WO2021249552A1 - 一种移虫装置以及方法 - Google Patents

一种移虫装置以及方法 Download PDF

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Publication number
WO2021249552A1
WO2021249552A1 PCT/CN2021/099812 CN2021099812W WO2021249552A1 WO 2021249552 A1 WO2021249552 A1 WO 2021249552A1 CN 2021099812 W CN2021099812 W CN 2021099812W WO 2021249552 A1 WO2021249552 A1 WO 2021249552A1
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WO
WIPO (PCT)
Prior art keywords
insect
needle
transfer
movement
transfer needle
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PCT/CN2021/099812
Other languages
English (en)
French (fr)
Inventor
潘洪方
陈俊杰
齐利泉
马秋风
Original Assignee
杭州晶雁电子科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 杭州晶雁电子科技有限公司 filed Critical 杭州晶雁电子科技有限公司
Priority to JP2022573653A priority Critical patent/JP2023527245A/ja
Priority to AU2021288378A priority patent/AU2021288378A1/en
Priority to KR1020227042689A priority patent/KR20230024897A/ko
Publication of WO2021249552A1 publication Critical patent/WO2021249552A1/zh

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K49/00—Rearing-boxes; Queen transporting or introducing cages
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K67/00—Rearing or breeding animals, not otherwise provided for; New or modified breeds of animals
    • A01K67/033—Rearing or breeding invertebrates; New breeds of invertebrates

Definitions

  • the present invention specifically relates to a method for transferring insects, in particular to a device or method for moving or transporting bee larvae.
  • the larvae After the eggs and spleen hatch into larvae, the larvae must be manually shoveled into the culture bowl of the base bar along with a small amount of royal jelly. The worker bees in the colony will spit out the bee milk to feed the larvae when they see the larvae in the culture bowl. Grow up to be the queen bee.
  • the present invention provides a method and device for transferring insects.
  • the device can not only improve efficiency, but also has a high survival rate of larvae and realize automatic transfer of insects.
  • an insect transfer mechanism or device including an installation mechanism configured to receive an insect transfer needle, and the insect transfer needle can move around a point on the mechanism.
  • an insect transfer device includes a support point structure for supporting the fulcrum on the insect transfer needle and a movement module structure for driving the movement of the moving point on the insect transfer needle.
  • the fulcrum on the insect transfer needle can rotate around the supporting point structure.
  • the installation mechanism includes a first installation mechanism, and the first installation mechanism includes a fulcrum structure or a support point structure, and the fulcrum structure or support mechanism is used to cooperate with the fulcrum on the insect transfer needle, thereby the fulcrum of the insect transfer needle It can rotate around the fulcrum structure or the supporting point structure.
  • the supporting point structure on the first mounting mechanism includes a groove, a gap, a bolt, and the like.
  • the fulcrum on the insect transfer needle is a protrusion, a wing structure, a hole, etc. that cooperate with the groove.
  • the insect transfer mechanism further includes a movement module, which can drive the moving point on the insect transfer needle to move.
  • the device further includes a movement module, which is used to guide the moving points on the insect transfer needle to move.
  • the movement of the moving point drives the fulcrum on the needle to rotate around the supporting point or supporting structure.
  • the angle of this rotation can be any angle. Relative to the vertical direction, it can rotate clockwise or counterclockwise, and it can be both of them. Back-and-forth rotation between persons.
  • the mounting mechanism includes a second mounting mechanism for mounting the motion module.
  • the second mounting mechanism is slidably connected to the motion module.
  • the movement of the movement module drives the movement of the upper moving point of the needle. In some ways, the movement of the movement module performs lateral movement relative to the longitudinal direction of the needle.
  • the movement of this moving point drives the movement of the fulcrum.
  • the insect-moving element enters the honeycomb room, it is hoped that it will be at an angle to the honeycomb, instead of vertically entering the honeycomb. In particular, it is moving together.
  • the head of the insect element has an angle with the wall of the nest, for example, in the form of an acute angle, so it is desirable that the insect transfer needle is inclined rather than a vertical direction.
  • the way of driving the motion module can be computer programming to control the motor, and the motor is used to drive the motion of the motion module to achieve such an effect.
  • the motion module can also be moved by contact with machinery.
  • the nest has a nest wall and a nest bottom, and the larvae are generally located at the bottom of the nest. Therefore, it is hoped that when the transfer element enters the nest, the head of the transfer element and the nest wall have an angle, such as an acute angle. In this way, it is hoped that the transfer needle is inclined rather than vertical. Therefore, according to the Y-axis as the ordinate and the X-axis as the abscissa, when the insect-moving needle is tilted, it can be located in the first and third quadrants.
  • the moving point can be located in the first quadrant and the moving element is located in the first quadrant.
  • the three quadrants (assuming that the pivot point is the intersection of the X and Y axes) can also be located in the second and fourth quadrants.
  • the moving point can be located in the second quadrant and the moving element is located in the fourth quadrant.
  • the nest is generally vertical, and the center axis is parallel to the Y axis or the Y axis coincides with the center axis of the nest.
  • the device includes an elastic element that is provided on the movement module.
  • one end is set on the motion module, and the other end is set on the device. In this way, even when the motor is used to push the movement of the motion module, it is necessary to overcome the elastic resistance to push the module to move, but once the motor loses or removes the thrust, the force of the elastic element is used to reverse the movement of the motion module. .
  • the insect transfer mechanism or device further includes a guide mechanism with a guide surface, and the guide surface is configured to guide the insect transfer needle during the downward or upward movement, and is used to adjust the movement trajectory of the insect transfer point.
  • the guide surface is in contact with the motion module to drive the motion of the motion module to adjust the motion trajectory of the moving point.
  • the guide surface includes surfaces with different lateral heights. The so-called lateral height here means that the guiding surface has a different distance from the point in the vertical direction relative to the vertical direction, similar to a winding mountain peak.
  • the distance of the movement module in the lateral movement can be adjusted separately, and it can move to the left or right relative to the vertical direction.
  • the distance of this lateral movement can be adjusted with the movement module.
  • the undulating guide surface moves to be adjusted or changed.
  • the device includes an elastic element that is provided on the movement module.
  • one end is set on the motion module, and the other end is set on the device.
  • the elastic force of the elastic element is used to control the motion trajectory of the motion module under the action of compression or extension.
  • the elastic element when the moving point is moved by the sliding module, the elastic element is compressed when the needle or the insect removal element is in a vertical position; when the elastic element is in a natural state, the moving module is far away from the vertical direction (relatively Horizontally to the right or horizontally to the left), the insect removal element is inclined to the left or to the right.
  • the cooperation of the elastic element and the moving element can make the moving point of the motion module move away from the Y-axis or close to the Y-axis, or close to the Y-axis to the left or away from the Y-axis to the right, so that the fulcrum can be rotated and the moving point can be moved.
  • One end of the element is inclined so that it can have an angle with the cell wall.
  • the role of the guide surface is to limit the movement trajectory of the module by contacting the movement module under the action of mechanical cooperation.
  • the movement avoidance of this movement module is mainly the length of the lateral movement. It can be understood that the movement distance of the movement module relative to the Y axis along the X axis direction is used to control the movement distance of the moving point relative to the Y axis along the X axis direction, so as to finally control the rotation angle of the fulcrum of the moving needle , So as to control the angle of the insect removal unit.
  • the insect transfer needle is vertical, of course, it is not ruled out that the insect transfer needle is curved, but in any case, the movement of the moving point drives the movement of the fulcrum and adjusts the angle of the insect transfer unit, which is the angle of the nest wall , Not parallel to the nest wall.
  • the guiding surface also includes a first guiding surface, a second guiding surface, and a third guiding surface, wherein the lateral height of the first guiding surface is greater than that of the second guiding surface, and the lateral height of the second guiding surface is greater than that of the third guiding surface.
  • Guide surface when the movement module contacts the first guide surface of the guide surface, the movement module makes the moving point of the needle basically in the vertical direction. At this time, the elastic element is compressed. When the movement module moves to the second guide surface , The elastic element can push the movement module to move away from the vertical direction with the resilient force, thereby driving the moving point away from the vertical direction (left or right).
  • the movement of the moving point drives the rotation of the fulcrum, so that the moving One end of the element is away from the vertical direction, for example, to the right or to the left. Similar to the movement of a seesaw, the moving point is to the left, one end of the insect-moving element is to the right, the moving point is to the right and left, and one end of the insect-moving element is to the left.
  • the movement of the movement module along the guide surface is top-down movement, or bottom-up movement, or up and down reciprocating movement. This movement can rely on the motor to drive the entire mechanism to move up and down, for example, to drive the up and down movement of the installation structure. If the motion module is located on the mounting mechanism, and the guide surface is relatively fixed, the motion module can slide up and down on the guide surface to realize the lateral left and right movement and the distance of the motion of the motion module, so as to adjust the left and right movement and movement of the moving point. Distance, which realizes the movement distance of the moving element in the opposite direction.
  • the first surface may include a transition surface.
  • the second surface may include a curved surface or/and an inclined surface.
  • the third surface may include another inclined surface or arc surface. However, the lateral distances between the first side, the second side and the third side are not the same.
  • the guide mechanism is provided with a first installation location for fixed installation on the device. Compared with the installation mechanism of the insect transfer needle, the installation mechanism of the insect transfer needle can move up and down relative to the fixed guide mechanism. .
  • the movement module is provided with mounting holes for installing the moving points of the insect transfer needle, and the insect transfer needle can swing with the movement of the movement module.
  • the motion module includes rolling elements for contacting the guiding surface and performing rolling motion on the guiding surface.
  • the device also includes a control module, which can be a motor or a mechanical mechanism controlled by a motor, and applies an instant force to the motion module to complete the insect removal action of the insect removal element.
  • a control module which can be a motor or a mechanical mechanism controlled by a motor, and applies an instant force to the motion module to complete the insect removal action of the insect removal element.
  • the natural state of the transfer element connected to the lower end of the fulcrum of the transfer needle is slightly curved. This material is generally made of plastic materials. The so-called slightly bent refers to the honeycomb house containing larvae. When the element enters the nest, it is hoped that the tip of the transfer element will move a little bit into the honeycomb room. In this way, as the transfer element continues to move downwards, the rigid structure of the honeycomb room itself is in contact with the flexible transfer element to allow flexibility.
  • the insect transfer element is bent at the bottom of the nest, so that it scoops up, scoops up, and adheres to the larvae located at the bottom. And this is only an ideal state. At this time, in order to increase the efficiency of the transfer, it is hoped that the transfer element will move down quickly into the honeycomb room to shovel the larvae, and do not want to cause damage to the larvae. This is because of honey.
  • the larvae are very small, almost invisible to the naked eye, and are at the bottom. They may be elongated or curled up. The larvae are generally located in water with a small amount of honey or sugar, and are very soft, without any protection, using mechanical mechanisms and Power to move the larvae is very easy to cause damage.
  • the flexible insect transfer element or elastic material, such as TPEE
  • the insect transfer element is moved from the wall to the bottom.
  • the insect-transferring element is naturally bent gradually, and during the bending process, it is almost bent close to the bottom of the nest.
  • This requires high requirements for the material of the flexible transfer element.
  • flexible materials of general materials are used, especially for the process of stretching and bending the transfer element many times, it may enter the nest after repeated many times.
  • the transfer element is still in a bent state, so that it is almost impossible to shovel the larvae, and because the diameter of the nest is very small, almost 0.5-0.8 cm, after the bent element enters, it directly presses the larvae, thus Let it die. In addition, when repeated multiple times, it turns into a bent state.
  • the insects In order to shovel the insects, when the insects need to be released after the shoveling, the insects on the element are pushed away by the slider.
  • the component is expected that the component will be naturally extended or straight, but the actual situation is not the case. Sometimes the component is bent backwards, so it is difficult to reach the tilt angle when entering the honeycomb room. In short, for these unfavorable factors of the components, it is necessary to further overcome these shortcomings, so as to extend the service life of the components, improve the efficiency of insect transfer, and reduce the mortality rate.
  • the insect transfer element when the insect transfer element is in contact with the honeycomb cell wall, or before, it is desirable that the insect transfer element be in a stretched or straightened state, and then the insect transfer element bends and bends along the bottom of the cell. Therefore, in some ways, when the elastic insect transfer element enters the honeycomb room or before, the insect transfer element is in a stretched or straightened state. In order to reach this state, one way is to use the slider on the needle for pushing the insect In the pushed state, the originally curved insect transfer element is in the extended state, so that it is convenient to present an angle with the honeycomb cell wall.
  • the component quickly moves in the opposite direction, for example, to the direction close to the Y axis, similar to jitter In this way, the "shovel" action is completed.
  • the rotor of the motor can directly contact the motion module after the beating motion module is completed.
  • the motor is set near the motion module and moves from top to bottom together with the motion module.
  • the motor can be arranged on the guide element, the movement module moves to a proper position on the guide element, and the rotor of the motor directly contacts the movement module, giving the module a reverse force, such as a force away from the Y axis and approaching the Y axis.
  • the present invention relates to a method of transferring insects, the method comprising:
  • the elastic insect-transferring element have an acute angle with the wall of the nest, and let the elastic insect-transferring element be in a straightened state.
  • the elastic element is in a straightened state through the sliding push block on the needle. For example, when the sliding push block is retracted, the elastic element can be bent. When the sliding push block is pushed out to the end of the elastic far and near, The elastic element is pushed straight by the push block.
  • the elastic insect-transfer element is brought into contact with the cell wall and has an acute angle. As the element continues to move downward, the sliding push block is retracted and the elastic element is bent, thereby scooping up the larvae at the bottom of the nest.
  • the bending of the elastic element is based on contact with the cell wall and moving downward, forcing the elastic element to bend along the cell wall and the cell bottom.
  • the bottom of the nest and the walls of the nest are rigid.
  • the elastic element can bend when it moves inside.
  • the elasticity here can be understood as a flexible material. When describing the transfer element, it has elastic properties and also flexible Nature, or both.
  • the present invention provides an insect transfer method, which is characterized in that it includes the following steps:
  • Step 1 Place the insect transfer needle at the second position.
  • the insect transfer element touches the inner wall of the nest.
  • the second position refers to the moving point of the insect transfer needle tilts forward, the insect transfer element tilts backward, and the insect transfer element The direction is inclined backward with respect to the vertical direction by a certain angle; the insect-moving element is in a straight state and does not bend;
  • Step 2 Put the insect transfer needle in the third position, and complete the insect transfer operation during the process of the insect transfer needle changing from the second position to the third position; the third position is: the insect transfer needle moving point is tilted backward and moved The insect element is tilted forward, the direction of the insect removal element is inclined forward with a certain angle relative to the vertical direction, and the insect removal element is loaded with or adhered to bee insects or larvae.
  • the certain angle is 5°-40°.
  • step (2) in the process of changing the insect transfer needle from the second position to the third position, the insect transfer element is bent, the moving point of the insect transfer needle swings backward, and the insect transfer element moves forward.
  • the insect element pulls the bee jelly containing the bee insects, and makes the bee jelly containing the bee insects adhere to the insect transfer element.
  • step (2) after the insect transfer element is loaded with bee insects, the insect transfer needle is moved upward to leave the nest.
  • step (2) after the insect transfer element is loaded with bee insects, the insect transfer needle is moved upward and at the same time moved backward to escape from the nest.
  • the transfer needle is separated from the nest and in the third position, the transfer needle is moved forward.
  • the transfer needle is separated from the nest and in the third position, the moving point of the transfer needle is moved forward, and at the same time, the transfer needle is moved down to the target position.
  • the transfer point is moved forward, while the transfer needle is moved down to the target position, and the transfer needle enters the culture bowl.
  • the bees are pushed out into the culture bowl.
  • the transfer needle before the transfer needle contacts the inner wall of the nest, the transfer needle is in the second position or the first position, or in any position in the process of changing from the first position to the second position.
  • the transfer needle in the process of changing the transfer needle from the first position to the second position, the transfer needle is moved downward until the transfer element contacts the inner wall of the nest.
  • a detection device for moving insects which is characterized by comprising a sliding support, a collection element for collecting information of bees and insects in a nest, and a detection element for detecting bees and insects in the nest.
  • the collection element is installed on a sliding bracket, the sliding bracket includes a sliding member, the sliding member can slide along the slide, and the collection element can move accordingly.
  • it also includes a positioning element for identifying the location of the transfer needle or the nest.
  • the sliding bracket includes a first mounting arm and a second mounting arm, and the collection element is mounted on the first mounting arm.
  • the positioning element is mounted on the second mounting arm and/or the first mounting arm.
  • first mounting arm and the second mounting arm are arranged opposite to each other.
  • the collection element adopts a camera device, which is configured to be able to take pictures of the inside of the nest house.
  • the positioning element adopts a position sensor.
  • the detection device further includes a clamping structure, and the clamping structure includes a clamping part.
  • the clamping part is an arc-shaped clamping part.
  • a clamping piece is connected to the first mounting arm.
  • the transfer method of the present invention makes the transfer needle enter the nest obliquely downward, and when the transfer needle touches the inner wall of the nest, the transfer element is in a straight state and does not bend; when the push tongue moves upwards , The transfer element bends forward, which can effectively remove the bees and insects, and prevents the transfer element from bending backward when it touches the inner wall of the nest, causing the transfer failure.
  • the method of transferring insects of the present invention simulates the method of artificial transfer of insects, removing bee insects together with a small amount of royal jelly, and placing them in a culture bowl.
  • the transfer element is bent into a certain arc, and the transfer element is attached to the inner wall of the nest for transfer, so that the bee and the transfer element will not be damaged, and the transfer speed is high, the accuracy is high, and the efficiency is high.
  • the success rate of the transplantation is as high as 95%, and the final survival rate of the transplantation is also higher.
  • the method of transferring insects of the present invention can protect the transfer needles, prolong the service life of the transfer needles, and can avoid harm to bees and insects.
  • the end of the motion module of the present invention is connected with a roller, which can roll along the contact surface; relatively speaking, the friction between the roller and the contact surface is small, and the contact surface will not be worn or other components will be damaged, and under the same conditions, The scroll wheel scrolls faster.
  • the roller on the motion module can be rolled along the corresponding contact surface (such as the guide surface) to adjust the position of the insect transfer needle.
  • the insect transfer needle is installed in the movement module.
  • the movement module can slide in the chute.
  • the movement module and the chute cooperate with each other to adjust the forward or backward tilt angle of the insect transfer needle (swing forward and backward). Amplitude), so that the transfer needle can tilt into the nest, avoiding straight up and down to pick up the bees, resulting in a low success rate of transfer.
  • Some bee breeding companies use insect transfer needles to automatically transfer insects. Usually, traditional insect transfer methods are used to make the insect transfer needles go straight up and down into the nest to collect larvae (that is, the insect transfer needle enters the nest vertically to remove the larvae.
  • the transfer element of the transfer needle may bend backwards, which can not effectively remove the bees and damage the transfer element.
  • Fig. 1 is a schematic diagram of the structure of the first mounting mechanism and the second mounting mechanism of the present invention.
  • Fig. 2 is a schematic diagram of the lateral structure of the first installation mechanism of the present invention.
  • FIG. 3 (1) is a front view of the first mounting mechanism, and (2) is a schematic diagram of the lateral structure of the first mounting mechanism (showing the supporting point structure).
  • (1) is a front view of the second mounting mechanism
  • (2) is a schematic side view of the second mounting mechanism.
  • (1) is a schematic diagram of the structure of the motion module in a specific embodiment
  • (2) is a schematic diagram of the structure of the motion module in another specific embodiment
  • (3) is a schematic diagram of the motion module in other specific embodiments Schematic.
  • Fig. 6 (1) is a schematic diagram of the structure where the insect transfer needle and the movement module are combined together, and (2) is a schematic diagram of the structure where the movement module and the second mounting mechanism are combined together.
  • (1) is a schematic structural diagram of the second mounting mechanism and the first mounting mechanism combined, and (2) is a schematic structural diagram of the stopper.
  • Fig. 9 is a schematic structural diagram of the movement module and the second mounting mechanism combined together.
  • Figure 10 is a schematic diagram of the process of moving the insect transfer needle forward or backward.
  • (1) is a schematic diagram of the structure of the insect transfer needle in a backward tilted state when the interference block presses the protrusion (the height adjustment mechanism is shown in the figure); (2) is the schematic diagram of the back of the height adjustment mechanism (for The matching structure of the first gear and the first toothed plate is shown, and part of the support frame structure is concealed).
  • (1) is a schematic diagram of the structure of the timing gauge in a specific embodiment
  • (2) is a schematic diagram of the structure of the timing gauge in another specific embodiment.
  • (1) is a schematic diagram of the structure of the interference block and the timing gauge, and (2) is a schematic diagram of the structure of the interference block.
  • Fig. 14 is a schematic diagram of the process of removing bee insects by the transfer needle (showing the relative positional relationship between the transfer needle and the nest over time).
  • Fig. 15 is a schematic diagram of the relative position of the insect transfer needle and the time gauge in the process of removing the bee insects.
  • Figure 16 is a schematic diagram of the structure of the front and rear position adjustment mechanism installed on the insect transfer machine (in order to show the front and rear position adjustment mechanism, part of the insect transfer machine structure is hidden).
  • Fig. 17 is a schematic diagram of the structure of the front and rear position adjustment mechanism.
  • (1) is a schematic diagram of the combination of the housing and the support frame (in order to show the installation position of the camera device and the position sensor, the structure of the first mounting mechanism and the motion module are hidden), (2) is the schematic diagram of the housing .
  • Figure 19 is an exploded view of an insect transfer mechanism in a specific embodiment.
  • FIG. 20 is a schematic diagram of the structure of the first mounting mechanism, the second mounting mechanism and the movement module in FIG. 19.
  • (1) is a schematic diagram of the structure of the movable frame and the connecting frame in a separated state
  • (2) is a schematic diagram of the movable frame and the connecting frame combined together
  • (3) is a schematic back view of the structure in (2).
  • (1) is a schematic diagram of the structure of the movable frame (in order to show the structure of the first cavity and the second cavity, a part of the movable frame structure is hidden); (2) is a schematic diagram of the structure of the connecting frame.
  • (1) is a schematic diagram of the combination of the moving frame, the connecting frame, the installation mechanism, and the movement module; (2) is a schematic view of the height adjustment mechanism in a specific embodiment; (3) is the middle of (2) Side view of the structure (showing the snap-in structure).
  • (1) is an exploded view of the insect transfer mechanism in a specific embodiment
  • (2) is a schematic structural diagram of the installation mechanism, the insect transfer needle, the movement module, and the connecting frame in a separated state
  • (3) is the installation mechanism , Schematic diagram of the structure of the insect transfer needle, the movement module, and the connecting frame in a combined state.
  • Figure 25 is a schematic diagram of the structure of the sliding bracket.
  • Figure 26 is a picture taken by the camera (showing bees in the nest).
  • Fig. 27 is a schematic diagram of the transfer process in an embodiment (showing the relative position changes of the transfer element, the push tongue and the nest during the transfer process), and the flat objects at the bottom of the nest represent bee larvae.
  • Fig. 28 is a schematic diagram of the transfer process in one embodiment (showing the relative position changes of the transfer element, the push tongue and the nest during the transfer process), and the flat objects at the bottom of the nest represent bee larvae.
  • Fig. 29 is a schematic diagram of the insect placement process in an embodiment (showing the relative position changes of the insect removal element, the push tongue and the culture bowl during the insect placement process), and the flat object at the bottom of the nest represents bee larvae.
  • An insect transfer mechanism or device as shown in Figure 1-2, includes a mechanism (or installation mechanism) configured to receive an insect transfer needle, so that the insect transfer needle surrounds a point in the mechanism Swing back and forth.
  • the so-called “fulcrum” means that a certain position on the transfer needle is matched with a certain position or structure on the mechanism, so that the transfer needle can swing back and forth depending on the fulcrum, so as to control the angle of the transfer needle relative to the vertical direction. (That is to say, control the angle between the straight line and the vertical line where the insect transfer needle is located).
  • the fulcrum here can be understood as a relatively fixed point. This fixing does not mean that it is completely fixed, but a certain position on the transfer needle or a point or structure supported on the installation mechanism as a fulcrum.
  • the needle can rotate along the fulcrum. During the rotation, the position of the fulcrum remains basically unchanged in the insect removal needle.
  • the movement of this fulcrum depends on changes in the position of another point relative to the fulcrum.
  • Another point can be defined as a moving point.
  • the moving point drives the movement of another position or another point on the worm needle.
  • the movement of the moving point such as forward and backward movement, drives the fulcrum.
  • the rotation of the worm-moving needle drives the swing of the insect-moving needle.
  • the fulcrum here can be a point on the worm transfer needle supported on the installation mechanism or a structure as a support point or support structure of the fulcrum, so that the worm transfer needle rotates or swings around the fulcrum or support structure.
  • the activity point here can be another point on the insect transfer needle, which is driven to move. This movement includes horizontal position movement or other way of positional movement, which drives the fulcrum on the insect transfer needle to surround the support structure or support point. Rotate.
  • the present invention provides a specific structure to realize that the movement of the moving point on the insect transfer needle drives the movement of the fulcrum on the insect transfer needle, so as to realize the back and forth swing of the insect transfer needle. The details will be explained in detail below.
  • the structure includes a fulcrum structure 7 or called a supporting point structure
  • the transfer needle includes a fulcrum 201, which is also called a supporting point.
  • the structure moves together to allow the transfer of insects.
  • the supporting point 201 on the needle depends on the supporting structure or supporting point on the structure 700 and can rotate or swing around the supporting point on the supporting structure.
  • the supporting structure can be a groove 7, and the fulcrum 201 is similar to a wing structure 202 or a raised structure, including two extended wings 202 and 203, respectively located in the two grooves 701 and On the 703, this allows the wing structure to be in the groove and do a movement similar to a fulcrum.
  • the fulcrum and the supporting point here can be in any other manner, for example, the supporting structure can be a cylinder, and the transfer needle contains a horizontal through hole, the cylinder passes through the through hole, and the fulcrum can rotate around the supporting point.
  • the supporting structure can be a cylinder
  • the transfer needle contains a horizontal through hole
  • the cylinder passes through the through hole
  • the fulcrum can rotate around the supporting point.
  • Any other form or structure can be used to realize direct or indirect contact between the fulcrum 201 on the transfer needle and the support point around the mechanism, so that the fulcrum 201 on the transfer needle can rotate or swing relative to the support point. In the specific embodiments of the present invention.
  • the device includes a first mounting mechanism for the support point and a second mounting mechanism for mounting the motion module, and the second mounting mechanism is located above the first mounting mechanism.
  • the installation here is only understood as a mechanism for installing, accommodating and receiving insect transfer needles, rather than fixing the insect transfer needles so that they cannot move.
  • the first installation mechanism includes a fourth installation plate 4 (ie, the bottom plate) at the left and right ends of which are respectively provided with grooves 7, which can be connected to the insect transfer needle 20.
  • the protrusions 203, 202 of the insect transfer needle are installed in the grooves 701, 703 so that the insect transfer needle 20 will not fall down or come out of the installation mechanism of the insect transfer needle 20; in some preferred ways,
  • the groove is an arc-shaped groove (support point or support structure for supporting the fulcrum), and the arc-shaped groove enables the fulcrum 201 on the insect transfer needle 20 to swing back and forth around the support point set by the arc-shaped groove 7, which is convenient for adjustment The angle at which the insect transfer needle 20 is inclined forward or backward.
  • the first installation mechanism further includes an opening 5 provided on the first installation plate 1 (that is, the right side plate), through the opening, it is convenient to install the insect transfer needle, and the insect transfer can be seen.
  • the needle 20 is installed inside the first installation mechanism, and it is judged whether it is installed in place.
  • the first mounting mechanism includes a first mounting plate 1, a second mounting plate 2, a third mounting plate 3, and a fourth mounting plate 4, which are connected and fixed in pairs. Together or they are integrally formed.
  • the first mounting plate 1 and the second mounting plate 2 are arranged oppositely, and the first mounting plate 1 and the second mounting plate 2 are used as two opposite sides, which can protect mobile Insect needle 20, to avoid the interference of other objects or mechanisms on the left and right sides when the insect needle is transferred.
  • the third mounting plate 3 is used as a rear side plate, which is connected to the first mounting plate 1, the second mounting plate 2, and the fourth mounting plate 4, respectively, and the fourth mounting plate 4 is used as a bottom plate to connect with each other.
  • the first mounting board 1, the second mounting board 2, and the third mounting board 3 are connected and fixed.
  • the fourth mounting plate 4 ie, the bottom plate
  • the fourth mounting plate 4 is provided with a through hole 6 so that the insect transfer needle 20 can just be inserted into the through hole, and the upper section 21 of the insect transfer needle is located in the through hole.
  • the mounting joint is combined with the through hole, and the middle section and the lower section of the insect transfer needle are both located below the through hole.
  • first to fourth mounting plates are merely names for different parts of the structure, and they can be integrally formed, such as plastic, for example, metal.
  • first and third mounting plates can be omitted here, and only the fourth mounting plate 4 with the supporting structure is retained.
  • the first mounting mechanism further includes a stopper 8.
  • the stopper 8 is arranged opposite to the third fixing plate 3, and is opposite to the first fixing plate 1, the second fixing plate 3 and the third fixing plate 3.
  • the two fixing plates 2 are detachably connected.
  • the stopper 8 is connected to the first fixing plate 1 and the second fixing plate 2 in a snap-fit manner.
  • the stopper 8 includes a clamping surface 70.
  • the clamping surface 70 is an arc-shaped clamping surface, which can be connected to the insect transfer needle installation joint 83.
  • the stopper 8 further includes a first clamping portion 71 and a second clamping portion 72, both of which can be matched with a groove on the first installation mechanism to achieve connection.
  • the setting of the stopper can further fix the insect transfer needle, so that the installation joint part of the insect transfer needle and the first installation mechanism are tightly combined.
  • the insect transfer needle installation joint 83 can be used as a fulcrum, where the insect transfer needle remains stationary or can slightly swing forward or backward.
  • the insect transfer needle 20 is installed at In the first installation mechanism, the fixed place (that is, the insect transfer needle installation joint 83) serves as a fulcrum.
  • the first fixing plate and the second fixing plate are provided with connecting components.
  • the connecting member includes a first connecting member 10 and a second connecting member 11, and the first connecting member 10 and the second connecting member 11 are connected and fixed.
  • the first connecting member 10 is a connecting plate
  • the second connecting member 11 is fixedly connected to the first fixing plate and the second fixing plate
  • the second connecting member 11 is provided with a connecting hole.
  • the insect transfer needle includes a moving point, which is located at another position on the insect transfer needle, such as the moving point 202 at one end, the moving point can move, and this movement drives the movement of the fulcrum.
  • the moving point 202 of the insect transfer needle is set on a movement module 200, and the movement of the moving module drives the movement of the moving point 204.
  • the front and back horizontal movement of the movement module will inevitably drive the fulcrum 201 to rotate around the supporting point.
  • the horizontal movement of the moving point 204 drives the fulcrum 201 to swing back and forth, and this kind of swing is to allow the fulcrum to swing around the supporting point.
  • the insect transfer needle here is generally a rigid structure, so it is easy to realize that the movement of the moving point 204 drives the movement of the fulcrum 201, thereby generating a movement similar to a seesaw.
  • one end of the insect transfer needle has an insect transfer element, which can be a flexible element, such as a brush, a soft sheet, a flexible block, a flexible wire, etc., which can be inserted into the nest. Bend to scoop up, glue, or scoop up bee larvae.
  • Insect removal elements are generally elastic elements that can bend and deform.
  • the transfer mechanism of the present invention may include a transfer needle, as shown in FIG.
  • the transfer needle can be a conventional transfer needle in the prior art, for example, the transfer needle in the patent application number: 201810974288.0 or the application number: 201810974335.1, etc., of course, the existing technology can also be used In other forms of transfer needles, the present invention does not improve the structure of the transfer needles.
  • the transfer element is located at one end of the transfer needle, such as the lower end of the fulcrum 201 (when the transfer needle is in a vertical position), and the moving point 204 is located at the upper end of the fulcrum.
  • the present invention provides an insect transfer device, which includes a support point for supporting the fulcrum of the insect transfer needle, and a motion module for fixing the moving point of the insect transfer needle, and the movement of the motion module drives the fulcrum of the insect transfer needle to surround the support The rotation of the point, so as to realize the swing of the insect removal element of the insect removal needle.
  • the forward and backward movement of the moving point drives the forward and backward movement or the forward and backward movement of the insect-moving element, where the forward and backward movement or the forward and backward movement has an angle with the vertical direction (as shown in FIG. 10).
  • the movement of the moving point is used to adjust the angle at which the insect transfer needle swings forward or backward.
  • the angle mentioned here can also refer to the angle between the insect transfer needle and the vertical axis.
  • the support point and the motion module are an integral structure.
  • the movement module 200 includes a hole for fixing the moving point 204 on the insect transfer needle.
  • the moving point can also be a wing-like structure, which is fixed in the hole 3b ( Figure 6).
  • the term "fixed” here refers to: it can be used to install the insect transfer needle 20. After installation, the insect transfer needle 20 will not Without the movement module, it will not sway left and right, but the moving point 204 of the insect transfer needle 20 can be driven by the movement module to move back and forth.
  • the back and forth movement of the motion module can be the force of the contact machinery to push the motion of the module, of course, the power of the motor can also be used to drive the motion of the motion module. Furthermore, during the up and down movement of the insect transfer needle, it drives the movement of the moving point of the insect transfer needle, so as to realize the back and forth swing of the insect transfer element. This will be explained in detail later.
  • the motion module 200 is disposed in a fixed structure 300 (ie, the second mounting mechanism).
  • the motion module 200 has slide rails on both sides, and the fixed structure 300 has slide rails, and the motion module can be in the slide rail. Back and forth movement, thereby driving the forward and backward movement of the moving point of the insect-moving needle.
  • the second mounting mechanism is configured to be able to cooperate with the movement module 200 for adjusting the included angle between the insect transfer needle 20 and the vertical axis, and the included angle refers to: the insect transfer needle 20 The angle that is inclined forward or backward relative to the vertical axis, as shown in Figure 10.
  • the second mounting mechanism can be directly or indirectly connected with the first mounting mechanism, and the two can also be integrally formed.
  • the second mounting mechanism is slidably connected to the motion module. As shown in FIG. 6, the motion module can slide in the second mounting mechanism to change the amplitude of the forward or backward swing of the insect transfer needle and change the movement. The angle between the worm needle and the vertical axis.
  • the second installation mechanism includes a chute 1c, which is configured to be able to adjust the forward or backward tilt angle (swing angle) of the insect transfer needle 20; since the insect transfer needle 20 is installed In the movement module, the movement module can slide in the chute 1c, and the insect removal needle 20 can move in the chute 1c accordingly. As shown in FIG. 6, the movement module and the chute 1c cooperate with each other to adjust the insect removal needle 20.
  • the angle of inclination allows the insect transfer needle 20 to tilt into the nest, avoiding digging up and down the bee insects, resulting in a low survival rate of the bee insects.
  • the sliding groove 1c has a spring 2c, and the sliding groove 1c is provided with a spring mounting seat 3c for installing the spring 2c.
  • the spring mounting seat 3c adopts a cylindrical structure, the opening of the cylinder faces the outside, and the spring 2c can be fixedly installed inside the cylinder.
  • one end of the spring 2c is in the spring mounting seat 3c.
  • a limit block 4c is provided at the outer end of the chute 1c, and the limit block 4c can restrict the movement module and prevent the movement module from detaching or deviating from the chute 1c.
  • the limit blocks 4c are arranged in pairs, which is beneficial to restrict the movement module in the chute 1c, so that the movement module always moves in the chute 1c.
  • connecting sections are provided on both sides and bottom of the chute 1c.
  • a first connecting section 5c and a second connecting section 6c are respectively provided on both sides of the chute, and a third connecting section 7c is provided at the bottom of the chute.
  • the first connecting section 5c and the second connecting section 6c can be used to connect other parts in the upper part of the chute 1c, and the third connecting section 7c can be used to connect other parts in the lower part of the chute.
  • the third connecting section 7c can be used to connect the first mounting mechanism.
  • the first connecting section 5c, the second connecting section 6c, and the third connecting section 7c are all provided with a first connecting hole 8c.
  • the first connecting hole 8c is a threaded hole, and the chute 1c can be connected to other components by screws 10c or bolts.
  • the second mounting mechanism is combined with the first mounting mechanism.
  • the second installation mechanism and the first installation mechanism may be two separate mechanisms, which are connected together by a connecting member, as shown in Figures 3-4 and 7.
  • the second installation The mechanism and the first installation mechanism can be integrally formed, as shown in Figures 1-2 and 9.
  • the left and right sides of the third connecting section 7c are respectively provided with a pair of stop bars 9c, and the first connecting member 10 in the first installation mechanism can be caught between the two stop bars 9c. In this way, the connection between the second mounting mechanism and the first mounting mechanism can be strengthened.
  • the insect transfer mechanism further includes a height adjustment mechanism and a horizontal position adjustment mechanism.
  • the installation mechanism is connected with the height adjustment mechanism, so that the insect transfer needle 20 can move up and down; the horizontal position adjustment mechanism is configured to enable the insect transfer needle 20 to move horizontally.
  • the height adjustment mechanism and the horizontal position adjustment mechanism can be controlled separately.
  • the insect transfer needle 20 can be moved up and down or horizontally separately, or the insect transfer needle 20 can be moved up and down and horizontally at the same time. move.
  • the height adjustment mechanism and the horizontal position adjustment mechanism can use sliders, sliding rails, etc. to realize the movement of the insect needle position, or use gears, racks, conveyor belts, etc. to realize the movement of the insect needle position, which will be described in detail below.
  • the height adjustment mechanism and the horizontal position adjustment mechanism can also be implemented by other devices or methods in the prior art.
  • the present invention also provides an insect transfer method. As shown in Fig. 27, the method simulates a manual transfer operation, and the above-mentioned insect transfer mechanism or device can be used, including the following steps:
  • the transfer needle 20 When the transfer needle touches the inner wall of the nest or before it touches the inner wall of the nest, the transfer needle 20 is placed in the second position w2, and the second position w2 refers to: the transfer needle 20 is tilted forward and the transfer The element 4f is inclined backward, and the direction of the insect transfer element 4f of the insect transfer needle is inclined backward with a certain angle with respect to the vertical direction; the relative positional relationship between the insect transfer needle and the nest is shown in Figure 14. The relative position relationship is shown in Figure 27, and the swing of the insect transfer needle is shown in Figure 10.
  • the second position w2 may be a state represented by d or a state represented by a certain moment between c-d.
  • the transfer needle can be pushed by mechanical force to make the insect transfer needle in the second position, of course, the insect transfer needle can also be moved with the help of the power of a motor.
  • the first position w1 refers to: the insect transfer needle 20 is inclined backward, and the insect removal element 4f of the insect transfer needle 20 is inclined forward at a certain angle with respect to the vertical direction.
  • the relative positional relationship between the transfer needle and the nest is shown in Figure 14, and the relative position relationship between the transfer element and the nest is shown in Figure 27.
  • the first position w1 may be the state represented by f or the state represented by the second position at a time before f.
  • the transfer needle before the transfer needle contacts the inner wall of the nest, the transfer needle may be in the second position or the first position, or in any position during the change from the first position to the second position, or in another position, It can be.
  • the certain angle is 5°-40°.
  • step (2) in the process of changing the transfer needle from the second position to the first position, after the transfer element touches the inner wall of the nest, the transfer needle is swung backward (to make the transfer needle).
  • the driving force of the worm needle swing can be driven by mechanical force or by the power of a motor to control the worm needle swing), the insect removal element moves forward, the insect removal element is bent forward against the inner wall of the nest, and the insect removal element toggles
  • the bee jelly contains the bee insects, and makes the bee jelly containing the bee insects adhere to the insect transfer element.
  • mechanical force can be used to push the insect transfer needle from the second position to the first position.
  • the insect transfer needle can also be moved by the power of a motor.
  • step (2) after the insect transfer element is loaded or adhered to the bee insect, the insect transfer needle is moved upward to leave the nest.
  • step (2) after the insect transfer element is loaded with bee insects, the insect transfer needle is moved upward and at the same time moved backward to leave the nest.
  • the transfer needle is separated from the nest to move the transfer needle to the target position, the transfer needle is inclined into the culture bowl, and the bee worm is pushed out and put into the culture bowl.
  • the target position refers to that the transfer needle is located on the upper part of the culture bowl of the base bar.
  • the insect transfer needle moves downward until the insect transfer element contacts the inner wall of the culture bowl, and the bee insect is pushed out, and then the insect transfer needle moves upward while moving backward.
  • the transfer success rate is as high as more than 90%, and the final transfer survival rate is also higher.
  • the insect transfer method of the present invention can protect the transfer needle and prolong the service life of the transfer needle.
  • the present invention provides an insect transfer method. As shown in FIG. 28, the method simulates a manual transfer operation, and the above-mentioned insect transfer mechanism or device may be used, which specifically includes the following steps:
  • the second position w22 refers to: the insect transfer needle 20 is tilted forward, the insect transfer element 4f is tilted backward, and the direction of the insect transfer element 4f is relative to the vertical The direction is inclined backwards at a certain angle; and the push tongue 7m of the insect transfer needle is in the state of pushing downwards, and the push tongue 7m is close to the insect transfer element, so that the insect transfer element has a certain degree of rigidity.
  • the insect transfer element 4f is straight and not Bent state, so that when the insect transfer element touches the inner wall of the nest, the insect transfer element is straight and does not bend.
  • the push tongue is moved up by 7m, the insect transfer element bends forward, which can effectively dig out the bees. Avoid bending backwards when the transfer element touches the inner wall of the nest, so that the bees cannot be digging up.
  • the relative positional relationship between the transfer needle and the nest is similar to that shown in Figure 14.
  • the relative position relationship between the transfer element and the nest is shown in Figure 28, and the swing of the transfer needle is shown in Figure 10.
  • the second position w22 may be the state represented by (4) or the state represented by the second position at a certain moment between (3) and (4).
  • the third position w33 refers to: the insect transfer needle 20 is inclined backward, the insect transfer element 4f of the insect transfer needle 20 is inclined forward to a certain angle with respect to the vertical direction, and the insect transfer element is loaded or adhered with bees.
  • the relative positional relationship between the transfer needle and the nest is similar to that shown in Figure 14.
  • the relative position relationship between the transfer element and the nest is shown in Figure 28, and the swing of the transfer needle is shown in Figure 10.
  • the third position w33 may be the state indicated by (7) or the second position may be the state indicated at a certain moment between (6) and (7).
  • the certain angle is 5°-40°.
  • step (2) in the process of changing the transfer needle 20 from the second position w22 to the third position w33, after the transfer element contacts the inner wall of the nest, the push tongue of the transfer needle is 7m Moving upwards, the transfer element is bent forward against the inner wall of the nest; the transfer needle swings backward (the driving force to make the transfer needle swing can be driven by mechanical force or controlled by the power of a motor) , The insect-transferring element 4f moves forward, and the insect-transferring element 4f pulls the honeybee containing bee insects and makes the honeycomb containing bee insects adhere to the insect-transferring element 4f.
  • step (2) after the insect transfer element is loaded or adhered with bee insects, the insect transfer needle 20 is then moved upward, and the insect transfer needle takes the bee insects and bee jelly out of the nest.
  • step (2) after the insect transfer element is loaded or adhered to the bee insects, the insect transfer needle 20 is then moved horizontally backward and upward at the same time, and the insect transfer needle takes the bee insects and the bee jelly and leaves the nest. .
  • the transfer needle is separated from the nest and in the third position, the transfer needle is moved forward.
  • the transfer needle is moved forward, and at the same time, the transfer needle is moved down to the target position, and the transfer needle is inclined into the culture bowl. Touch the inner wall of the culture bowl, and then push the bee worm into the culture bowl.
  • the target position refers to that the transfer needle is located on the upper part of the culture bowl of the base bar.
  • the transfer needle 20 is in the third position w33.
  • the transfer needle 20 moves down and enters the culture bowl obliquely.
  • the transfer element touches the culture bowl, the transfer element tilts forward.
  • press the transfer needle to move the push tongue 7m downwards and push the bee on the surface of the transfer element.
  • the insects and royal jelly make the insects and the royal jelly separate from the insect transfer element 4f and enter the culture bowl of the base bar.
  • the transfer needle before the transfer needle contacts the inner wall of the nest, the transfer needle may be in the second position or the third position, or in any position during the process of changing from the first position to the second position, or in another position.
  • the insect transfer needle 20 before the insect transfer needle 20 is in the second position w22, the insect transfer needle 20 is in the first position w11.
  • the first position w11 means that the insect transfer needle is tilted backward and the insect transfer element is forward. Tilt, the direction of the insect-removing element is inclined forward with a certain angle relative to the vertical direction, so that the insect-removing element is in a straight state without bending;
  • the insect transfer needle 20 is moved downward.
  • the transfer method in this embodiment is similar to that shown in Fig. 23, except that when the transfer needle is in the first position and the second position, the transfer needle push tongue 7m is in a state of pushing down.
  • the insect transfer needle 20 in the process of changing the insect transfer needle 20 from the first position w11 to the second position w22, the insect transfer needle 20 is moved horizontally backward, and at the same time, the insect transfer needle is moved downward.
  • the transfer needle 20 moves downward while the entire transfer needle moves backward horizontally until the transfer element 4f contacts the nest.
  • the inner wall of the house at this time the transfer element 4f is inclined at a certain angle (the transfer element is inclined relative to the inner wall of the nest), and the transfer element is straight and does not bend, which is different from the traditional transfer method (the traditional transfer method does not care about the nest What is the shape of the house, the transfer needles are vertical, entering the nest from the middle of the nest).
  • the success rate of transplantation is as high as more than 95%, and the final survival rate of the transplantation is also higher.
  • the method of transferring insects of the present invention can protect the transfer needles, prolong the service life of the transfer needles, and can avoid harm to bees.
  • the transfer mechanism further includes a guide mechanism configured to guide the transfer needle 20 to move downward or upward, and can interact with the movement module to make the transfer needle swing and change the transfer
  • the angle between the needle 20 and the vertical axis can change the trajectory of insect transfer.
  • the guide mechanism for moving insects includes a timing ruler.
  • the timing ruler has a guide surface 1a configured to guide the movement module to move.
  • the movement here refers to :
  • the movement module can move up or down along the guide surface, and in the process of moving up or down, the guide surface interacts with the movement module, which can change the position of the movement module in the chute, thereby changing the insect transfer needle
  • the position in the chute that is, the position of the insect transfer needle in the front and rear direction can be changed.
  • the position of the guide surface is fixed and does not change.
  • the position of the motion module will vary with the shape of the guide surface. Change so that the movement module can move in the chute, and the insect transfer needle 20 can move up or down and move forward or backward accordingly to complete the insect transfer operation, as shown in Figure 14-15, dig from the nest Take the bee insects (generally, some royal jelly will be taken along with the bee insects).
  • the guide surface includes a transition surface.
  • the movement module moves upward or downward along the transition surface, the movement module can move in the chute, the insect removal needle swings, and the insect removal needle The front and back positions of the worms are changed, and the insect transfer needle changes from one position to another.
  • the transition surface is only an arc-shaped surface.
  • the motion module moves up or down along the arc-shaped surface, the motion module slowly moves in the chute, and the swinging amplitude of the insect-moving needle per unit time is small.
  • the transfer needle slowly changes its position in the front-to-back direction.
  • the transition surface includes an inclined surface. When the movement module moves up or down along the inclined surface, the movement module moves quickly in the chute. Quickly change its position in the front and rear directions.
  • the transition surface includes an inclined surface and a curved surface. The order of the inclined surface and the arc surface and the number of inclined surfaces and arc surfaces can be set according to the specific situation.
  • the guide surface includes a transition surface and/or a plane; when the movement module moves up or down along the plane, the horizontal distance between the movement module and the plane does not change, and the position of the movement module in the chute is different.
  • the height of the insect transfer needle is constantly changing, but the horizontal position (front and rear position) of the insect transfer needle does not change.
  • guide surfaces of different shapes can be selected according to actual conditions. The present invention does not specifically limit the shape of the guide surface.
  • the guide surface includes a multi-stage state, which is a first plane 4a, an arc-shaped surface 5a, a first inclined surface 2a, and a second The flat surface 6a and the second inclined surface 7a. Since the timing is fixedly connected to the support frame 9, the guide surface is fixed, and the movement module can move up or down under the action of the height adjustment mechanism. The movement module interacts with the guide surface in different states (movement). The module and the guide surface can be in direct contact or indirect contact, but there is an interaction force between the two), which can change the angle between the insect transfer needle 20 and the vertical axis.
  • the insect transfer needle When the insect transfer needle is located at the second inclined surface 7a, the insect transfer needle is in the process of digging at the bottom of the nest, as shown in Figure 14, the insect transfer needle is in the state d, and the insect transfer needle is at a certain position on the second inclined surface 7a. .
  • the arrangement of the second inclined surface 7a is also convenient for the movement module to change the moving direction, for example, it is beneficial for the movement module to change from downward movement to upward movement.
  • the guiding mechanism may be installed in an insect transfer device or an insect transfer mechanism.
  • the guide mechanism can be fixedly installed on the support frame 9.
  • the movement module can move up or down along the guide surface 1a, so as to guide the transfer needle 20 to move up or down. At the same time, it can swing the transfer needle so that the transfer needle 20 can smoothly enter the nest and dig Take the bee worm.
  • the upper end of the time gauge has a connector 3a, which can be connected with other components.
  • bolts or screws can be used to fixly connect the connecting head 3a to the insect transfer machine or other devices, so that the timing rule is installed on the insect transfer machine or other devices.
  • the connecting head 3 a is fixedly connected to the support frame 9.
  • the guide surface includes a multi-stage state, which is a first flat surface 4a, an arcuate surface 5a, a first inclined surface 2a, a second flat surface 6a, and a second Two inclined surfaces 7a and a third plane 88a, wherein the second inclined surface 7a facilitates the movement module to change the moving direction and move upward.
  • the third plane 88a serves as a protection surface, so that the movement module will not move to the bottom of the timing gauge due to inertia.
  • the movement module is provided with a mounting hole 1b
  • the upper section 21 of the insect transfer needle can be fixedly installed in the installation hole 1b
  • the insect transfer needle can swing with the movement of the movement module.
  • the diameter of the mounting hole 1b matches the diameter of the upper section 21 of the transfer needle.
  • the diameter of the installation hole 1b is slightly larger than the diameter of the upper section 21 of the transfer needle, and the upper section 21 of the transfer needle can just be stable.
  • the ground is in the mounting hole 1b. Since the insect transfer needle is installed in the first installation mechanism, the installation joint 83 of the insect transfer needle can be used as a fulcrum.
  • the insect transfer needle When the movement module moves forward (or backward) in the second installation mechanism, then the insect transfer needle
  • the upper needle section 21 can swing forward (or swing backward) with the movement module, while the middle section 22 and the lower section 23 of the insect-removing needle can swing backward (or forward), as shown in FIG. 8.
  • the end of the motion module is connected with rolling elements; in some preferred modes, the rolling elements are rollers 2b.
  • the rolling elements are rollers 2b.
  • a roller 2b is connected to the outer end of the motion module, and the roller 2b can roll along the contact surface; relatively speaking, the friction force between the roller 2b and the contact surface is relatively small. It will wear the contact surface or damage other parts, and under the same conditions, the roller will roll faster.
  • the outer end of the motion module is provided with an opening 3b for placing the roller 2b.
  • the lateral dimension of the opening 3b is slightly larger than the lateral dimension of the roller surface, so that the roller 2b can be located at the opening 3b, but cannot move laterally and oscillate left and right.
  • the outer end of the motion module is provided with a shaft hole 4b for fixing and installing the roller connecting shaft 41b, and the roller 2b can rotate around the roller connecting shaft 41b.
  • the roller surface protrudes from the outer end of the motion module, so that only the roller 2b is in contact with the contact surface. When the roller 2b rolls along the contact surface, other components do not contact the contact surface and will not affect the roller 2b. When the roller 2b is rolling, other parts on the motion module will not be damaged or worn.
  • the end of the motion module where the rolling element is installed is provided with a bump.
  • the convex block is used to interfere with other components (such as the second interference part of the interference block).
  • the position of the motion module in the front and rear directions can be changed, (as shown in Figure 6(1), the x-axis direction) It means the front-rear direction, and the angle (or the angle of inclination) that the insect-transferring needle 20 swings forward or backward can be changed, that is, the angle between the insect-transferring needle 20 and the vertical axis can be changed, as shown in FIG. 10.
  • the end of the motion module where the rolling element is installed is provided with a bump 5b; the setting of the bump 5b does not affect the rolling element to roll on the guide surface (or contact surface).
  • the protrusion direction of the protrusion 5b is consistent with the axial direction of the roller connecting shaft.
  • the protrusion direction of the bump 5b is perpendicular to the axial direction of the roller connecting shaft, as shown in Figure 5(2).
  • the bump 5b is connected with a mounting part 5m,
  • a mounting member 5m is connected to the other side of the bump 5b, as shown in Fig. 5(3).
  • a roller is connected to the end of the bump, and when the roller contacts with other components, it will not produce large abrasion.
  • the end of the motion module away from the rolling element is provided with a connecting element.
  • the connecting element is a connecting column 6b, and the connecting column 6b is used to connect other components.
  • the end of the motion module where the roller 2b is installed has an inclined surface 7b, as shown in FIG. 5.
  • the inclined surface 7b on the motion module can match the contact surface; if the contact surface of the roller 2b is an inclined surface, the end of the motion module with the roller 2b is still flat, then the roller 2b is sliding During the process, the plane will interfere with the contact surface (that is, the inclined surface), which affects the movement of the roller 2b, and wears the contact surface and the movement module.
  • the time gauge is vertically installed on the support frame 9; as shown in FIG. Surface), arc-shaped surface 5a, first inclined surface 2a, second plane 6a (that is, the second vertical surface), second inclined surface 7a, the roller 2b can slide downward along the guide surface 1a, in the sliding process ,
  • the state of the spring and the insect transfer needle 20 is constantly changing.
  • the roller 2b When the roller 2b slides along the first plane 4a, the roller 2b is in contact with the first plane 4a, the spring is in a compressed state, the upper section 21 of the insect transfer needle is inclined backward, and the insect removal element 4f of the insect transfer needle extends forward; the roller 2b In the process of sliding along the transition surface (that is, the curved surface 5a and the first inclined surface 2a), the spring gradually rebounds, and the upper section 21 of the insect transfer needle gradually moves forward to return to vertical, and then tilts forward, and the lower part of the insect transfer needle moves The insect element 4f extends backward; during the sliding process of the roller 2b along the second plane 6a (ie, the second vertical plane), the roller 2b contacts the second plane 6a, the spring is in a slightly compressed state, and the insect removal needle 20 moves forward Tilt, the transfer element 4f of the transfer needle protrudes backward; when the roller 2b slides on the second inclined surface 7a, the roller 2b contacts the second inclined surface 7a, the spring is in
  • the guiding mechanism includes a fourth motor 8a.
  • the fourth motor 8a is connected with a swing block 9a.
  • the fourth motor 8a can control the swing block 9a to swing or stand still.
  • a first installation part 10a is provided on the time scale for installing the fourth motor 8a.
  • the time gauge is provided with a relief structure 11a.
  • a second installation location is provided on the time scale.
  • the second installation location includes the connecting shaft 12a.
  • the guiding mechanism further includes an interference block 13a, which is connected to the time gauge, and the interference block 13a can be installed in the second installation position.
  • the interference block 13a is provided in the middle part of the There is a second connecting hole 14a, and the connecting shaft 12a can pass through the second connecting hole 14a to realize the connection between the interference block 13a and the time gauge. After the two are connected or combined, the interference block 13a can be in a certain position. The force acts on the interference block 13a, and the interference block 13a can swing around the connecting shaft 12a.
  • the upper end portion of the interference block 13a is located at the relief structure 11a, which facilitates the swing of the interference block 13a, and at the same time, can limit the swing range of the interference block 13a.
  • one end of the interference block 13a is provided with a first interference site 15a, and the other end is provided with a second interference site 16a.
  • the first interference part 15a is configured to interfere with the swing block 9a on the fourth motor 8a; the second interference part 16a is configured to interfere with the bump 5b; as shown in FIG.
  • the fourth motor is not set on the time scale, and the fourth motor is set on the side of the motion module. As shown in Figure 5(2), the fourth motor can move with the motion module. move. Therefore, the fourth motor can control the push tongue 7m of the insect transfer needle to be in a pushed out or normal state in real time.
  • the transfer mechanism further includes a height adjustment mechanism, which can be used to adjust the height of the installation mechanism to make the transfer needles at different heights and change the vertical position between the transfer needle 20 and the nest.
  • the distance is convenient for the transfer needle 20 to enter the nest to dig up the bees, and to leave the nest after the bees are dug.
  • the mounting mechanism is connected with the height adjustment mechanism, so that the insect transfer needle 20 can move upward or downward and be at different heights.
  • the height adjustment mechanism includes a first gear 8e and a first toothed plate 9e; the first gear 8e and the first toothed plate 9e cooperate with each other and can be used to adjust the height of the installation mechanism, Then adjust the height of the transfer needle.
  • other methods may be used to achieve height adjustment, for example, gears, transmission belts, etc. may be used to adjust the height of the insect transfer needle.
  • the height adjustment mechanism further includes a first motor 7e, which can be used to provide power to drive the first gear to rotate.
  • a motor is not used, and other mechanical devices may be used to drive the first gear to rotate.
  • the height adjustment mechanism further includes a moving frame, a moving block 1e and a connecting piece 6e.
  • the insect transfer mechanism further includes a support frame 9 to which a post 2e is connected.
  • the column 2e and the support frame are fixedly connected by connecting members or connecting rods, etc.
  • the moving block 1e is connected and fixed with the moving frame
  • the moving block 1e is also slidably connected with the column 2e, so that the moving frame It can move up or down with respect to the upright 2e.
  • the first toothed plate 9e and the connecting member 6e are respectively connected and fixed to the movable frame, and the movable frame moves.
  • the first motor 7e is fixedly connected to the support frame 9, and the first motor 7e is connected to the first gear 8e.
  • the first motor 7e provides power and can drive the first gear 8e to rotate.
  • the first gear 8e can contact and engage with the first toothed plate 9e.
  • the first toothed plate 9e can move up or down (the first gear rotates clockwise or counterclockwise) At this time, the first tooth plate can move downward or upward, and the moving frame can move downward or upward).
  • the second installation mechanism is fixedly connected to the mobile frame.
  • the second installation mechanism is connected and fixed to the connecting piece 6e, and the connecting piece 6e is connected to the moving frame.
  • the second installation mechanism can move with the movement of the movable frame, so that the insect transfer needle can move upward or downward accordingly.
  • the upper part of the support frame 9 is provided with a first limiting member, and the lower part is provided with a second limiting member.
  • the setting of the limiting member can make the moving block 1e move up and down within a certain range, and the insect transfer needle 20 can Move within a certain range, avoid excessive movement, beyond the appropriate range, damage the transfer needle 20.
  • the upright 2e is fixedly connected to the support frame 9, and the moving block 1e can be slidably connected to the upright 2e and can slide up and down along the upright 2e.
  • the movable block 1e is provided with matching protrusions, and the protrusions cooperate with the sliding grooves to realize the sliding of the movable block 1e on the upright 2e.
  • the height adjustment mechanism further includes two uprights 2e. In other embodiments, one upright or more than two uprights can be provided; in some embodiments, one can be provided according to actual needs. Or more than one moving block.
  • the height adjustment mechanism includes four moving blocks, two of which are located on the same column (the two moving blocks are located at different positions on the same column), and the other two The moving blocks are located on the same column (two moving blocks are located at different positions of the column).
  • the upright post and the movable frame do not interfere with each other.
  • the frame body of the movable frame is located in the middle space between the two upright posts, and the upright post does not affect the upward or downward movement of the movable frame.
  • the moving block is fixedly connected to the moving frame.
  • the first motor 7e rotates and the first gear 8e rotates
  • the first toothed plate 9e can move up or down
  • the moving frame can move up or down.
  • the moving block can slide up or down on the column, and the fixing mechanism and the second mounting mechanism connected with the moving frame can move up or down, and can change the vertical position of the insect transfer needle (that is, change the height of the insect transfer needle). ).
  • the height adjustment mechanism includes a power transmission device and a moving frame, the power transmission device is connected to the moving frame, the insect transfer needle is connected to the moving frame, and a buffer element is provided inside the moving frame.
  • the element may be an elastic member or other structure or device with a time buffering effect.
  • the height adjustment mechanism includes a power device, the power device is connected to the power transmission device, and the power device may be a motor.
  • the power device uses the first motor 7e; in other implementations In this way, it is not necessary to use a motor, but to use other mechanical devices for driving.
  • the power device can transmit power to the power transmission device, and the movable frame can be moved under the drive of the power device, and the insect transfer needle can move up or down accordingly, so as to realize the adjustment of the insect transfer needle at different heights.
  • the power transmission device includes a first gear 8e, a first toothed plate 9e, and a moving block 1e; in other embodiments, other methods may also be used to achieve power transmission, such as gears, transmission belts, etc. .
  • the first gear 8e is connected to the first motor 7e, the first gear 8e is in contact with the first toothed plate 9e, and the first toothed plate 9e is connected to the movable frame 1h (the first toothed plate 9e and the mobile frame 1h are fixedly connected together, or the two can be integrally formed), the insect transfer needle is directly or indirectly connected with the mobile frame 1h, and the mobile frame 1h is also connected with the mobile block 1e. If the first motor 7e rotates, it can drive the first gear 8e to rotate, the first toothed plate 9e can move up or down, the moving frame 1h can move up or down, and the insect removal needle can move up or down accordingly.
  • the height adjustment mechanism further includes a column 2e, and the moving block 1e can be slidably connected to the column 2e, so that the moving frame 1h and the insect transfer needle can move upward or downward relative to the column 2e.
  • the height adjustment mechanism further includes a connecting frame, which is configured to connect the second mounting mechanism with the moving frame, so that the insect transfer needle can be moved with the movement of the moving frame. move.
  • the moving frame 1h in this embodiment is different from the above-mentioned moving frame, and the connecting frame is also different from the above-mentioned connecting piece.
  • the movable frame 1h includes a vertical bracket 2h, and the vertical bracket 2h is provided with a first cavity 3h and a second cavity 4h, and the bottom of the first cavity 3h A first connection through hole 5h is provided, and a second connection through hole 6h is provided at the bottom of the second cavity 4h, which is convenient for connection with other components.
  • the connecting frame includes a connecting piece 10h, and the left and right sides of the connecting piece are provided with connecting parts of the moving block 1e for connecting with the moving block 1e.
  • the connecting piece is also connected with a support arm 7h, which can be used to support other components.
  • the fourth motor 8a is installed at the support arm 7h, the support arm 7h can support the fourth motor 8a, and the fourth motor 8a is connected to the pressing block (Or interference block 13a), which can be used to press or hit the bump 5b to make the movement module move backward (that is, move to the inside of the chute, and the spring inside the chute is compressed); the insect removal needle swings, and the upper part of the insect removal needle Tilt backward, and the insect removal element tilts forward.
  • the pressing block Or interference block 13a
  • a mating piece 8h is provided on the back of the connecting piece, and a third connecting through hole 9h is also provided on the mating piece 8h.
  • the mating piece 8h can be mated and connected with the first cavity.
  • the mating member 8h can be inserted into the first cavity, and then the connecting post can be used to sequentially pass through the first connecting through hole 5h and the third connecting through on the mating member 8h.
  • the hole 9h and the second connecting through hole 6h on the second cavity 4h are closed by screw caps on both ends of the connecting column, so that the connecting column does not fall and can really play the role of connection.
  • the brackets 2h are connected together (connect the connecting frame with the mobile frame 1h).
  • the dimensions (length, width, and height) of the fitting piece 8h are all smaller than the dimensions (length, width, height) of the first cavity 3h, but the lateral dimension of the fitting piece 8h is larger than that of the first connecting through hole 5h.
  • the size is such that the mating member 8h can be located inside the first cavity 3h, but will not slip out of the first connecting through hole 5h.
  • the height of the first cavity 3h is greater than the height of the mating member 8h. As shown in FIG. 23, when the mating member 8h is assembled in the first cavity 3h, the height of the first cavity 3h The upper part has a remaining space 11h, so that the fitting 8h can move up (or down) along the connecting column inside the first cavity 3h.
  • an elastic member 8m is provided inside the first cavity 3h, and the elastic member 8m serves as a buffer element, and the elastic member 8m may be a spring (not shown in the drawings).
  • the elastic member 8m is sleeved outside the connecting column, and the elastic member 8m is located above the third connecting through hole 9h and below the second connecting through hole 6h.
  • the elastic member 8m is arranged so that the mating member 8h and the insect transfer needle will not immediately move upward with the moving frame 1h, but there is a certain buffer time (or there is a certain time delay), for example, when the insect transfer needle is at position d.
  • the insect removal element touches the bottom of the culture bowl, the fourth motor 8a is activated, and the interference block 13a connected to the fourth motor will press (or hit) the bump 5b, and the movement module will move backward and move
  • the fourth motor 8a starts, and the interference block needs to press the convex block 5b synchronously to make the insect removal element pick up the insects and move the insect removal needle upward.
  • the fourth motor 8a will start and have a response time.
  • the interference block presses the convex block 5b, and it takes time for the transfer element to pick up the bees. Therefore, when the transfer needle moves upward, there is a certain time delay to avoid the phenomenon that the transfer element has not been picked up yet.
  • the bee worm the transfer needle has already moved upwards and left the nest.
  • the arrangement of the elastic member 8m enables the insect removal element to dig out the bees and insects effectively, avoiding the phenomenon that the bees cannot be dug and leave.
  • an insect release mechanism is connected to the movable frame 1h.
  • a second motor 3e is connected to the moving frame 1h.
  • the second motor 3e can be directly or indirectly connected to the vertical support 2h.
  • the second motor 3e is also connected to a swinging member. At the upper end of the needle, move the push tongue 7m downwards, so that the bee is separated from the transfer element.
  • the insect transfer mechanism includes an insect release mechanism.
  • the insect removal mechanism can use a motor to control the push tongue to move downward, push the bees out and leave the insect removal element to achieve the insect release operation, for example, as shown in Figure 24 (2 The motor 3e shown in) hits the upper end of the insect transfer needle to move the push tongue downward, and the bee insect leaves the insect transfer element.
  • a motor to control the push tongue to move downward, push the bees out and leave the insect removal element to achieve the insect release operation, for example, as shown in Figure 24 (2 The motor 3e shown in) hits the upper end of the insect transfer needle to move the push tongue downward, and the bee insect leaves the insect transfer element.
  • other methods can also be used to release insects.
  • the insect release mechanism includes a second motor 3e, a second gear 4e, and a second toothed plate 5e. Put the bees and insects on 4f into the culture bowl of the base bar.
  • the second motor 3e is fixedly connected to the moving frame, the second motor 3e is connected to the second gear, the second motor can drive the second gear to rotate, and the second gear 4e can be toothed with the second toothed plate 5e. ⁇ Joined together.
  • the connecting piece 6e has a multi-segment connecting structure, and the connecting piece 6e can be connected to the second mounting mechanism (that is, the connecting piece is connected to the first connecting section 5c and the second connecting section 5c in the second mounting mechanism).
  • the connecting section 6c is connected by screws or bolts, while the connecting piece 6e is connected with the moving block 1e, the connecting piece 6e is connected with the moving frame, and the connecting piece 6e is also connected with the second tooth plate 5e.
  • both sides of the second toothed plate are provided with clamping strips, the connecting piece is provided with a slot, the second toothed plate is clamped in the frame of the connecting piece, and the second toothed plate can move upward along the slot. Or swipe down.
  • the second motor 3e is started, the second gear can rotate.
  • the second toothed plate 5e can move up or down, the bottom of the second toothed plate 5e is provided with a flat plate, and the second toothed plate moves down to above the insect removal needle ,
  • the second splint continues to move downwards, the plate can resist the upper end of the transfer needle, press the transfer needle, so that the push tongue moves down 7m, push the bee insect and royal jelly on the surface of the insect transfer element, and make the bee insect and the royal jelly separate
  • the transfer element 4f enters the culture bowl of the base bar.
  • the second toothing plate is provided with a limiting protrusion, which can interfere with the connecting piece, so as to prevent the second toothing plate from continuing to move upward and detaching from the connecting piece.
  • the limiting protrusion is located at a lower part of the middle of the second toothing plate, so that the second toothing plate can move upward for a larger distance.
  • the flat plate at the bottom of the second splint is located at a certain distance from the upper end of the insect transfer needle, and will not press the upper end of the insect transfer needle, will not interfere with the upper end of the insect transfer needle, and will not affect the transfer operation of the insect transfer needle.
  • the transfer mechanism further includes a horizontal position adjustment mechanism, which can be used to adjust the horizontal position of the installation mechanism, so that the transfer needle 20 is at a different horizontal position, and the transfer element of the transfer needle is changed.
  • the horizontal distance between 4f and the nest is convenient for the transfer needle 20 to move in the horizontal direction to align with the target nest and dig up bees.
  • the horizontal position adjustment mechanism includes a front and rear position adjustment mechanism and a left and right position adjustment mechanism
  • the front and rear position refers to the direction indicated by the x-axis in FIG. 6.
  • the left and right positions are the directions indicated by the y axis in FIG. 6.
  • the target cell refers to a cell containing bees and insects inside the cell. As shown in Fig. 16, in the horizontal direction (that is, in the left-right direction), there are multiple rows of cells, each row includes multiple cells, some of these cells contain bees and some do not.
  • the horizontal position adjustment mechanism (here the horizontal position adjustment mechanism refers to the front and rear position adjustment mechanism), the horizontal position adjustment mechanism can use gears, toothed plates, etc. to achieve position adjustment, or use Gears, transmission belts, etc. or use screw rods, screw sleeves, etc. to achieve position adjustment.
  • the front and rear position adjustment mechanism includes a third motor 1d, a third gear 2d, a third gear plate 3d, and a translation plate 4d
  • the horizontal position adjustment mechanism is configured to be able to adjust and change the position of the insect transfer needle in the horizontal direction ( That is, the position in the front and rear direction).
  • the third motor 1d is fixedly installed on the support plate 5d of the frame, and the height of the support plate 5d is lower than the height of the translation plate, so that a certain distance is left between the translation plate and the support plate.
  • the third toothed plate will not interfere with the supporting plate, and will not affect the movement of the translation plate.
  • the third gear 2d is connected to the third motor 1d, the third motor 1d can drive the third gear 2d to rotate, and the third toothed plate 3d and the third gear 2d are in contact with each other To gear, the rotation of the third gear 2d can drive the third gear plate 3d to move forward or backward relative to the third motor 1d.
  • the third toothed plate 3d is connected and fixed to the translation plate 4d, and the translation plate 4d can move with the movement of the third toothed plate 3d.
  • the translation plate 4d is directly or indirectly connected and fixed with the support frame 9.
  • the translation plate 4d When the translation plate 4d moves forward or backward horizontally, it can drive the support frame 9 to move forward or backward.
  • the connected components can also move horizontally, so the insect transfer needle 20 can move horizontally forward or backward.
  • the transfer needle 20 can not only move up or down, but also perform forward or backward translational movement, and can also perform forward or backward tilting swing (that is, as the movement module moves in the chute China Mobile).
  • the left and right position adjustment mechanism can adopt the conventional position adjustment mechanism in the prior art (not shown in the figure), which mainly includes the fifth motor, the fourth gear, the fifth gear, the conveyor belt, the slide rail, and the slide rail. Blocks, connection structures, etc.
  • the fifth motor is connected with the fourth gear
  • the conveyor belt is respectively connected with the fourth gear and the fifth gear
  • the sliding block is slidably connected with the sliding rail
  • the sliding block is also connected with the support plus
  • the connection structure is connected with the conveyor belt
  • the connection structure is connected with the support frame.
  • the fifth motor can drive the fourth gear to rotate, the conveyor belt moves with it, and the fifth gear rotates.
  • the connecting structure and the support frame connected to the conveyor belt move accordingly.
  • the slider slides along the slide rail as the support frame moves, so that the movement can be adjusted.
  • An insect transfer method which simulates a manual transfer operation, and can use the above-mentioned transfer mechanism, which specifically includes the following steps:
  • Position the insect transfer needle 20 at the first position w1, and the first position w1 refers to: the insect transfer needle 20 is tilted backward, the insect transfer element 4f is tilted forward, and the insect transfer element 4f of the insect transfer needle 20 The direction is inclined forward to a certain angle with respect to the vertical direction;
  • Position the insect transfer needle 20 at the second position w2, and the second position w2 refers to: the insect transfer needle 20 is tilted forward, the insect transfer element 4f is tilted backward, and the direction of the insect transfer element 4f of the insect transfer needle Tilt back to a certain angle with respect to the vertical direction;
  • the certain angle is 5°-30°.
  • step (1) the transfer needle 20 is positioned at the first position w1, and then the transfer needle 20 is moved downward.
  • step (2) in the process of changing the insect transfer needle 20 from the first position w1 to the second position w2, move the insect transfer needle 20 backwards horizontally , And the insect removal needle moves downward at the same time.
  • step (2) in the process of changing the insect transfer needle 20 from the first position w1 to the second position w2, (FIG. 10 shows the tilt angle of the insect transfer needle 20 when it swings back and forth.
  • the inclination angle of the insect transfer needle 20 is 10°. It can be seen from the figure that the insect transfer needle 20 swings and changes from the first position w1 to the second position w2.
  • the insect transfer needle 20 moves downward at the same time as the entire insect removal needle is tilted
  • the insect transfer element 4f enters the nest.
  • the insect transfer element 4f is inclined to a certain angle and enters the nest against the inner wall of the nest. It is not straight up and down, but from the middle of the nest. Enter the nest room.
  • the transfer needle is not shown at the position w1 at first, but the transfer needle can start from the position w1, move downward gradually, and the transfer needle swings, the transfer element 4f tilts back to position (a), and then The insect removal element 4f continues to move downwards and tilts back to position (d).
  • the position w2 can be position (d) or a certain position between positions (c) and (d).
  • the insect removal element When 4f is at position w2 the front end of the transfer element is curved and fits the bottom of the nest.
  • the relative positional relationship between the insect transfer element and the nest is shown in Fig. 27.
  • the second position w2 can be the state shown in (3).
  • step (3) in the process of changing the transfer needle 20 from the second position w2 to the first position w1, the transfer element is bent and the transfer needle swings ,
  • the insect transfer element 4f moves forward, the insect transfer element 4f pulls the bee jelly containing the bee insects, and makes the bee jelly containing the bee insects adhere to the insect transfer element 4f, and then moves the insect transfer needle 20 backward and horizontally at the same time Upward, the transfer needle takes the bee worm and bee jelly and leaves the nest.
  • the insect transfer needle 20 moves upward along the guide surface, so that the insect transfer needle 20 swings again, and the insect transfer element tilts backward, as in step (1).
  • the state of the worm needle 20 is the same when it is located at the first position w1.
  • the transfer needle 20 moves upward until the transfer needle 20 is again in the first position w1, so that the transfer needle 20 moves forward to the base bar and aligns with the culture bowl.
  • the second gear rotates, and accordingly, the second toothed plate 5e can move downward, and the flat plate at the bottom of the second toothed plate 5e abuts the upper end of the insect transfer needle, pressing the insect transfer needle to push the tongue 7m Move downward to push the bees and royal jelly on the surface of the insect transfer element, so that the bees and royal jelly separate from the insect transfer element 4f and enter the culture bowl of the base strip.
  • the insect transfer needle moves downward and tilts into the culture bowl.
  • the insect transfer element contacts the bottom of the culture bowl, the bee insects are pushed out, and the insect transfer needle moves upwards and at the same time moves backwards.
  • step (1) is as follows: after the insect transfer needle 20 is located at the first position w1, the first tooth plate moves downward, and accordingly, the insect transfer needle 20 tilts backward and moves downward.
  • the insect transfer needle installation joint 83 is combined with the first installation mechanism, the roller 2b on the movement module is in contact with the guide surface 1a of the time scale, and the roller 2b is on the first plane 4a. Slide down, during this process, the spring is in a compressed state, and the insect transfer needle 20 is in the first position w1: the insect transfer needle 20 is tilted backward, and the insect transfer element 4f of the insect transfer needle (that is, the digging part of the insect transfer needle) forwards Reach out.
  • step (2) The specific process of step (2) is as follows: the insect transfer needle 20 moves downward while the translation plate moves backward (correspondingly the insect transfer needle moves backward).
  • the roller 2b follows the transition surface (arc-shaped The surface 5a slides with the first inclined surface 2a), and then slides along the second plane 6a of the time scale (when the roller 2b slides on the second plane 6a, the insect removal element can be in the position (4) in Figure 27), and finally slides
  • the spring gradually rebounds, the insect-transferring needle 20 swings, the upper part of the insect-transferring needle gradually swings forward to return to the vertical position (that is, the middle position wg), and then the upper part of the insect-transferring needle moves toward Tilt forward, the transfer element 4f (that is, the transfer needle digging part) extends backward (ie, the second position w2); the transfer element 4f moves downward and enters the nest.
  • the second position w2 can be the state represented by d.
  • the second position w2 can be the state represented by (3).
  • the roller 2b is located on the time gauge. At the second second inclined surface 7a.
  • step (3) is: as shown in Figure 11(1), since the roller 2b is located at the second inclined surface 7a, at this time the fourth motor 8a controls the interference block 13a to swing, and the second interference portion 16a of the interference block 13a Pressing the protrusion 5b, the movement module slides into the chute, correspondingly, the insect removal needle 20 swings, and the upper section of the insect removal needle tilts backward (the spring is in a compressed state), as shown in Figures 14, 27, the insect removal element 4f (ie The digging part of the insect transfer needle is tilted forward, and the translation board moves forward (correspondingly the insect transfer needle moves forward), so that the insect transfer needle moves upward, and the bee insects are digged up together with a small amount of royal jelly.
  • the fourth motor 8a is started, the fourth motor 8a rotates, hits or presses the protrusion 5b, so that the movement module slides into the chute, and accordingly, the insect removal needle 20 swings,
  • the insect transfer needle changes from the second position w2 to the first position w1.
  • the insect transfer needle 20 After the insect transfer element is loaded with bees, move the insect transfer needle 20 backwards, and at the same time continue to move upward along the guide surface 1a, leave the nest, and move to the first plane 4a of the timing rule. At this time, the insect transfer needle 20 The state is the same as the state when the insect transfer needle 20 is located at the first position in step (1).
  • the transfer needle is moved upward and at the same time backward, and the back of the insect transfer element is scraped at the edge of the culture bowl, as shown in Figure 29, (5) At some point afterwards, scrape off the sticky royal jelly on the back of the transfer element, and then move the transfer needle upward and backward to leave the culture bowl.
  • the transfer success rate is as high as more than 90%, and the final transfer survival rate is also higher.
  • the method of transferring insects of the present invention can protect the transfer needles and prolong the service life of the transfer needles.
  • An insect transfer method which simulates a manual transfer operation, as shown in FIG. 28, the above-mentioned transfer mechanism can be used, and specifically includes the following steps:
  • Position the insect transfer needle 20 at the first position w11, and the first position w11 refers to: the insect transfer needle 20 is tilted backward, the insect transfer element 4f is tilted forward, and the direction of the insect transfer element 4f is relative to the vertical
  • the direction is inclined forward at a certain angle
  • the push tongue 7m of the insect transfer needle is in the state of pushing down (that is, the state when the insect is placed), and the push tongue 7m is close to the insect transfer element, so that the insect transfer element has a certain rigidity
  • the element 4f is straight and non-curved, so that when the transfer element contacts the inner wall of the nest, the transfer element is straight and does not bend.
  • the push tongue 7m moves upward, the transfer element bends forward. Effectively dig up bees and insects to avoid bending backwards when the transfer element touches the inner wall of the nest.
  • Figure 26 is a photo taken by the camera. The bees are located in the nest.
  • the second position w22 refers to: the insect transfer needle 20 is tilted forward, the insect transfer element 4f is tilted backward, and the direction of the insect transfer element 4f is relative to the vertical The direction is inclined backward at a certain angle; the push tongue 7m of the insect transfer needle is in the state of pushing down (that is, the state when the insect is placed), and the push tongue 7m is close to the insect transfer element, so that the insect transfer element has a certain rigidity, and the insect transfer The element 4f is straight and non-curved, so that when the transfer element contacts the inner wall of the nest, the transfer element is straight and does not bend. When the push tongue 7m moves upward, the transfer element bends forward. Efficiently pick up bees and insects, and avoid bending backwards when the transfer elements contact the inner wall of the nest, so that the bees cannot be picked up.
  • the third position w33 refers to: the insect transfer needle 20 is inclined backward, the insect transfer element 4f of the insect transfer needle 20 is inclined forward to a certain angle with respect to the vertical direction, and the insect transfer element is loaded or adhered with bees.
  • the certain angle is 5°-40°.
  • step (1) the transfer needle 20 is positioned at the first position w11, and then the transfer needle 20 is moved downward.
  • the transfer method in this embodiment is similar to that shown in Fig. 14, the difference is that in the first position and the second position, the transfer needle push tongue 7m is in a state of pushing down (that is, when the insect is put Status), as shown in Figure 28.
  • step (2) in the process of changing the insect transfer needle 20 from the first position w11 to the second position w22, the insect transfer needle 20 is moved backward and horizontally, and at the same time, the insect transfer needle is moved downward.
  • step (2) in the process of changing the insect transfer needle 20 from the first position w11 to the second position w22, the insect transfer needle 20 moves downward while the entire insect transfer needle moves backward horizontally to The insect transfer element 4f touches the inner wall of the nest. At this time, the insect transfer element 4f is inclined at a certain angle, and the insect transfer element is straight without bending, which is different from the traditional insect transfer method (the traditional insect transfer method is vertical, from the nest Enter the nest in the middle position).
  • the roller 2b slides along the transition surface (arc surface 5a and the first inclined surface 2a) of the timing rule, and then slides along the second plane 6a of the timing rule (when the roller 2b slides on the second plane 6a, the insect removal element can be At the position (4) in Fig. 28), it finally slides to the second inclined surface 7a of the time scale.
  • the spring gradually rebounds, the insect transfer needle 20 swings, and the upper part of the insect transfer needle gradually swings forward and returns to vertical ( That is, the middle position wg), and then the upper section of the transfer needle tilts forward, and the transfer element 4f (ie the part of the transfer needle digging the insect) extends backward (ie the second position w22); the transfer element 4f moves down and enters the nest Inside.
  • the second position w22 may be the state shown in (5).
  • the roller 2b is located at the second inclined surface 7a of the time scale.
  • step (3) in the process of changing the transfer needle 20 from the second position w22 to the third position w33, after the transfer element contacts the inner wall of the nest, it is moved
  • the push tongue 7m of the insect needle moves upward, and the insect removal element is bent; at the same time, under the action of the fourth motor 8a, the interference block presses the convex block 5b, the insect removal needle swings, the insect removal element 4f moves forward, and the insect removal element 4f toggles
  • the bee jelly containing the bee worms, and the bee jelly containing the bee worms is adhered to the insect transfer element 4f, and then the transfer needle 20 is moved horizontally backward and upward at the same time.
  • Nest house in the process of changing the transfer needle 20 from the second position w22 to the third position w33, after the transfer element contacts the inner wall of the nest, it is moved
  • the push tongue 7m of the insect needle moves upward, and the insect removal element is bent; at the same time, under the action of the fourth motor 8a,
  • the fourth motor 8a is started, the fourth motor 8a rotates, hits or presses the protrusion 5b, so that the movement module slides into the chute, and accordingly, the insect removal needle 20 swings,
  • the insect transfer needle changes from the second position w22 to the third position w33.
  • the insect transfer needle 20 moves upward along the guiding surface and at the same time moves backward. Finally, the insect transfer needle 20 is located at the third position w33, which is beneficial to the operation of insect removal. .
  • the transfer needle is separated from the nest and in the third position, the transfer needle is moved forward.
  • the transfer needle is moved forward, and at the same time, the transfer needle is moved down to the target position, and the transfer needle is inclined into the culture bowl. Touch the inner wall of the culture bowl, and then push the bee worm into the culture bowl.
  • the target position refers to that the transfer needle is located on the upper part of the culture bowl of the base bar.
  • the insect transfer needle 20 is in the third position w33, as shown in FIG. 29, during the insect placement process: move the insect transfer needle 20 forward to the base bar , Align the culture bowl, move the insect transfer needle downwards, tilt into the culture bowl, when the transfer element contacts the culture bowl, the transfer element tilts forward, then the second motor 3e starts, the second gear rotates, correspondingly, The second splint 5e moves downward, the flat plate at the bottom of the second splint 5e resists the upper end of the insect transfer needle, and presses the insect transfer needle (the operation of pressing the insect transfer needle can also be done directly by the motor 3e, as shown in Figure 24 ) To make the push tongue 7m move downwards to push the bees and royal jelly on the surface of the transfer element, so that the bees and royal jelly separate from the transfer element 4f and enter the culture bowl of the base strip.
  • the transfer needle is moved upward and at the same time backward, and the back of the insect transfer element is scraped at the edge of the culture bowl, as shown in Figure 29, (5) At some point afterwards, scrape off the sticky royal jelly on the back of the transfer element, and then move the transfer needle upward and backward to leave the culture bowl.
  • the success rate of transplantation is as high as more than 95%, and the final survival rate of the transplantation is also higher.
  • the method of transferring insects of the present invention can protect the transfer needles, prolong the service life of the transfer needles, and can avoid harm to bees and insects.
  • a detection device for moving insects includes a collection element for collecting information of bees and insects in a nest, and a detection element for detecting bees and insects in the nest.
  • the collection element can transfer the collected information to the detection element, and the detection element can analyze the received information to obtain the detection result.
  • it also includes a positioning element for identifying the location of the transfer needle or the nest.
  • the positioning element can be a position sensor or the like.
  • the collection element adopts a camera device, which is configured to take pictures of the inside of the nest and transmit the photo information to the detection element.
  • the detection element can analyze the photos to obtain the detection result, that is, the inside of the nest Are there bees?
  • the camera device can be a camera, etc., or a conventional device capable of taking pictures in the prior art.
  • the detection element includes an image analysis unit.
  • the image analysis unit includes but is not limited to a GPU server, and a detection module for the presence or absence of bees running on the GPU server.
  • the detection module can analyze image data.
  • a high-precision model is trained to detect image data.
  • the present invention does not improve the structure of the imaging device, the detection element, the position sensor, etc., and the present invention only uses the existing device and technology to achieve the purpose of detecting bees and insects.
  • a detection device for insect removal includes a collection element, a position sensor, etc.;
  • the insect removal mechanism includes a housing 1f, the housing is connected to the support frame, and both sides of the housing are connected
  • the mounting structure includes a first mounting structure 2f and a second mounting structure 5f, the first mounting structure 2f can be used to install the collection element; the second mounting structure can be used to install the position sensor, can be used to identify mobile
  • the position of the worm needle or the nest house is convenient to adjust the position of the worm needle and carry out the transplant operation.
  • Embodiment 1-7 can be the same as Embodiment 1-7 or adopt a similar manner to Embodiment 1-7.
  • a detection device for moving insects includes a sliding bracket, a collection element for collecting information of bees and insects in a nest, and a detection element for detecting bees and insects in the nest.
  • the collection element is installed on a sliding bracket, the sliding bracket includes a sliding member, the sliding member can slide along the slide, and the collection element can move accordingly.
  • it also includes a positioning element for identifying the location of the transfer needle or the nest.
  • the collection element adopts a camera device for taking pictures of the inside of the nest
  • the positioning element adopts a position sensor.
  • the detection element includes an image analysis unit.
  • the image analysis unit includes but is not limited to a GPU server, and a detection module for the presence or absence of bees running on the GPU server.
  • the detection module analyzes the image data in a large number of training data sets and verification data sets. On the basis of, a high-precision model is trained to detect image data.
  • the present invention does not improve the structure of the imaging device, the detection element, the position sensor, etc., and the present invention only uses the existing device and technology to achieve the purpose of detecting bees and insects.
  • the sliding bracket includes a first mounting arm 6k and a second mounting arm 7k, the camera device is mounted on the first mounting arm, and the position sensor 2k is mounted on the second mounting arm and / Or on the first mounting arm.
  • the number of position sensors may be one or more.
  • a mounting member 4k is connected to the side surface of the first mounting arm 6k, and the camera device can be installed at the camera device mounting position of the mounting member 4k.
  • first mounting arm 6k and the second mounting arm 7k are separated by a certain distance, and the two are arranged opposite to each other.
  • the detection device further includes a clamping structure, and the clamping structure includes a clamping part.
  • the clamping structure is fixedly connected to the support frame, and the clamping structure does not interfere with the height adjustment mechanism.
  • the clamping structure has a clamping portion 1k, which is configured to be capable of clamping connection with other components.
  • the clamping part 1k is an arc-shaped clamping part 1k, and the arc-shaped clamping part 1k is relatively tightly combined with the component to be clamped, which can better connect the component to be clamped with the support frame.
  • a clamping member 3k is connected to the first mounting arm 6k, and the clamping member 3k can cooperate with the clamping part 1k to realize a clamping connection.
  • the clamping member 3k has an arc-shaped surface, and the arc-shaped surface can be combined with the arc-shaped clamping part 1k.
  • the camera device and the position sensor 2k can move left and right accordingly. Since the camera device and the position sensor 2k are not fixedly connected to the support frame, when the insect transfer needle moves up and down along the column 2e, it will not affect the camera device and the position sensor 2k, and the vibration caused by the upward or downward movement of the insect transfer needle The impact on the camera device and the position sensor 2k is small, which can protect the camera device and the position sensor 2k without affecting their work and prolong their service life.
  • some insect transfer mechanisms install the camera device, the position sensor 2k, and the insect transfer needle in the same installation mechanism, which will cause the camera device and the position sensor 2k to move up or down with the insect transfer needle. Moving will make the camera device and the position sensor 2k susceptible to vibration during the movement, and components connected to the camera device and the position sensor 2k are also prone to vibration or wear during frequent upward or downward movements.
  • Embodiment 1-7 can be the same as Embodiment 1-7 or adopt a similar manner to Embodiment 1-7.

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Abstract

一种移虫装置，包括用于支撑移虫针（20）上的支点（201）的支撑点结构和用于带动移虫针（20）上动点（202）运动的运动模块结构；移虫针（20）上的支点（201）能够围绕支撑点结构转动，如此设置使得移虫针能倾斜着进入巢房，避免直上直下移取蜂虫，提高移虫成功率；一种移虫方法，使用该种移虫装置，包括用于支撑移虫针（20）上的支点（201）的支撑点结构，移虫针（20）上动点（202）运动带动支点（201）围绕支撑结构做运动，如此设置使移虫针倾斜着向下进入巢房，移动过程中移虫元件向前弯曲，可以有效移取蜂虫，避免移虫元件接触巢房内壁时向后弯曲导致移虫失败。

Description

一种移虫装置以及方法
该申请主张中国先申请，申请号2020105341830，申请日：2020-06-12 2020105341826,申请日：2020-06-12的优先权，其全部内容作为本发明的一部分引用。
技术领域
本发明具体涉及一种移虫方法，具体涉及蜜蜂幼虫的移动或者转运装置或者转运方法。
背景技术
蜜蜂会产卵在蜂巢的巢房内，但是巢房的体积很小，如果让蜜蜂幼虫一直在巢房内生长，则无法长成蜂王，只能长成工蜂，不会产出蜂王浆。如果要培养蜂王产出蜂王浆，则需要在蜜蜂幼虫期，将其移至空间较大的台基条的培养碗或者培养腔体中，一方面给其足够的生长空间，另一方面可以诱导工蜂以蜂王来培育，则可以提高蜂王浆的产量，将蜜蜂幼虫从巢房内取出放入台基条内的过程，在行业里面称为移虫。
在卵脾孵化成幼虫后，需要由人工将幼虫连同少量的蜂王浆一起铲到台基条的培养碗内，蜂群中的工蜂见到培养碗内有幼虫，会吐出蜂乳喂养幼虫，直至幼虫长大成为蜂王。
传统的蜜蜂养殖企业，在移植幼虫时，通过人工的手动方式手动移除，但是手动移虫的效率低下，浪费人力。这主要是因为蜜蜂幼虫很小，几乎肉眼不可见，而且巢房的体积小，并不是每个巢房都有幼虫，另外，巢房具有一定的深度，手动移虫还可能把幼虫损伤甚至致死，从而导致效率低，存活率更低。
这就需要提供一种可以自动移虫的装置和方法。
发明内容
针对上述情况，为克服现有技术的缺陷，本发明提供一种移虫方法和装置，利用该装置不仅可以提高效率，而且幼虫成活率高，实现自动化移虫。
本发明的第一方面，提供一种移虫机构或者装置，包括安装机构，该机构被配置为能够用于接收移虫针，移虫针能够在该机构上围绕一支点运动。
或者，一种移虫装置，包括用于支撑移虫针上的支点的支撑点结构和用于带动移虫针上动点运动的运动模块结构。在一些方式中，移虫针上的支点能够围绕支撑点结构转动。
在一些方式中，安装机构包括第一安装机构，第一安装机构包括支点结构或者支撑点结构,所述的支点结构或者支撑机构用于与移虫针上的支点配合，从而移虫针的支点能够围绕支点结构或者支撑点结构转动。
在一些方式中，第一安装机构上的支撑点结构包括凹槽，缺口、栓等结构。而对应的，移虫针上的支点为和凹槽配合的凸起、羽翼结构、孔等。
在一些方式中移虫机构还包括运动模块，所述运动模块能够带动移虫针上的动点运动。
在一些方式中，或者所述的装置还包括运动模块，该运动模块用于引导移虫针上的动点进行运动。在一些方式中，动点的运动带动针上的支点围绕支撑点或者支撑结构的转动，这种转动的角度可以是任意角度，相对竖直方向，可以顺时针或者反时针转动，可以是它们两者之间的往返式转动。
在一些方式中，安装机构包括第二安装机构，用于安装运动模块。在一些方式中，第二安装机构与运动模块滑动连接。通过运动模块的运动，带动针上动点的运动，在一些方式中，运动模块的运动相对针的纵向来讲，进行横向运动。
这种动点的运动带动支点的运动，最终是希望带动移虫元件在进入蜂巢房内的时候，希望与巢房程一个角度，而不是竖直进入到巢房中，特别的，是和移虫元件的头部与巢房壁具有角度，例如呈锐角的形式，这样就希望移虫针是倾斜的，而非竖直方向。
在一些方式中，带动运动模块运动的方式可以是计算机编程来控制电机，通过电机来推动运动模块的运动获得这样的效果，当然，也可以接触机械的作用让运动模块运动。
可以这样理解，移虫元件在进入蜂巢房内的时候，希望与巢房程一个角度，而不是竖直进入到巢房中。一般巢房具有巢房壁和巢房底部，而幼虫一般位于巢房底部，所以，希望移虫元件在进入巢房内的时候，移虫元件的头部与巢房壁具有角度，例如呈锐角的形式，这样就希望移虫针是倾斜的，而非竖直方向。所以，按照Y轴作为纵坐标，X轴作为横坐标来看，移虫针在倾斜的时候，可以位于第一和和三象限，这个时候，动点可以位于第一象限，而移动元件位于第三象限(假设支点为X和Y轴的交点)，也可以位于第二和第四象限，这个时候，动点可以位于第二象限，而移动元件位于第四象限。而巢房一般是竖直方向，中轴线和Y轴平行或者Y轴处于巢房的中轴线重合。
在一些方式中，装置包括弹性元件，该弹性元件被设置在运动模块上。例如，一端设置在运动模块上，另一端设置在装置上。这样就算通过电机来推动运动模块的运动的时候，需要克服弹性阻力的时候，推动模块运动，但是一旦电机丧失或者去掉推力的时候，依靠弹性元见的回复原状的力反向推动运动模块的运动。
弹性元件在下面的方式中，其它作用更为明显。在一些方式中，移虫机构或者装置还包括带有引导面的引导机构，引导面被配置为能够引导移虫针向下或者向上移动过程中，并用于调节移虫动点的运动轨迹。在一些方式中，引导面和运动模块接触，带动运动模块的运动实现动点的运动轨迹的调节。在一些方式中，引导面包括具有不同横向高度的面。这里所谓的横向高度是指，引导面相对于竖直方向上，面距离竖直方向上的点具有不同的距离，类似蜿蜒起伏的山峰一样。通过不同横向高度的调节，运动模块在横向运动上的距离可以别调节，可以相对于竖直方向的向左运动，也可以向右运动，这种横向运动的距离是可以随这运动模块在高低起伏的引导面上运动而被调节或者改变。
在一些方式中，装置包括弹性元件，该弹性元件被设置在运动模块上。例如，一端设置在运动模块上，另一端设置在装置上这样。这样，运动模块在起伏的引导面上运动的时候，利用弹性元件的弹力，压缩或者拉伸作用下，控制运动模块的运动轨迹。在一些方式中，当滑动模块带动动点运动的过程中，让针或者移虫元件处于竖直位置的时候，弹性元件被压缩；当弹性元件处于自然状态下，运动模块远离竖直方向(相对横向向右或者横向向左)，移虫元件向左倾斜或者向右倾斜。所以，弹性元件与运动元件的配合，可以达到让运动模块带动动点远离Y轴或者靠近Y轴，或者向左靠近Y轴或者向右远离Y轴，从而让支点转动，从而让带有移虫元件的一端处于倾斜，这样才能和巢房壁具有夹角。
而引导面的作用，就是在机械配合作用下，通过接触运动模块，限制模块的运动轨迹，这种运动模块的运动规避主要是横向运动的距离的长短。可以理解运动模块相对于Y轴做沿X轴方向上的运动距离的长短，来控制动点相对于Y轴做沿X轴方向上的运动距离的长短，这样最终控制移虫针支点的转动角度，从而控制移虫单元的角度。通常，移虫针是竖直的，当然不排除移虫针是弯曲的，但是无论如何，动点的运动带动支点的运动，调节移虫单元的 角度，这种角度是和巢房壁的角度，而不是和巢房壁平行。
在一些方式中，也是引导面的包括第一引导面，第二引导面，第三引导面，其中，第一引导面的横向高度大于第二引导面，第二引导面的横向高度大于第三引导面。在一些方式中，当运动模块接触引导面的第一引导面的时候，运动模块让针的动点基本处于竖直方向，此时弹性元件被压缩，当运动模块运动到第二导面的时候，弹性元件可以回弹的力推动运动模块远离竖直方向运动，从而带动动点远离竖直方向(向左或者向右)，动点的运动，带动了支点的转动，从而让带有移虫元件的一端远离竖直方向，例如向右或者向左。类似跷跷板的运动，动点向左，移虫元件的一端向右，动点向右左，移虫元件的一端向左。
运动模块沿着引导面的运动是自上而下的运动，或者自下而上的运动，或者上下往返运动，这种运动可以是依靠电机带动整个机构来上下运动，例如带动安装结构的上下运动，如果运动模块位于安装机构上，而引导面相对固定不动，则实现运动模块在引导面上的上下滑动，实现运动模块的横向左右运动和运动的距离，从而调节动点左右运动和运动的距离，这样实现了移虫元件相反方向的运动距离。
在一些方式中，第一面可以是包括过渡面。第二面可以包括弧面或/和倾斜面。
第三面可以包括另外的斜面或者弧面。但是第一面和第二面以及第三面横向距离不相同。
在一些方式中，引导机构上设置有第一安装部位，用于固定安装在设备上，而相对于移虫针的安装机构来讲，移虫针的安装机构可以相对固定的引导机构上下往复运动。
在一些方式中运动模块上设有安装孔，用于安装移虫针的动点，移虫针能够随运动模块的运动而摆动。在一些方式中，运动模块上包括滚动元件，用于接触引导面，在引导面上进行滚动运动。
在一些方式中，设备还包括控制模块，该模块可以是电机也可以电机控制的机械机构，对运动模块施加一个瞬间的作用力，来完成移虫元件挖虫的动作。连接在移虫针支点下端的移虫元件自然状态是呈现稍微弯曲的状态，这种材料一般是采用塑料材料做成的，所谓稍微弯曲是指相对于含有幼虫的蜂巢房来讲，当移虫元件进入巢房中，希望移虫元件的的尖端向蜂巢房内完全一点点，这样，随着移虫元件的继续向下运动，依靠蜂巢房本身的刚性结构和柔性移虫元件接触，让柔性移虫元件在巢房底部弯曲，从而铲起，挖起，粘附位于底部的幼虫。而这仅仅是理想的状态，在这个时候，为了增加移虫的效率，希望在移虫元件快速向下移动到蜂巢房内，铲起幼虫，而不希望对幼虫造成伤害，这是因为蜂蜜的幼虫很小，几乎肉眼不可见，而且处于底部，可能伸长状态，也可能蜷缩状态，幼虫一般位于具有小量的蜂蜜或者糖水中，而且很柔软，没有任何保护作用下，采用机械的机构和力量来移动幼虫，非常容易造成伤害。所以，经过发明人的多次反复试验，首先希望柔性移虫元件(或者弹性材料，例如TPEE)在进入巢房内，和蜂巢房壁具有夹角，然后让移虫元件从壁上向底部运动，依靠壁的作用力，让移虫元件自然逐渐弯曲，弯曲的过程中，几乎是紧贴巢房底部弯曲。这对于柔性移虫元件的材料要求很高，当采用一般材料的柔性材料后，特别是对于多次让让移虫元件处于伸展和弯曲的过程中，经过重复多次后，可能进入巢房内的时候，移虫元件仍然处于弯曲的状态，这样几乎就不能铲起幼虫，而且由于巢房的直径很小，几乎是0.5-0.8厘米之间，弯曲的元件进入后，直接压住幼虫，从而让其死亡。另外，当重复多次后，变成弯曲状态为了铲虫，铲虫后需要释放虫的时候，通过滑块推动元件上的虫子脱离。一般铲虫后，希望元件自然处于伸长或者伸直的状态，但是实际情况并非如此，有时候元件向后弯曲，这样进入蜂巢房的时候，很难达到倾斜的角度。总之，对于元件的这些不利因素，需要进一 步克服这些缺陷，从而延长元件的使用寿命，提高移虫效率，降低死亡率。
所以，在当移虫元件和蜂巢房壁接触的时候，或者之前，希望移虫元件处于伸展或者伸直的状态，然后再让移虫元件弯曲，沿着巢房底部进行弯曲。所以在一些方式中，当弹性移虫元件进入蜂巢房内或者之前，移虫元件为伸展或者伸直的状态，为了到达这种状态，一种方式就是让针上的用于推虫的滑块处于推动的状态，让本来有些弯曲的移虫元件处于伸展状态，从而方便和蜂巢房壁呈现一个角度。
另外，从移虫元件接触巢房壁，然后向底部弯曲去铲虫的过程，几乎是0.1-0.3秒的时间完成，所以，这个时候，虽然移虫元件是倾斜的状态(由于运动模块带动动点的运动过程中)，给运动模块一个非常快速的反向作用力，让倾斜的移虫元件快速的向相反反向运动，完成“铲”的动作，这样可以非常有效的“铲”起幼虫。例如，当运动模块沿着引导面从上到下快速的运动过程中，快速的带动动点远离Y轴的运动，例如快速的向右远离Y轴(例如横向距离0.5厘米)，这个时候，移虫元件快速的向下运动并快速的远离Y轴向左运动，这个时候，元件与巢房壁呈现角度(例如30度)，当针继续被带动向下运动的时候，元件弯曲，并穿过巢房的底部，例如穿过糖水或者蜂蜜水，希望利用糖水的粘性，一起铲起幼虫，这个时候，如果快速的给运动模块一个反向作用，例如向靠近Y轴的一个力，这个反作用力速度很快，而且非常短暂，类似快速敲打的节奏，这个快速的反作用力让活动模块快速的向会运动，这个时候，元件就快速的向相反方向，例如向靠近Y轴的方向运动，类似抖动的过程，这样就完成了“铲”的动作。完成敲打运动模块的可以电机的转子来直接接触运动模块，当然，电机被设置在运动模块的附近，和运动模块一起从上到下运动。当然，电机可以设置在引导元件上，运动模块在引导元件上运动到合适位置，电机的转子来直接接触运动模块，给模块一个反向的力，例如从远离Y轴向靠近Y轴的力。
第二方面，本发明涉及一种移虫的方法，该方法包括：
让弹性的移虫元件与巢房壁程锐角，并且，让弹性的移虫元件处于伸直的状态。在一些方式中，通过针上的滑动推块让弹性的元件处于伸直的状态，例如滑动推块缩回的时候，弹性元件可以被弯曲，当滑动推块推出到弹性远近的末端的时候，弹性元件被推块推直。
在一些方式中，让弹性的移虫元件与巢房壁接触并程锐角。从而随着元件的继续下移，让滑动推块缩回，让弹性元件弯曲，从而铲起巢房底部的幼虫。
在一些方式中，弹性元件的弯曲是基于和巢房壁接触并向下运动，迫使弹性元件沿着巢房壁和巢房底部进行弯曲。一般巢房底部和巢房壁为刚性的，弹性元件在内部运动的时候，能够进行弯曲，这里的弹性可以理解为柔性材料，当描述移虫元件的时候，具有弹性的性质，也具有柔性的性质，或者二者兼而有之。
所以，本发明提提供一种移虫方法，其特征是，包括以下步骤：
步骤1：使移虫针位于第二位置，此时移虫元件接触巢房内壁，所述第二位置指的是：移虫针动点向前倾斜，移虫元件向后倾斜，移虫元件的方向相对于竖直方向向后倾斜一定角度；使移虫元件处于直线状态，不发生弯曲；
步骤2：使移虫针处于第三位置，在移虫针由第二位置变化到第三位置过程中，完成移虫操作；所述第三位置为：移虫针动点向后倾斜，移虫元件向前倾斜，移虫元件的方向相对于竖直方向向前倾斜一定角度，移虫元件上负载或者粘附有蜂虫或者幼虫。
在一些方式中，步骤(1)-(2)中，所述一定角度为5°-40°。
在一些方式中，步骤(2)中，使移虫针由第二位置改变到第三位置的过程中，移虫元件弯曲，移虫针动点向后摆动，移虫元件向前移动，移虫元件拨动含有蜂虫的蜂浆，并使含有蜂虫的蜂浆粘附在移虫元件上。
在一些方式中，，步骤(2)中，移虫元件上负载有蜂虫之后，使移虫针向上移动，脱离巢房。
在一些方式中，步骤(2)中，移虫元件上负载有蜂虫之后，使移虫针向上移动，同时向后移动，脱离巢房。
在一些方式中，移虫针脱离巢房，并且处于第三位置后，使移虫针向前移动。
在一些方式中，其特征是，移虫针脱离巢房，并且处于第三位置后，使移虫针动点向前移动，同时使移虫针向下移动至目标位置。
在一些方式中，，移虫针脱离巢房，并且处于第三位置后，使移虫针动点向前移动，同时使移虫针向下移动至目标位置，移虫针进入培养碗，将蜂虫推出至培养碗中。
在一些方式中，在移虫针接触巢房内壁之前，移虫针处于第二位置或者第一位置，或者处于由第一位置变化到第二位置过程中的任意一个位置。
在一些方式中，移虫针由第一位置改变到第二位置的过程中，使移虫针向下移动至移虫元件接触巢房内壁。
本发明的第四方面，提供一种用于移虫的检测装置，其特征是，包括滑动支架、用于采集巢房中蜂虫信息的采集元件、用于检测巢房中蜂虫的检测元件，采集元件被安装在滑动支架上，滑动支架包括滑动件，滑动件能够沿着滑道进行滑动，采集元件能够随之移动。
在一些方式中，还包括用于识别移虫针或者巢房所处位置的定位元件。
在一些方式中，所述滑动支架包括第一安装臂与第二安装臂，采集元件安装在第一安装臂上。
在一些方式中，定位元件安装在第二安装臂和/或第一安装臂上。
在一些方式中，，第一安装臂与第二安装臂相对设置。
在一些方式中，，采集元件采用摄像装置，被配置为能够拍摄巢房内部照片。
在一些方式中，，定位元件采用位置传感器。
在一些方式中，所述检测装置还包括卡接结构，所述卡接结构包括卡接部位。
在一些方式中，所述卡接部位为弧形卡接部位。
在一些方式中第一安装臂上连接有卡接件。
本发明的有益效果是：
(1)本发明的移虫方法使移虫针倾斜着向下进入巢房，而且，移虫针接触巢房内壁时，移虫元件处于直线状态，不发生弯曲；当推舌向上移动过程中，移虫元件向前弯曲，可以有效地移取蜂虫，避免移虫元件接触巢房内壁时，向后弯曲，导致移虫失败。
(2)本发明的移虫方法模拟人工移虫的手法，移取蜂虫连同少量的蜂王浆，并能够将 它们放置到培养碗中。移虫过程中，移虫元件弯曲成一定弧度，而且移虫元件贴着巢房内壁进行移虫，这样不会损伤蜂虫与移虫元件，移虫速度快，精度高，效率高。
(3)采用本发明的移虫方法，移虫成功率高达95％以上，最终的移虫成活率也较高。相对于传统的直上直下地移虫方法，本发明的移虫方法能够保护移虫针，延长移虫针的使用寿命，而且可以避免伤害蜂虫。
(4)本发明运动模块端部连接有滚轮，滚轮能够沿着接触面滚动；相对来说，滚轮与接触面的摩擦力较小，不会磨损接触面或者损伤其他部件，而且相同条件下，滚轮滚动速度更快。当需要改变移虫针位置时，可以使运动模块上的滚轮沿相应地接触面(比如引导面)滚动，即可调节移虫针的位置。
(5)本发明中移虫针被安装在运动模块内，运动模块能够在滑槽中滑动，运动模块与滑槽相互配合，能够调节移虫针向前或者向后倾斜的角度(前后摆动的幅度)，进而使得移虫针能够倾斜着进入巢房，避免直上直下移取蜂虫，导致移虫成功率不高。有些蜜蜂养殖企业采用移虫针进行自动化地移虫，通常采用传统的移虫方法，使移虫针直上直下地进入巢房挖取幼虫(即移虫针竖直地进入巢房移取幼虫，然后再竖直地离开巢房)，但是这样挖取幼虫的成功率较低，而且容易伤害到幼虫，移虫成活率低；传统的移虫方式，容易损坏移虫针，对移虫针质量要求较高。有时，移虫针竖直地进入巢房，移虫针的移虫元件可能会向后弯曲，不能有效地移取蜂虫，还会损伤移虫元件。
附图说明
图1是本发明第一安装机构与第二安装机构的结构示意图。
图2是本发明第一安装机构的侧向结构示意图。
图3中，(1)是第一安装机构的正视图，(2)是第一安装机构的侧向结构示意图(显示出了支撑点结构)。
图4中，(1)是第二安装机构的正视图，(2)是第二安装机构的侧向结构示意图。
图5中，(1)是一个具体实施方式中，运动模块的结构示意图，(2)是另一个具体实施方式中，运动模块的结构示意图；(3)是其他具体实施方式中，运动模块的结构示意图。
图6中，(1)是移虫针与运动模块结合在一起的结构示意图，(2)是运动模块与第二安装机构结合在一起的结构示意图。
图7中，(1)第二安装机构与第一安装机构结合在一起的结构示意图，(2)是挡块的结构示意图。
图8中，(1)第二安装机构与第一安装机构结合在一起的结构示意图，(2)移虫针与第一安装机构结合在一起的结构示意图，(3)移虫针的分解图。
图9是运动模块与第二安装机构结合在一起的结构示意图。
图10是移虫针向前或者向后摆动过程示意图。
图11中，(1)是干涉块按压凸块时，移虫针处于向后倾斜状态时的结构示意图(图中显示出了高度调节机构)；(2)是高度调节机构背部的示意图(为了显示出第一齿轮与第一齿合板的配合结构，隐去了部分支撑架结构)。
图12中，(1)是一个具体实施方式中，时规的结构示意图，(2)是另一个具体实施方式中，时规的结构示意图。
图13中，(1)是干涉块与时规结合的结构示意图，(2)是干涉块的结构示意图。
图14是移虫针移取蜂虫的过程示意图(显示出了随着时间的推移，移虫针与巢房的相对位置关系)。
图15是移取蜂虫的过程中，移虫针与时规的相对位置示意图。
图16是前后位置调节机构安装在移虫机上的结构示意图(为了显示出前后位置调节机构，隐去了部分移虫机结构)。
图17是前后位置调节机构的结构示意图。
图18中，(1)是外壳与支撑架结合的示意图(为了显示出摄像装置与位置传感器的安装部位，隐去了第一安装机构与运动模块等结构)，(2)是外壳的结构示意图。
图19是一个具体实施方式中，移虫机构的爆炸图。
图20是图19中，第一安装机构、第二安装机构与运动模块的结构示意图。
图21中，(1)是移动架与连接架处于分开状态的结构示意图，(2)是移动架与连接架结合在一起的示意图，(3)是(2)中结构的背部示意图。
图22中，(1)是移动架的结构示意图(为了显示出第一腔体与第二腔体的结构，隐去了一部分移动架结构)；(2)是连接架的结构示意图。
图23中，(1)是移动架、连接架、安装机构、运动模块结合在一起的示意图；(2)是一个具体实施方式中，高度调节机构的结构示意图；(3)是(2)中结构的侧面示意图(显示出了卡接结构)。
图24中，(1)是一个具体实施方式中，移虫机构的爆炸图，(2)是安装机构、移虫针、运动模块、连接架处于分开状态的结构示意图,(3)是安装机构、移虫针、运动模块、连接架处于结合状态的结构示意图。
图25是滑动支架的结构示意图。
图26是摄像装置拍摄的图片(显示出了处于巢房中的蜂虫)。
图27是一种实施方式中，移虫过程示意图(显示出了移虫过程中，移虫元件、推舌与巢房的相对位置变化)，巢房底部扁形的物体表示蜜蜂幼虫。
图28是一种实施方式中，移虫过程示意图(显示出了移虫过程中，移虫元件、推舌与巢房的相对位置变化)，巢房底部扁形的物体表示蜜蜂幼虫。
图29是一种实施方式中，放虫过程示意图(显示出了放虫过程中，移虫元件、推舌与培养碗的相对位置变化)，巢房底部扁形的物体表示蜜蜂幼虫。
具体实施方式
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行描述和说明。应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。基于本申请提供的实施例，本领域普通技术人员在没有作出创造性劳动的前提下 所获得的所有其他实施例，都属于本申请保护的范围。
在本申请中提及“实施例”意味着，结合实施例描述的特定特征、结构或特性可以包含在本申请的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域普通技术人员显式地和隐式地理解的是，本申请所描述的实施例在不冲突的情况下，可以与其它实施例相结合。
除非另作定义，本申请所涉及的技术术语或者科学术语应当为本申请所属技术领域内具有一般技能的人士所理解的通常意义。本申请所涉及的“一”、“一个”、“一种”、“该”等类似词语并不表示数量限制，可表示单数或复数。本申请所涉及的术语“包括”、“包含”、“具有”以及它们任何变形，意图在于覆盖不排他的包含；本申请所涉及的“连接”、“相连”、“耦接”等类似的词语并非限定于物理的或者机械的连接，而是可以包括电气的连接，不管是直接的还是间接的。本申请所涉及的“多个”是指大于或者等于两个。“和/或”描述关联对象的关联关系，表示可以存在三种关系，例如，“A和/或B”可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。本申请所涉及的术语“第一”、“第二”、“第三”等仅仅是区别类似的对象，不代表针对对象的特定排序。
实施例1
一种移虫机构或者装置，如图1-2所示，包括一机构(或者安装机构)，该机构被配置为能够用于接收移虫针，从而，移虫针在该机构内围绕一支点前后摆动。
所谓的“支点”是指移虫针上的某一个位置与机构上的某一位置或者结构配合，让移虫针依靠该支点进行前后摆动，从而达到控制移虫针相对于竖直方向的角度(也就是说，控制移虫针所在直线与竖直线之间的夹角)。这里的支点可以理解为相对固定不动的点，这的固定并不是说完全固定，而是移虫针上的某一个位置或者某一点支撑在安装机构上的一个点或者结构作为支点，移虫针可以沿着该支点转动，转动的过程中，该支点的位置在移虫针基本保持不变。
在一些方式中，这种支点的运动，依靠相对支点的另外一个点的位置的变化而变动。另外一个点可定义为动点，该动点带动指移虫针上的另外一个位置或者另外一个点的运动，利用类似杠杆原理或者跷跷板的原理，动点的移动，例如前后运动，则带动支点的转动，从而带动移虫针的摆动。
当然，这里的支点可以是移虫针上某一点支撑在安装机构上的一个点或者一个结构作为支点的支撑点或者支撑结构，从而移虫针围绕支点或者支撑结构转动或者摆动。这里的活动点可以是位于移虫针上的另外一个点，该点被带动移动，这种移动包括水平位置的移动或者其他方式位置的移动，带动移虫针上的支点围绕支撑结构或者支撑点转动。
在一些方式中，本发明提供一种具体的结构，实现移虫针上的动点的运动带动移虫针上的支点的运动，从而实现移虫针上的前后摆动。具体下面会详细解释。
例如图1所示，该结构包括支点结构7或者叫做支撑点结构，移虫针上包括支点201，该支点201与支点结构或者支撑点结构，也可以叫做支撑点，结构活动配合，让移虫针上的支点201依靠结构700上的支撑结构或者支撑点，可以围绕支撑结构上的支撑点转动或者摆动。例如如图1-3所示，支撑结构可以为一个凹槽7，而支点201则为类似羽翼结构202或者凸起结构，包括两个延伸的羽翼202和203，分别位于两个凹槽701和703上，这样可以让羽翼结构在凹槽内，做类似支点的运动。当然，这里的支点和支撑点可以是其它任何方式，例如支撑结构可以为一圆柱体，而移虫针上含有横向通孔，圆柱体穿过通孔，也可以实现支 点围绕支撑点的转动。其它任何形式或者结构，凡是能够实现移虫针上包括支点201可以围绕机构上的支撑点的直接或者间接的接触，从而实现移虫针上包括支点201能够相对支撑点的转动或者摆动都可以用于本发明的具体实施方式中。
在一些优选的方式中，所述的装置包括支撑点的第一安装机构与用于安装运动模块的第二安装机构，第二安装机构位于第一安装机构的上方。这里的安装仅仅理解为用于安装、容纳、接收移虫针，而非固定移虫针让其不能活动的机构。
在一些优选的方式中，如图2-3所示，第一安装机构包括第四安装板4(即底板)左右端部分别设有凹槽7，该凹槽7能够与移虫针20上的凸起块进行配合，将移虫针的凸起块203,202安装在凹槽701,703中，使得移虫针20不会向下掉落或者脱出移虫针20安装机构；在一些优选的方式中，凹槽为弧形凹槽(支撑支点的支撑点或者支撑结构)，弧形凹槽使得移虫针20上的支点201能够围绕弧形凹槽7所设定的支撑点进行前后摆动，便于调节移虫针20向前或者向后倾斜的角度。
在一些优选的方式中，所述的第一安装机构还包括第一安装板1(即右侧板)上设有开孔5，通过开孔，便于安装移虫针，而且能够看到移虫针20被安装在第一安装机构的内部，判断是否安装到位。
在一些优选的方式中，如图1-3所示，第一安装机构包括第一安装板1、第二安装板2、第三安装板3、第四安装板4，它们两两连接固定在一起或者它们是一体成型。在一些优选的方式中，如图1-3所示，第一安装板1与第二安装板2相对设置，第一安装板1与第二安装板2作为两个相对的侧面，能够保护移虫针20，避免移虫针移虫时被左右两侧的其他物体或者机构干扰。
在一些优选的方式中，第三安装板3作为后侧板，分别与第一安装板1、第二安装板2、第四安装板4连接在一起，第四安装板4作为底板，分别与第一安装板1、第二安装板2、第三安装板3连接固定。在一些优选的方式中，如图1-3所示，第四安装板4(即底板)上设有通孔6，使得移虫针20刚好能够插入通孔，移虫针的上段21位于通孔6的上部，安装结合部与通孔结合，移虫针的中段与下段均位于通孔下方。
可以理解，所谓的第一到第四安装板仅仅是对于结构不同部位的的称谓，他们可以一体成型，例如塑料，例如金属等一体成型。当然，这里的第一和第三的安装板都可以省略不要，仅仅保留带有支撑结构的第四安装板4。
在一些优选的方式中，如图1所示，第一安装机构还包括挡块8，在一些优选的方式中，挡块8与第三固定板3相对设置，与第一固定板1、第二固定板2可拆式连接，比如，本实施例中，挡块8分别与第一固定板1、第二固定板2卡接式连接。在一些优选的方式中，如图7所示，挡块8包括卡接面70，在一些优选的方式中，卡接面70为弧形卡接面，能够与移虫针安装结合部83相结合，在一些优选的方式中，挡块8还包括第一卡接部位71与第二卡接部位72，两者能够与第一安装机构上的卡槽相配合，实现连接。挡块的设置能够进一步地固定移虫针，使移虫针的安装结合部与第一安装机构结合得较为紧密。如图8所示，移虫针安装结合部83可以作为一个支点，移虫针此处保持不动或者能够轻微的向前或者向后摆动，如图3所示，移虫针20被安装在第一安装机构中，被固定的地方(即移虫针安装结合部83)作为一个支点，当用手或者采用其他方式向前拨动移虫针上段21时，移虫针的上段21能够向前倾斜或者向前摆动，同时移虫针的下段23能够向后倾斜或者向后摆动，如图10所示。在一些优选的方式中，第一固定板与第二固定板上设有连接部件。在一些优选的方式中，所述连接部件包括第一连接部件10、第二连接部件11，第一连接部件10与第二连 接部件11连接固定。本实施例中，如图3所示，第一连接部件10为连接板，第二连接部件11与第一固定板、第二固定板上固定连接；第二连接部件11上设有连接孔。
在另外一个方式中，移虫针上包括动点，该动点位于移虫针上的另外的位置，例如一端的动点202，该动点能够运动，这种运动带动支点的运动。下面以具体结构图来进行说明。移虫针的动点202被设置在一运动模块200上，运动模块的运动带动动点204的运动，例如运动模块的前后水平运动，必然带动支点201围绕支撑点的转动。例如图1所示，动点204的水平运动带动支点201的前后摆动，这种摆动是让支点围绕支撑点的摆动。
这里的移虫针一般是刚性的结构，所以容易实现动点204的运动带动支点201的运动，从而产生类似跷跷板的运动方式。具体的讲，移虫针的一端带有移虫元件，该元件可以为柔性元件，类似毛刷、柔细片、柔性块、柔性丝等，该柔性元件可以被插入到巢房中，柔性元件的弯曲，从而可以挖起、粘接或者舀起蜜蜂幼虫。移虫元件一般是弹性元件，能够弯曲变形。在一些优选的方式中，本发明中的移虫机构可以包括移虫针，如图8所示，移虫针包括上段21、安装结合部、中段22与下段23，移虫针下段23包括移虫元件，用于移取蜜蜂幼虫；移虫针下段还包括推舌7m，推舌7m位于移虫元件4f侧面，推舌7m与移虫元件接触，推舌7m能够将移虫元件表面的蜂王浆与幼虫推出，使其脱离移虫元件。本发明中，所述移虫针可以采用现有技术中常规的移虫针，比如采用专利申请号为：201810974288.0或者申请号为：201810974335.1中的移虫针等等，当然也可以采用现有技术中其他形式的移虫针，本发明不对移虫针的结构进行改进。
一般移虫元件位于移虫针的一端，例如支点201的下端(移虫针为竖直位置的时候)，而动点204位于支点的上端。
所以，本发明提供一个移虫装置，该装置包括用于支撑移虫针支点的支撑点，和用于固定移虫针动点的运动模块，该运动模块的运动带动移虫针的支点围绕支撑点的转动，从而实现移虫针的移虫元件摆动。在一些方式中，动点的前后运动，带动移虫元件的前后运动或者前后摆动，这里的前后摆动或者前后运动具有与竖直方向上的夹角(如图10)。也可以这样理解，动点的运动用于调节移虫针向前或者向后摆动的角度。此处所述的角度也可以是指：移虫针与竖直轴线之间的夹角。
在一些方式中，支撑点和运动模块为一体结构。例如如图1所示，运动模块200包括一个孔，用于固定移虫针上的动点204。例如动点也可以是类似羽翼的结构，被固定在孔3b中(图6)，这里所述“固定”指的是：能够用于安装移虫针20，安装后，移虫针20不会脱离运动模块，不会左右晃荡，但是移虫针20的动点204可以被运动模块带动前后运动。
运动模块的前后运动可以是接触机械的力量推动模块的运动，当然，也可以借助电机的力量来带动运动模块的运动。甚至，在移虫针的上下运动过程中带带动移虫针的动点的运动，从而实现移虫元件的前后摆动。这在后面会详细说明。
在一些方式中，运动模块200被设置在一固定结构300(即第二安装机构)中，例如运动模块200具有两侧的滑轨，而固定结构300中具有滑道，运动模块可以在滑道中前后运动，从而带动移虫针的动点的前后运动。
在一些优选的方式中，第二安装机构被配置为能够与运动模块200配合，用于调节移虫针20与竖直轴线之间的夹角，所述夹角指的是：移虫针20相对于竖直轴线向前或者向后倾斜的角度，如图10所示。该第二安装机构可以与第一安装机构直接或者间接连接，两者也可以是一体成型。
在一些优选的方式中，第二安装机构与运动模块滑动连接，如图6所示，运动模块能够在第二安装机构中滑动，能够改变移虫针向前或者向后摆动的幅度，改变移虫针与竖直轴线之间的夹角。
具体地，如图4所示，第二安装机构包括滑槽1c，被配置为能够用于调节移虫针20向前或者向后倾斜的角度(摆动的角度)；由于移虫针20被安装在运动模块内，运动模块能够在滑槽1c中滑动，移虫针20能够随之在滑槽1c中移动，如图6所示，运动模块与滑槽1c相互配合，能够调节移虫针20的倾斜角度，进而使得移虫针20能够倾斜进入巢房，避免直上直下挖取蜂虫，导致蜂虫成活率不高。
在一些优选的方式中，滑槽内具有弹性元件。弹性元件可以采用弹簧，弹簧能够被压缩或者回弹，进而能够使运动模块在滑槽中的移动。如图4,6所示，滑槽1c内具有弹簧2c，滑槽1c内部设有弹簧安装座3c，用于安装弹簧2c。在一些优选的方式中，弹簧安装座3c采用圆筒结构，圆筒开口朝向外侧，弹簧2c能够被固定安装在圆筒内部。本实施例中，如图6(2)所示，弹簧2c一端处于弹簧安装座3c中，运动模块从滑槽1c的始端滑动到末端的过程中，弹簧2c能够被压缩，反之，弹簧2c弹回。
在一些优选的方式中，如图4所示，滑槽1c外端设有限位块4c，限位块4c能够限制运动模块，避免运动模块脱离或者偏离滑槽1c。在一些优选的方式中，限位块4c成对设置，这样有利于将运动模块限制在滑槽1c中，使运动模块始终在滑槽1c中移动。
在一些优选的方式中，滑槽1c两侧及底部均设有连接段。具体地，如图4-7所示，滑槽两侧分别设有第一连接段5c、第二连接段6c，滑槽底部设有第三连接段7c。第一连接段5c与第二连接段6c能够被用于连接滑槽1c上部的其他部件，第三连接段7c能够用于连接滑槽下部的其他部件。本实施例中，如图7(1)所示，第三连接段7c能够用于连接第一安装机构。
在一些优选的方式中，如图4所示，第一连接段5c、第二连接段6c、第三连接段7c上均设有第一连接孔8c。在一些优选的方式中，第一连接孔8c采用螺纹孔，通过螺丝10c或者螺栓能够将滑槽1c与其他部件连接起来，如图7所示，第二安装机构与第一安装机构结合在一起。在一些实施方式中，第二安装机构与第一安装机构可以是分开的两个机构，通过连接部件连接在一起，如图3-4，7所示，在其他一些实施方式中，第二安装机构与第一安装机构可以是一体成型的，如图1-2,9所示。
在一些实施方式中，如图4所示，第三连接段7c的左右侧面分别设有一对挡条9c，第一安装机构中的第一连接部件10，能够被卡在两个挡条9c之间，这样能够加强第二安装机构与第一安装机构之间的连接。
在一些优选的方式中，该移虫机构还包括高度调节机构与水平位置调节机构。安装机构与高度调节机构连接，使得移虫针20能够进行上下移动；水平位置调节机构被配置为使得移虫针20能够进行水平移动。在一些优选的方式中，高度调节机构与水平位置调节机构可以分别被控制，可以使移虫针20单独进行上下移动或者单独进行水平移动，也可以使移虫针20同时进行上下移动与进行水平移动。
高度调节机构与水平位置调节机构可以采用滑块、滑轨等来实现移虫针位置的移动或者采用齿轮、齿条、传送带等来实现移虫针位置的移动，下文会详细阐述。高度调节机构与水平位置调节机构也可以采用现有技术中其他的装置或者方式来实现。
本发明还提供了一种移虫方法，如图27所示，所述方法模拟手动移虫操作，可以采 用以上所述的移虫机构或者装置，包括以下步骤：
(1)在移虫针接触巢房内壁时或者接触巢房内壁之前，使移虫针20位于第二位置w2，所述第二位置w2指的是：移虫针20向前倾斜，移虫元件4f向后倾斜，移虫针的移虫元件4f的方向相对于竖直方向向后倾斜一定角度；移虫针与巢房的相对位置关系如图14所示，移虫元件与巢房的相对位置关系如图27所示,移虫针的摆动如图10所示。图14中，第二位置w2可以是d处所表示的状态或者第二位置为c-d之间某一时刻所表示的状态。
使移虫针处于第二位置可以采用机械的力量推动，当然，也可以借助电机的力量来使移虫针运动。
(2)使移虫针20处于第一位置w1，在移虫针由第二位置变化到第一位置过程中，完成挖虫。所述第一位置w1指的是：移虫针20向后倾斜，移虫针20的移虫元件4f相对于竖直方向向前倾斜一定角度。移虫针与巢房的相对位置关系如图14所示，移虫元件与巢房的相对位置关系如图27所示。图14中，第一位置w1可以是f处所表示的状态或者第二位置为f之前某一时刻所表示的状态。
在一些方式中，在移虫针接触巢房内壁之前，移虫针可以处于第二位置或者第一位置，或者处于由第一位置变化到第二位置过程中的任意一个位置或者处于其他位置，均可。
在一些优选的方式中，步骤(1)-(2)中，所述一定角度为5°-40°。
在一些优选的方式中，步骤(2)中，使移虫针由第二位置改变到第一位置的过程中，移虫元件接触到巢房内壁之后，使移虫针向后摆动(使移虫针摆动的驱动力，可以采用机械的力量推动或者借助电机的力量来控制移虫针摆动)，移虫元件向前移动，移虫元件贴着巢房内壁向前弯曲，移虫元件拨动含有蜂虫的蜂浆，并使含有蜂虫的蜂浆粘附在移虫元件上。
同样地，使移虫针由第二位置变化到第一位置可以采用机械的力量推动，当然，也可以借助电机的力量来使移虫针运动。
在一些优选的方式中，步骤(2)中，移虫元件上负载或者粘附有蜂虫之后，使移虫针向上移动，脱离巢房。
在一些优选的方式中，步骤(2)中，移虫元件上负载有蜂虫之后，使移虫针向上移动，同时向后移动，脱离巢房。
在一些优选的方式中，移虫针脱离巢房，使移虫针移动至目标位置，移虫针倾斜着进入培养碗，将蜂虫推出放至培养碗中。所述目标位置指的是：移虫针处于台基条的培养碗上部。
在一些优选的方式中，放虫过程中，移虫针向下移动至移虫元件接触培养碗内壁之后，蜂虫被推出，然后移虫针向上移动，同时向后移动。
采用本发明的移虫机构与移虫方法，移虫成功率高达90％以上，最终的移虫成活率也较高。相对于传统的移虫方法，本发明的移虫方法能够保护移虫针，延长移虫针的使用寿命。
在其他实施方式中，本发明提供一种移虫方法，如图28所示，所述方法模拟手动移虫操作，可以采用以上所述的移虫机构或者装置，具体包括以下步骤：
(1)使移虫针20位于第二位置w22，所述第二位置w22指的是：移虫针20向前倾斜， 移虫元件4f向后倾斜，移虫元件4f的方向相对于竖直方向向后倾斜一定角度；并且移虫针的推舌7m处于向下推出的状态，推舌7m紧贴移虫元件，这样使得移虫元件具有一定的刚性，移虫元件4f是直的，非弯曲状态，这样能够使得移虫元件接触巢房内壁时，移虫元件是直的，不发生弯曲，当推舌7m向上移动过程中，移虫元件向前弯曲，可以有效地挖取蜂虫，避免移虫元件接触巢房内壁时，向后弯曲，不能挖取蜂虫。
移虫针与巢房的相对位置关系类似于图14，移虫元件与巢房的相对位置关系如图28所示,移虫针的摆动如图10所示。图28中，第二位置w22可以是(4)处所表示的状态或者第二位置为(3)-(4)之间某一时刻所表示的状态。
(2)使移虫针20处于第三位置w33，在移虫针由第二位置变化到第三位置过程中，完成移虫操作。所述第三位置w33指的是：移虫针20向后倾斜，移虫针20的移虫元件4f相对于竖直方向向前倾斜一定角度，移虫元件上负载或者粘附有蜂虫。移虫针与巢房的相对位置关系类似于图14，移虫元件与巢房的相对位置关系如图28所示,移虫针的摆动如图10所示。图28中，第三位置w33可以是(7)处所表示的状态或者第二位置为(6)-(7)之间某一时刻所表示的状态。
在一些优选的方式中，步骤(1)-(2)中，所述一定角度为5°-40°。
在一些优选的方式中，步骤(2)中，使移虫针20由第二位置w22改变到第三位置w33的过程中，移虫元件接触到巢房内壁之后，移虫针的推舌7m向上移动，移虫元件贴着巢房内壁向前弯曲；使移虫针向后摆动(使移虫针摆动的驱动力，可以采用机械的力量推动或者借助电机的力量来控制移虫针摆动)，移虫元件4f向前移动，移虫元件4f拨动含有蜂虫的蜂浆，并使含有蜂虫的蜂浆粘附在移虫元件4f上。
在一些优选的方式中，步骤(2)中，移虫元件上负载或者粘附有蜂虫之后，然后将移虫针20向上移动，移虫针带着蜂虫与蜂浆，脱离巢房。
进一步地，步骤(2)中，移虫元件上负载或者粘附有蜂虫之后，然后将移虫针20向后水平移动同时向上移动，移虫针带着蜂虫与蜂浆，脱离巢房。
在一些优选的方式中，移虫针脱离巢房，并且处于第三位置后，使移虫针向前移动。
在一些优选的方式中，移虫针脱离巢房，并且处于第三位置后，使移虫针向前移动，同时使移虫针向下移动至目标位置，移虫针倾斜着进入培养碗，接触到培养碗内壁，然后将蜂虫推出放至培养碗中。所述目标位置指的是：移虫针处于台基条的培养碗上部。
在一些优选的方式中，移虫针20脱离巢房后，移虫针20处于第三位置w33，放虫过程中：使移虫针20向前移动到台基条处，对准培养碗，移虫针向下移动，倾斜着进入培养碗，移虫元件接触培养碗时，移虫元件向前倾斜，然后，按压移虫针，使得推舌7m向下移动，推动移虫元件表面的蜂虫与蜂王浆，使得蜂虫与蜂王浆脱离移虫元件4f，进入台基条的培养碗中。
进一步地，放虫过程中，移虫元件接触培养碗内壁之后，按压移虫针，使得推舌7m向下移动，推动移虫元件表面的蜂虫与蜂王浆，然后推舌7m向上移动，移虫针向上移动，同时移虫针向后移动，移虫元件背部在培养碗边缘处刮一下，刮掉移虫元件背部粘的蜂王浆，然后移虫针继续向上与向后移动离开培养碗。
在一些方式中，在移虫针接触巢房内壁之前，移虫针可以处于第二位置或者第三位置，或者处于由第一位置变化到第二位置过程中的任意一个位置或者处于其他位置。
在一些优选的方式中，移虫针20处于第二位置w22之前，移虫针20是处于第一位置w11的，第一位置w11指的是：移虫针向后倾斜，移虫元件向前倾斜，移虫元件的方向相对于竖直方向向前倾斜一定角度，使移虫元件处于直线状态，不发生弯曲；
在一些优选的方式中，移虫针20处于第一位置之后，使移虫针20向下移动。
在一些优选的方式中，本实施例中的移虫方式类似于图23，区别在于，移虫针处于第一位置与第二位置时，移虫针推舌7m处于向下推出的状态。在一些优选的方式中，使移虫针20由第一位置w11改变到第二位置w22的过程中，将移虫针20向后水平移动，同时使移虫针向下移动。
在一些优选的方式中，使移虫针20由第一位置w11改变到第二位置w22的过程中，移虫针20向下移动同时移虫针整体向后水平移动至移虫元件4f接触巢房内壁，此时移虫元件4f倾斜一定角度(移虫元件相对于巢房内壁倾斜)，而且移虫元件是直的，不发生弯曲，不同于传统移虫方式(传统移虫方式是不管巢房的形状是怎样的，移虫针均是竖直地，从巢房中间位置进入巢房)。
采用本发明的移虫方法，移虫成功率高达95％以上，最终的移虫成活率也较高。相对于传统的移虫方法，本发明的移虫方法能够保护移虫针，延长移虫针的使用寿命，而且可以避免伤害蜂虫。
实施例2
在一些优选的方式中，该移虫机构还包括引导机构，引导机构被配置为能够引导移虫针20向下或者向上移动，并能够与运动模块相互作用，使移虫针摆动，改变移虫针20与竖直轴线之间的夹角，进而能够改变移虫轨迹。
在一些优选的方式中，用于移虫的引导机构，如图12所示，包括时规，时规具有引导面1a，被配置为能够引导运动模块进行移动，此处所述移动指的是：运动模块能够沿着引导面向上或者向下移动，而且在向上或者向下移动的过程中，引导面与运动模块相互作用，能够改变运动模块在滑槽中的位置，进而能够改变移虫针在滑槽中的位置，也就是说，能够改变移虫针在前后方向上的位置。
如图11所示，运动模块能够沿着引导面向上或者向下移动的过程中，引导面的位置是固定不动的，不发生改变，运动模块的位置会随着引导面形状的不同，发生改变，使得运动模块可以在滑槽中移动，移虫针20能随之向上或者向下移动以及向前或者向后移动，进而完成移虫操作，如图14-15所示，从巢房中挖取蜂虫(一般，挖取蜂虫时会连带一些蜂王浆)。
在一些优选的方式中，如图12所示，引导面包括过渡面，运动模块沿着过渡面进行向上或者向下的移动时，运动模块可以在滑槽中移动，移虫针摆动，移虫针的前后位置发生改变，移虫针由某一位置改变至另一位置。在一些实施方式中，过渡面仅仅为弧形面，运动模块沿着弧形面向上或者向下移动时，运动模块在滑槽中慢慢移动，单位时间内移虫针摆动的幅度较小，移虫针慢慢地改变其在前后方向上的位置。在一些实施方式中，过渡面包括倾斜面，运动模块沿着倾斜面向上或者向下移动时，运动模块在滑槽中快速移动，单位时间内移虫针摆动的幅度较大，移虫针能够快速地改变其在前后方向上的位置。在另一些实施方式中，过渡面包括倾斜面与弧面。倾斜面与弧面的先后顺序以及倾斜面、弧面的数量大小，可以根据具体情况进行设定。
在一些实施方式中，引导面包括过渡面和/或平面；当运动模块沿着平面向上或者向下移动时，运动模块与平面之间的水平距离不变，运动模块在滑槽中的位置不变，移虫针不进行摆动，也就是说，移虫针的高度在不断变化，但是移虫针的水平位置(前后位置)不变。在具体实施时，可以根据实际情况选择不同形状的引导面。本发明不对引导面的形状进行具体地限定。
在一个具体实施方式方式中，如图11，12(1)所示，从上到下，引导面包括多段状态，依次为第一平面4a、弧形面5a、第一倾斜面2a、第二平面6a与第二倾斜面7a。由于时规固定连接在支撑架9上，导引面是固定不动的，运动模块可以在高度调节机构的作用下进行向上或者向下移动，运动模块与不同状态下的引导面相互作用(运动模块与引导面可以是直接接触或者非直接接触，但是两者之间存在相互作用力)，能够改变移虫针20与竖直轴线之间的夹角。当移虫针位于第二倾斜面7a处，移虫针处于巢房底部挖虫过程，如图14中，移虫针处于d状态，此时移虫针位于第二倾斜面7a的某一位置。第二倾斜面7a的设置，还便于运动模块改变移动方向，比如有利于运动模块由向下移动改变为向上移动。
在一些优选的方式中，该引导机构可以被安装在移虫装置或者移虫机构中。本实施例中，如图11所示，该引导机构能够被固定安装在支撑架9上。运动模块能够沿着引导面1a进行向上或者向下移动，进而能够引导移虫针20向上或者向下移动，同时，可以使移虫针摆动，使得移虫针20能够顺利进入巢房中，挖取蜂虫。
在一些优选的方式中，如图11-12所示，时规的上端具有连接头3a，能够与其他部件进行连接。在一些优选的方式中，可以采用螺栓或者螺钉等将该连接头3a与移虫机或者其他装置固定连接，使得时规被安装在移虫机或者其他装置上。本实施例中，如图11所示，连接头3a固定连接在支撑架9上。
在其他实施方式中，如图12(2)所示，从上到下，引导面包括多段状态，依次为第一平面4a、弧形面5a、第一倾斜面2a、第二平面6a与第二倾斜面7a与第三平面88a，其中，第二倾斜面7a便于运动模块改变移动方向，进行向上移动。第三平面88a作为一个保护面，使得运动模块不会由于惯性而移动到时规底部。
本实施例中的其他实施方式可以与实施例1相同或者采用与实施例1相类似的方式。
本实施例中的其他实施方式可以与实施例1相同或者采用与实施例1相类似的方式。
实施例3
在一些优选的方式中，如图5所示，运动模块上设有安装孔1b，移虫针上段21能够被固定安装在安装孔1b中，移虫针能够随运动模块的运动而摆动。在一些优选的方式中，安装孔1b的直径与移虫针上段21的直径大小相匹配，具体地，安装孔1b的直径略大于移虫针上段21的直径，移虫针上段21恰好能够稳定地处于安装孔1b中。由于，移虫针被安装在第一安装机构中，移虫针的安装结合部83可以作为一个支点，当运动模块在第二安装机构中向前移动(或者向后移动)，那么，移虫针上段21能够随运动模块向前摆动(或者向后摆动)，同时移虫针的中段22与下段23能够向后摆动(或者向前摆动)，如图8所示。
在一些优选的方式中，运动模块端部连接有滚动元件；在一些优选的方式中，滚动元件为滚轮2b。在一些优选的方式中，如图5所示，运动模块的外端部连接有滚轮2b，滚轮2b能够沿着接触面进行滚动；相对来说，滚轮2b与接触面的摩擦力较小，不会磨损接触面或者损伤其他部件，而且相同条件下，滚轮滚动的速度更快。
在一些优选的方式中，如图5-6所示，运动模块外端部设有开口3b，用于放置滚轮2b。开口3b的横向尺寸略大于滚轮面的横向尺寸，这样使得滚轮2b恰好能够位于此开口3b处，但不能横向移动、左右振荡。在一些优选的方式中，运动模块外端部设有轴孔4b，用于固定安装滚轮连接轴41b，滚轮2b能够绕滚轮连接轴41b转动。在一些优选的方式中，滚轮面凸出于运动模块外端部，这样使得只有滚轮2b与接触面接触，滚轮2b沿着接触面滚动时，其他部件不与接触面接触，不会影响滚轮2b的滚动，而且在滚轮2b滚动时，不会损坏、磨损运动模块上的其他部位。
在一些优选的方式中，运动模块安装有滚动元件的那一端设有凸块。所述凸块用于与其他部件(比如干涉块的第二干涉部位)发生干涉，发生干涉后，可以改变运动模块在前后方向上的位置，(如图6(1)所示，x轴方向表示前后方向，)进而能够改变移虫针20向前或者向后摆动的角度(或者倾斜的角度)，即能够改变移虫针20与竖直轴线之间的夹角，如图10所示。在一些优选的方式中，如图5所示，运动模块安装有滚动元件的那一端设有凸块5b；凸块5b的设置不影响滚动元件在引导面(或者接触面)上滚动。在一些实施方式中，凸块5b的凸起方向与滚轮连接轴的轴向方向一致。在另一些实施方式中，凸块5b的凸起方向与滚轮连接轴的轴向方向垂直，如图5(2)所示，在一些优选的方式中，凸块5b上连接有安装部件5m,在其他一些优选的方式中，凸块5b另一侧上连接有安装部件5m,如图5(3)所示。在一些优选的方式中，如图5(2)所示，凸块端部连接有滚轮，所述滚轮与其他部件接触时，不会产生较大的磨损。
在一些优选的方式中，运动模块远离滚动元件的那一端设有连接元件。在一些优选的方式中，如图5所示，连接元件为连接柱6b，连接柱6b用于连接其他部件。
在一些优选的方式中，运动模块安装有滚轮2b的那一端具有斜面7b，如图5所示。当滚轮2b的接触面为斜面时，运动模块上的斜面7b能够与该接触面相匹配；如果滚轮2b的接触面是斜面，运动模块安装有滚轮2b的那一端还是平面，那么滚轮2b在滑动的过程中，平面会与接触面(即斜面)发生干涉，影响滚轮2b的移动，磨损接触面与运动模块。
本实施例中的其他实施方式可以与实施例1-2相同或者采用与实施例1-2相类似的方式。
实施例4
在一些实施例中，如图11所示，时规被竖直安装在支撑架9上；如图12所示，从上到下，引导面1a依次包括第一平面4a(即第一竖直面)、弧形面5a、第一倾斜面2a、第二平面6a(即第二竖直面)、第二倾斜面7a，滚轮2b能够沿着引导面1a向下进行滑动，在滑动过程中，弹簧与移虫针20状态在不断变化。滚轮2b沿着第一平面4a滑动过程中，滚轮2b与第一平面4a接触，弹簧处于压缩状态、移虫针上段21向后倾斜，移虫针的移虫元件4f向前伸出；滚轮2b沿着过渡面(即弧形面5a与第一倾斜面2a)滑动过程中，弹簧逐渐弹回，移虫针上段21逐渐向前至恢复竖直，然后向前倾斜，移虫针下段的移虫元件4f向后伸出；滚轮2b沿着第二平面6a(即第二竖直面)滑动过程中，滚轮2b与第二平面6a接触，弹簧处于轻微的压缩状态，移虫针20向前倾斜，移虫针的移虫元件4f向后伸出；滚轮2b在第二倾斜面7a滑动过程中，滚轮2b与第二倾斜面7a接触，弹簧处于轻微的压缩状态或者弹簧处于自由长度，移虫针20向前倾斜，倾斜角度增大，移虫针的移虫元件4f向后伸出。
在一些优选的方式中，如图13所示，该引导机构包括第四电机8a，第四电机8a上连接有摆动块9a，第四电机8a能够控制摆动块9a摆动或者静止，在一些优选的方式中，如图12(1)所示，时规上设有第一安装部位10a，用于安装第四电机8a。
在一些优选的方式中，如图12所示，时规上设有让位结构11a。在一些优选的方式中，时规上设有第二安装部位。在一些优选的方式中，第二安装部位包括连接轴12a。
在一些优选的方式中，该引导机构还包括干涉块13a，干涉块13a与时规连接，干涉块13a能够安装在第二安装部位，具体地，如图13所示，干涉块13a中间部位设有第二连接孔14a，连接轴12a能够穿过第二连接孔14a，实现干涉块13a与时规的连接，两者连接或者结合之后，干涉块13a能够处于某一位置，当有一定大小的作用力作用于干涉块13a，干涉块13a能够绕连接轴12a摆动。
在一些优选的方式中，如图13所示，干涉块13a的上端部分位于让位结构11a处，便于干涉块13a摆动，同时能够限制干涉块13a摆动的范围。
在一些优选的方式中，如图13所示，干涉块13a一端设有第一干涉部位15a，另一端设有第二干涉部位16a。第一干涉部位15a被配置为能够与第四电机8a上的摆动块9a发生干涉；第二干涉部位16a被配置为能与凸块5b发生干涉；如图18所示，当电机8a带动摆动块9a转动时，摆动块9a向外拨动干涉块13a的第一干涉部位15a，干涉块13a转动，干涉块13a的第二干涉部位16a向内部按压凸块5b，使得运动模块向滑槽内部滑动，移虫针上段21向后摆动(即向后倾斜)，移虫针的移虫元件4f向前伸出，挖取蜂虫。
在其他实施方式中，如图12所示，第四电机没有被设置在时规上，第四电机被设置在运动模块一侧，如图5(2),第四电机能够随运动模块移动而移动。因此第四电机可以实时控制移虫针的推舌7m处于推出或者正常状态。
本实施例中的其他实施方式可以与实施例1-3相同或者采用与实施例1-3相类似的方式。
实施例5
在一些优选的方式中，该移虫机构还包括高度调节机构,高度调节机构能够用于调节安装机构的高度，使移虫针处于不同高度，改变移虫针20与巢房之间的竖直距离，便于移虫针20进入巢房挖取蜂虫，以及挖到蜂虫之后离开巢房。
在一些优选的方式中，安装机构与高度调节机构连接，使得移虫针20能够进行向上或者向下移动，处于不同的高度。
在一些优选的方式中，如图18所示，高度调节机构包括第一齿轮8e、第一齿合板9e；第一齿轮8e与第一齿合板9e相互配合，能够用于调节安装机构的高度，进而调节移虫针的高度。在其他实施方式中，也可以采用其他方式实现高度调节，比如可以采用齿轮、传动带等来实现移虫针高度的调节。
在一些优选的方式中，高度调节机构还包括第一电机7e，能够用于提供动力，带动第一齿轮转动。在其他实施方式中，不采用电机，可以采用其他的机械装置进行驱动，使第一齿轮转动。
在一些优选的方式中，高度调节机构还包括移动架、移动块1e与连接件6e。在一些优选的方式中，移虫机构还包括支撑架9，支撑架9上连接有立柱2e。
在一些优选的方式中，如图11所示，立柱2e与支撑架通过连接部件或者连接杆等固定连接，移动块1e与移动架连接固定，移动块1e还与立柱2e滑动连接，使得移动架能够相对于立柱2e向上或者向下移动。第一齿合板9e、连接件6e分别与移动架连接固定，移动 架移动。第一电机7e固定连接在支撑架9上，第一电机7e连接第一齿轮8e。第一电机7e提供动力，能够带动第一齿轮8e转动。第一齿轮8e能够与第一齿合板9e接触齿合，当第一电机7e转动，第一齿轮8e转动，第一齿合板9e能够向上或者向下移动(第一齿轮顺时针转动或者逆时针转动时，第一齿合板能够向下或者向上移动，移动架能够向下或者向上移动)。
在一些优选的方式中，第二安装机构与移动架固定连接，(本实施例中，如图11所示，第二安装机构与连接件6e连接固定，连接件6e与移动架连接固定。第二安装机构能够随移动架的移动而移动，使得移虫针能够随之进行向上或者向下移动。
在一些优选的方式中，支撑架9上部设有第一限位部件，下部设有第二限位部件，限位部件的设置能够使移动块1e在一定范围内上下移动，移虫针20能够在一定范围内移动，避免过度移动，超出合适范围，损害移虫针20。
在一些优选的方式中，立柱2e固定连接在支撑架9上，移动块1e能够与立柱2e滑动连接，能够沿着立柱2e上下滑动，在一些优选的方式中，立柱2e两侧设有滑槽，移动块1e上设有与之相匹配的凸起，凸起与滑槽配合，能够实现移动块1e在立柱2e上滑动。本实施例中，如图11所示，高度调节机构还包括两根立柱2e，在其他实施方式中，可以设置一根立柱或者大于两根立柱；在一些实施方式中，可以根据实际需要设置一个或者一个以上的移动块。本实施例中，如图11,16所示，高度调节机构包括四个移动块，其中两个移动块位于同一根立柱上(两个移动块分别位于同一个立柱的不同位置)，另外两个移动块位于同一根立柱上(两个移动块分别位于立柱的不同位置)。在一些优选的方式中，立柱与移动架不会相互干涉，本实施例中，移动架的架体位于两根立柱的中间空位处，立柱不影响移动架进行向上或者向下移动。
在一些优选的方式中，移动块固定连接在移动架上，当第一电机7e转动，第一齿轮8e转动，第一齿合板9e能够向上或者向下移动，移动架能够向上或者向下移动，移动块能够在立柱上向上或者向下滑动，与移动架相连接的固定机构、第二安装机构能够进行向上或者向下移动，能够改变移虫针的竖直位置(即改变移虫针的高度)。
在其他实施方式中，如图23所示，高度调节机构包括动力传递装置与移动架，动力传递装置与移动架连接，移虫针与移动架连接，移动架内部设有缓冲元件，所述缓冲元件可以是弹性件或者其他具有时间缓冲作用的结构或者装置。
在一些优选的方式中，高度调节机构包括动力装置，动力装置与动力传递装置连接，动力装置可以是电机，本实施例中，如图23所示，动力装置采用第一电机7e；在其他实施方式中，可以不采用电机，而是采用其他的机械装置进行驱动。动力装置能够将动力传递给动力传递装置，移动架能够在动力装置的驱动下进行移动，移虫针能够随之进行向上或者向下移动，进而实现调节移虫针处于不同的高度。
在一些优选的方式中，动力传递装置包括第一齿轮8e、第一齿合板9e、移动块1e；在其他实施方式中，也可以采用其他方式来实现动力的传递，比如可以采用齿轮、传动带等。
本实施例中，如图23所示，第一齿轮8e与第一电机7e连接，第一齿轮8e与第一齿合板9e接触连接，第一齿合板9e与移动架1h连接(第一齿合板9e与移动架1h固定连接在一起，或者两者可以是一体成型)，移虫针与移动架1h直接或者间接连接，移动架1h还与移动块1e连接。如果第一电机7e转动，能够带动第一齿轮8e转动，第一齿合板9e能够向上或者向下移动，移动架1h能够向上或者向下移动，移虫针可以随之向上或者向下移动。
在一些优选的方式中，高度调节机构还包括立柱2e,移动块1e能够与立柱2e滑动连接，使得移动架1h与移虫针能够相对于立柱2e向上或者向下移动。
在一些优选的方式中，如图23所示，高度调节机构还包括连接架，被配置为能够将第二安装机构与移动架连接在一起，进而使得移虫针能够随着移动架的移动而移动。
本实施例中的移动架1h不同于以上所述的移动架，而且连接架也不同于以上所述的连接件。
在一些优选的方式中，如图22(1)所示，移动架1h包括竖向支架2h，竖向支架2h上设有第一腔体3h与第二腔体4h，第一腔体3h底部设有第一连接通孔5h，第二腔体4h底部设有第二连接通孔6h，便于与其他部件进行连接。
在一些优选的方式中，如图22(2)所示，连接架包括连接片10h，连接片左右两边设有移动块1e连接部位，用于与移动块1e连接。连接片还连接有支撑臂7h，能够被用于支撑其他部件，本实施例中，第四电机8a安装在支撑臂7h处，支撑臂7h能够支撑第四电机8a，第四电机8a连接按压块(或者干涉块13a)，能够用于按压或者击打凸块5b，使得运动模块向后移动(即向滑槽内部移动，滑槽内部的弹簧被压缩)；移虫针摆动，移虫针上段向后倾斜，移虫元件向前倾斜。
在一些优选的方式中，如图22(2)所示，连接片背部设有配合件8h，所述配合件8h上也设有第三连接通孔9h，在一些优选的方式中，配合件8h可以与第一腔体相配合连接在一起，比如，可以将配合件8h插入第一腔体中，然后使用连接柱依次穿过第一连接通孔5h、配合件8h上的第三连接通孔9h、第二腔体4h上的第二连接通孔6h，在连接柱的两端拧上螺帽封闭，使连接柱不掉落，能够真正起到连接作用，将配合件8h与竖向支架2h连接在一起(将连接架与移动架1h连接起来)。在一些优选的方式中，配合件8h的尺寸(长、宽、高)均小于第一腔体3h尺寸(长、宽、高)，但是配合件8h的横向尺寸大于第一连接通孔5h的尺寸，这样使得配合件8h能够位于第一腔体3h内部，但又不会从第一连接通孔5h中滑出。在一些优选的方式中，第一腔体3h的高度比配合件8h的高度大，如图23所示，当配合件8h被装配在第一腔体3h中后，第一腔体3h内的上部具有剩余空间11h，这样使得配合件8h能够在第一腔体3h内部沿着连接柱向上(或者向下)移动。
在一些优选的方式中，第一腔体3h内部设有弹性件8m，所述弹性件8m作为一个缓冲元件，所述弹性件8m可以是弹簧(附图中未示出)。在一些优选的方式中，所述弹性件8m套设在连接柱外部，弹性件8m位于第三连接通孔9h上方，而且处于第二连接通孔6h下方。当移动架1h在第一电机7e的控制下，进行向上移动时，配合件8h受到向上的作用力，配合件8h向上移动，进而压缩弹簧，弹簧被压缩后，会给配合件8h一个方向向下的作用力，最终形成一个平衡，配合件8h随移动架1h向上移动，移虫针随着移动架1h向上移动。同样地，当移动架1h在第一电机7e的控制下，进行向下移动时，弹簧被压缩，配合件8h受到向下的作用力，进而使得配合件8h、移虫针能够顺利地随移动架1h向下移动。
弹性件8m的设置，使得配合件8h与移虫针不会马上随着移动架1h进行向上移动，而是存在一定缓冲时间(或者存在一定的时间延迟)，比如当移虫针处于位置d，如图14所示，移虫元件接触到培养碗底部，第四电机8a被启动，与第四电机连接的干涉块13a，会按压(或者击打)凸块5b，运动模块向后移动，移虫针摆动，移虫针上段向后倾斜，移虫元件向前移动，挖取蜂虫，而后，使移虫针向上移动。理论上，第四电机8a启动，干涉块要同步按压凸块5b，使移虫元件挖取蜂虫，同时使移虫针向上移动，但是实际情况下，第四电机8a会启动有反应时间，干涉块按压凸块5b，使移虫元件挖取蜂虫也需要相应的时间，所 以需要最初移虫针向上移动时，有一定的时间延迟，避免出现这样的现象：移虫元件还没有挖取蜂虫，移虫针就已经向上移动，脱离了巢房。弹性件8m的设置，使得移虫元件能够较好地挖取蜂虫，有效地挖虫，避免挖不到蜂虫，就离开的现象。
在一些优选的方式中，移动架1h上连接有放虫机构。移动架1h上连接有第二电机3e，第二电机3e可以直接或者间接连接在竖向支架2h上，第二电机3e还连接摆动件，摆动件连接有按压平板，用于向下按压移虫针上端，使推舌7m向下移动，使蜂虫脱离移虫元件。
本实施例中的其他实施方式可以与实施例1-4相同或者采用与实施例1-4相类似的方式。
实施例6
在一些优选的方式中，移虫机构包括放虫机构，放虫机构可以采用电机控制推舌向下移动，将蜂虫推出，离开移虫元件，实现放虫操作，比如，采用图24(2)中所示的电机3e，击打移虫针上端，使推舌向下移动，蜂虫离开移虫元件。当然也可以采用其他的方式实现放虫。
一种具体实施方式中，如图11所示，放虫机构包括第二电机3e、第二齿轮4e、第二齿合板5e，三者相互配合，可以被用于放虫操作，即将移虫元件4f上的蜂虫，放入台基条的培养碗中。
在一些优选的方式中，第二电机3e固定连接在移动架上，第二电机3e与第二齿轮连接，第二电机能够带动第二齿轮转动，第二齿轮4e能够与第二齿合板5e齿合连接。在一些优选的方式中，如图11所示，连接件6e具有多段连接结构，连接件6e能够与第二安装机构连接(即连接件与第二安装机构中的第一连接段5c、第二连接段6c通过螺钉或者螺栓连接)，同时连接件6e与移动块1e连接，连接件6e与移动架连接，连接件6e还与第二齿合板5e连接。在一些优选的方式中，第二齿合板两个侧面均设有卡条，连接件设有开槽，第二齿合板卡接在连接件的框架内，第二齿合板能够沿着开槽向上或者向下滑动。当第二电机3e启动，第二齿轮能够转动，相应地，第二齿合板5e能够向上或者向下移动，第二齿合板5e底部设有平板，第二齿合板向下运动至移虫针上方，第二齿合板再继续向下移动，平板能够抵住移虫针上端，按压移虫针，使得推舌7m向下移动，推动移虫元件表面的蜂虫与蜂王浆，使得蜂虫与蜂王浆脱离移虫元件4f，进入台基条的培养碗中。在一些优选的方式中，第二齿合板上设有限位凸起，该凸起能够与连接件发生干涉，避免第二齿合板继续向上移动，脱离连接件。本实施例中，如图18所示，限位凸起位于第二齿合板中部偏下的部位，使得第二齿合板能够向上移动较大的距离。在不放虫的时候，第二齿合板底部的平板位于移虫针上端一定距离，不会按压移虫针上端，不与移虫针上端发生干涉，不影响移虫针移虫操作。
本实施例中的其他实施方式可以与实施例1-5相同或者采用与实施例1-5相类似的方式。
实施例7
在一些优选的方式中，该移虫机构还包括水平位置调节机构,水平位置调节机构能够用于调节安装机构的水平位置，使移虫针20处于不同水平位置处，改变移虫针移虫元件4f与巢房之间的水平距离，便于移虫针20在水平方向上移动对准目标巢房，挖取蜂虫。
在一些优选的方式中，水平位置调节机构包括前后位置调节机构和左右位置调节机构，所述前后位置指的是图6中x轴所表示的方向。所述左右位置即图6中y轴所表示的方向。
所述目标巢房指的是：巢房内部含有蜂虫的巢房。如图16所示，水平方向上(即左右方向上)，设有多排巢房，每排包括多个巢房，这些巢房中，有的含有蜂虫，有的没有蜂虫。
在一些优选的方式中，如图16所示，水平位置调节机构(此处水平位置调节机构指的是前后位置调节机构)，水平位置调节机构可以采用齿轮、齿合板等实现位置调节，或者采用齿轮、传动带等或者采用丝杆、丝杆套等实现位置调节。
在具体实施方式中，前后位置调节机构包括第三电机1d、第三齿轮2d、第三齿合板3d、平移板4d，水平位置调节机构被配置为能够调节、改变移虫针水平方向的位置(即前后方向的位置)。在一些优选的方式中，第三电机1d固定安装在机架的支撑板5d上，支撑板5d的高度低于平移板的高度，这样使得平移板与支撑板之间留有一段距离，平移板移动时，第三齿合板不会与支撑板发生干涉，不会影响平移板的移动。
在一些优选的方式中，如图16-17所示，第三齿轮2d与第三电机1d连接，第三电机1d能够带动第三齿轮2d转动，第三齿合板3d与第三齿轮2d相互接触齿合，第三齿轮2d转动能够带动第三齿合板3d相对第三电机1d向前或者向后移动。在一些优选的方式中，如图17所示，第三齿合板3d与平移板4d连接固定，平移板4d能够随着第三齿合板3d的移动而移动。在一些优选的方式中，平移板4d与支撑架9直接或者间接连接固定，平移板4d向前或者向后水平运动时，能够带动支撑架9向前或者向后移动，那么，与支撑架9相连接的部件，也能够进行水平移动，因此移虫针20能够进行向前或者向后水平移动。在移虫过程中，移虫针20既能够进行向上或者向下移动，也能够进行向前或者向后的平移运动，还可以进行向前或者向后倾斜摆动(即随着运动模块在滑槽中移动)。
在一些优选的方式中，左右位置调节机构可以采用现有技术中常规的位置调节机构(图中未示出)，主要包括第五电机、第四齿轮、第五齿轮、传送带、滑轨、滑块、连接结构等。第五电机与第四齿轮连接，传送带分别与第四齿轮、第五齿轮连接，滑块与滑轨滑动连接，滑块还与支撑加连接，连接结构与传送带连接，连接结构与支撑架连接。第五电机能够带动第四齿轮转动，传送带随之移动，第五齿轮转动，与传送带连接的连接结构和支撑架随之移动，滑块随支撑架移动而沿着滑轨滑动，进而能够调节移虫针在左右方向上的位置。
本实施例中的其他实施方式可以与实施例1-6相同或者采用与实施例1-6相类似的方式。
实施例8
一种移虫方法，所述方法模拟手动移虫操作，可以采用以上所述的移虫机构，具体包括以下步骤：
(1)使移虫针20位于第一位置w1，所述第一位置w1指的是：移虫针20向后倾斜，移虫元件4f向前倾斜，移虫针20的移虫元件4f的方向相对于竖直方向向前倾斜一定角度；
(2)使移虫针20位于第二位置w2，所述第二位置w2指的是：移虫针20向前倾斜，移虫元件4f向后倾斜，移虫针的移虫元件4f的方向相对于竖直方向向后倾斜一定角度；
(3)使移虫针20再次处于第一位置w1，在第二位置w2变化到第一位置过程中，完成挖虫。移虫针位于第一位置w1时，移虫针20向后倾斜，移虫针20的移虫元件4f相对于竖直方向向前倾斜一定角度，挖取蜂虫。
在一些优选的方式中，步骤(1)-(3)中，所述一定角度为5°-30°。
在一些优选的方式中，步骤(1)中，使移虫针20位于第一位置w1，然后使移虫针20向下移动。
在一些优选的方式中，步骤(2)中，如图14-15所示，使移虫针20由第一位置w1改变到第二位置w2的过程中，将移虫针20向后水平移动，同时移虫针向下移动。
在一些优选的方式中，步骤(2)中，使移虫针20由第一位置w1改变到第二位置w2的过程中，(图10是移虫针20只进行前后摆动时，倾斜角度改变的示意图，图中，移虫针20倾斜的角度为10°，由图可知，移虫针20摆动，由第一位置w1改变到第二位置w2,中间经历了中间位置wg,由于支点几乎不动，移虫针20由向后倾斜变为向前倾斜，那么支点下方的移虫元件4f由原来的向前倾斜变为向后倾斜)，移虫针20向下移动同时移虫针整体向后水平移动，如图14所示，移虫元件4f进入巢房内，移虫元件4f是倾斜一定角度，并且贴着巢房内壁进入巢房中的，不是直上直下地，从巢房中间位置进入巢房。图14中，最初没有显示出移虫针处于位置w1，但是移虫针可以由位置w1开始，逐渐向下移动，并且移虫针摆动，移虫元件4f向后倾斜至位置(a)，然后移虫元件4f继续向下移动，向后倾斜至位置(d)，位置w2可以是位置(d)，也可以是位置(c)-(d)之间的某一位置状态，当移虫元件4f位于位置w2时，移虫元件前端是弯曲的，贴合巢房底部。移虫元件与巢房的相对位置关系如图27所示,图27中，第二位置w2可以是(3)处所表示的状态。
在一些优选的方式中，步骤(3)中，如图14-15所示，使移虫针20由第二位置w2改变到第一位置w1的过程中，移虫元件弯曲，移虫针摆动，移虫元件4f向前移动，移虫元件4f拨动含有蜂虫的蜂浆，并使含有蜂虫的蜂浆粘附在移虫元件4f上，然后将移虫针20向后水平移动同时向上，移虫针带着蜂虫与蜂浆，脱离巢房。
在一些优选的方式中，移虫元件上负载有蜂虫之后，移虫针20沿着引导面向上移动，使移虫针20再次摆动，移虫元件向后倾斜，与步骤(1)中移虫针20位于第一位置w1时的状态一致。
在一些优选的方式中，移虫针20脱离巢房后，向上移动至移虫针20重新处于第一位置w1，使移虫针20向前移动到台基条处，对准培养碗，此时，第二电机3e启动，第二齿轮转动，相应地，第二齿合板5e能够向下移动，第二齿合板5e底部的平板抵住移虫针上端，按压移虫针，使得推舌7m向下移动，推动移虫元件表面的蜂虫与蜂王浆，使得蜂虫与蜂王浆脱离移虫元件4f，进入台基条的培养碗中。
在一些优选的方式中，放虫过程中，移虫针向下移动，倾斜着进入培养碗。在一些优选的方式中，放虫过程中，移虫元件接触培养碗底部之后，蜂虫被推出，移虫针向上移动，同时向后移动。
采用移虫机构进行移虫的过程如图14,27所示；
步骤(1)的具体过程为：移虫针20位于第一位置w1后，第一齿合板向下移动，相应地，移虫针20向后倾斜着向下移动。
因为移虫针上段21被安装在运动模块内部，移虫针安装结合部83与第一安装机构结合，运动模块上的滚轮2b与时规的引导面1a接触，滚轮2b在第一平面4a上向下滑动，此过程中，弹簧处于压缩状态，移虫针20位于第一位置w1：移虫针20向后倾斜，移虫针的移虫元件4f(即移虫针挖虫部分)向前伸出。
步骤(2)的具体过程为：移虫针20向下移动，同时平移板向后移动(相应地移虫针向 后移动)，此过程中，滚轮2b沿着时规的过渡面(弧形面5a与第一倾斜面2a)滑动，又沿着时规的第二平面6a滑动(滚轮2b在第二平面6a滑动时，移虫元件可以是处于图27中位置(4))，最终滑动到时规的第二倾斜面7a，此过程中，弹簧逐渐弹回，移虫针20摆动，移虫针上段逐渐向前摆动恢复至竖直(即中间位置wg)，然后移虫针上段向前倾斜，移虫元件4f(即移虫针挖虫部分)向后伸出(即第二位置w2)；移虫元件4f向下移动进入巢房内。图14中，第二位置w2可以是d处所表示的状态，图27中，第二位置w2可以是(3)处所表示的状态，移虫针处于第二位置w2时，滚轮2b位于时规的第二第二倾斜面7a处。
步骤(3)的具体过程为：如图11(1)所示，由于滚轮2b位于第二倾斜面7a处，此时第四电机8a控制干涉块13a摆动，干涉块13a的第二干涉部位16a按压凸块5b，运动模块向滑槽内部滑动，相应地，移虫针20摆动，移虫针上段向后倾斜(弹簧处于压缩状态)，如图14，27所示，移虫元件4f(即移虫针挖虫部分)向前翘起，同时平移板向前移动(相应地移虫针向前移动)，使移虫针向上移动，将蜂虫连同少量蜂王浆挖起来。在其他实施方式中，如图24所示，启动第四电机8a，第四电机8a转动，击打或者按压凸块5b，使得运动模块向滑槽内部滑动，相应地，移虫针20摆动，移虫针由第二位置w2变为第一位置w1。
移虫元件上负载有蜂虫之后，使移虫针20向后移动，同时沿着引导面1a继续向上移动，脱离巢房，移动至时规的第一平面4a，此时移虫针20的状态与步骤(1)中移虫针20位于第一位置时的状态一致。
进一步地，放虫过程中，移虫元件接触培养碗内壁之后，使移虫针向上移动，同时向后移动，移虫元件背部在培养碗边缘处刮一下，如图29所示，(5)之后的某一时刻，刮掉移虫元件背部粘的蜂王浆，然后移虫针继续向上与向后移动离开培养碗。
采用本发明的移虫机构与移虫方法，移虫成功率高达90％以上，最终的移虫成活率也较高。相对于传统的直上直下地移虫方法，本发明的移虫方法能够保护移虫针，延长移虫针的使用寿命。
实施例9
一种移虫方法，所述方法模拟手动移虫操作，如图28所示，可以采用以上所述的移虫机构，具体包括以下步骤：
(1)使移虫针20位于第一位置w11，所述第一位置w11指的是：移虫针20向后倾斜，移虫元件4f向前倾斜，移虫元件4f的方向相对于竖直方向向前倾斜一定角度，移虫针的推舌7m处于向下推出的状态(即放虫时的状态)，推舌7m紧贴移虫元件，这样使得移虫元件具有一定的刚性，移虫元件4f是直的，非弯曲状态，这样能够使得移虫元件接触巢房内壁时，移虫元件是直的，不发生弯曲，当推舌7m向上移动过程中，移虫元件向前弯曲，可以有效地挖取蜂虫，避免移虫元件接触巢房内壁时，向后弯曲，不能挖取蜂虫，图26为摄像装置拍摄的照片，蜂虫位于在巢房中。
(2)使移虫针20位于第二位置w22，所述第二位置w22指的是：移虫针20向前倾斜，移虫元件4f向后倾斜，移虫元件4f的方向相对于竖直方向向后倾斜一定角度；移虫针的推舌7m处于向下推出的状态(即放虫时的状态)，推舌7m紧贴移虫元件，这样使得移虫元件具有一定的刚性，移虫元件4f是直的，非弯曲状态，这样能够使得移虫元件接触巢房内壁时，移虫元件是直的，不发生弯曲，当推舌7m向上移动过程中，移虫元件向前弯曲，可以有效地挖取蜂虫，避免移虫元件接触巢房内壁时，向后弯曲，不能挖取蜂虫。
(3)使移虫针20处于第三位置w33，在移虫针由第二位置变化到第三位置过程中，完 成移虫操作。所述第三位置w33指的是：移虫针20向后倾斜，移虫针20的移虫元件4f相对于竖直方向向前倾斜一定角度，移虫元件上负载或者粘附有蜂虫。
在一些优选的方式中，步骤(1)-(3)中，所述一定角度为5°-40°。
在一些优选的方式中，步骤(1)中，使移虫针20位于第一位置w11，然后使移虫针20向下移动。
在一些优选的方式中，本实施例中的移虫方式类似于图14，区别在于，第一位置与第二位置时，移虫针推舌7m处于向下推出的状态(即放虫时的状态)，如图28所示。步骤(2)中，使移虫针20由第一位置w11改变到第二位置w22的过程中，将移虫针20向后水平移动，同时使移虫针向下移动。
在一些优选的方式中，步骤(2)中，使移虫针20由第一位置w11改变到第二位置w22的过程中，移虫针20向下移动同时移虫针整体向后水平移动至移虫元件4f接触巢房内壁，此时移虫元件4f倾斜一定角度，而且移虫元件是直的，不发生弯曲，不同于传统移虫方式(传统移虫方式是竖直地，从巢房中间位置进入巢房)。
具体地，使移虫针20由第一位置w11改变到第二位置w22的过程中，
滚轮2b沿着时规的过渡面(弧形面5a与第一倾斜面2a)滑动，又沿着时规的第二平面6a滑动(滚轮2b在第二平面6a滑动时，移虫元件可以是处于图28中位置(4))，最终滑动到时规的第二倾斜面7a，此过程中，弹簧逐渐弹回，移虫针20摆动，移虫针上段逐渐向前摆动恢复至竖直(即中间位置wg)，然后移虫针上段向前倾斜，移虫元件4f(即移虫针挖虫部分)向后伸出(即第二位置w22)；移虫元件4f向下移动进入巢房内。图28中，第二位置w22可以是(5)处所表示的状态，移虫针处于第二位置w2时，滚轮2b位于时规的第二倾斜面7a处。
在一些优选的方式中，步骤(3)中，如图28所示，使移虫针20由第二位置w22改变到第三位置w33的过程中，移虫元件接触到巢房内壁之后，移虫针的推舌7m向上移动，移虫元件弯曲；同时在第四电机8a的作用下，干涉块按压凸块5b，移虫针摆动，移虫元件4f向前移动，移虫元件4f拨动含有蜂虫的蜂浆，并使含有蜂虫的蜂浆粘附在移虫元件4f上，然后将移虫针20向后水平移动同时向上移动，移虫针带着蜂虫与蜂浆，脱离巢房。在其他实施方式中，如图24所示，启动第四电机8a，第四电机8a转动，击打或者按压凸块5b，使得运动模块向滑槽内部滑动，相应地，移虫针20摆动，移虫针由第二位置w22变为第三位置w33。
在一些优选的方式中，移虫元件上负载有蜂虫之后，移虫针20沿着引导面向上移动，同时向后移动，最终，移虫针20位于第三位置w33，有利于放虫操作。
在一些优选的方式中，移虫针脱离巢房，并且处于第三位置后，使移虫针向前移动。
在一些优选的方式中，移虫针脱离巢房，并且处于第三位置后，使移虫针向前移动，同时使移虫针向下移动至目标位置，移虫针倾斜着进入培养碗，接触到培养碗内壁，然后将蜂虫推出放至培养碗中。所述目标位置指的是：移虫针处于台基条的培养碗上部。
在一些优选的方式中，移虫针20脱离巢房后，移虫针20处于第三位置w33，如图29所示，放虫过程中：使移虫针20向前移动到台基条处，对准培养碗，移虫针向下移动，倾斜着进入培养碗，移虫元件接触培养碗时，移虫元件向前倾斜，然后，第二电机3e启动，第二齿轮转动，相应地，第二齿合板5e向下移动，第二齿合板5e底部的平板抵住移虫针上 端，按压移虫针(按压移虫针的操作，也可以直接采用电机3e来完成，如图24所示)，使得推舌7m向下移动，推动移虫元件表面的蜂虫与蜂王浆，使得蜂虫与蜂王浆脱离移虫元件4f，进入台基条的培养碗中。
进一步地，放虫过程中，移虫元件接触培养碗内壁之后，使移虫针向上移动，同时向后移动，移虫元件背部在培养碗边缘处刮一下，如图29所示，(5)之后的某一时刻，刮掉移虫元件背部粘的蜂王浆，然后移虫针继续向上与向后移动离开培养碗。
采用本发明的移虫方法，移虫成功率高达95％以上，最终的移虫成活率也较高。相对于传统的直上直下地移虫方法，本发明的移虫方法能够保护移虫针，延长移虫针的使用寿命，而且可以避免伤害蜂虫。
实施例10
一种用于移虫的检测装置，包括用于采集巢房中蜂虫信息的采集元件、用于检测巢房中蜂虫的检测元件。采集元件能够将采集到的信息传递给检测元件，检测元件能够对接收到的信息进行分析，得到检测结果。
在一些优选的方式中，还包括用于识别移虫针或者巢房所处位置的定位元件。定位元件可以采用位置传感器等。
在一些优选的方式中，采集元件采用摄像装置，被配置为能够拍摄巢房内部照片，并能够将照片信息传输至检测元件，检测元件可以对照片进行分析，得出检测结果，即巢房中是否有蜂虫。摄像装置可以采用摄像头等，也可以采用现有技术中常规的能够拍照的装置。在一些实施方式中，检测元件包括图像分析单元，图像分析单元包括但不限于GPU服务器，以及运行在GPU服务器上的有无蜂虫的检测模块，检测模块能够对图像数据进行分析，在大量的训练数据集的基础上训练出高精度模型对图像数据进行检测。
本发明不对摄像装置、检测元件、位置传感器等本身的结构进行改进，本发明只是采用现有的装置与技术来实现检测蜂虫的目的。
在一些具体实施方式中，如图18所示，一种用于移虫的检测装置，包括采集元件、位置传感器等；移虫机构包括外壳1f，所述外壳与支撑架连接，外壳两侧连接有安装结构，安装结构包括第一安装结构2f与第二安装结构5f，所述第一安装结构2f能够被用于安装采集元件；第二安装结构能够用于安装位置传感器，可以用于识别移虫针或者巢房所处的位置，便于调节移虫针的位置，进行移虫操作。
本实施例中的其他实施方式可以与实施例1-7相同或者采用与实施例1-7相类似的方式。
实施例11
在其他实施方式中，一种用于移虫的检测装置，如图25所示，包括滑动支架、用于采集巢房中蜂虫信息的采集元件、用于检测巢房中蜂虫的检测元件，采集元件被安装在滑动支架上，滑动支架包括滑动件，滑动件能够沿着滑道进行滑动，采集元件能够随之移动。
在一些优选的方式中，还包括用于识别移虫针或者巢房所处位置的定位元件。
在一些方式中，采集元件采用摄像装置，用于拍摄巢房内部照片，定位元件采用位置传感器。检测元件包括图像分析单元，图像分析单元包括但不限于GPU服务器，以及运行在GPU服务器上的有无蜂虫的检测模块，检测模块对图像数据进行分析，在大量的训练数据 集与验证数据集的基础上训练出高精度模型对图像数据进行检测。
本发明不对摄像装置、检测元件、位置传感器等本身的结构进行改进，本发明只是采用现有的装置与技术来实现检测蜂虫的目的。
在一些优选的方式中，如图25所示，所述滑动支架包括第一安装臂6k与第二安装臂7k，摄像装置安装在第一安装臂上，位置传感器2k安装在第二安装臂和/或第一安装臂上。在一些实施方式中，位置传感器的数量可以是一个或者多个。当滑动件5k沿着滑道进行滑动，所述滑道与左右位置调节机构中的滑轨平行设置。摄像装置与位置传感器2k能够随之移动。
在一些优选的方式中，第一安装臂6k上的侧面连接有安装件4k，摄像装置能够被安装在安装件4k的摄像装置安装部位。
在一些优选的方式中，第一安装臂6k与第二安装臂7k间隔一定距离，两者相对设置。
在一些优选的方式中，所述检测装置还包括卡接结构，所述卡接结构包括卡接部位。
在一些方式中，如图23所示，卡接结构固定连接在支撑架上，所述卡接结构不与高度调节机构发生干涉。在一些优选的方式中，如图23所示，卡接结构具有卡接部位1k，被配置为能够与其他部件进行卡接连接。在一些优选的方式中，所述卡接部位1k为弧形卡接部位1k，弧形卡接部位1k与待卡接部件的结合比较紧密，能够较好地将待卡接部件与支撑架连接在一起。
在一些优选的方式中，如图25所示，第一安装臂6k上连接有卡接件3k，所述卡接件3k能够与卡接部位1k相配合，实现卡接连接。在一些优选的方式中，所述卡接件3k具有弧形面，所述弧形面能够与弧形卡接部位1k结合。
当卡接结构与卡接件3k结合，移虫针在左右位置调节机构的驱动下，进行左右移动时，摄像装置与位置传感器2k能够随之进行左右移动。由于摄像装置与位置传感器2k没有与支撑架固定连接，那么当移虫针在沿着立柱2e进行上下移动时，不会影响摄像装置与位置传感器2k，移虫针向上或者向下移动引起的震动对摄像装置、位置传感器2k的影响较小，可以保护摄像装置与位置传感器2k，不影响其工作，延长他们的使用寿命。现有技术中，有的移虫机构将摄像装置、位置传感器2k与移虫针均安装在同一安装机构中，这样会使得摄像装置、位置传感器2k要随着移虫针进行向上或者向下的移动，会使得摄像装置、位置传感器2k容易受到移动过程中的震动，与摄像装置、位置传感器2k相连的部件，也容易在频繁的向上或者向下移动过程中，受到震动或者磨损。
本实施例中的其他实施方式可以与实施例1-7相同或者采用与实施例1-7相类似的方式。
本领域的技术人员应该明白，以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。

Claims (56)

  1. 一种移虫装置，该装置包括用于支撑移虫针上的支点的支撑点结构和用于带动移虫针上动点运动的运动模块结构。
  2. 根据权利要求1所述的装置，其中，移虫针上的支点能够围绕支撑点结构转动。
  3. 根据权利要求1所述的装置，装置包括第一安装机构，第一安装机构包括支撑点结构,所述的支点结构用于与移虫针上的支点配合，从而移虫针的支点能够围绕支点结构或者支撑点结构转动。
  4. 根据权利要求1所述的装置，所述的支撑点结构包括凹槽，缺口或者栓。
  5. 根据权利要求4述的装置，移虫针上的支点包括和槽配合的凸起、羽翼结构；或者栓配合的孔。
  6. 根据权利要求1-5之一所述的装置，该装置还包括运动模块，所述运动模块能够带动移虫针上的动点运动。
  7. 根据权利要求6所述的装置，动点的运动带动针上的支点围绕支撑点或者支撑结构的转动。
  8. 根据权利要求7所述的装置，所述的转动的角度可以是任意角度，相对竖直方向，可以顺时针或者反时针转动，可以是它们两者之间的往返式转动。
  9. 根据权利要求6所述的装置，装置包括第二安装机构，用于安装运动模块。
  10. 根据权利要求6所述的装置，运动模块的运动相对针的纵向来讲，进行横向运动。
  11. 根据权利要求6所述的装置，其中，这种动点的运动带动支点的运动，带动移虫元件在进入蜂巢房内的时候，希望与巢房程一个角度。
  12. 根据权利要求11所述的装置，其中，让移虫元件的头部与巢房壁具有角度，例如呈锐角的形式。
  13. 根据权利要求6所述的装置，其中，装置包括电机，通过电机来推动运动模块的运动。
  14. 根据权利要求6所述的装置，按照Y轴作为纵坐标，X轴作为横坐标来看，移虫针上的动点位于第一象限，而移动元件位于第三象限；动点可以位于第二象限，而移动元件位于第四象限。
  15. 根据权利要求14所述的装置，所述的含有幼虫的巢房的中轴线和Y轴平行或者Y轴与巢房的中轴线重合。
  16. 根据权利要求6所述的装置，装置包括弹性元件，该弹性元件的一端被设置在运动模块上。
  17. 根据权利要求1-17之一所述的装置，所述的装置包括含有引导面的引导机构，引导面被配置为能够引导移虫针向下或者向上移动过程中，并用于调节移虫动点的运动轨迹。
  18. 根据权利要求17所述的装置，引导面和运动模块接触，引导运动模块的运动实现动点的运动轨迹的调节。
  19. 根据权利要求18所述的装置，所述的引导面包括具有不同横向高度的面。
  20. 根据权利要求19所述的装置，所述的运动模块在起伏的引导面上运动的时候，利用弹性元件的弹力，压缩或者拉伸作用下，控制运动模块的运动轨迹。
  21. 根据权利要求19所述的装置，其中，当滑动模块带动动点运动的过程中，让针或者移虫元件处于竖直位置的时候，弹性元件被压缩；或者，当弹性元件处于自然状态下，运动模块远离竖直方向(相对横向向右或者横向向左)，移虫元件向左倾斜或者向右倾斜。
  22. 根据权利要求17所述的装置，其中，引导面的包括第一引导面，第二引导面，其中，第一引导面的横向高度大于第二引导面。
  23. 根据权利要求17所述的装置，其中，所述的引导面还包括第三引导面，所述的第二引导面的横向高度大于第三引导面。
  24. 根据权利要求22所述的装置，其中，当运动模块接触引导面的第一引导面的时候，运动模块让针的动点基本处于竖直方向，此时弹性元件被压缩；或者，当运动模块处于第二导面的时候，弹性元件可以回弹的力推动运动模块远离竖直方向运动，从而带动动点远离竖直方向，从而动点的运动，带动了支点的转动，从而让带有移虫元件的一端远离竖直方向。
  25. 根据权利要求17所述的装置，其中，第一安装结合和第二安装结构相对于引导结构做上下运动。
  26. 根据权利要求25所述的装置，其中，引导机构固定在装置上，带有针的安装结构沿着引导面做所述的上下运动。
  27. 根据权利要求6所述的装置，其中，运动模块上设有安装孔，用于安装移虫针的动点。
  28. 根据权利要求17所述的装置，其中，运动模块上包括滚动元件，用于接触引导面，在引导面上进行滚动运动。
  29. 根据权利要求1-29所述的装置，其中，装置中包括一个控制机构，用于施加给运动模块一个横向的反向的力。
  30. 根据权利要求29所述的装置，其中，所述的反向力与运动模块横向运动相反方向的力。
  31. 一种移虫的方法，该方法包括：提供一种装置，该装置包括用于支撑移虫针上的支点的支撑点结构；让移虫针上动点运动带动支点围绕支撑结构做运动。
  32. 根据权利要求31所述的方法，其中，让移虫针上的支点能够围绕支撑点结构转动运动。
  33. 根据权利要求31所述的方法，所述的装置包括运动模块，让运动模块带动针的动点进行横向运动。
  34. 根据权利要求31所述的方法，所述的支撑点结构包括凹槽，缺口或者栓；让支点围绕凹槽，缺口或者栓做转动运动。
  35. 根据权利要求32所述的方法，让支点围绕支撑结构做任意角度的转动，例如顺时针或者反时针转动，可以是它们两者之间的往返式转动。
  36. 根据权利要求32所述的方法，让支点的转动来带动针上的移虫元件与蜂巢的壁程一角度，例如锐角。
  37. 根据权利要求32所述的方法，让支点的转动来带动针上的移虫元件不与与蜂巢的轴线重合。
  38. 根据权利要求36所述的方法，动点的运动带动支点的运动，带动移虫元件在进入蜂巢房内的时候，巢房壁程一个角度。
  39. 根据权利要求36所述的方法，按照Y轴作为纵坐标，X轴作为横坐标来，让移虫针上的动点位于第一象限时候，让移动元件位于第三象限；让动点可以位于第二象限，让移动元件位于第四象限。
  40. 根据权利要求39所述的方法，让所述的巢房的中轴线和Y轴平行或者Y轴与巢房的中轴线重合。
  41. 根据权利要求33所述的方法，让运动模块在引导结构的引导面上做上下运动，从而调节针上动点的横向运动轨迹，从而带动支点的转动角度，从而调节移动元件的倾斜角度，或者与巢房的夹角的角度。
  42. 根据权利要求33所述的方法，引导面具有一个或多多个不同的横向高度的面。
  43. 根据权利要求42所述的方法，装置还包括弹性元件，该弹性元件一端连接运动模块；让所述的运动模块在起伏的引导面上运动的时候，利用弹性元件的弹力，压缩或者拉伸作用下，控制运动模块的运动轨迹。
  44. 根据权利要求43所述的方法，让滑动模块带动动点运动的过程中，让针或者移虫元件处于竖直位置的时候，弹性元件被压缩；或者，当弹性元件处于自然状态下，运动模块远离竖直方向(相对横向向右或者横向向左)，移虫元件向左倾斜或者向右倾斜。
  45. 根据权利要求44所述的方法，引导面的包括第一引导面，第二引导面，其中，第一引导面的横向高度大于第二引导面。
  46. 根据权利要求44所述的方法，其中，所述的引导面还包括第三引导面，所述的第二引导面的横向高度大于第三引导面。
  47. 根据权利要求45所述的方法，，其中，当运动模块接触引导面的第一引导面的时候，运动模块让针的动点基本处于竖直方向，此时弹性元件被压缩；或者，当运动模块处于第二导面的时候，弹性元件可以回弹的力推动运动模块远离竖直方向运动，从而带动动点远离竖直方向，从而动点的运动，带动了支点的转动，从而让带有移虫元件的一端远离竖直方向。
  48. 一种移虫的方法，该方法包括：
    让弹性的移虫元件与巢房壁程锐角，并且，让弹性的移虫元件处于伸直的状态。
  49. 根据权利要求48所述的方法，通过针上的滑动推块让弹性的元件处于伸直的状态，例如滑动推块缩回的时候，弹性元件可以被弯曲，当滑动推块推出到弹性远近的末端的时候，弹性元件被推块推直。
  50. 根据权利要求48所述的方法，让弹性的移虫元件与巢房壁接触并程锐角。
  51. 根据权利要求50所述的方法，，弹性元件的弯曲是基于和巢房壁接触并 向下运动，迫使弹性元件沿着巢房壁和巢房底部进行弯曲。
  52. 一种移虫方法，其特征是，包括以下步骤：步骤1：使移虫针位于第二位置，此时移虫元件接触巢房内壁，所述第二位置指的是：移虫针动点向前倾斜，移虫元件向后倾斜，移虫元件的方向相对于竖直方向向后倾斜一定角度；使移虫元件处于直线状态，不发生弯曲；
    步骤2：使移虫针处于第三位置，在移虫针由第二位置变化到第三位置过程中，完成移虫操作；所述第三位置为：移虫针动点向后倾斜，移虫元件向前倾斜，移虫元件的方向相对于竖直方向向前倾斜一定角度，移虫元件上负载或者粘附有蜂虫或者幼虫。
  53. 根据权利要求52所述的方法，步骤(1)-(2)中，所述一定角度为5°-40°。
  54. 根据权利要求53所述的方法，步骤(2)中，使移虫针由第二位置改变到第三位置的过程中，移虫元件弯曲，移虫针动点向后摆动，移虫元件向前移动，移虫元件拨动含有蜂虫的蜂浆，并使含有蜂虫的蜂浆粘附在移虫元件上。
  55. 根据权利要求54所述的方法，步骤(2)中，移虫元件上负载有蜂虫之后，使移虫针向上移动，脱离巢房。
  56. 根据权利要求54所述的方法，步骤(2)中，移虫元件上负载有蜂虫之后，使移虫针向上移动，同时向后移动，脱离巢房。
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