WO2020038489A1 - Method for identifying and grafting bee larva, and larva grafting machine - Google Patents

Abstract

A larva grafting machine, comprising a larva grafting manipulator, a honeycomb stepper mechanism, and a queen cup bar feeder. The grafting manipulator comprises a larva grafting mechanism (1b) and a detection device. The larva grafting mechanism comprises a larva grafting needle and an installation block. The larva grafting machine performs automatic feeding of a honeycomb by means of the honeycomb stepper mechanism (3d), thereby facilitating bee larva pickup over the entire honeycomb, and increasing the level of automation. Further provided is a method for identifying and grafting a bee larva, wherein the detection device of the larva grafting machine detects whether there is a bee larva in a cell of a honeycomb, and the larva grafting mechanism (1b) of the larva grafting machine performs grafting on a detected bee larva. The color of a cell of a honeycomb is used to determine the presence of a bee larva in the cell, thereby improving the accuracy of grafting.

Description

Identification and removal method of beetle and insect removal machine

The present invention claims priority from the following prior applications:

1. The application number is 2018109742880, the application date is 2018-08-24, and the invention is a Chinese invention patent application with the name of a kind of insect removal machine.

2. The application number is 2018109742895, the application date is 2018-08-24, and the invention is a Chinese invention patent application with a name of a beetle identification and removal method.

3. The application number is 2018109753264, the application date is 2018-08-24, and the name of the invention is a Chinese invention patent application of a kind of insect removal agency.

Technical field

The present invention relates to a method for removing insects, and a device and an element for removing insects.

Background technique

Bees lay their eggs in the nest of the hive, but the size of the nest is small. If the larvae of the bees have been growing in the nest, they cannot grow into queen bees, they can only grow into worker bees, and do not produce royal jelly. To cultivate the royal jelly to produce royal jelly, you need to move it to the culture bowl with a large space on the abutment during the larval stage of the bee to give it sufficient growth space on the one hand and induce the worker bees to cultivate with the queen bee on the other. It can increase the yield of royal jelly, and the process of removing the bee larva from the nest and placing it in the base of the platform is called migrating in the industry.

At present, most migrating insects use artificial methods, that is, the worker observes and judges whether there are bee larvae in the nest by the naked eye. If there are insects, they are manually removed. Such a working method is obviously not suitable for industrial production and takes time. Laborious, inefficient, and long working hours, the human eye will be fatigued, blind to color, easy to misjudgment, and cause loss. For this reason, there have been researches on automatic worm transfer devices, but in the prior art, automatic worm transfer uses a picking element that matches the platform base, the number of paws on the picking element, and the number of culture bowls on the platform base. Equal, or the same number of nests in each row on the bee nest spleen. In this way, all the claws on the fetching element can be moved up and down simultaneously for grasping, and then put into the platform base strip at the same time, but in fact, and Not every nest house will have bee larvae. In this way, the whole row will be grasped at the same time, and the gripper claws will be empty. This will also result in that after the worms are removed, many culture bowls will be empty. It will lead to the waste of the platform and the reduction of production efficiency, which is not conducive to industrial production.

In the prior art, a transfer needle or a transfer tube is usually manually operated, for example, holding the transfer tube and extending the head of the transfer tube into the nest room of the bee nest spleen, and using the transfer tube head After grasping the honey larva and the royal jelly around it, the transfer tube is placed in the culture cavity corresponding to the platform base, and then the captured honey is passed through other structures fitted on the transfer tube. Larva blows out or ejects.

There are two main problems with the above-mentioned transfer needles. One is manual removal, the transfer efficiency is very low, and the presence of honey larvae needs to be visually judged in each nest. Prolonged visual inspection is extremely likely to cause eye damage. Department fatigue, which can lead to long hours of work, but also easily lead to misjudgment. On the other hand, the existing transfer needles or tubes have the following grasping methods: (1) a single piece of horn film is inserted from the inner wall of one side of the nest house to dig out the larva; (2) a clamp is used Two-claw or three-claw type directly reach the position of the honeycomb corresponding to the larva of the nest for grasping. The main drawback of the method (1) is that the unidirectional digging may cause the larva to slide off the horn or not dig at all. In this way, even if the judgment is accurate, the success rate of larvae extraction will basically be less than 70%; the main drawback of method (2) is that it uses two or three jaws to grasp, even if the jaws are grasped. It is flexible itself. In order to catch the larva, the distance between the claws, especially the distance between the ends, usually needs to be set very small. This requires a high position of the landing point when grasping. Deviating from the position of the larva, the larva may not be caught or injured, and the success rate and survival rate of the larva are not ideal.

Summary of the Invention

The first technical problem to be solved by the present invention is to provide a worm-moving machine, which can realize automatic worm-moving, and the grasping efficiency and accuracy are significantly improved.

To this end, the present invention adopts the following technical solutions:

A worm transfer machine, comprising a worm transfer manipulator, a honeycomb spleen stepping mechanism and a platform base feeding device, the worm transfer manipulator, a honeycomb spleen stepping mechanism and a platform base feeding device are mounted on a rack, and the worm transfer robot includes a worm transfer Mechanism and detection device, including a moving needle and a mounting block, the moving needle is oscillatingly connected to the mounting block, the detecting device is installed in the mounting block, and the detecting device is used to detect the presence of bee larvae in the spleen of the hive. The mounting hole moves; the worm transfer robot is configured to be used to move the worms in the honeycomb spleen stepping mechanism into the table base strip feeding device.

Further, the worm transfer needle includes a fixed rod, a worm transfer elastic sheet, and an ejection element, the worm transfer elastic sheet is connected with the fixed rod, and the ejection element is movably connected with the fixed rod.

Further, it also includes a worm transfer manipulator transmission mechanism and a robot fast-forward device. The worm transfer robot is installed on the worm transfer robot transmission mechanism. The worm transfer manipulator transmission mechanism is installed on the robot fast-forward device. Move, the transfer mechanism of the transfer robot controls the transfer of the transfer robot from left to right; the transfer mechanism of the transfer robot includes the transfer mechanism, the transfer mechanism mounting member and the transfer mechanism, and the transfer mechanism is installed on the bottom surface of the transfer mechanism mounting device. The worm mechanism is fixedly connected to the worm transfer mechanism; the fast-forwarding device of the manipulator includes the worm transfer mechanism, the fast-forward connector, and the fast-forward mechanism. The quick-connect connector is mobilely connected to the fast-forward mechanism. Pieces.

Further, the table base strip feeding device includes a table base strip advancement mechanism, a table base strip reciprocating mechanism, and a table base strip follower mechanism. The platform base pushing mechanism is mounted on the platform base staking reciprocating mechanism, and the platform base follower mechanism is connected to the platform base pushing mechanism; the platform base pushing device includes a platform mounting unit mounting plate, a platform base pushing mechanism and The platform base advancement board is installed on the platform base advancement device mounting plate, and the platform base advancement mechanism is connected to the platform base advancement board.

Further, it further comprises a platform base blanking device, and the platform base blanking device is fixedly installed above the platform base pushing device.

The insect transfer machine of the present invention recognizes the bee insects in the spleen of the hive by controlling the manipulator, moves the bee eggs into the manipulator's transfer needle, and moves the table base strip directly below the manipulator through the table base strip pushing mechanism. It is convenient for the robot to stake out and improve work efficiency. In addition, the insect transfer machine of the present invention automatically feeds the honeycomb spleen through the honeycomb spleen stepping mechanism, which facilitates the picking of the honeycomb by the entire honeycomb spleen and improves the degree of automation.

The second technical problem to be solved by the present invention is to provide a method for identifying and removing bees, and to determine whether there are bee larvae in the nest by identifying the color in the nest of the bee's nest spleen, thereby improving the extraction. Worm accuracy.

To this end, the present invention adopts the following technical scheme: The identification and removal method of the present invention uses the detection device in the insect transfer machine to detect whether honeycomb larvae are contained in the nest of the honeycomb spleen, and uses the insect transfer machine. The worm-moving mechanism in the worm removes the detected bee larvae.

Further, the detection device includes at least one detection element, and the detection element can move along the arrangement direction of the nest house on the spleen of the honeycomb; when the detection element is moved above the nest house, the color in the nest house is identified, and The color recognition results determine whether bee larvae are contained in the nest.

As a kind of preference, one detection element is sufficient, and the detection element can be driven to move up, down, left or right, or back and forth by a moving mechanism, so that each nest house in the bee nest spleen is preferred. In some cases, if double rows are required, Or multiple rows are identified and grasped at the same time, multiple detection elements can be set for detection at the same time, which can improve detection efficiency. As a kind of preference, if it is a single-row test, the detection element only needs to move along the nest arrangement direction of the honeycomb spleen. As a preference, if multiple-row test is required, a transmission device that moves forward and backward, such as a transmission, may be provided. A chain or a transmission belt drives the detection element to move. For example, the detection element can move back and forth along the arrangement direction of the nest houses. After the detection element detects a row of nest houses, it returns to the initial position. The forward-backward moving device drives the detection element to move to the next row. Nest, then repeat the above steps for testing.

Further, the worm-moving mechanism can move along the arrangement direction of the nest on the spleen of the bee's nest in synchronization with the detection element, or the worm-moving mechanism can move along the arrangement direction of the spleen on the bee's nest after following the detection element.

As a preferred type, the detection element may be a light sensor or the like. As long as it can determine whether there are bee larvae in the nest according to certain conditions, the requirements of the present invention can be achieved. For example, a light detector may be used. The front end of the light detector is provided with a lens. The light detector detects the color in the nest through the lens. The light detector determines the color based on the feedback wavelength and / or color temperature. For example, when the color temperature or wavelength is within a certain range, The existence of larvae is believed to be able to identify the presence of larvae by color. The habit of bees is that if there are larvae in the nest, the worker bees will collect nectar or royal jelly to feed the larva. If there are no larvae in the nest, then Worker bees will not put honey or royal jelly into the nest, and honey or royal jelly has a certain color. This color can be completely distinguished from the color of the bottom of the nest. Then, using this living habit, you can Color recognition to determine the existence of bee larvae, practice has proven that the accuracy of this recognition method can reach To 98% or more.

As a kind of preference, the detection element can be moved step by step according to the space between the nest houses, since the space between the nest house and the nest house is fixed, and the detection element is preferably capable of detecting directly above the nest house In this way, it will not interfere with the recognition due to different angles or light. The step distance of the detection element can be set according to the distance between the centers of adjacent nests. In this way, the detection efficiency of the detection element is improved and unnecessary stops are avoided. , While also ensuring the accuracy of the test.

As a kind of preference, when the detecting element is moved above the nest, the color in the nest is recognized, and whether the bee larva is contained in the nest is determined based on the recognition result of the color. As mentioned above, this special color, It is the color of honey or royal jelly, usually white or white with a slight yellowish color. The wavelength of this color is between 800-1200nm and the color temperature is between 2600-5900K.

In some preferred manners, the detection element may be a light detector. The light detector includes a probe. A light source is provided in the probe, and a lens is provided on the probe. The illumination direction of the light source is at an angle of 0-20 ° from the vertical direction. When a bee is building a nest, the angle of the nest is not completely vertical, but it will make a certain angle with the bottom of the hive. This angle is usually within 20 °. The best direction of the light detector is the same as the direction of the hive. In this way, it will not be affected by the wall of the nest house, which will cause detection errors. In some preferred modes, the irradiation direction of the detection element is adjustable.

As a kind of preference, the worm transfer mechanism can move along the arrangement direction of the nest on the bee nest spleen in synchronization with the detection element, or the worm transfer mechanism can move in the arrangement direction of the nest on the bee spleen following the detection element. It can move synchronously with the detection element, or it can move without synchronization with the detection element. A separate transmission device is set to drive the insect transfer mechanism. That is to say, the insect transfer mechanism can use the same transmission system as the detection element or use a separate transmission system. For example, If the same transmission system is used, when the presence of bee larvae is detected, the worm transfer mechanism is directly moved down to excavate, and then the worm transfer mechanism and the detection element are moved synchronously to release the worm. If the transmission system is used, the detection element can be detected first. When a bee larva is detected, the mobile element is moved to a corresponding position and excavated, as long as the step of detecting the excavation first belongs to the overall scope of the present invention.

Further, it further includes a control element, which is connected to the detection element and the insect-moving mechanism respectively. The control element can receive signals from the detection element and can also send signals to the insect-moving mechanism. The control element can be a control device such as a control chip. The transfer mechanism and / or detection element can be connected via signal / data lines, respectively.

Further, the method is performed according to the following steps:

(1) The detection element is moved above the nest to detect the presence of bee larvae in the nest;

(2) When bee larvae are detected, the needles of the worms are inserted into the corresponding nests and the larvae are dug out;

(3) The larvae are put into the accompanying platform base by the transfer mechanism, and they are ready for the next excavation.

The identification and removal method of the present invention first determines whether there are bee larvae in the nest by detecting elements. For the nests with bee larvae, a worm-moving mechanism is inserted into the nest to dig out the bee larva together with a part of the royal jelly wrapped around it. The method of the present invention can greatly reduce or even completely avoid the risk of omission or misjudgment. In addition, the detection element and the insect-moving mechanism of the present invention can be controlled by a control element to realize the automation of detection and insect-removal, avoid various subjective problems that may be caused by human eye recognition, improve production efficiency, and are suitable for industrialized production.

The present invention also provides a removal element (moving needle) that can be used for the removal of the present invention, which can be applied to a full-automatic removal machine, and can effectively improve the grasping efficiency and accuracy.

The technical solutions adopted by the present invention to solve the above technical problems are:

A moving element includes a moving piece and a moving piece between the moving pieces. The moving piece can move between the moving pieces so that the moving piece opens or closes. When the moving piece is opened, it can move along the moving piece. The inner wall of the nest house extends into the bottom of the royal jelly in the nest house, and when the worm piece is closed, it can hold the bee larva.

Further, the moving piece is a flexible piece. The flexible piece is a horn piece, and the thickness is not more than 0.5 cm. The horn piece has a certain toughness, can be bent and can return to its original shape. When the end of the moving piece reaches into The time-shifting worms in the nest can be bent and formed into a curvature that is consistent with the inner wall and the bottom surface of the nest, and the outer end of the worms can be extended to the bottom of the nest to hold the larva.

Further, the moving pieces are arranged in pairs and tilted inward. The angle of inward tilt is generally 5-25 °. If the moving pieces are completely vertical, the gap between the moving pieces cannot be made very small. Then in the process of holding the larva up and grabbing it, it may cause the larva to slide down because the middle gap is too large, but the tilt angle is not easy to be too large. If the angle is too large, it will expand the space of the worm component, which is not convenient for the worm component. Installation on the machine.

Further, the side of the moving piece has a certain angle, and this angle can be the same as the tilting angle of the moving piece. Here, the side refers to the side where the moving piece comes into contact with the moving piece. The side is always in contact with the moving piece, moving along the contact surface with the moving piece to push the opening or closing of the moving piece, and because the moving piece itself is a very fine process, the object of the moving piece is also a very small bee Larvae, therefore, it is also very important to control the degree of opening or closing. It is not easy to open too large. Then the side of the moving block needs to be designed with a reasonable tilt angle, which can realize the movement of the moving block by moving the moving block. Open or closed, and an important role of the worm block is to be able to eject the honey larva taken along the inner wall of the worm piece, to avoid residual larvae, and to minimize royal jelly residue. The most ideal angle is It is shaped to match the shape of the gap in the middle of the worm. In this case, it is most suitable for the ejection of the larva.

Further, a slide groove is provided on the moving piece. The slide groove may be a square groove or a straight groove. The direction of the slide groove is consistent with the moving direction of the moving piece. The sliding groove runs through the thickness direction of the moving piece. A pushing block matching the chute. The pushing block can move in the chute. The upper surface of the pushing block is provided with an excessive bevel. When it is necessary to move the insect, the moving block is moved upward. The pushing block can be removed from the chute through the excessive inclined surface. And the ejection piece is ejected outwards to make the insect piece open, at this time, the insect removal element can be extended into the nest room, and the insect removal piece can be extended into the inner wall of the nest room as described above.

Further, the moving piece is fixedly mounted on the moving piece seat.

Further, the worm-moving block is fixedly connected to the ejector rod, and the upper end of the ejector rod is provided with a pressing part, and the automatic insect-moving machine can push the pressing part downward through the mechanism to push the pressing piece.

Further, the distance between the outer ends of the moving worms should not exceed 10 filaments. This distance refers to the distance between the moving worms in the closed state, because the width of the moving worms may approach the width of the nest when they are opened. It is said that the bee larva will not be less than 10 silk, but it will not be too large. This distance can ensure that the larvae are dug out and lifted up from the moving piece, and the moving piece moves down to the pushing block to the chute. The piece is closed. At this time, as long as the distance between the moving piece is not more than 10 wires, the moving piece can hold the bee larva stably.

Further, it also includes a worm-moving sleeve. The worm-moving sleeve is provided with a mounting groove. The worm-moving sleeve can be installed on the support member through the installation groove. The worm-moving sleeve can serve as a support for the entire structure on the one hand, and the other On the other hand, the entire moving element can be mounted on the moving machine through the structure on the moving pipe. For example, a mounting bracket matching the installation slot can be provided on the moving machine, and the moving unit can pass through the mounting slot on the moving pipe. Into the mounting bracket.

Further, a convex block and a convex ring are provided on the outer wall of the insect-moving sleeve, and the mounting groove is formed between the convex block and the convex ring, and the lower surface of the convex block is a curved surface, so that the insect-moving element can be mounted on the mounting frame. Swing up.

The insect-transmitting element of the present invention is provided with an insect-transmitting sheet that can be opened or closed. When the insect-transmitting needle is extended into the nest, the insect-transmitting sheet can be opened, so that the paired insect-transmitting sheets can be arranged along the nest. The inner wall gradually extends to the bottom of the nest house. After reaching the bottom of the nest house, the worms are brought close to each other to close, and the outer end of the worms is kept at a distance of about 10 wires to ensure that the larva will not pass through the gap. It will fall out without getting caught in the larva. The closed larvae will take out the larvae from the nest by embracing it. Since the worms will reach the bottom of the nest, from both sides Even more sides are carried out. For the nests where larvae are identified, this method of worming basically does not miss larvae, and can reach a success rate of more than 99%. In addition, a mounting structure is provided on the outer side of the insect-moving element of the present invention, which can be mounted on an automatic insect-moving machine, and can move up and down to perform operations of collecting and releasing insects under the action of the automatic insect-moving machine. The problem of low efficiency and accuracy and poor reproducibility.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an overall configuration diagram of a pest removal machine according to Embodiment 1 of the present invention.

FIG. 2 is an overall view of a worm remover with a cover and a discharge slot in Embodiment 1 of the present invention.

Fig. 3 is a structural diagram of a worm-moving manipulator according to Embodiment 1 of the present invention.

Fig. 4 is a front view of the worm needle of Embodiment 1 of the present invention.

Fig. 5 is a sectional view of a worm needle according to the first embodiment of the present invention.

6 is a perspective view of a mounting block according to the first embodiment of the present invention.

Fig. 7 is a perspective view of the other surface of the mounting block according to the first embodiment of the present invention.

FIG. 8 is a perspective view of the detection device according to the first embodiment of the present invention.

FIG. 9 is a front view of a detector connection block according to Embodiment 1 of the present invention.

FIG. 10 is a perspective view of a detection device according to the first embodiment of the present invention.

11 is a front view of a detector connecting rod according to the first embodiment of the present invention.

Fig. 12 is a perspective view of a detector mounting rod according to the first embodiment of the present invention.

FIG. 13 is a perspective view of a mounting member of the insect removal mechanism according to the first embodiment of the present invention.

FIG. 14 is a perspective view of a transmission mechanism of the manipulator of the insect removal machine according to the first embodiment of the present invention.

FIG. 15 is a perspective view of the transmission mechanism after the robot arm is removed according to the first embodiment of the present invention.

16 is a perspective view of a manipulator fast forward device according to the first embodiment of the present invention.

FIG. 17 is a perspective view of the manipulator fast forward device of the first embodiment of the present invention with the frame hidden.

18 is a structural diagram of a honeycomb spleen stepping mechanism according to Embodiment 1 of the present invention.

FIG. 19 is a structural diagram of a honeycomb spleen installation mechanism according to Embodiment 1 of the present invention.

FIG. 20 is a structural diagram of a honeycomb spleen mounting rail according to Embodiment 1 of the present invention.

FIG. 21 is a top view of the honeycomb spleen mounting rail of the first embodiment of the present invention with the lower base hidden.

FIG. 22 is a structural view after the feeding tank is hidden in FIG. 1.

FIG. 23 is a partial enlarged view of a table base follower mechanism according to Embodiment 1 of the present invention.

FIG. 24 is a diagram showing the structure of a base abutment in Embodiment 1 of the present invention.

FIG. 25 is a cross-sectional view of the abutment base in the first embodiment of the present invention.

Fig. 26 is an overall view of a stakeout reciprocating mechanism according to Embodiment 1 of the present invention.

FIG. 27 is a plan view of a stakeout reciprocating mechanism according to Embodiment 1 of the present invention.

FIG. 28 is a structural diagram of a mounting plate of a platform slat advancement device according to Embodiment 1 of the present invention.

FIG. 29 is a structural diagram of a platform moving device according to Embodiment 1 of the present invention.

FIG. 30 is a structural diagram of a table base pushing device according to Embodiment 1 of the present invention.

Fig. 32 is a structural diagram of a thrust plate according to the first embodiment of the present invention.

In Embodiment 1, the reference numerals are defined as: worming needle 1A, mounting block 2B, frame 3D, machine cover 4E, feeding slot 5F, first protrusion 9A, second protrusion 9B; fixing rod 1, Insect transfer spoon 2, push out element 3, installation section 4, excavation section 5, upper section 6, middle section 7, lower section 8, swinging projection 9, rubber sleeve 10, push tongue 11, transfer rod connection rod 12, connector 13, Channel 14, stop ring 15, mounting hole 16, worm needle mounting area 17, slide mounting area 18, moving block 19, worm needle mounting groove 20, moving block mounting groove 21, first plate 22, second plate 23 , The third plate 24, the fourth plate 25, the worm-moving needle installation hole 26, the swing groove 27, the fifth plate 28, the first swing stroke groove 29, the detection device mounting block 30, the T-shaped groove 31, and the slide of the worm Block mounting groove 39, screw hole 40 of the moving device slider, sixth plate 42, moving block projection chute 50, moving block projection 51, moving block spring mounting projection 52, directional mounting plate 53, sensor 101, detection Detector 102, detector connector 103, sensor lens 104, first lens section 105, second lens section 106, thread 108, detector connecting rod 109, detector connecting block 110, limit head 111, inspection Device connecting rod body 112, mounting head 113, anti-rotation projection 114, connecting block sub-board 115, detector mounting groove 116, detector connecting rod mounting groove 117; insect moving mechanism 1b, insect moving mechanism mounting piece 2b, moving insect Transmission mechanism 3b, mounting member bottom plate 4b, mounting member first side plate 5b, mounting member second side plate 6b, first connection side plate 7b, first mounting side plate 8b, first motor 9b, first rib plate 10b, Second connecting side plate 11b, second mounting side plate 12b, second rib plate 13b, second pulley 14b, belt 15b, pulley mounting block 16b, pulley groove 17b, pulley shaft mounting hole 18b, main plate 19b, limit protrusion 20b, connecting plate 21b, first pulley 22b; worm transfer mechanism 1c, fast forward connection 2c, fast forward mechanism 3c, first mounting block 4c, second mounting block 5c, depth limit groove 6c, cross beam 8c, Fast forward motor 9c, fast forward guide 10c, fast forward gear 11c, fast forward rack 12c, depth limit stop 13c, fixing hole 14c; honeycomb spleen mounting mechanism 2d, honeycomb spleen stepping mechanism 3d, honeycomb spleen mounting frame 4d , Honeycomb spleen slide rail 5d, honeycomb spleen installation slider 6d, honeycomb spleen installation rail 7d, honeycomb spleen connection rail 8d , Honeycomb spleen installation groove 9d, honeycomb spleen clamping mechanism 10d, lower base 11d, upper base 12d, swing arm 13d, roller 14d, honeycomb spleen stepping motor 15d, screw 16d, slider 17d; translation of the platform base Stepping mechanism 2e, table base abutment 3e, first translation mechanism 4e, translation mechanism mounting table 5e, first translation rack 6e, first translation gear 7e, first translation stepper motor 8e, first translation gear installation Bracket 9e, first translation rack mounting groove 10e, abutment connecting area 11e, abutment mounting area 12e, abutment limiting groove 13e, abutment fixing mechanism 14e, second swing arm 15e, second roller 16e ; 1g reciprocating mechanism of table base, 2g reciprocating power mechanism, 3g reciprocating gearing mechanism, 4g reciprocating translation gear, 5g reciprocating translation gear, 6g reciprocating stepping motor, 8g reciprocating translation mechanism, 9g reciprocating connection plate, reciprocating sliding mechanism 10g, reciprocating slide rail 11g, reciprocating slider 12g, slide mechanism mounting plate 13g; table base strip advancement device mounting plate 1f, table base strip advancement mechanism 2f, table base advance plate 3f, table base advance gear 4f, table base Rack advance rack 5f, table base advance motor 6f, rack forming groove 7f, sliding Rail forming groove 8f and slider mounting groove 9f.

FIG. 32 is a flowchart of Embodiment 2 of the present invention.

FIG. 33 is a schematic diagram of a moving process according to Embodiment 2 of the present invention.

In Embodiment 2, the reference numerals are defined as: a detection element 100 and a worm-moving element 200. In this embodiment, the detection element 100 may correspond to the detection device in Embodiment 1, and the insect removal element 200 may correspond to the insect removal mechanism in Embodiment 1.

FIG. 34 is a schematic diagram of a worm-moving element of Example 3. FIG.

FIG. 35 is a front view of the worm-moving sheet of Example 3. FIG.

FIG. 36 is a side view of the worm-moving sheet of Example 3. FIG.

FIG. 37 is a schematic diagram of a worm block of Example 3. FIG.

FIG. 38 is a schematic view of a ejector rod of Embodiment 3. FIG.

FIG. 39 is a schematic diagram of a limiting element of Embodiment 3. FIG.

FIG. 40 is a schematic diagram of an insect-moving element of Example 4. FIG.

FIG. 41 is a side view of the worm-moving sheet of Example 4. FIG.

FIG. 42 is a schematic diagram of a worm-moving element of Example 5. FIG.

FIG. 43 is a front view of the worm piece of Example 5. FIG.

In Examples 3-5, the reference numerals are defined as: 1h of moving worms, 2h of moving worms, 11h of outer ends of 1h of moving worms, chute 12h, 21h of sides of moving worms 2h, 22h of pushing blocks, The lower surface 221h of the pushing block 22h, the upper surface 222h of the pushing block 22h, the outer surface 223h of the pushing block 22h, the moving worm seat 3h, the ejector 4h, the pushing head 41h, the return spring 42h, the moving worm casing 5h, installation groove 51h, convex block 52h, convex ring 53h, limiting element 6h.

detailed description

Embodiment 1. Referring to Fig. 1-31, a worm transfer machine.

In this embodiment, a worm transfer machine capable of achieving the purpose of the present invention is provided, which specifically includes a worm transfer robot manipulator, a honeycomb spleen stepping mechanism, and a platform base feeding device. The beetle moves into the platform feeding device. The robot hand, the honeycomb spleen stepping mechanism and the platform feeding device are installed on the rack and can move relative to the rack. The robot hand is used to feed the table. The beetle in the base strip moves to complete the work of grasping and setting out; the honeycomb spleen stepping mechanism is used to move the honeycomb spleen. After completing the migration of a whole row of the honeycomb, the honeycomb spleen stepping mechanism automatically feeds. It is convenient for the robot arm of the insect transfer machine to move the bees in the hive of the next row; the table base strip feeding device is used to push out the platform base strips and move the platform base strips back and forth, so that the robot arms can move the bees into the platform base strips. .

The robot arm of the insect transfer machine includes the insect transfer mechanism, the installation block and the detection device of the insect transfer mechanism, the robot arm of the insect transfer machine is connected with the robot transmission mechanism, the robot transmission mechanism is connected with the robot fast-forward device, and the insect transfer mechanism is used for the bees in the hive spleen. The insects are grasped, and the beetle is placed in the base of the platform. The mounting block of the moving mechanism is used to fixedly install the moving mechanism and detection device. The detection device is used to identify the beetle in the base of the platform. It is used to move the manipulator laterally, and the manipulator fast-forward device is used to move the manipulator up and down quickly.

In some preferred manners, the number of the robots of the insect transfer machine is at least one, and preferably, the number of the robots of the insect transfer machine can also be two, and the number of the robots of the insect transfer machine can be changed by changing the number of the robots Each beetle is grasped, thereby improving the efficiency of the insect removal machine.

A worm transfer needle includes a fixing rod 1, a worm transfer elastic sheet 2 and a pushing member 3. The worm transfer elastic sheet 2 is connected to the fixing rod 1. The pushing member 3 is movably connected to the fixing rod 1. The bee worm is dug out from the spleen of the hive, and the element 3 is pushed out to push the beetle in the elastic sheet of the moving insect into the base of the platform. The fixing rod 1 is used to fix the entire moving mechanism on the moving machine. The bee eggs are pushed out from the elastic piece of the moving insect, which makes the movement of the bee eggs easier and faster, and improves the moving efficiency of the moving machine.

The insect-moving elastic sheet 2 includes a mounting section 4 and a scooping section 5. The mounting section 4 is detachably mounted on the fixing rod 1, the scooping section 5 is connected to the mounting section 4, and the scooping section 5 is arc-shaped. Preferably, the shovel The arc shape of the picking section 5 is bent toward the fixed rod 1. When the scraping section is in contact with the honeycomb spleen, the scraping section 5 is more arc-shaped, which makes it easier for the scraping section 5 to deform. When the scraping section 5 is deformed, it deforms with the honeycomb. The bottom of the spleen is more conformable, which makes it easier for the bee larva to adhere to the elastic plate 2 of the worm, and because the scooping section 5 is arc-shaped, it is easy to push out the element 3 to push the bee larva in the elastic plate 2 of the worm.

The thickness of the mounting section 4 is greater than the thickness of the scooping section 5. The thickness of the scooping section 5 becomes thinner from the connection between the scooping section 5 and the mounting section 4 to the end of the scooping section 5. The scooping section 5 is a flexible member. Preferably, the scooping section 5 will bend toward the inside of the arc after encountering the platform base strip. After the deformation occurs, the scooping section 5 fits more closely with the bottom of the spleen of the honeycomb, so that the bee eggs are more easily attached to the elastic sheet 2 of the moving insect. In some preferred ways, the worm-moving elastic sheet 2 is a horn sheet or a horn sheet or injection molding made of TPU material. The horn sheet or horn sheet or the injection mold made of TPU material can withstand more bending times. , To improve the service life of the worm elastic sheet.

The fixing rod 1 includes an upper section 6, a middle section 7, and a lower section 8. The upper section 6 is connected to the middle section 7 and the middle section 7 is connected to the third section 8. A symmetrical protrusion 9 is provided on the outer surface of the upper section 6 to facilitate the protrusion 9 and movement. The mounting block of the worm needle is connected.

The protrusion is divided into a first protrusion 9A and a second protrusion 9B. The side surface of the first protrusion 9A is a vertical surface, the lower end surface of the first protrusion 9A is a circular arc, and the side surface of the second protrusion 9B is a slope. The length of the upper end face of the second protrusion 9B is greater than the length of the lower end face. The lower end face of the second protrusion 9B is arc-shaped. The lower end faces of the first protrusion 9A and the second protrusion 9B are set in a semicircular shape. It is convenient for the insect transfer needle to swing during the work process, it is convenient for the scooping section 5 to fit more closely with the bottom surface of the honeycomb spleen, to pick the honeycomb more effectively, to improve the working efficiency of the insect transfer machine, and to further control the length of the protrusion 9 Controlling the angle of the insect transfer needle to prevent the insect transfer needle from driving too much. The side of the second protrusion is beveled to facilitate the installation of the insect transfer needle. When the side of the second protrusion is inclined, the installation resistance is relative to the second The raised sides are straight mounting resistance.

The upper section 6, the middle section 7, and the lower section 8 are all cylindrical. The cross-sectional area of the upper section 6 and the lower section 8 are smaller than the cross-sectional area of the middle section 7. The cross-sectional area of the upper section 6 is larger than the cross-sectional area of the lower section 8. Preferably, the protrusion 9 There is a gap between the middle section 7 and the transfer needles on the transfer machine through the gap between the protrusion 9 and the middle section 7. In some preferred ways, the distance between the protrusions 9 and the middle section 7 is greater than that of the transfer section. The thickness of the mounting hole of the needle mounting hole and the size of the pitch control the swing range of the moving insect needle. The larger the distance, the larger the relative swing angle of the moving needle, and the smaller the distance, the smaller the relative swing angle of the moving needle.

In some preferred manners, the mounting section 4 of the insect-removing elastic sheet 2 is installed outside the lower section 8 of the fixing rod. Preferably, a rubber sleeve 10 is sleeved on the outside of the mounting section 4. The rubber sleeve 10 has a certain elasticity, and The mounting section 4 is fixed on the lower section 8. The rubber sleeve 10 is an elastic member, which facilitates the removal and assembly of the rubber sleeve 10, and also facilitates the replacement of the insect-moving elastic sheet 2. This improves the efficiency of replacing parts.

The upper, sixth, middle 7, and lower 8 axial positions are provided with communicating channels 14. In some preferred ways, the channel 14 is cylindrical, and the pushing element 3 is movably installed in the channel 14, and the pushing element 3 is in the channel 14. Move up and down to push the beetle from the elastic piece of the moving insect into the base of the platform to complete the moving process.

The pushing-out element 3 includes a pushing tongue 11, a connecting rod 12, and a joint 13. The pushing tongue 11 is installed on one end of the connecting rod 12, the joint 13 is installed on the other end of the connecting rod 12, and the connecting rod 12 is movably installed in the channel 14. 13 The pushing element 3 is moved, and the pushing tongue 11 is a flexible member to prevent damage to the bee insect due to the collision between the honeycomb and the pushing tongue 11.

The length of the connecting rod 12 is greater than the length of the fixed rod 1. The push tongue 11 is installed outside the end of the lower section 8. The push tongue 11 and the scooping section 5 contact each other to prevent the existence of the gap between the push tongue 11 and the scooping section 5. The gap causes damage to the beetle. The joint 13 is installed outside the end of the upper section 6, and the movement distance of the cart 11 is controlled by controlling the distance between the joint 13 and the upper section 6. The bee bug inside is pushed into the base of the platform to improve work efficiency.

The joint 13 is cylindrical. The diameter of the joint 13 is smaller than the diameter of the channel 14. A stop ring 15 is provided at one end of the joint 13, and the diameter of the stop ring 15 is larger than the diameter of the channel 14. A mounting hole is provided at the other end of the joint 13. 16, the connecting rod 12 is installed in the mounting hole 16, the stop ring 15 is used to prevent the joint 13 from being pushed into the channel 14, and the pushing stroke of the push tongue 11 is controlled by controlling the distance between the stop ring 15 and the upper section 6.

In some preferred manners, the length from the connecting surface of the joint 13 and the connecting rod 12 to the stop ring 15 is as long as the distance from the end of the push tongue 11 to the head of the insect-moving elastic blade scooping section 5. The length is used to control the length of the moving stroke of the push tongue 11. When the stop ring 15 contacts the upper section 6, the push tongue 11 moves to the end position of the scooping section 5 and pushes out the bee insect in the moving insect elastic sheet 2. The completion rate of the transfer mechanism of the transfer mechanism, and reduce the transfer time, improve the transfer efficiency.

In some preferred manners, a reset spring 14A is provided between the connecting rod and the channel, and the reset spring 14A is used to reset the push tongue 11 to a position in contact with the end surface of the lower section 8, which is convenient for the next migration work, preferably, When not in operation, the tongue 11 and the end face of the lower section 8 contact each other.

The working process of the worm transfer needle is that the manipulator translates on the hive spleen, and the detector detects the presence of bee larvae in the hive spleen and hive. When a bee larva is detected, the worm move down the robot manipulator until the shovel The bending deformation of the extraction section is preferred. The bending deformation amount of the excavation section is 3-5mm. The bending deformation of the excavation section causes the bee insects in the spleen to move into the elastic sheet 2, and the robot moves to the initial position, and then moves the insects. The needle rotates at a certain angle in the reverse direction. The reverse rotation means that the insect transfer needle is rotated to the oblique upward position of the spoon surface of the insect transfer needle, the platform base is moved directly below the insect transfer needle, and the robot hand is moved downward to the insect transfer needle and The contact position of the bottom surface of the platform base bar, the worm transfer machine pushes the tongue, pushes the beetle in the transfer elastic sheet into the platform base bar, the robot moves upward to the initial position, and restores the rotation angle of the transfer pin to the initial position.

In some preferred ways, in the initial test state, the spoon surface of the insect transfer needle is downward, and the angle between the spoon surface and the vertical surface is 6 ° -10 °, which is convenient for the robot to move the elastic sheet along the descending process. The movement of the nest wall following the spleen of the hive can more effectively move the beetle into the elastic piece of the moving insect. The reverse rotation angle of the moving needle is 12 ° -20 °. After the rotation, the spoon of the moving needle faces upward, and the spoon surface The included angle between the vertical plane and the vertical plane is 6 ° -10 °, which prevents the beetle from sliding out of the elastic sheet of the insect due to the shaking of the machine, and it is more convenient to push the beetle into the base of the platform.

The installation block of the worm transfer mechanism includes: a worm transfer needle installation area 17 and a sliding installation area 18; the worm transfer needle installation area 17 is fixedly connected to the slide installation area 17; the worm transfer needle installation area 17 is used for installing the worm transfer needle and the moving block 19, The sliding installation area 17 is used to install the mounting block 2A on the slide rail of the insect removal device of the automatic equipment, so that the installation block can move along the slide rail of the insect removal device.

The worm-needle installation area 17 includes a worm-needle installation groove 20 and a moving block installation groove 21. The moving-block installation groove 21 is provided above the worm-needle installation groove 20. A moving block 19 is installed in the moving-block installation groove 20. 19 is rotatably connected to the moving insect needle, and the moving block 19 moves in the moving block installation groove 21, so as to control the forward and backward swing of the moving needle.

In some preferred manners, a moving block projection chute 50 is provided on the inner wall of the moving block mounting groove 21, a moving block projection 51 is provided on the moving block 19, and the moving block projection 51 is mounted on the moving block projection Inside the chute 50, the moving block 19 can be moved in the direction provided by the chute 50 of the moving block, which can improve the stability of the swinging angle of the moving needle and the accuracy of moving the worm.

In some preferred manners, a moving block spring mounting protrusion 52 is provided on the rear surface of the moving block 19, which can control the direction of the spring deformation and improve the stability of the moving insect swing device. The rear end surface is also symmetrically oriented. The mounting plate 53 and the moving block protrusion 51 are mounted on the directional mounting plate 53 with a simple structure and high stability.

In some preferred manners, a spring is installed in the moving block 19 and the sliding installation area. The spring is used to reset the moving block, so that the moving needle returns to the original angular position. During a moving process, the moving block moves back and forth. Once, the movement of the worm needle swung back and forth once.

In some preferred manners, a power device is installed on the outside of the moving block 19, and the power device is used to drive the reciprocating motion of the moving block 19, thereby driving the swing of the moving needle.

The worm transfer needle mounting groove 20 includes a first plate 22, a second plate 23, a third plate 24, and a fourth plate 25. The first plate 22 and the second plate 23 are symmetrically installed on both sides of the third plate 24. A fourth plate 25 is mounted on the lower end surfaces of the plates 22 and the second plate 23, and a moving pin mounting hole 26 is provided on the fourth plate 25. A moving groove 27 and a swing groove are provided on the moving pin mounting hole 26 27 is an inverted triangle, and a protruding surface is provided on the lower end surface of the fourth plate 25. The position of the protruding surface corresponds to the position of the swing groove. It is used to attach the strength of the strong swing groove 27. The wobble groove 27 of the insect needle mounting hole 26.

In some preferred manners, the lower end of the swing groove 27 is arc-shaped, which is the same as the arc of the swing protrusion 9, which facilitates the mutual rotation between the insect moving needle and the swing groove 27.

A fifth plate 28 is fixedly connected to the upper end surfaces of the first plate 22, the second plate 23, and the third plate 24. The fifth plate 28 is provided with a first swing stroke groove 29 and a depth of the first swing stroke groove 29. It is controlled according to the swing angle of the transfer needle, and the limit angle of the transfer of the transfer needle is controlled by controlling the 29-slot of the first swing stroke.

In some preferred manners, the width of the first swing stroke groove 19 is the same as the diameter of the installation hole of the transfer needle. Preferably, the installation hole 26 of the transfer needle is rectangular, so that the transfer needle can be located in the installation hole 26 of the transfer needle. For relative rotation, it is preferable that the position of the swing groove 27 corresponds to the middle position of the installation hole 26 of the worm needle, so that the structure of the device is more compact.

A detection device mounting block 30 is installed on the outer side of the second plate 23, and the outer side of the detection device mounting block 30 is used to fixedly install the detection device, so that the detection device and the honeycomb spleen wall are at an angle to facilitate the detection device to Bees are tested.

A sliding installation area 18 is fixedly mounted on the outside of the third plate 24, and an insect-moving device slider installation groove 39 is provided in the sliding installation area 18, and the insect-moving device slider installation groove 39 is provided with an insect-moving device slider installation groove 39. The hole 40 is provided with a slide of the moving device in a mounting groove 39 of the slide of the moving device, and a slide of the moving device is installed on the rack. The position of the slide of the moving device corresponds to the slide of the moving device, and The device slider can move within the stroke of the moving needle slide.

A sixth plate 42 is also provided between the first plate 22 and the second plate 23. The first plate 22, the second plate 23, the fifth plate 28, and the sixth plate 42 surround a moving block mounting groove 21, The plate 42 is provided with a second swing stroke groove 43, and the second swing stroke groove 43 has the same structure as the first swing stroke groove 29 and is on the same vertical plane.

The detection device includes a detector 102 and a detector connecting piece 103. The detector 102 is detachably connected to the detector connecting piece 103. An angle is set between the detector 102 and the detector connecting piece 103. The angle between the angle and the angle is 8 ° -12 °, which makes the detection light emitted during the detection be at a certain angle with the wall of the hive spleen and hive, which is more convenient for the detector to detect the bee eggs and improve the accuracy of the detection.

The detector 102 includes a sensor 101 and a sensor lens 104. The sensor 101 is disposed above the sensor lens 118. The sensor 101 is installed in the detector connector 103. The sensor emits a detected light beam, and the light beam is focused by the sensor lens 118 to facilitate the inspection light beam. Align with hive spleen.

The sensor lens includes a first lens segment 105 and a second lens segment 106. The first lens segment 105 is connected to the second lens segment 106. The cross-sectional area of the first lens segment 105 is smaller than the cross-sectional area of the second lens segment 106. The axis of the segment 105 and the second lens segment 106 are on the same straight line, and the first lens segment 105 is installed in the detector connecting member 103.

A thread 108 is provided on the outside of the first lens section 105. Correspondingly, a corresponding thread section is also provided in the detector connecting member 103. The sensor lens 104 is fixedly installed in the detector connecting member 103 through the thread section, which is convenient. The sensor lens 104 is detached.

The detector connecting piece 103 includes a detector connecting rod 109 and a detector connecting block 110. The detector connecting rod 109 is installed in the detector connecting block 110. The detector connecting rod 109 is used to connect the inspection device and the mounting block to make the detection The device moves with the moving mechanism.

The detector connecting rod 109 includes a limiting head 111, a detector connecting rod body 112, and a mounting head 113. The limiting head 111 is provided at one end of the detector connecting rod body 112, and the mounting head 113 is provided at the other end of the detector connecting rod body 112. At one end, the limiting head 111 is used to prevent the detector connecting rod 109 from sliding out of the mounting block, so that the detector connecting rod 109 is fixedly installed in the mounting block. The mounting head 113 is symmetrically arranged in pairs on the outside of the detector connecting rod 109. The mounting head 113 is convex, which can prevent relative movement between the detector connecting rod 109 and the detector connecting block 110, resulting in relative movement of the detector 102, and affecting the recognition effect of the detector 102.

An anti-rotation protrusion 114 is provided on the side wall of the detector connecting rod lever body 112. The anti-rotation protrusion 114 is disposed near the limit head. The anti-rotation protrusion 114 is used to prevent the detector connecting rod lever body 112 and the mounting block. The relative rotation between them causes the detector 102 to move relatively, which affects the recognition effect of the detector 102.

The detector connecting block 110 includes two oppositely arranged connecting block sub-boards 115. The connecting block sub-board 115 is provided with a detector mounting groove 116 and a detector connecting rod mounting groove 117. The detector mounting groove and the detector connecting rod mounting groove are provided. A through hole is provided on the outside, and the through hole is used for fixed connection of the two connecting block sub-boards 115. In some preferred ways, the detector mounting groove 116 is provided with a mounting groove corresponding to the mounting head 113 to facilitate the connection of the detector. The rod 109 is mounted, preferably, the detector connecting rod mounting groove 117 is stepped, the shaft diameter of the upper section is the same as the shaft diameter of the first section 104 of the mounting rod, and the lower section is connected to the second section 105 of the mounting rod.

There is a certain angle between the detector mounting groove 116 and the detector connecting rod mounting groove 117, and the angle is 8 ° -12 °. Preferably, the detector mounting groove 116 is vertically arranged, and the detector connecting rod mounting groove 117 and the vertical There is an included angle of 8 ° -12 ° between the straight faces. Because the nest wall of the honeycomb spleen has a certain angle, an angle is set between the detector connecting rod mounting groove 117 and the vertical surface, so that the detector 102 and the vertical surface There is also a certain angle between them, thereby improving the recognition rate of the detection device.

A spring is provided on the outer sleeve of the detector connecting rod 109. During the downward movement of the detection device, if the detection device interferes with the machine or the honeycomb spleen, the detection device can contract, the spring is compressed, and the inspection device is moved upward due to the elastic force of the spring. Reset the detection device to the initial point.

The detection light emitted by the detector 101 has a wavelength of 800-1200nm and a color temperature of 8000-12000K. Due to a certain color difference between the beetle and the hive spleen, the beetle is controlled by controlling the wavelength and color temperature emitted by the sensor 101 and according to the received color difference. Recognize, increase the recognition probability, and thus increase the degree of automation of the machine.

The transfer mechanism of the manipulator of the worm transfer machine includes a worm transfer mechanism 1b, a worm transfer mechanism mounting member 2b, and a worm transfer mechanism 3b. The worm transfer mechanism 3b is installed on the bottom surface of the worm transfer mechanism mounting member 2b. The worm transfer mechanism 1b and the worm transfer mechanism 3b is fixedly connected. The worm transfer mechanism 3b is installed on the side of the worm transfer mechanism mounting member 2b. The worm transfer mechanism 3b realizes the lateral movement of the worm transfer mechanism 1b within the worm transfer machine, and recognizes a whole row of hive spleen bee eggs. The work of moving improves the movement efficiency of the moving mechanism 1b.

The moving member mounting member 2b includes a mounting member base plate 4b, a mounting member first side plate 5b, and a mounting member second side plate 6b. The mounting member first side plate 5b and the mounting member second side plate 6b are respectively mounted on the mounting member base plate 4b. Both sides are convenient for installation of the worm transfer mechanism 3b.

The first side plate 5b of the mounting member includes a first connection side plate 7b and a first mounting side plate 8b. The lower end surface of the first connection side plate 7b is fixedly mounted on the mounting plate 4b, and the first mounting side plate 8b is fixedly mounted on the first On the side of a connection side plate 7b, a first motor mounting hole is provided on the first mounting side plate 8b. The first motor mounting hole is used to install the first motor 9b, and the first motor 9b is used to drive the worm transfer mechanism 3b. In order to make the worm transfer mechanism 1b move back and forth within the transmission range of the transmission mechanism, in some preferred ways, the first motor 9b is a stepping first motor, which is convenient for controlling the moving distance of the worm transfer mechanism 1b to ensure the worm transfer The detector in the mechanism 1b can identify each honeycomb, and improve the efficiency of identification and migration.

The first connection side plate 7b is disposed perpendicular to the first mounting side plate 8b. A first rib plate 10b is fixedly mounted on the upper end surfaces of the first connection side plate and the first mounting side plate. The first rib plate 10b is L-shaped, and L The long side of the ribbed plate is fixedly mounted on the upper end face of the first mounting side plate 8b, and the short side of the L-shaped ribbed plate is fixedly mounted on the upper end face of the first connecting side plate 7b. The first ribbed plate 10b is used to strengthen the first side. The strength of the plate 5b prevents the angle between the first connection side plate 7b and the first mounting side plate 8b from changing, and prevents the transmission efficiency of the worm-moving transmission mechanism 3b from changing due to the angle change.

The mounting second side plate 6b includes a second connection side plate 11b and a second mounting side plate 12b. The lower end surface of the second connection side plate 11b is fixedly mounted on the other side of the mounting base plate 4b. The second mounting side plate 12b It is fixedly connected to the side of the second connection side plate 11b, a pulley fixing hole is provided on the second installation side plate 12b, and a second rib plate 13b is fixedly connected to the second connection side plate 11b. The short side is connected to the upper end surface of the second mounting side plate. In some preferred manners, the second connection side plate 11b is perpendicular to the second mounting side plate 12b, and the second rib plate 13b is used to strengthen the second connection side plate 11b. The strength of the connection with the second mounting side plate 12b prevents the angle between the second connection side plate 11b and the second mounting side plate 12b from changing.

The worm transfer mechanism 3b includes a first pulley 22b, a second pulley 14b, a belt 15b, and a pulley mounting block 16b. The first pulley 22b is connected to a first motor 9b, and the first motor 9b is mounted on the first mounting side plate 8b. In the motor mounting hole, the second pulley 14b is mounted on the pulley mounting block 16b, the pulley mounting block 16b is mounted on the inner wall of the second mounting side plate, the belt 15b is fixedly connected to the insect moving mechanism 1b, and drives the insect moving mechanism 1b to move.

The pulley installation block 16b includes a pulley installation area and a mounting plate connection area. The pulley installation area is installed on the installation plate connection area. One end of the pulley installation area is provided with a pulley groove 17b. The pulley groove 17b is provided with a pulley shaft installation hole 18b. In some preferred ways, the pulley shaft mounting hole 18b is a stroke groove, which is convenient for setting the position of the second pulley according to the length of the belt 15b. The mounting plate connection area includes the main board 19b and the limit protrusion 20b. The upper end surface and the lower end surface are both provided with a connecting plate 21b, and the limiting protrusion 20b is installed on the connecting plate 21b.

There is a gap between the limiting protrusion 20b and the main board 19b. The thickness of the gap is the same as the thickness of the second mounting side plate, which is convenient for the pulley mounting block 16b to move on the second mounting side plate 12b. The distance between a pulley 22b and the second pulley 14b is adjusted to adjust the tension of the belt 15b.

In some preferred ways, a mounting groove is provided on the main board 19b. The position of the mounting groove is consistent with the position of the limiting protrusion 20b, which facilitates the installation of the pulley mounting block 16b on the main board 19. The pulley mounting block 16b can be Pan inside the mounting groove.

In some preferred manners, a guide rail is provided on the mounting plate 4b, and the guide rail is connected to the insect moving mechanism 1b, and plays a guiding role for the movement of the insect moving mechanism 1b.

The manipulator fast forward device includes a worm transfer mechanism 1c, a fast forward connection 2c, and a fast forward mechanism 3c. The fast connection 2c is movably connected to the fast forward mechanism 3c. The worm transfer mechanism 1c is fixedly mounted on the fast forward connection 2c. By controlling the feeding direction of the fast-forward mechanism 3c to control the moving direction of the worm transfer mechanism 1c, the fast-forward mechanism 3c has a fast feeding speed.

The fast-forward connection 2c includes a first mounting block 4c and a second mounting block 5c. The second mounting block 5c is fixedly disposed on the lower end surface of the first mounting block 4c. The first mounting block 4c is connected to the fast-forward mechanism 3c, and the second mounting The block 5c is connected to the worm transfer mechanism 1c. In some preferred ways, the first mounting block 4c and the second mounting block 5c are two mounting plates that can be separated. The combination of the two mounting plates can facilitate the fast-forward connection. The installation of 2c reduces the difficulty of assembly and improves the efficiency of the production of the machine.

The first mounting block 4c and the second mounting block 5c are connected by bolts. A rail mounting hole is provided on the front surface of the first mounting block 4c, and a depth limiting groove 6c is provided between the rail mounting holes, with a depth limiting position. The groove 6c is used to control the moving distance of the fast-forward connecting member 2c to prevent the moving amount of the fast-forward connecting member 2c from exceeding the formation, which causes the malfunction of the insect-moving machine.

The second mounting block 5c is L-shaped. One side of the L-shaped second mounting block is mounted on the front end surface of the first mounting block 4c, and the other side of the second row of the L-shaped mounting blocks is mounted on the lower end surface of the worm moving mechanism 1c. A certain distance is set between the insect moving mechanism 1c and one side installed on the first mounting block 4c to prevent the components on the insect moving mechanism 1c from interfering during movement and causing a collision.

The robotic fast-forward device further includes a frame 7c, a beam 8c is fixedly installed on the frame 7c, and a fast-forward mechanism 3c is fixedly installed on the upper end surface of the beam 8c. In some preferred ways, the fast-forward mechanism 3c is fixedly installed on the frame 7c. The middle position of the cross beam 8c makes the force of the cross beam 8c relatively uniform, which improves the accuracy of the insect removal machine.

The fast-forwarding mechanism 3c includes a fast-forwarding motor 9c, a fast-forwarding guide rail 10c, a fast-forwarding gear 11c, and a fast-forwarding rack 12c. The fast-forwarding motor 9c is installed on the upper end face of the beam 8c. The fast-forwarding motor 9c is fixedly connected to the fast-forwarding gear 11c. The fast forward gear 11c is connected to the fast forward rack 12c. The fast forward rack 12c is installed on the rear end face of the fast forward connector 2c. A fast forward guide rail 10c is installed on the front face of the beam, and the fast forward guide rail 10c is provided with The fast-forward rail slider is installed in the rail mounting hole.

A depth limit stop 13c is also installed on the front surface of the beam 8c. The depth limit stop 13c corresponds to the position of the depth limit groove 6c. When the depth limit stop 13c moves to the highest point of the depth limit groove 6c Or at the lowest point, the depth limit groove 6c cannot continue to move and controls the movement stroke of the fast-forward connecting member 2c.

The width of the second mounting block 5c is not less than one tenth of the length of the worm transfer mechanism 1c, which improves the stability of the worm transfer mechanism 1c on the second mounting block 5c. The larger the width of the second mounting block 5c, the more the worm transfer The greater the stability of the transmission mechanism 1c.

In some preferred manners, a fixing hole 14c is provided on the first mounting block 4c, and the fixing hole 14c is used to fix the relative position of the moving insect driving mechanism 1c when the moving insect moving machine is transported to prevent the moving insect driving mechanism 1c from occurring. The offset results in a decrease in the accuracy of the moving machine, which makes it impossible to carry out the moving work properly.

The honeycomb spleen stepping mechanism includes a rack 1d, a honeycomb spleen mounting mechanism 2d, and a honeycomb spleen stepping mechanism 3d. The honeycomb spleen mounting mechanism 2d is mobilely connected to the honeycomb spleen stepping mechanism 3d. After the bee eggs are moved, the honeycomb spleen stepping mechanism 3d performs an action, and the honeycomb spleen installation mechanism 2d moves forward by a distance. In some preferred ways, the moving distance is the width of a honeycomb.

The honeycomb spleen installation mechanism 2d includes a honeycomb spleen mounting rack 4d and a honeycomb spleen slide rail 5d. The honeycomb spleen slide rail 5d is installed on a rack 1d. The honeycomb spleen slide rail 5d is movably installed with a honeycomb spleen mounting slider 6d and a honeycomb spleen. The mounting bracket 4d is fixedly mounted on the honeycomb spleen mounting slider 6d. The honeycomb spleen mounting bracket 4d can slide on the honeycomb spleen slide rail 5d, and the relative position between the honeycomb spleen and the transfer needle is changed, so that the honeycomb that is not in the same row can be changed. The bee eggs in the spleen were transferred.

In some preferred manners, a limiting protrusion is provided on the honeycomb spleen slide 5d. The limiting protrusion is used to control the stroke of the honeycomb spleen and prevent the honeycomb spleen installation mechanism 2d from exceeding the stroke of the honeycomb spleen slide 5d, resulting in a honeycomb spleen step. The entry mechanism 3d cannot freely control the movement of the hive spleen.

The hive spleen mounting rail 4d includes a hive spleen mounting rail 7d and a hive spleen connecting rail 8d. The hive spleen mounting rail 7d is installed on the hive spleen connecting rail 8d. The hive spleen connecting rail 8d is mounted on the hive spleen mounting slider 6d. In this way, the length of the hive spleen connecting rail 8d can be adjusted. The length of the hive spleen connecting rail 8d can be adjusted according to different hive spleens, and different hive spleens can be installed.

The honeycomb spleen mounting rails 7d are symmetrically installed in pairs on the honeycomb spleen connecting rails 8d. The honeycomb spleen mounting rails 7d are provided with a honeycomb spleen mounting groove 9d, the honeycomb spleen mounting grooves 9d are oppositely arranged, and the honeycomb spleen mounting rails 7d are provided. The honeycomb spleen clamping mechanism 10d, the honeycomb spleen clamping mechanism 10d can fix the honeycomb spleen in the honeycomb spleen installation groove 9d, preventing the honeycomb spleen from shifting during the work of the insect transfer machine, resulting in the inability to remove all the eggs in the honeycomb spleen Perform worming treatment.

The honeycomb spleen mounting rail 7d includes a lower base 11d and an upper base 12d. The upper base 12d is installed on the lower base 11d. A honeycomb spleen installation groove 9d is provided in the upper base, and a card is installed in the honeycomb spleen installation groove 9d. The clamping mechanism mounting hole, the honeycomb spleen clamping mechanism 10d is installed in the clamping mechanism mounting hole.

In some preferred manners, the area of the lower base 11d is larger than the area of the upper base 12d, and the area of the lower base 11d is large, which facilitates the guiding action of the honeycomb spleen when installing the honeycomb spleen and improves the convenience of installing the honeycomb spleen. It is preferable that the cross-sectional shape of the upper base 12d is a 7-shape.

The honeycomb spleen clamping mechanism 10d includes a swing arm 13d and a roller 14d. One end of the swing arm 13d is rotatably installed in the clamping mechanism mounting hole in the honeycomb spleen mounting groove. The other end of the swing arm 13d is rotatably mounted with a roller 14d. In some preferred manners, a resetting device is provided between the swing arm 13d and the honeycomb spleen mounting groove 9d, which facilitates the reset of the swing arm 13d, facilitates the positioning and installation of the honeycomb spleen, and prevents the honeycomb spleen from shifting after the installation is completed.

In some preferred manners, the resetting device is a spring. The spring resets the swing arm 13d outward. When the honeycomb spleen installation groove 9d is loaded into the honeycomb spleen, the reset device compresses the swing arm 13b and the honeycomb spleen to prevent the honeycomb spleen. Moved.

The honeycomb spleen stepper mechanism 3d includes a honeycomb spleen stepper motor 15d and a screw rod 16d. The honeycomb spleen stepper motor 15d is installed on a rack 1d. The honeycomb spleen stepper motor 15d is connected to the screw rod 16d and is set on the screw rod 16d. A slider 17d is provided, and the slider 17d is fixedly connected to the honeycomb spleen mounting rail 7d.

In some preferred ways, the screw rod 16d is equipped with a pulley on the side close to the end of the honeycomb spleen stepper motor 15d, and another pulley is installed on the honeycomb spleen stepper motor 15d. The two pulleys are connected by a belt. The diameter ratio of the two pulleys is 1: 1.

In some preferred manners, the honeycomb spleen stepping mechanism 3d may be a cylinder structure, one end of the cylinder structure is mounted on a rack, and the other end of the cylinder is fixedly connected to the honeycomb spleen mounting rail 7d.

The working method of the honeycomb spleen stepping mechanism is to first move the honeycomb spleen to a suitable position, and the detector in the migration mechanism can detect the honeycomb in the honeycomb spleen, and perform the migration process on the entire row of honeybees and the honeycomb of the bank. After the treatment is completed, the hive spleen stepping mechanism works once, the hive spleen moves a distance of the hive, and the bee insects in the next row of the hive are transferred. After the entire hive is transferred, the hive spleen stepping mechanism flips. Move the hive spleen to its original position and replace the hive spleen.

The platform base feeding device includes a frame 1e, and also includes a platform base advancement mechanism, a platform base staking reciprocating mechanism, and a platform base follower mechanism. The platform base staking reciprocating mechanism and platform base follower mechanism are both installed and installed on the machine. On the rack, the table base strip advancing mechanism is movably installed on the table base strip staking reciprocating mechanism, and the table base strip follow-up mechanism is connected with the table base strip advancing mechanism.

The platform base follower mechanism includes a frame 1e, a platform base translation step mechanism 2e, and a platform base base 3e. The platform base translation mechanism 2e is installed on the frame 1e, and the platform base base 3e and the platform base The bar translation step mechanism 2e is connected, and the platform base platform 3e moves relative to the frame 1e. The platform base platform 3e can be moved according to the movement of the robot, thereby shortening the distance of each robot's movement, and shortening the time required for the robot's movement. Time to improve the efficiency of the worm.

In some preferred manners, the moving distance of the platform abutment 3e is the width of the honeycomb area of the honeycomb spleen dedicated to the insect transfer machine. Preferably, the moving distance of the platform abutment 3e is the distance of the robot arm minus one platform. The width of the hive.

The platform foot translation stepping mechanism 2e includes a first translation mechanism 4e and a translation mechanism mounting platform 5e for driving the platform foundation, and the first translation mechanism 4e and the translation mechanism mounting platform 5e are mobilely connected. The mobile connection refers to the first A translation mechanism 4e can be relatively translated on the translation mechanism mounting platform 5e. Preferably, the translation is that the first translation mechanism 4e moves along the length direction of the translation mechanism 5e, and the translation mechanism installation platform 5e is fixedly installed on the rack 1e. The first translation mechanism 4e is fixedly connected to the platform base abutment 3e. The first translation mechanism 4e performs a forward rotation or an inversion to move the platform base abutment 3e to realize the movement of the platform base abutment 3e.

The first translation mechanism includes a follower power mechanism and a follower transmission mechanism. The follower power mechanism is connected to the follower transmission mechanism. The follower power mechanism drives the follower transmission mechanism to move. The follower transmission mechanism is a rack and pinion transmission mechanism, including the first A translation rack 6e and a first translation gear 7e. The following power mechanism includes a first translation stepper motor 8e. The first translation stepper motor 8e is connected to the first translation gear 7e, and the first translation gear 6e is connected to the first translation gear. The bar 6e meshes. The first translation rack 6e is mounted on the translation mechanism mounting table 5e. The advantage of the rack and pinion to move the table base 3e is that the error of the rack and pinion transmission is relatively small. And the movement of the rack can be controlled at any time by controlling whether the gear works or not at any time, so that the moving distance of the abutment base 3e is more accurate.

A first translation gear mounting bracket 9e is provided on the upper end surface of the translation mechanism mounting table 5e. The first translation gear 7e is rotatably installed in the first translation gear mounting bracket 9e through a connection shaft. A belt pulley is also installed on the connection shaft. A translational stepper motor 8e is fixedly installed on the frame 1e, and a pulley is also installed on the output shaft of the first translational stepper motor 8e. The two pulleys are connected by a belt. In order to make the space arrangement of the insect moving machine more reasonable, The first translational stepping motor 8e is prevented from interfering with other mechanisms, so the first translational stepping motor 8e and the first translational gear 7e are connected by a pulley.

A first translation rack mounting groove 10e is provided in the translation mechanism mounting table 5e, and the first translation rack 6e is movably installed in the first translation rack mounting groove 10e. In some preferred ways, the first translation rack 6e The abutment connecting plate and the mounting slot limit plate are included, and the abutment connecting plate and the mounting slot limit plate are connected by a transition plate. Preferably, the cross-sectional shape of the first translation rack 6e is h-shaped, which is convenient for the first translation tooth. The first translation rack 6e can be fixedly installed in the first translation rack mounting groove 10e.

The abutment base abutment 3e includes an abutment connection area 11e and a abutment installation area 12e. The abutment connection area 11e is fixedly connected to the upper end surface of the abutment installation area 12e. The abutment connection area 12e and the first translation rack 6e fixed connection.

The platform base strip mounting area 12e is provided with a pair of platform base limit grooves 13e symmetrically. Both of the platform base limit grooves are rotatably installed with a platform base fixing mechanism 14e. The platform base fixing mechanism 14e facilitates the installation of the platform base. The strips are positioned and installed in the base strip installation area 12e to prevent the base strips from being offset after installation.

The platform base fixing mechanism 14e includes a second swing arm 15e and a second roller 16e. One end of the second swing arm 15e is rotatably installed in the platform base limit groove 13e, and a second swing arm 15e is rotatably mounted on the other end of the second swing arm 15e. For the two rollers 16e, in some preferred manners, a reset device is provided between the second swing arm 15e and the platform base limit groove 13e, so that the second swing arm 15e can be reset.

The first translation mechanism 4e is symmetrically installed in pairs on both ends of the translation mechanism mounting platform 5e, which can shorten the length of the platform base abutment 3e, and can enable the platform base abutment 3e to move within the range of the moving machine.

The table base bar reciprocating mechanism includes a table base bar reciprocating mechanism 1g and a table base bar advancing device mounting plate 1f, the table base bar reciprocating mechanism 1g is connected to the table base bar advancing device mounting plate 1f, and the table base bar reciprocating mechanism 1g drives the table base The strip propulsion device mounting plate 1f moves, and the platform base strip reciprocating mechanism 1g console base strip propulsion device mounting plate 1f moves in a direction close to and away from the moving robot, reducing the movement direction of the robot, and reducing the control cost of the robot.

The table base reciprocating mechanism 1g includes a stakeout reciprocating power mechanism 2g and a stakeout reciprocating transmission mechanism 3g. The stakeout reciprocating power mechanism 2g is connected to the stakeout reciprocating transmission mechanism 3g. The stakeout reciprocating power mechanism 2g drives the stakeout reciprocating transmission mechanism 3g to move and the stakeout reciprocating transmission mechanism 3g. The moving direction is the same as the moving direction of the mounting platform 1f of the platform propelling device, and the movement direction of the output end of the positioning reciprocating power mechanism 2g is transmitted to the mounting platform 1f of the platform propelling device through the stakeout reciprocating transmission mechanism 3g.

The lofting reciprocating transmission mechanism 3g includes a reciprocating translation rack 4g and a reciprocating translation gear 5g. The lofting reciprocating power mechanism 2g includes a reciprocating stepping motor 6g. The reciprocating stepping motor 6g is connected to the reciprocating translation gear 5g. The 4g connection makes the control of the movement distance of the mounting plate 1f of the table base propulsion device more accurate by means of a rack and pinion.

The reciprocating mechanism for staking out the table base also includes a frame 1e. The reciprocating power mechanism for staking out 2g is installed on the frame 1e. The reciprocating transmission mechanism 3g is installed on the mounting plate 1f of the pedestal strip propulsion device. It is relatively large, so the fixed reciprocating power mechanism 2g is fixedly mounted on the frame 1e to facilitate the movement of the mounting plate 1f of the table base propelling device, and it can also prevent the table due to the mounting of the reciprocating power mechanism 2g on the mounting plate 1f of the table base propelling device. The base plate propulsion device mounting plate 1f is deformed to cause a transmission error.

The mounting plate 1f of the platform base pushing device is movably mounted on the rack through a reciprocating translation mechanism 8g. In some preferred ways, the moving range of the reciprocating translation mechanism 8g should be greater than the distance from the dropping point of the platform foundation to the stake out point of the robot.

The reciprocating translation mechanism 8g includes a reciprocating connecting plate 9g and a reciprocating sliding mechanism 10g. The reciprocating sliding mechanism 10g is installed on the reciprocating connecting plate 9g. In some preferred ways, the reciprocating connecting plate 9g is L-shaped, and the short side of the L-shaped reciprocating connecting plate Installed on the frame 1e, the reciprocating slide mechanism 10g is installed on the long side of the L-shaped reciprocating connecting plate, preferably, a slot is provided on the reciprocating connecting plate 9g, and the slot is provided on the long side of the L-row reciprocating connecting plate. , To prevent interference with the platform base follower during the movement process, resulting in collision.

The reciprocating slide mechanism 10g includes a reciprocating slide 11g and a reciprocating slide 12g. The reciprocating slide 12g is movably installed on the reciprocating slide 11g, the reciprocating slide 12g can be freely translated on the reciprocating slide 11g, and the reciprocating slide 11g is fixedly installed. On the reciprocating connecting plate 9g, the reciprocating slider 12g is fixedly mounted on the mounting base 1f of the table base pushing device.

A sliding mechanism mounting plate 13g is vertically fixed on both sides of the mounting platform 1f of the base strip pushing device mounting plate, and a reciprocating slider 12g is fixedly mounted on the sliding mechanism mounting plate 13g.

The lofting reciprocating power mechanism 2g transmits the power to the reciprocating transmission mechanism 3g, and the reciprocating transmission mechanism 3g moves position. Because the reciprocating transmission mechanism 3g and the reciprocating slider 12g are fixedly connected to the mounting base 1f of the platform base pushing device, and the reciprocating slide 11g is fixed It is installed on the frame, so the reciprocating slider 12g moves directionally within the reciprocating slide 11g.

The platform base advancement device includes a platform base advancement device mounting plate 1f, a platform base advancement mechanism 2f, and a platform base advancement plate 3f. The platform base advancement mechanism 2f is installed on the upper end surface of the platform base advancement device mounting plate 1f. The base strip advancement mechanism 2f is connected to the platform base advancement plate 3f, and the movement of the platform base advancement plate 3f is controlled by the work of the console base advancement mechanism 2f. When the platform base advancement plate 3f moves to the outermost end The table base article falls on the table base article advancing device mounting plate 1f, and the table base article advancing mechanism 2f works to push the table base article to the table base article follower.

In some preferred manners, the platform base pushing mechanism 2f is symmetrically installed in pairs on the platform base pushing device mounting plate, and the platform base pushing mechanism 2f is arranged in pairs so that the platform base pushing plate 3f can be better realized. The translation prevents the platform base strip pushing plate 3f from tilting during the movement, which causes the platform base strip to also tilt.

The platform base advancement mechanism 2f includes a platform base advancement gear 4f, a platform base advancement rack 5f, and a platform base advancement motor 6f. The platform base advancement motor 6f is fixedly connected to the platform base gear 4f, and the platform base gear 4f and The platform base racks 5f mesh with each other, and the control of the distance pushed by the platform base advance plate 3f is made more precise by means of a rack and pinion.

The platform base motor 6f is fixedly connected to the platform base advance plate 3f, the platform base rack 5f is fixedly installed on the upper end surface of the platform base advance device mounting plate 1f, and the platform base motor 6f is installed on the platform base advance plate 3f The above is to make the space arrangement of the platform base pushing mechanism more reasonable, and to facilitate the design of other parts.

A rack forming groove 7f is provided on the lower end surface of the table base pushing plate 3f. The rack forming groove 7f is sleeved above the table base rack 5f. The width of the rack forming groove 7f is larger than that of the table base rack 5f. The width reduces the distance between the lower end surface of the platform strip advancement plate 3f and the upper surface of the installation platform 1f of the platform advancement device to prevent the advancement of the platform advancement plate 3f caused by the excessively high platform advancement plate 3f. The platform base was pushed in.

A slide rail forming groove 8f and a slider mounting groove 9f are provided on the lower end surface of the mounting base 1f of the table base propulsion device. A slider is fixedly installed in the slider mounting groove 9f. The lower end surface of the slider is mounted on the slide rail. The slide rail forming groove 8f is sleeved on the outside of the slide rail, reducing the distance between the lower end surface of the platform base pushing plate 3f and the upper end surface of the installation platform 1f of the platform base pushing device to prevent the platform base pushing plate 3f from being too high. During the advancement of the platform base pushing plate 3f, the platform base is pushed to, and the width of the slide rail forming groove 8f is greater than the width of the slide rail to prevent interference between the slide rail and the slide rail forming groove 8f.

A position sensor is installed on the side of the base plate advance plate 3f. The sensor is used to detect the position of the base plate advance plate 3f to prevent the movement of the base plate advance plate 3f from exceeding the formation, resulting in equipment collision or the base plate advance plate 3f. Unable to reset.

A feeding slot 5F is provided above the table base strip pushing device. The feeding slot 5F is used to place the table base strip. A cover installation slot is provided on the cover 4E. The position of the feed installation slot is the same as that of the feed slot 5F. Correspondingly, the feed tank 5F is higher than the cover 4E, and the feed tank 5F also has the function of storing the base table. The higher the height of the feed tank 5F, the more the amount of the base table is stored. Preferably, the feed tank The number of 5Fs can be multiple, which is convenient for storing more table base strips.

Embodiment 2, a removal and identification method, refer to FIGS. 32-33.

The identification and migration method of the present invention is performed according to the following steps:

Step 1: The detection element is moved above the nest to detect the presence of bee larvae in the nest.

There can be one or more detection elements. Generally speaking, one detection element is sufficient. The detection element can be moved up, down, left or right, or back and forth by a moving mechanism, so as to affect each nest house in the bee nest spleen. However, there are some cases. Next, if double or multiple rows need to be identified and grasped at the same time, multiple detection elements can be set for simultaneous detection, which can improve detection efficiency.

The detection element can move along the arrangement direction of the nest on the bee nest spleen. Generally speaking, if it is a single row detection, the detection element only needs to move along the direction of the nest arrangement of the bee nest spleen. If multiple rows of detection are needed, it can Set forward and backward moving transmission devices, such as drive chains or belts, to drive the detection elements to move. For example, the detection elements can move back and forth along the arrangement direction of the nests. After the detection elements have detected a row of nests, they return to the initial position. The device drives the detection element to move to the next row of nests, and then repeats the above steps for detection.

The detection element can sequentially detect whether honey larvae are contained in the nest in the moving direction. The detection element can be a light sensor, etc. As long as it can determine whether there are bee larvae in the nest according to certain conditions, it can meet the requirements of the present invention. For example, You can use a form of light detector. A lens is set at the front of the light detector. The light detector detects the color in the nest through the lens. The light detector judges the color based on the feedback wavelength and / or color temperature. For example, when the color temperature or wavelength is within a certain range, it is considered that there are larvae. The reason why the larvae can be identified by color is because the bees' life habit is that if there are larvae in the nest, the worker bees will collect honey or royal jelly. To feed the larvae. If there are no larvae in the nest, the worker bees will not put honey or royal jelly into the nest, and the honey or royal jelly has a certain color. This color can be completely distinguished from the color of the bottom of the nest. This kind of living habit can be judged by the color recognition of the bottom of the nest house. Larvae have proven that the accuracy of this identification method can reach more than 98%.

The detection element 100 can move step by step according to the space between the nests. Since the distance between the nests and the nests is fixed, and the detection element is preferably capable of detecting directly above the nests, this will not Because the difference in angle or light interferes with the recognition, the step distance of the detection element can be set according to the distance between the centers of adjacent nests. In this way, the detection efficiency of the detection element is improved, unnecessary stops are avoided, and at the same time, it is ensured The accuracy of the detection. In addition, the detection element can be moved up or down, and this can be adjusted according to actual needs.

When the detection element is moved above the nest, the color in the nest is identified, and whether the bee larva is contained in the nest is determined based on the recognition result of the color. As mentioned earlier, this special color is honey or royal jelly. The color is usually white or white is slightly yellowish. The wavelength of this color is between 800-1200nm and the color temperature is between 2600-5900K.

Step 2: When a bee larva is detected, the migrating element is extended into the corresponding nest, and the larva is dug.

The worm-moving element 200 of the present invention may be one or more, and the matching of the worm-moving element and the detection element may be one detection element matching one worm-moving element, or one detection element matching multiple worm-moving elements. The present invention can use the existing transfer needles or specific transfer needles. The specific transfer needles are structure improvements of the existing transfer needles. For example, A mounting mechanism and a rotating mechanism are added to the insect needle so that it can match the automatic insect removal machine.

The translocation element can move along the arrangement direction of the nest on the spleen of the bee's nest in synchronization with the detection element, or the translocation element can move along the arrangement direction of the nest on the spleen of the bee's nest after the detection element, and the translocation element can be synchronized with the detection element It can also move without synchronizing with the detection element, and a separate transmission device is set to drive the worm-moving element, which means that the worm-moving element can use the same transmission system as the detection element or use a separate transmission system. For example, if the same set of transmission is used In the system, when the presence of bee larvae is detected, the moving element is directly moved down for excavation, and then the moving element and the detecting element are moved synchronously to release the worm. If a transmission system is used, the detecting element can be detected first. In the case of a bee larva, the moving element is moved to a corresponding position for digging. As long as the step of digging is detected first, it belongs to the overall scope of the present invention.

Step 3: Put the excavated larva into the base of the platform, and return it in place, and prepare for the next excavation. The location of the platform can be set in the place where the worm is easy to be placed, or it can be matched to the platform. For example, the moving element does not move left and right, but the platform base strip moves left and right. At this time, a structure such as a moving platform and a transmission belt can be provided for the platform base strip. The platform base strip moves along with the transmission mechanism. The movement of the insect element moves synchronously, and the insect removing element does not need to be moved to the position of the platform base to release the insect after each excavation. In this way, the movement distance of the insect moving element can be greatly saved. After being filled (it can be achieved by detecting the position of the base of the table by the detection element), the base of the table can be returned or directly recovered, which can simplify the transmission mechanism of the insect removal element and the detection element, and distribute a part of the transmission function to the table. This section makes the layout of the entire organization more reasonable.

In the present invention, the movement of the insect-moving element, the detection element and the platform base can be controlled by the control element to realize the automation of identification and grasping. Therefore, the present invention may also include the control element, the control element and the detection element, respectively. The transfer element is connected. The control element can receive signals from the detection element and can also send signals to the transfer element. The control element can use common control devices such as control chips. The control element can be connected to the transfer element and / Or detection element.

Embodiments 3-5 further provide that, compared to Examples 1 and 2, the migration elements after optimization and refinement can be directly replaced by the migration elements in Examples 3-5. Components are used to optimize the overall structure or method.

Embodiment 3 is shown in Figs. 34-39.

This embodiment provides a moving element as shown in the figure, which includes a moving piece 1h and a moving piece 2h located between the moving piece 1h, and the moving piece 2h can move between the moving piece 1h and time-shift. The worm sheet is opened or closed 1h, and the worm sheet 1h is a flexible sheet. In the present invention, a horn sheet with a thickness of not more than 0.5 cm is used for the worm sheet. In some preferred solutions, the worm sheet is moved toward the end in 1h. The thinner, because the croissant has better flexibility and can not be broken when it is bent. If the end is thinner, the curvature will be better, and it is easier to produce a change in shape when it is moved down, so that To better fit the shape of the inner wall of the nest house for fetching.

The worm-moving pieces 1h are arranged in pairs and tilted inward. In this embodiment, the worm-moving pieces 1h are two pieces. The two worm-moving pieces are inclined from top to bottom, and the distance between the outer ends of the worm-moving pieces is not different. More than 10 silk.

The moving worm has a certain angle. On the one hand, as mentioned above, it is easy to control the distance between the ends of the moving worm, to ensure that it can always have a holding force on the larvae that are excavated, and on the other hand, it has an inclined The angle makes it easier for the moving piece to extend into the nest, and the angle of inclination is not easy to be too large, otherwise it will enlarge the lateral occupation space of the moving piece, and it will affect the extension of the moving piece into the nest, because if the angle is too large, Large, the inward force of the moving piece will be divided into other directions when it is extended, and it cannot be concentrated to dig down, which is not conducive to the removal of insects.

In addition, the outer end 11h of the moving worm piece 1h is rounded, or both sides of the outer end are rounded. In this way, when the moving worm piece 1h is extended, it will not scratch the nest or hurt the larva.

Corresponding to the inclination of the moving piece 1h, the side 21h of the moving piece 2h has the same inclination angle as the moving piece 1h. The function of the moving piece 2h is to move between the moving pieces 1h. By pushing the thickness of the moving piece by its thickness, or giving way to reset the moving piece, and the moving piece also has an important role, when the removal is completed and it moves to the position where the worm needs to be released, The worm block moves down, and the top of the worm block can eject the honey larvae and the royal jelly around the worm block from the end of the worm block, allowing it to fall into the position where the worm is needed. In this case, The inclination angle of the moving piece is preferably the same as the moving piece, so that the outer side of the moving piece can be attached to the inner side of the moving piece regardless of which section of the moving piece. On the one hand, it is easy to control the opening angle of the moving piece, because as long as the position of the moving piece is controlled, the moving piece can be at the corresponding opening angle. On the other hand, when the larva is ejected, the larva can be ensured. Partially ejected, can also minimize royal jelly residue.

As shown in FIG. 36, a chute 12h is provided on the moving piece 1h, and a pushing block 22h matching the chute is provided on the side 21h of the moving piece 2h. The pushing block 22h can move within the chute 12h to push the block The cooperation of 22h and chute 12h, on the one hand, limits the moving direction of the moving block 2h, and does not deviate. On the other hand, it limits the moving position of the moving block 2h, because the lower surface 221h of the moving block 22h It is a flat surface that can fit with the bottom of the sliding groove 12h (the square groove is shown in the figure) and will not slide out. In addition, the upper surface 222 of the pushing block 22h is a slope. When the pushing block 22h moves to the upper end of the chute 12h, a certain force is applied, and the pushing block 22h can slide out of the chute 12h. At this time, the pushing block 22h The outer surface of 223h abuts against the moving worm 1h, which can open the moving worm 1h.

As shown in Figure 35-36, the moving piece 1h is fixedly mounted on the moving piece holder 3h. The moving piece holder 3h may be a cylindrical element, and the moving piece 1h is fixedly connected to the lower end of this cylindrical element. In order to match the cross-sectional shape of the moving piece 1h, in this embodiment, the moving piece holder 3h is in the form of a square sleeve, and its internal space can be passed through by other components, such as the ejector rod 4h connected to the moving piece 2h. In addition, Another function of the worm carrier 3h is that it can be connected to other components, such as the worm casing 5h. In addition, the moving piece 1h has a restoring force. When the moving piece is ejected outwards, the moving piece 1h can be opened with it, and when the moving piece returns or no further ejection is applied. When the force is applied, the moving piece can be reset again.

As shown in Figure 38, the worm block 2h is fixedly connected to the ejector 4h. The upper end of the ejector 4h is also connected with a pusher 41h. A return spring 42h is sleeved on the ejector 4h. When the force is high, you can push down the moving piece for 2h, push it away from the moving piece for 1h or eject it outward, and lift up the pushing head for 41h, you can make the moving piece of 2h moving piece 22h slide out of the moving piece. In addition to the chute of 1h, 12h, the insect-moving sheet is also opened at 1h at this time, and the ejection angle is the largest at this time. Therefore, when initially entering the nest, you can lift up the pusher 41h to make the insect-removing sheet 1h. On, when reaching into the nest room to catch the insects, reset the pusher 41h, return the worms to the position, and perform the fetching. After the worms are played, press the pushers 41h downward to move them. The larvae of the lobes were introduced between 1 h.

The process of the present invention is as follows: pull up → move the worms 1h open → move the worms down into the nest to dig larvae → press down to reset → reset the worms to hug the larvae → move the worms from the nest Remove the larva → press down → eject the worm → return, that is to say, the moving process of the moving worm block in the present invention for 2h is a reciprocating process of moving up-resetting-moving down-resetting.

The worm-moving element of the present invention also includes a worm-moving sleeve 5h, and a mounting groove 51h is provided on the worm-moving sleeve 5h. The worm-moving sleeve 5h can be installed on the support member of the automatic insect removal machine through the installation groove 51h, such as automatic The support part of the insect removal machine can be a plate, or a beam, or a rotating shaft, or a support ring or the like.

The outer wall of the worm sleeve 5h is provided with a convex block 52h and a convex ring 53h. Since the convex block 52h and the convex ring 53h both protrude from the outer wall of the worm sleeve 5h, the convex block 52h and the convex ring 53h are formed. The mounting groove 51h.

Preferably, the insect-moving element of the present invention needs to be used on an automatic insect-moving machine. Then, the insect-moving element 100 of the present invention needs to be stuck on a mounting mechanism of the insect-moving machine through a mounting slot 51h. The worm element 100 may need to swing within a small angle range. For example, when digging, it may be necessary to swing a small angle in the opposite direction of the dig. At this time, a rotating surface is required. Therefore, as shown in FIG. 34h, The lower surface 521 of the projection 52h can be set as a curved surface, and it can be placed on a part matching the shape of the machine to realize the function of rotating within a small angle.

As shown in Figs. 38-39, the transfer needle of the present invention is also provided with a limiting element 6h. The limiting element 6h is mainly used for the assembly of the transfer element to prevent the movable parts inside the transfer element from rotating and limiting the position. The element 6h can be set on the top pole, and then the worm casing and the worm pad holder are set on the limiting element 6h. For example, the limiting element 6h includes a limiting head 61h, and the two sides of the limiting head 61h are provided with limiting positions. Strip 611h, the inner wall shape of the convex ring 53h in the 5h of the worm sleeve can be set to match the shape of the outer wall of the stopper 61h, so that after assembly, the wormlet sleeve will not rotate and the stopper within 61h A through hole 612h is provided, which can accommodate the ejection of the ejector 4h. In order to guide the reciprocating direction of the ejector and prevent the ejector from rotating, the limiting element 6h also includes a restricting lever 62h. The inner wall of the restricting lever 62h and The shape of the outer wall of the ejector 4h can be square or regular polygon, or the inner wall of the stopper 62h and the outer wall of the ejector 4h are respectively provided with a limit groove and a limit slider. The cooperation of the two can achieve the ejector Weekly limit.

Therefore, the shape of the ejector pin 4h can also be set to a cylindrical shape, a rectangular prism shape, the cylindrical shape is used to cover the recovery spring, and the rectangular cylinder shape is used to limit the ejector rod 4h.

Example 4 is shown in Figure 40-41.

The difference between this embodiment and Embodiment 3 is that only one of the two moving insect plates 1h is provided with a chute 12h, and the other one is not provided with a chute 12h. In some cases, the chute 12h may be provided on one side only. Can play the role of lifting the worm.

The other embodiments of this embodiment are the same as those of Embodiment 3.

Embodiment 5 is shown in Figs. 42-43.

The difference between this embodiment and Embodiment 3 is that the length of the two moving worms 1h is different, and the chute 12h is provided on one of them. In this embodiment, the chute is provided on the shorter worm 1h. However, in other solutions, it can also be set on a longer moving piece 1h, a long and a short moving piece, a longer moving piece is used to dig, and a shorter moving piece is used to block the dig On the other side, it prevents the excavated larva from sliding out and improves the success rate of excavation.

The other embodiments of this embodiment are the same as those of Embodiment 3.

Claims (18)

1. A worm transfer machine is characterized in that it includes a worm transfer manipulator, a honeycomb spleen stepping mechanism and a table base strip feeding device, and a worm transfer manipulator, a honeycomb spleen stepping mechanism and a table base strip feeding device are installed on a rack, and the worm transfer The manipulator includes a transfer mechanism and a detection device. The transfer mechanism includes a transfer needle and a mounting block. The transfer needle is swingably connected to the mounting block. The detection device is installed in the mounting block. The detection device is used to detect the presence of bee larvae in the spleen of the hive. The detection device can move with the mounting hole; the worm transfer robot is configured to be able to be used to move the bees in the honeycomb spleen stepping mechanism into the table base strip feeding device.
2. The insect transfer machine according to claim 1, wherein the insect transfer needle comprises a fixing rod, a moving insect elastic sheet and a pushing member, the moving insect elastic sheet is connected to the fixing rod, and the pushing member is movably connected to the fixing rod. .
3. The insect transfer machine according to claim 1, further comprising a transfer mechanism of the transfer robot and a fast-forwarding device of the robot, the transfer robot is mounted on the transfer mechanism of the transfer robot, and the transfer mechanism of the transfer robot is installed on the robot On the fast-forwarding device, the robotic fast-forwarding device controls the movement of the insect-moving manipulator, and the transmission mechanism of the insect-moving manipulator controls the left-right movement of the insect-moving manipulator.
4. The insect transfer machine according to claim 3, wherein the transfer mechanism of the transfer robot includes a transfer mechanism, a transfer mechanism mounting member, and a transfer mechanism, and the transfer mechanism is installed on the bottom surface of the transfer mechanism mounting member On, the worm transfer mechanism is fixedly connected with the worm transfer mechanism.
5. The insect-moving machine according to claim 3, wherein the fast-forwarding device of the manipulator comprises a moving-worm transmission mechanism, a fast-forward connection member, and a fast-forward mechanism, and the fast-connection connector is movably connected with the fast-forward mechanism, and the insect-moving transmission The mechanism is fixedly mounted on the fast-forward connection.
6. The insect transfer machine according to claim 1, wherein the table base strip feeding device comprises a table base strip advancing mechanism, a table base strip setting reciprocating mechanism and a table base strip follow-up mechanism, and a table base strip setting reciprocating mechanism and The platform base follower mechanism is moved and installed on the rack, the platform base advance mechanism is installed on the platform base staking reciprocating mechanism, and the platform base follow mechanism is connected with the platform base advance mechanism.
7. The insect removal machine according to claim 6, characterized in that the platform base pushing device comprises a platform base pushing device mounting plate, a platform base pushing mechanism and a platform base pushing plate, and the platform base pushing mechanism is installed at The mounting platform of the platform base pushing device, the platform base pushing mechanism is connected with the platform base pushing plate.
8. The insect removal machine according to claim 4, further comprising a platform base blanking device, the platform base blanking device is fixedly mounted above the platform base advancement device.
9. A beetle identification and removal method, characterized in that the method uses the detection device in the insect transfer machine described in claim 1 to detect whether a bee larva is contained in the nest of the hive spleen, and adopts claim 1 The moving mechanism in the moving machine described above removes the detected bee larva.
10. The method for identifying and removing beetle according to claim 9, wherein the detection device includes at least one detection element, and the detection element can move along the arrangement direction of the nest on the spleen of the honeycomb; When the component is moved above the nest, the color in the nest is identified, and whether the bee larva is contained in the nest is determined based on the recognition result of the color.
11. The method for identifying and removing beetle according to claim 10, wherein the detection element detects whether a bee larva is contained in the nest room of the hive spleen through optical recognition.
12. The method for identifying and removing a beetle according to claim 11, characterized in that when the detecting element is moved above the nest house, the color in the nest house is recognized, and the nest house is judged according to the recognition result of the color Whether it contains bee larvae.
13. The method for identifying and removing a beetle according to claim 10, wherein the detection element is a light sensor.
14. A beetle identification and removal method according to claim 13, wherein the light detector comprises a probe, a light source is provided in the probe, and a lens is provided on the probe.
15. The method for identifying and removing a beetle according to claim 13 or 14, wherein the irradiation direction of the light source forms an angle of 0-20 ° with the vertical direction.
16. The method for identifying and removing a beetle according to claim 9, characterized in that the insect-moving mechanism can move along the arrangement direction of the honeycomb spleen in synchronization with the detection element, or the insect-moving mechanism can follow the detection The element then moves in the direction of the nest house on the bee nest spleen.
17. The method for identifying and removing a beetle according to claim 9, further comprising a control element, the control element being respectively connected to the detection element and the moving mechanism, and the control element can receive signals from the detection element and can also Send a signal to the migration agency.
18. The method for identifying and removing bees according to claim 9, wherein the method is performed according to the following steps:

    (1) The detection element is moved above the nest to detect the presence of bee larvae in the nest;

    (2) When bee larvae are detected, the needles of the worms are inserted into the corresponding nests and the larvae are dug out;

    (3) The larvae are put into the accompanying platform base by the transfer mechanism, and they are ready for the next excavation.

Images