An AGV insect breeding production line and an insect breeding method

Abstract

The object of the present invention is to provide an AGV insect breeding production line and an insect breeding method. An AGV insect breeding production line includes a robotic arm workstation, a feeding workstation, an inoculation workstation, a cleaning line, a conveying line, a tipping device, and an AGV trolley. The robotic arm workstation is composed of a robotic arm and a placement table. The first robotic arm workstation is connected to the second robotic arm workstation through a first conveying line. The third feeding workstation is arranged on the first conveying line, and the inoculation workstation is arranged on one side of the first conveying line and between the second robotic arm workstation and the third feeding workstation. An inoculation tooling is arranged on the inoculation workstation; the second robotic arm workstation is connected to the feeding side of the cleaning line through a second conveying line. A third robotic arm workstation is arranged on one side of the second conveying line, and the third robotic arm workstation is arranged opposite to the inoculation workstation. This production line occupies a small area, has a low investment, a high degree of automation, and greatly improves work efficiency, thus bringing better benefits to the enterprise.

Description

Technical Field

[0001] The present invention relates to the field of breeding, and in particular to an AGV insect breeding production line and an insect breeding method. Background Art

[0002] In the existing organic waste insect breeding, manual breeding is adopted, which not only occupies a large area, has low efficiency and large investment, but also requires not only feeding during the insect breeding process, but also turning and throwing during the insect breeding process, and finally collecting insects for the next process. The operation is not continuous and the production capacity is very low. The present invention can fundamentally solve this problem and achieve full automation of feeding, turning, spreading and collecting by using an AGV trolley, a robotic arm and a full-automatic conveyor line. Summary of the Invention

[0003] The purpose of the present invention is to provide an AGV insect breeding production line and an insect breeding method to solve the problems raised in the above background art.

[0004] To achieve the above purpose, the present invention provides the following technical solutions:

[0005] An AGV insect breeding production line includes a robotic arm station, a feeding station, an inoculation station, a cleaning line, a conveyor line, a dumping device and an AGV trolley. The robotic arm station consists of a robotic arm and a placement table. The first robotic arm station is connected to the second robotic arm station through a first conveyor line. The third feeding station is arranged on the first conveyor line, and the inoculation station is arranged on one side of the first conveyor line and between the second robotic arm station and the third feeding station. An inoculation tooling is arranged on the inoculation station;

[0006] The second robotic arm station is connected to the feeding side of the cleaning line through a second conveyor line. A third robotic arm station is arranged on one side of the second conveyor line. The third robotic arm station is arranged opposite to the inoculation station, and a box-transfer tooling is arranged on the robotic arm of the third robotic arm station;

[0007] The discharging side of the cleaning line is connected to the first robotic arm station through a fourth conveyor line. A first feeding station is arranged on the fourth conveyor line, and a manual station is arranged on one side of the fourth conveyor line and between the first feeding station and the first robotic arm station;

[0008] The fourth robotic arm station and the fifth robotic arm station are arranged adjacent to each other, and the dumping device is arranged between the fourth robotic arm station and the fifth robotic arm station. The fourth robotic arm station and the fifth robotic arm station are connected to the feeding side of the cleaning line through a third conveyor line;

[0009] It further includes a sixth robotic arm station, and a second feeding station is arranged at the sixth robotic arm station;

[0010] A fifth conveyor line is arranged between the fourth conveyor line and the first conveyor line, and the fifth conveyor line can perform two-way conveyance.

[0011] As a further solution of the present invention: weighing devices are arranged at the first feeding station, the second feeding station, and the third feeding station.

[0012] A method for raising insects includes the following steps:

[0013] Step 1: Transfer the empty adult boxes to the first robotic arm station through an AGV cart, transport them to the third feeding station through the first conveyor line for feeding. After feeding is completed, transport the adult boxes with raw material slurry to the inoculation station for stacking to prepare for inoculation;

[0014] Step 2: Transport the larval boxes cultured in the larval breeding area to the third robotic arm station, pour the cultured larvae into the inoculation tooling through the box transfer tooling, open the discharge valve of the inoculation tooling and inoculate the larvae into the adult boxes in Step 1 to complete the inoculation;

[0015] Step 3: Transport the adult boxes completed with inoculation in Step 2 to the second robotic arm station for stacking. After stacking is completed, transport them to the adult breeding area;

[0016] Step 4: Transport the dirty larval boxes in Step 2 to the cleaning line through the second conveyor line for cleaning. After cleaning is completed, transport them to the first feeding station and the manual station in sequence through the fourth conveyor line, perform the operations of adding raw material slurry and putting insects in sequence. After completion, transport them to the first robotic arm station for stacking. After stacking is completed, transport them to the larval breeding area through an AGV cart to prepare for inoculation;

[0017] Step 5: Transport the adults cultured for four days in Step 3 to the fourth robotic arm station or the fifth robotic arm station through an AGV cart, complete the collection of insects through the dumping device, and transport the dirty empty adult boxes to the cleaning line through the third conveyor line for cleaning;

[0018] Step 6: Transport the empty adult boxes completed with cleaning in Step 6 to the third feeding station through the fifth conveyor line. After feeding is completed, transport the adult boxes with raw material slurry to the inoculation station for stacking to prepare for inoculation;

[0019] Step 7: Place the empty larval boxes at the first robotic arm station, transport them to the first feeding station and the manual station through the fifth conveyor line, perform the operations of adding raw material slurry and putting insects in sequence. After completion, transport them to the first robotic arm station for stacking. After stacking is completed, transport them to the larval breeding area through an AGV cart to prepare for inoculation;

[0020] Step 8: Transport the larval boxes in the larval breeding area to the sixth robotic arm station and replenish the feed through the second feeding station.

[0021] As a further solution of the present invention: when adding the raw material pulp, weigh the insect box and record it to monitor the addition amount.

[0022] As a further solution of the present invention: when adding the raw material pulp, the error between the actual addition amount and the specified addition amount does not exceed ±20%.

[0023] As a further solution of the present invention: when manually putting insects into the larva box, randomly place wireless temperature and humidity detection probes into the larva box at a ratio of 5%.

[0024] Compared with the prior art, the beneficial effects of the present invention are:

[0025] The present invention has a compact structure and reasonable design. It is an automated production line integrating feeding, liquid injection, inoculation, cleaning, palletizing, cultivation, and insect collection, which not only reduces the floor area, but also greatly improves the work efficiency, reduces the input cost, improves the operation coherence between each process, thereby improving the production capacity and increasing the economic benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic structural diagram of the AGV insect cultivation production line and the insect cultivation method;

[0027] In the figure: the first robotic arm workstation 1, the second robotic arm workstation 2, the third robotic arm workstation 3, the fourth robotic arm workstation 4, the fifth robotic arm workstation 5, the sixth robotic arm workstation 6, the first conveyor line 7, the second conveyor line 8, the third conveyor line 9, the fourth conveyor line 10, the fifth conveyor line 11, the first feeding workstation 12, the second feeding workstation 13, the third feeding workstation 14, the inoculation workstation 15, the cleaning line 16, the manual workstation 17, the dumping device 18. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0029] Please refer to Figure 1In an embodiment of the present invention, an AGV insect breeding assembly line system includes a robotic arm station, a feeding station, an inoculation station 15, a cleaning line 16, a conveyor line, a dumping device 18 and an AGV cart, wherein there are 6 robotic arm stations, and the robotic arm stations are composed of robotic arms and a placement table, the first robotic arm station 1 is connected to the second robotic arm station 2 through the first conveyor line 7, the third feeding station 14 is arranged on the first conveyor line 7, and the inoculation station 15 is arranged on one side of the first conveyor line 7 and is located between the second robotic arm station 2 and the third feeding station 14, and the inoculation station 15 is provided with an inoculation tool. Among them, four workstations are arranged on the placement table of the first robot arm station 1, namely, workstations D, C, E, and F. Workstations E and F are respectively used for unloading and transferring empty larval boxes and empty adult boxes. When there are empty adult boxes on workstations E and F, the empty adult boxes are conveyed to the third feeding station 14 through the first conveyor line 7, and the raw material slurry is added into the adult boxes, and then the adult boxes with the raw material slurry are conveyed to the inoculation station 15. An accumulation device is arranged at the inoculation station 15, and the inoculation tool is located directly above the accumulation device. Four adult boxes filled with raw material slurry can be accumulated through the accumulation device to prepare for subsequent larval box transfer and inoculation operations.

[0030] The second robot arm station 2 is connected to the feeding side of the cleaning line 16 through the second conveyor line 8. A third robot arm station 3 is provided on one side of the second conveyor line 8. The third robot arm station 3 is arranged opposite to the inoculation station 15. The third robot arm station 3 is provided with two workstations K and L. The third robot arm station 3 is used for rotating and inoculating the cultivated larval boxes, that is, placing the cultivated larval boxes on the workstations K and L. The robot arm of the third robot arm station 3 is provided with a box rotating tool, which unstacks the larval boxes on the workstation K and moves them to the corresponding position of the inoculation tool, and then the larval boxes are inoculated by the box rotating tool. The larvae box is rotated to open downwards, so that the larvae are dumped into the inoculation tooling, and the discharge valve on the inoculation tooling is opened, so that the larvae are inoculated 1 in 4 into the 4 adult boxes filled with raw material slurry accumulated in the accumulation device, thereby completing the inoculation. After the dumping is completed, the dirty larvae box is sent to the cleaning line 16 through the second conveyor line 8 for cleaning. After the inoculation is completed, the adult boxes are transferred to the second robot arm station 2 for stacking. The second robot arm station 2 provides four stations G, H, I, and J for stacking in turn to improve the stacking efficiency. Station L is also a larvae box unloading station, which operates in turn with station K. In this embodiment, the adult boxes are stacked in layers on the shelves with ten boxes as a stack, and then the shelves are placed in the corresponding adult breeding area through the set route by the AGV trolley;

[0031] The discharging side of the cleaning line 16 is connected to the first robotic arm station 1 through the fourth conveying line 10. A first feeding station 12 is provided on the fourth conveying line 10. An artificial station 17 is provided on one side of the fourth conveying line 10 and between the first feeding station 12 and the first robotic arm station 1. This artificial station 17 is used for manually putting eggs into the larva boxes. The cleaning line 16 cleans the aforementioned dirty larva boxes. After cleaning, they are transported to the first feeding station 12, and raw material pulp is filled into the larva boxes. After filling, the larva boxes with raw material pulp are transported to the artificial station, eggs are manually put in, and finally they are transported to stations D and C of the first robotic arm for stacking. The stacking height is ten layers. The stacked shelves are transported to the larva breeding area by an AGV cart for breeding, so as to be ready for re-boxing and inoculation again.

[0032] The fourth robotic arm station 4 and the fifth robotic arm station 5 are arranged adjacent to each other, and the dumping device 18 is arranged between the fourth robotic arm station 4 and the fifth robotic arm station 5. The fourth robotic arm station 4 and the fifth robotic arm station 5 are connected to the feeding side of the cleaning line 16 through the third conveying line 9. The fourth robotic arm station 4 and the fifth robotic arm station 5 are used for receiving materials, and the fourth robotic arm station 4 and the fifth robotic arm station 5 respectively provide two stations, namely stations M, N, O, and P. When the adult insects are cultured for four days, they can be harvested. The adult insect boxes cultured for four days are transported to any station of the fourth robotic arm station 4 by an AGV cart, and the adult insect boxes are placed on the dumping device 18 by the robotic arm for dumping and harvesting. The dumped adult insect boxes are placed on the third conveying line 9 and transported to the cleaning line 16 for cleaning, so as to be ready for secondary use.

[0033] It further includes a sixth robotic arm station 6. A second feeding station 13 is provided at the sixth robotic arm station 6. The sixth robotic arm station 6 provides stations A and B. One of the stations is used to place an empty shelf, which is used for stacking the larva boxes after supplementary feeding. The other station is used to place the larva box shelves with larvae. During the cultivation of the larvae, they need to be regularly supplemented with materials to provide the required nutrients for the larvae. When supplementing materials, the larva box shelves to be supplemented are moved to station A, and the empty shelf is moved to station B. The robotic arm transports the topmost larva box to the lower part of the second feeding station 13 to fill it with prefabricated raw material pulp, and then the supplemented raw material box is placed at the bottom layer of the empty shelf located at station B. Then, the other larva boxes are supplemented in turn until all the larva boxes that need to be supplemented on the same day are supplemented.

[0034] A fifth conveyor line 11 is provided between the fourth conveyor line 10 and the first conveyor line 7. The fifth conveyor line 11 can perform two-way conveyance. When the fifth conveyor line 11 faces the first conveyor line 7, its purpose is to transport the adult box after cleaning to the third feeding station 14 for adding raw material pulp to prepare for box transfer and inoculation. When the fifth conveyor line 11 faces the fourth conveyor line 10, its purpose is to feed larvae into the empty larva box. That is, when the empty larva box is located at the 1EF station of the first robotic arm station 1, the empty larva box on the first robotic arm station 1 is transported to the first feeding station 12 through the first conveyor line 7, the fifth conveyor line 11, and the fourth conveyor line 10 to prepare for egg laying.

[0035] In this embodiment, in order to precisely control the addition of raw material pulp, weighing devices are provided at the first feeding station 12, the second feeding station 13, and the third feeding station 14. After adding raw material pulp to the larva box or the adult box, it is weighed and recorded by the weighing device, and the error between the actual addition amount and the specified addition amount does not exceed ±20%.

[0036] In addition, when feeding larvae at the manual station 17, in order to monitor the temperature and humidity conditions in the larva box, wireless temperature and humidity detection probes are randomly placed in the larva box at a ratio of 5%.

[0037] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An AGV insect breeding method, characterized in that: It includes a robotic arm workstation, a feeding workstation, an inoculation workstation, a cleaning line, a conveying line, a tipping device and an AGV cart. The robotic arm workstation consists of a robotic arm and a placement table. The first robotic arm workstation is connected to the second robotic arm workstation through the first conveying line. The third feeding workstation is arranged on the first conveying line, and the inoculation workstation is arranged on one side of the first conveying line and between the second robotic arm workstation and the third feeding workstation. An inoculation tooling is set on the inoculation workstation; The second robotic arm workstation is connected to the feeding side of the cleaning line through the second conveying line. A third robotic arm workstation is arranged on one side of the second conveying line. The third robotic arm workstation is arranged opposite to the inoculation workstation. A box-transfer tooling is set on the robotic arm of the third robotic arm workstation; The discharging side of the cleaning line is connected to the first robotic arm workstation through the fourth conveying line. A first feeding workstation is arranged on the fourth conveying line. An artificial workstation is arranged on one side of the fourth conveying line and between the first feeding workstation and the first robotic arm workstation; The fourth robotic arm workstation and the fifth robotic arm workstation are arranged adjacent to each other, and the tipping device is arranged between the fourth robotic arm workstation and the fifth robotic arm workstation. The fourth robotic arm workstation and the fifth robotic arm workstation are connected to the feeding side of the cleaning line through the third conveying line; It further includes a sixth robotic arm workstation, and a second feeding workstation is arranged at the sixth robotic arm workstation; A fifth conveying line is arranged between the fourth conveying line and the first conveying line, and the fifth conveying line can perform two-way conveying; It includes the following steps: Step 1: Transfer the empty adult box to the first robotic arm workstation through the AGV cart, transport it to the third feeding workstation through the first conveying line for feeding. After the feeding is completed, transport the adult box with the raw material slurry to the inoculation station for stacking to prepare for inoculation; Step 2: Transport the larva box cultivated in the larva breeding area to the third robotic arm workstation, pour the cultivated larvae onto the inoculation tooling through the box-transfer tooling, open the discharge valve of the inoculation tooling and inoculate the larvae into the adult box in Step 1 to complete the inoculation; Step 3: Transport the adult box completed with inoculation in Step 2 to the second robotic arm workstation for stacking. After the stacking is completed, transport it to the adult breeding area; Step 4: Transport the dirty larva box in Step 2 to the cleaning line through the second conveying line for cleaning. After the cleaning is completed, transport it to the first feeding workstation and the artificial workstation in sequence through the fourth conveying line, perform the operations of adding the original slurry and putting in insects in sequence. After completion, transport it to the first robotic arm workstation for stacking. After the stacking is completed, transport it to the larva breeding area through the AGV cart to prepare for inoculation; Step 5: Transport the adults cultivated for four days in Step 3 to the fourth robotic arm workstation or the fifth robotic arm workstation through the AGV cart, complete the collection of insects through the tipping device, and transport the dirty empty adult box to the cleaning line through the third conveying line for cleaning; Step 6: Transport the empty adult box completed with cleaning in Step 6 to the third feeding workstation through the fifth conveying line. After the feeding is completed, transport the adult box with the raw material slurry to the inoculation station for stacking to prepare for inoculation; Step 7: Place the empty larva box at the first robotic arm workstation, transport it to the first feeding workstation and the manual workstation through the fifth conveyor line, successively perform the operations of adding the original slurry and putting in larvae, and after completion, transport it to the first robotic arm workstation for stacking. After stacking, use the AGV cart to transport it to the larval breeding area for inoculation preparation; Step 8: Transport the larva box in the larval breeding area to the sixth robotic arm workstation and replenish the feed through the second feeding workstation.

2. The AGV insect breeding method according to claim 1, characterized in that: Weighing devices are provided at the first feeding workstation, the second feeding workstation, and the third feeding workstation.

3. The AGV insect breeding method according to claim 1, characterized in that: Weigh and record the insect box when adding the raw material slurry to monitor the addition amount.

4. The AGV insect rearing method according to claim 1, characterized in that: When adding the raw material slurry, the error between the actual addition amount and the specified addition amount does not exceed ±20%.

5. The AGV insect raising method according to claim 1, characterized in that: When manually putting larvae into the larva box, randomly place wireless temperature and humidity detection probes into the larva box at a ratio of 5%.

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