liquid strip track plate (2), a thick liquid strip inclined slide rail (3) and a thick liquid strip collecting box (4), wherein the thick liquid strip track plate (2) is installed on the third layer of the inlet side of a stainless steel frame type supporting frame (1), the thick liquid strip collecting box (4) is installed on the fourth layer of the outlet side of the stainless steel frame type supporting frame (1), the thick liquid strip inclined slide rail (3) is arranged between the third layer and the fourth layer of the stainless steel frame type supporting frame (1), the top of the thick liquid strip inclined slide rail (3) is connected with the front part of the thick liquid strip track plate (2), and the bottom of the thick liquid strip inclined slide rail (3) is connected with the thick liquid strip collecting box (4); a plurality of grout strips (29) are placed on the grout strip track plate (2), the grout strips (29) are closely arranged in parallel, a double-shaft push rod cylinder (27) and a grout strip push plate (28) are installed on the grout strip track plate (2), the double-shaft push rod cylinder (27) is installed on the grout strip track plate (2) and close to the inlet side, a cylinder rod of the double-shaft push rod cylinder (27) is fixedly connected with the grout strip push plate (28), and the grout strip push plate (28) pushes the grout strips to move towards the outlet side; larva spleen conveying mechanisms are installed on the third layer of the stainless steel frame type supporting frame (1) above the pulp strip collecting box (4), the larva moving mechanisms and the larva supplementing mechanisms are installed on the second layer of the stainless steel frame type supporting frame (1) above the larva spleen conveying mechanisms, and the machine vision system is installed on the first layer of the stainless steel frame type supporting frame (1) right above the pulp strip track plate (2).

2. The device for bee-removing and insect-supplementing of royal jelly according to claim 1, wherein: the larva spleen conveying mechanism comprises a larva spleen conveying base (5), a larva spleen mounting seat (14) and a larva spleen transmission stepping motor (24); install on the third layer of stainless steel frame type support frame (1), and be located thick liquid strip collection box (4) top, larva spleen conveying base (5) top is equipped with larva spleen mount pad (14), place fixed larva spleen (16) on larva spleen mount pad (14), install short slider base (23) and larva spleen transmission step motor (24) on larva spleen conveying base (5), install short slide rail (25) on short slider base (23), larva spleen mount pad (14) bottom inlays the dress and follow short slide rail (25) horizontal migration on short slide rail (25), larva spleen transmission step motor (24) output shaft screw axle, the axial of screw axle is on a parallel with short slide rail (25), larva spleen mount pad (14) bottom fixed mounting has screw nut, screw nut passes through the screw suit on the screw axle.

3. The device for bee-removing and insect-supplementing of royal jelly according to claim 1, wherein: the machine vision system comprises a pulp strip CCD camera (6) and a pest supplementing CCD camera (36); the insect supplementing CCD camera (36) is arranged on the bottom surface of an insect supplementing pull rod block (38) of the insect supplementing mechanism, and the plurality of pulp strip CCD cameras (6) are arranged on the first layer of the stainless steel frame type supporting frame (1).

4. The device for bee-removing and insect-supplementing of royal jelly according to claim 1, wherein: the two sides of the second layer of the stainless steel frame type support frame (1) are both provided with long slide rails (15), the upper cross bar (12) is arranged between the two sides of the second layer of the stainless steel frame type support frame (1) in a crossing way, and the two ends of the upper cross bar are embedded on the long slide rails (15), a longitudinal moving stepping motor (8) is installed near the end part of a long slide rail (15) on one side, an output shaft of the longitudinal moving stepping motor (8) is connected with one end of a long ball screw (7) through a coupler (9), the other end of the long ball screw (7) is supported and installed on a long screw tail end base (10), a long filament rod moving seat (11) is sleeved on the long ball screw (7) through threads, the long filament rod moving seat (11) is fixedly connected with an upper cross rod (12), the upper cross rod (12) is fixedly connected with a transverse slide rail base (22), a pest moving mechanism is installed on the upper cross rod (12), and a pest supplementing mechanism is installed on the transverse slide rail base (22);

the insect supplementing mechanism comprises a transverse slide rail base (22), a transverse ball screw (18), a movable stepping motor (19), a transverse screw rod moving base (20), an insect supplementing up-down moving single-shaft push rod cylinder (31), an insect supplementing digging single-shaft push rod cylinder (32) and an insect supplementing pull rod block (38); two transverse sliding rails (21) which are respectively positioned in parallel up and down are installed on the side face of the upper portion of a transverse sliding rail base (22), a transverse screw rod tail end fixing base (17) is installed at one end of the transverse sliding rail base (22), a transverse moving stepping motor (19) is installed at the other end of the transverse sliding rail base, a transverse ball screw rod (18) is installed between the transverse screw rod tail end fixing base (17) and the transverse moving stepping motor (19), a transverse screw rod moving base (20) is sleeved on the transverse ball screw rod (18) through threads, and the transverse screw rod moving base (20) is respectively embedded and connected with the two transverse sliding rails (21) up and down; an insect-supplementing up-and-down single-shaft push rod cylinder (31) is fixedly installed on the transverse screw rod moving seat (20), a push rod of the insect-supplementing up-and-down single-shaft push rod cylinder (31) faces downwards and is fixedly connected with an insect-supplementing manipulator connecting plate (33), an insect-supplementing digging single-shaft push rod cylinder (32) is installed on the insect-supplementing manipulator connecting plate (33), an insect-supplementing manipulator fixing seat (34) is fixed on the bottom surface of the insect-supplementing manipulator connecting plate (33), a push rod of the insect-supplementing digging single-shaft push rod cylinder (32) faces downwards and is fixedly connected with an insect-supplementing pull rod block (38), an insect-supplementing CCD camera (36) is installed on one side of the insect-supplementing pull rod block (38), the other side of the insect-supplementing pull rod block (38) is connected with an insect-supplementing push rod (35), and the insect-supplementing push rod;

the worm moving mechanism comprises a single-shaft push rod cylinder (13), a worm moving connecting plate (41), a worm moving digging single-shaft push rod cylinder (44), a worm pushing single-shaft push rod cylinder (43), a worm moving mounting plate (42), a worm moving pull rod (48) and a worm moving push rod block (45); two single-shaft push rod cylinders (13) are fixedly mounted on the upper cross bar (12), cylinder rods of the single-shaft push rod cylinders (13) downwards penetrate through the upper cross bar (12) and are fixedly connected with the pest moving connecting plate (41), two pest moving digging single-shaft push rod cylinders (44) and two pest pushing single-shaft push rod cylinders (43) are mounted on the pest moving connecting plate (41), vertically-arranged pest moving mounting plates (42) are fixedly mounted on the bottom surface of the pest moving connecting plate (41), and a row of pest moving push rod blocks (45) and a row of pest moving hand fixing seats (47) are arranged on the side of each pest moving mounting plate (42) and below the pest moving connecting plate (41); a cylinder rod of a single-shaft push rod cylinder (44) for transferring insects penetrates through an insect transferring connecting plate (41) and then is fixedly connected with an insect transferring pull rod (48), the upper parts of a row of insect transferring push rod blocks (45) are fixedly connected with the insect transferring pull rod (48), the lower ends of the insect transferring push rod blocks (45) penetrate through the lower parts of insect transferring hand fixing seats (47) and are connected with an insect transferring mechanical arm (50), and the insect transferring mechanical arm (50) is used for extending into honeycomb holes in larva spleens to dig out larvae and transfer the larvae to upper hole positions of the pulp strips for transferring insects;

in a row of the larva moving hand fixing seats (47), two adjacent larva moving hand fixing seats (47) are connected through a limiting piece (55) between the side faces close to the larva supplementing mechanism respectively, one end of the limiting piece (55) is provided with a through hole, the other end of the limiting piece (55) is provided with a kidney-shaped hole, a convex shaft is arranged on the side face close to the larva supplementing mechanism of each larva moving hand fixing seat (47), the convex shaft of one larva moving hand fixing seat (47) is sleeved in the kidney-shaped hole of the limiting piece (55), and the convex shaft of the other larva moving hand fixing seat (47) is sleeved in the through hole of the limiting piece (55), so that a hinge translation connecting structure capable of moving in a relatively separated and close mode is formed; a side surface of the bottom of the larva mounting plate (42) close to the larva hand fixing seat (47) is provided with a larva fixing seat sliding rail (57), and the larva hand fixing seat (47) is embedded and connected with the larva fixing seat sliding rail (57); a transverse spacing push rod cylinder (46) is arranged on the side wall, close to the insect supplementing mechanism, of the insect transferring mounting plate (42), and a cylinder rod of the transverse spacing push rod cylinder (46) penetrates through the insect transferring mounting plate (42) and then is fixedly connected with one of the row of insect transferring hand fixing seats (47) through an insect transferring elastic push rod (54); the transverse spacing push rod air cylinder (46) runs, one of the row of the larva moving hand fixing seats (47) is driven to move through the larva moving elastic push rod (54), and then the larva moving hand fixing seats (47) are driven to move horizontally along the larva moving fixing seat sliding rail (57) in a separated or close mode through the hinge translation connecting structure so as to adjust and adapt to the hole spacing change between the upper hole of the starch strips and the upper honeycomb holes of the larva spleens; the cylinder rod of the single-shaft worm pushing cylinder (43) penetrates through the worm transferring connecting plate (41) and is fixedly connected with the worm pushing plate (49), the worm pushing plate (49) is located on the side of the worm transferring mechanical arm (50), the single-shaft worm pushing cylinder (43) runs to drive the worm pushing plate (49) to move up and down, and then the worm pushing plate (49) is driven to scrape larvae on the surface of the worm transferring mechanical arm (50).

5. The device for bee-removing and insect-supplementing of royal jelly according to claim 4, wherein: the insect transferring manipulator (50) and the insect supplementing manipulator (37) have the same structure.

6. The device for bee-removing and insect-supplementing of royal jelly according to claim 5, wherein: the insect-supplementing manipulator (37) comprises an insect-supplementing push-pull rod (40), an insect-supplementing upper and lower rod (51), a connecting push rod (52), a scraping plate seat (53) and an insect-supplementing head rocker (56); the upper and lower insect-supplementing rods (51) are fixed at the bottom of the insect-supplementing manipulator fixing seat (34), the upper end of an insect-supplementing push rod (35) is fixedly connected with the other side of the insect-supplementing pull rod block (38), the lower end of the insect-supplementing push rod (35) is hinged with the upper end of an insect-supplementing push-pull rod (40), the upper end of an insect-supplementing head rocker (56) and one end of a connecting push rod (52) are hinged to the lower end of the insect-supplementing push-pull rod (40), the lower end of the insect-supplementing push-pull rod (40) penetrates through the insect-supplementing manipulator fixing seat (34), one end of a scraping plate seat (53) is hinged with the lower end of the insect-supplementing head rocker (56), the other end of the connecting push rod (52) is hinged to the middle of the upper and lower insect-supplementing rod (51), and the lower end of the; the insect-supplementing digging single-shaft push rod cylinder (32) operates to drive the insect-supplementing push rod (35) to move up and down, further drive the insect-supplementing push-pull rod (40) to move up and down, and drive the scraping sheet seat (53) to swing around an indefinite point, so that the action of digging and fetching the larvae when the scraping sheet seat (53) extends into honeycomb holes of the larva spleen (16) is realized.

7. The device for bee-removing and insect-supplementing of royal jelly according to claim 5, wherein: an in-place sensor hole site (30) is arranged on the edge of the grout rail plate (2) close to the outlet side, an in-place sensor is installed in the in-place sensor hole site (30), and the in-place sensor is used for detecting whether grout strips exist at the edge position and whether the grout strips reach the position of the in-place sensor hole site (30).

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