A larva transferring device

Abstract

The present invention discloses a larva transferring device, which includes a mounting mechanism configured to receive a larva transfer needle, and the larva transfer needle can swing around a fulcrum within the mechanism. The mounting mechanism includes a first mounting mechanism, and the first mounting mechanism includes a fulcrum structure or a support point structure. The larva transferring mechanism of the present invention can make the larva transfer needle incline downward into the honeycomb cells, simulate the manual larva transferring method, dig out the larvae together with a small amount of royal jelly, and can move them into a culture bowl. The larva transferring speed is fast, the accuracy is high, and the efficiency is high. When using the larva transferring mechanism of the present invention for larva transferring operation, the success rate of larva transferring is as high as over 90%, and the final survival rate of the transferred larvae is also relatively high. Compared with the traditional larva transferring mechanism, the larva transferring mechanism of the present invention can protect the larva transfer needle during larva transferring and extend the service life of the larva transfer needle.

Description

[0001] This application claims the priority of Chinese prior applications with application numbers 2020105341830, filing date: June 12, 2020, and 2020105341826, filing date: June 12, 2020. The entire content thereof is incorporated herein by reference as part of the present invention. Technical Field

[0002] The present invention specifically relates to a larva transferring device. Background Art

[0003] Bees lay eggs in the cells of the honeycomb. However, the volume of the cells is very small. If the bee larvae are allowed to grow in the cells all the time, they cannot grow into queen bees but only into worker bees and will not produce royal jelly. If a queen bee is to be cultivated to produce royal jelly, then during the larval stage of the bee larvae, they need to be transferred to the culture bowl or culture cavity of a larger space base bar. On the one hand, it can provide enough growth space for them, and on the other hand, it can induce worker bees to cultivate them as queen bees, thus increasing the output of royal jelly. The process of taking out the bee larvae from the cells and putting them into the space base bar is called larva transferring in the industry.

[0004] After the egg spleen hatches into larvae, it is necessary for manual labor to shovel the larvae together with a small amount of royal jelly into the culture bowl of the space base bar. When the worker bees in the bee colony see the larvae in the culture bowl, they will spit out bee milk to feed the larvae until the larvae grow into queen bees.

[0005] Traditional bee breeding enterprises manually remove the larvae by manual means during larva transplantation. However, the efficiency of manual larva transferring is low and it wastes manpower. This is mainly because bee larvae are very small and almost invisible to the naked eye, and the volume of the cells is small. Not every cell has larvae. In addition, the cells have a certain depth, and manual larva transferring may even damage or kill the larvae, resulting in low efficiency and even lower survival rate.

[0006] Therefore, there is a need to provide a device and method for automatic larva transferring. Summary of the Invention

[0007] In view of the above situation, in order to overcome the defects of the prior art, the present invention provides a larva transferring method and device. Using this device can not only improve efficiency but also have a high survival rate of larvae, realizing automatic larva transferring.

[0008] In the first aspect of the present invention, a larva transferring mechanism or device is provided, including a mounting mechanism configured to be capable of receiving a larva transferring needle, and the larva transferring needle can move around a fulcrum on this mechanism.

[0009] Alternatively, a larva-transferring device includes a support-point structure for supporting the fulcrum on the larva-transferring needle and a motion-module structure for driving the motion of the moving point on the larva-transferring needle. In some embodiments, the fulcrum on the larva-transferring needle can rotate around the support-point structure.

[0010] In some embodiments, the installation mechanism includes a first installation mechanism. The first installation mechanism includes a fulcrum structure or a support-point structure, and the fulcrum structure or the support mechanism is used to cooperate with the fulcrum on the larva-transferring needle, so that the fulcrum of the larva-transferring needle can rotate around the fulcrum structure or the support-point structure.

[0011] In some embodiments, the support-point structure on the first installation mechanism includes structures such as grooves, notches, bolts, etc. Correspondingly, the fulcrum on the larva-transferring needle is a protrusion, a wing structure, a hole, etc. that cooperate with the groove.

[0012] In some embodiments, the larva-transferring mechanism further includes a motion module, and the motion module can drive the motion of the moving point on the larva-transferring needle.

[0013] In some embodiments, alternatively, the device further includes a motion module, and the motion module is used to guide the motion of the moving point on the larva-transferring needle. In some embodiments, the motion of the moving point drives the fulcrum on the needle to rotate around the support point or the support structure, and the angle of this rotation can be any angle. Relative to the vertical direction, it can rotate clockwise or counterclockwise, or it can be a reciprocating rotation between the two.

[0014] In some embodiments, the installation mechanism includes a second installation mechanism for installing the motion module. In some embodiments, the second installation mechanism is slidably connected to the motion module. Through the motion of the motion module, the motion of the moving point on the needle is driven. In some embodiments, the motion of the motion module is a lateral motion relative to the longitudinal direction of the needle.

[0015] The motion of this moving point drives the motion of the fulcrum. Ultimately, when the larva-transferring element enters the honeycomb cell, it is desired that the larva-transferring element forms an angle with the cell, rather than entering the cell vertically. In particular, the head of the larva-transferring element forms an angle with the cell wall, for example, in the form of an acute angle. In this way, it is desired that the larva-transferring needle is inclined, rather than in the vertical direction.

[0016] In some embodiments, the way to drive the motion module can be to control the motor through computer programming, and the motion of the motion module is obtained by driving the motor. Of course, the motion of the motion module can also be achieved through mechanical action.

[0017] It can be understood that when the larvae-transferring element enters the honeycomb cell, it is desired to form an angle with the cell rather than enter the cell vertically. Generally, a honeycomb cell has a cell wall and a cell bottom, and the larva is generally located at the cell bottom. Therefore, when the larvae-transferring element enters the cell, it is desired that the head of the larvae-transferring element forms an angle with the cell wall, for example, in the form of an acute angle. Thus, it is desired that the larvae-transferring needle is inclined rather than in the vertical direction. Therefore, taking the Y-axis as the ordinate and the X-axis as the abscissa, when the larvae-transferring needle is inclined, it can be located in the first and third quadrants. At this time, the moving point can be located in the first quadrant, and the moving element is located in the third quadrant (assuming that the fulcrum is the intersection of the X and Y axes), or it can be located in the second and fourth quadrants. At this time, the moving point can be located in the second quadrant, and the moving element is located in the fourth quadrant. Generally, the honeycomb cell is in the vertical direction, and its central axis is parallel to the Y-axis or the Y-axis coincides with the central axis of the cell.

[0018] In some ways, the device includes an elastic element, which is arranged on the motion module. For example, one end is arranged on the motion module, and the other end is arranged on the device. In this way, even when the motion of the motion module is driven by a motor and it is necessary to overcome the elastic resistance to drive the motion of the module, once the motor loses or removes the thrust, the force of the elastic element to return to its original state is relied on to drive the motion of the motion module in the reverse direction.

[0019] In the following ways, the other functions of the elastic element are more obvious. In some ways, the larvae-transferring mechanism or device further includes a guiding mechanism with a guiding surface, and the guiding surface is configured to be able to guide the larvae-transferring needle during the downward or upward movement and is used to adjust the movement trajectory of the moving point of the larvae-transferring. In some ways, the guiding surface contacts the motion module to drive the motion of the motion module to realize the adjustment of the movement trajectory of the moving point. In some ways, the guiding surface includes surfaces with different lateral heights.

[0020] The so-called lateral height here means that relative to the vertical direction, the surface of the guiding surface has different distances from the points in the vertical direction, similar to the undulating mountains. By adjusting the different lateral heights, the distance of the motion module in the lateral movement can be adjusted. It can move to the left or right relative to the vertical direction. This lateral movement distance can be adjusted or changed as the motion module moves on the undulating guiding surface.

[0021] In some ways, the device includes an elastic element, which is disposed on the motion module. For example, one end is disposed on the motion module and the other end is disposed on the device in such a way. In this way, when the motion module moves on the undulating guiding surface, by utilizing the elastic force of the elastic element, under the action of compression or stretching, the motion trajectory of the motion module is controlled. In some ways, when the sliding module drives the moving point to move, when the needle or the larvae transferring element is in the vertical position, the elastic element is compressed; when the elastic element is in the natural state, the motion module moves away from the vertical direction (relatively to the right or left horizontally), and the larvae transferring element tilts to the left or right. Therefore, the cooperation between the elastic element and the motion element can achieve driving the moving point on the motion module to move away from or close to the Y-axis, or move close to the Y-axis to the left or move away from the Y-axis to the right, thereby causing the fulcrum to rotate, and thus causing the end with the larvae transferring element to be tilted, so as to form an angle with the comb cell wall.

[0022] The function of the guiding surface is, under the action of mechanical cooperation, by contacting the motion module, to limit the motion trajectory of the module. The motion avoidance of this motion module is mainly the length of the lateral movement distance. It can be understood that the length of the movement distance of the motion module along the X-axis relative to the Y-axis is used to control the length of the movement distance of the moving point along the X-axis relative to the Y-axis, so as to ultimately control the rotation angle of the fulcrum of the larvae transferring needle, and thus control the angle of the larvae transferring unit. Usually, the larvae transferring needle is vertical. Of course, it is not excluded that the larvae transferring needle is bent. However, in any case, the movement of the moving point drives the movement of the fulcrum to adjust the angle of the larvae transferring unit. This angle is the angle with the comb cell wall, rather than being parallel to the comb cell wall.

[0023] In some ways, the guiding surface also includes a first guiding surface, a second guiding surface, and a third guiding surface. Among them, 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. In some ways, when the motion module contacts the first guiding surface of the guiding surface, the moving point of the needle on the motion module is basically in the vertical direction, and at this time the elastic element is compressed. When the motion module moves to the second guiding surface, the elastic element can use the rebounding force to push the motion module to move away from the vertical direction, thereby driving the moving point to move away from the vertical direction (to the left or right). The movement of the moving point drives the rotation of the fulcrum, so that the end with the larvae transferring element moves away from the vertical direction, for example, to the right or left. Similar to the movement of a seesaw, when the moving point moves to the left, one end of the larvae transferring element moves to the right; when the moving point moves to the right, one end of the larvae transferring element moves to the left.

[0024] The movement of the movement module along the guiding surface is a top-down movement, or a bottom-up movement, or an up-and-down reciprocating movement. This movement can be achieved by driving the entire mechanism up and down by a motor, for example, driving the up-and-down movement of the mounting structure. If the movement module is located on the mounting mechanism and the guiding surface is relatively stationary, the up-and-down sliding of the movement module on the guiding surface can be realized, and the lateral left-and-right movement and the movement distance of the movement module can be achieved, so as to adjust the left-and-right movement and the movement distance of the moving point, thus realizing the movement distance of the worm transferring element in the opposite direction.

[0025] In some ways, the first surface can include a transition surface. The second surface can include an arc surface or / and an inclined surface.

[0026] The third surface can include another inclined surface or an arc surface. However, the lateral distances of the first surface, the second surface, and the third surface are different.

[0027] In some ways, a first mounting part is provided on the guiding mechanism for fixedly mounting on the device. Relative to the mounting mechanism of the worm transferring needle, the mounting mechanism of the worm transferring needle can reciprocate up and down relative to the relatively stationary guiding mechanism.

[0028] In some ways, mounting holes are provided on the movement module for mounting the moving point of the worm transferring needle, and the worm transferring needle can swing with the movement of the movement module. In some ways, rolling elements are included on the movement module for contacting the guiding surface and performing rolling movement on the guiding surface.

[0029] In some ways, the device further includes a control module, which can be a motor or a mechanical mechanism controlled by a motor, that applies an instantaneous force to the motion module to complete the action of the worm-transferring element for scooping up worms. The worm-transferring element connected to the lower end of the fulcrum of the worm-transferring needle is in a slightly bent state in its natural state. This material is generally made of plastic. By "slightly bent", it means that relative to the honeycomb cell containing the larva, when the worm-transferring element enters the cell, it is hoped that the tip of the worm-transferring element will move slightly into the honeycomb cell. In this way, as the worm-transferring element continues to move downward, relying on the rigid structure of the honeycomb cell itself and the contact with the flexible worm-transferring element, the flexible worm-transferring element bends at the bottom of the cell, so as to scoop up, pick up, and adhere to the larva located at the bottom. And this is just an ideal state. At this time, in order to increase the efficiency of worm transfer, it is hoped that the worm-transferring element quickly moves downward into the honeycomb cell to scoop up the larva without causing harm to the larva. This is because the honey larvae are very small, almost invisible to the naked eye, and are at the bottom, and may be in an extended state or a curled state. The larvae are generally located in a small amount of honey or sugar water and are very soft. Without any protection, using mechanical mechanisms and forces to move the larvae is very likely to cause harm. Therefore, after many repeated experiments by the inventor, first, it is hoped that the flexible worm-transferring element (or elastic material, such as TPEE) has an angle with the honeycomb cell wall when entering the cell, and then the worm-transferring element moves from the wall to the bottom, relying on the force of the wall, making the worm-transferring element gradually bend naturally. During the bending process, it almost bends closely to the bottom of the honeycomb cell. This places very high requirements on the material of the flexible worm-transferring element. When using a flexible material of general material, especially when the worm-transferring element is repeatedly in the extended and bent states, after repeating many times, when it may enter the honeycomb cell, the worm-transferring element may still be in a bent state. In this way, it is almost impossible to scoop up the larva. Moreover, since the diameter of the honeycomb cell is very small, almost between 0.5 - 0.8 cm, when the bent element enters, it directly presses on the larva, causing it to die. In addition, after repeating many times, in order to scoop up the worm in a bent state and release the worm after scooping, the worm on the element is pushed away by the slider. Generally, after scooping up the worm, it is hoped that the element naturally returns to an extended or straight state, but the actual situation is not like this. Sometimes the element bends backward, making it difficult to reach the inclined angle when entering the honeycomb cell. In short, for these adverse factors of the element, it is necessary to further overcome these defects, so as to extend the service life of the element, improve the efficiency of worm transfer, and reduce the mortality rate.

[0030] Therefore, when the larva-transferring element contacts or before contacting the honeycomb cell wall, it is desirable for the larva-transferring element to be in an extended or straightened state, and then the larva-transferring element is bent along the bottom of the cell. So in some ways, when the elastic larva-transferring element enters or before entering the honeycomb cell, the larva-transferring element is in an extended or straightened state. To achieve this state, one way is to have the slider for pushing the larva on the needle in a pushing state, so that the originally somewhat bent larva-transferring element is in an extended state, thus facilitating making an angle with the honeycomb cell wall.

[0031] In addition, the process from when the larva-transferring element contacts the cell wall and then bends towards the bottom to scoop up the larva is almost completed in 0.1 - 0.3 seconds. So, at this time, although the larva-transferring element is in an inclined state (due to the movement of the moving point driven by the movement module), a very rapid reverse force is applied to the movement module, causing the inclined larva-transferring element to move rapidly in the opposite direction to complete the "scooping" action, which can very effectively "scoop up" the larva. For example, when the movement module moves rapidly from top to bottom along the guiding surface, it rapidly drives the moving point to move away from the Y-axis. For example, it rapidly moves to the right away from the Y-axis (such as a horizontal distance of 0.5 cm). At this time, the larva-transferring element rapidly moves downward and rapidly moves away from the Y-axis to the left. At this time, the element makes an angle with the cell wall (such as 30 degrees). When the needle continues to be driven downward, the element bends and passes through the bottom of the cell, such as through sugar water or honey water, and it is hoped to use the viscosity of the sugar water to scoop up the larva together. At this time, if a rapid reverse force is applied to the movement module, such as a force towards the Y-axis, this reverse force is very fast and very short-lived, similar to the rhythm of a rapid knock. This rapid reverse force causes the moving module to move rapidly back, and at this time, the element rapidly moves in the opposite direction, such as towards the Y-axis, similar to a jittering process, thus completing the "scooping" action. The movement module can be directly contacted by the rotor of the motor to complete the knocking. Of course, the motor is arranged near the movement module and moves up and down together with the movement module. Of course, the motor can be arranged on the guiding element. When the movement module moves to a suitable position on the guiding element, the rotor of the motor directly contacts the movement module to apply a reverse force to the module, such as a force from away from the Y-axis towards the Y-axis.

[0032] In a second aspect, the present invention relates to a method for transferring larvae, which method includes: making the elastic larva-transferring element form an acute angle with the cell wall, and making the elastic larva-transferring element be in a straightened state. In some ways, the elastic element is made in a straightened state by the sliding push block on the needle. For example, when the sliding push block retracts, the elastic element can be bent, and when the sliding push block is pushed to the far end of the elasticity, the elastic element is straightened by the push block.

[0033] In some embodiments, the elastic insect moving element is contacted with the cell wall at an acute angle, so that as the element continues to move downward, the sliding push block is retracted, allowing the elastic element to bend, thereby scooping up the larvae at the bottom of the cell.

[0034] In some embodiments, the bending of the elastic element is based on contact with the cell wall and downward movement, forcing the elastic element to bend along the cell wall and the cell bottom. Generally, the cell bottom and the cell wall are rigid, and the elastic element can bend when moving inside. The elasticity here can be understood as a flexible material. When describing the insect transfer element, it has elastic properties, flexible properties, or both. Therefore, the present invention provides an insect transfer method, which is characterized by comprising the following steps:

[0035] Step 1: The insect moving needle is located at the second position, at which the insect moving element contacts the inner wall of the nest cell. The second position means that the moving point of the insect moving needle is tilted forward, the insect moving element is tilted backward, and the direction of the insect moving element is tilted backward at a certain angle relative to the vertical direction; the insect moving element is in a straight line state without bending;

[0036] Step 2: The insect transfer needle is placed in the third position. During the process of the insect transfer needle changing from the second position to the third position, the

[0037] The third position is: the moving point of the insect moving needle is tilted backward, the insect moving element is tilted forward, the direction of the insect moving element is tilted forward at a certain angle relative to the vertical direction, and the insect moving element is loaded or adhered with bees or larvae.

[0038] In some embodiments, in steps (1)-(2), the certain angle is 5°-40°.

[0039] In some embodiments, in step (2), during the process of changing the insect transferring needle from the second position to the third position, the insect transferring element bends, the moving point of the insect transferring needle swings backward, the insect transferring element moves forward, the insect transferring element stirs the honeycomb containing the bee worms, and the honeycomb containing the bee worms adheres to the insect transferring element.

[0040] In some embodiments, in step (2), after the insect transfer element is loaded with bees and worms, the insect transfer pin is moved upward and separated from the nest cell.

[0041] In some embodiments, in step (2), after the insect transfer element is loaded with bees and worms, the insect transfer pin is moved upward and backward at the same time to leave the nest cell.

[0042] In some embodiments, after the insect transfer pin is separated from the nest cell and is in the third position, the insect transfer pin is moved forward.

[0043] In some ways, it is characterized in that after the larvae transfer needle disengages from the cell and is in the third position, the moving point of the larvae transfer needle moves forward, and at the same time, the larvae transfer needle moves downward to the target position.

[0044] In some ways, after the larvae transfer needle disengages from the cell and is in the third position, the moving point of the larvae transfer needle moves forward, and at the same time, the larvae transfer needle moves downward to the target position. The larvae transfer needle enters the culture bowl and pushes the bee larvae into the culture bowl.

[0045] In some ways, before the larvae transfer needle contacts the inner wall of the cell, the larvae transfer needle is in the second position or the first position, or in any position during the process of changing from the first position to the second position.

[0046] In some ways, during the process of the larvae transfer needle changing from the first position to the second position, the larvae transfer needle moves downward until the larvae transfer element contacts the inner wall of the cell.

[0047] The fourth aspect of the present invention provides a detection device for transferring larvae, which is characterized in that it includes a sliding bracket, a collection element for collecting information of bee larvae in the cell, and a detection element for detecting bee larvae in the cell. The collection element is installed on the sliding bracket. The sliding bracket includes a sliding member, and the sliding member can slide along the slideway, and the collection element can move accordingly.

[0048] In some ways, it further includes a positioning element for identifying the position of the larvae transfer needle or the cell.

[0049] In some ways, the sliding bracket includes a first mounting arm and a second mounting arm, and the collection element is installed on the first mounting arm.

[0050] In some ways, the positioning element is installed on the second mounting arm and / or the first mounting arm.

[0051] In some ways, the first mounting arm and the second mounting arm are arranged opposite to each other.

[0052] In some ways, the collection element adopts a camera device, which is configured to be able to take photos of the inside of the cell.

[0053] In some ways, the positioning element adopts a position sensor.

[0054] In some ways, the detection device further includes a clamping structure, and the clamping structure includes a clamping part.

[0055] In some ways, the clamping part is an arc-shaped clamping part.

[0056] In some ways, a clamping member is connected to the first mounting arm.

[0057] A larvae transferring device, comprising a mounting mechanism configured to receive a larvae transferring needle which is capable of swinging around a fulcrum within the mechanism.

[0058] Further, the mounting mechanism includes a first mounting mechanism which includes a fulcrum structure or a support point structure.

[0059] Further, the support point structure is a groove.

[0060] Further, the first mounting mechanism includes a support point structure for supporting the fulcrum of the larvae transferring needle.

[0061] Further, the larvae transferring mechanism further includes a motion module which is capable of driving a moving point on the larvae transferring needle to swing.

[0062] Further, the mounting mechanism includes a second mounting mechanism for mounting the motion module.

[0063] Further, the second mounting mechanism is slidably connected to the motion module.

[0064] Further, the larvae transferring mechanism further includes a guiding mechanism configured to guide the larvae transferring needle to move downward or upward and to adjust the swinging angle of the larvae transferring needle.

[0065] Further, the guiding mechanism includes a timing rule which has a guiding surface configured to guide the larvae transferring needle to move.

[0066] Further, the guiding surface includes a transition surface.

[0067] Further, the transition surface is an arc surface or / and an inclined surface.

[0068] Further, the guiding surface includes a transition surface and / or a flat surface.

[0069] Further, a first mounting portion is provided on the timing rule.

[0070] Further, a mounting hole is provided on the motion module for mounting the moving point of the larvae transferring needle, and the larvae transferring needle can swing with the movement of the motion module.

[0071] Further, a rolling element is connected to the end of the motion module.

[0072] Further, a convex block is provided at the end of the motion module where the rolling element is installed.

[0073] Further, a connecting element is provided at the end of the motion module away from the rolling element.

[0074] Further, the second mounting mechanism includes a chute configured to receive the motion module.

[0075] Further, an elastic element is provided in the sliding groove.

[0076] Further, a limiting block is provided at the outer end of the sliding groove.

[0077] Further, the first mounting mechanism further includes a stop block.

[0078] The beneficial effects of the present invention are as follows:

[0079] (1) The bee larva transferring mechanism of the present invention can make the bee larva transferring needle tilt downward into the honeycomb cell, simulating the manual bee larva transferring method, digging out the bee larva together with a small amount of royal jelly, and being able to move them into the culture bowl. The bee larva transferring speed is fast, the accuracy is high, and the efficiency is high. When using the bee larva transferring mechanism of the present invention for bee larva transferring operation, the success rate of bee larva transferring is as high as over 90%, and the final survival rate of the transferred bee larvae is also relatively high. Compared with the traditional bee larva transferring mechanism, the bee larva transferring mechanism of the present invention can protect the bee larva transferring needle during bee larva transferring and extend the service life of the bee larva transferring needle.

[0080] (2) In the present invention, the timing rule has a guiding surface, which can guide the bee larva transferring needle to move upward or downward and is used to assist in adjusting the swinging angle of the bee larva transferring needle, which is beneficial to completing the bee larva transferring operation.

[0081] (3) A rolling element is connected to the end of the motion module of the present invention, and the rolling element can roll along the contact surface; relatively speaking, the friction between the rolling element and the contact surface is small, and it will not wear the contact surface or damage other components. Moreover, under the same conditions, the rolling speed of the rolling element is faster. When it is necessary to change the position of the bee larva transferring needle, the rolling element on the motion module can be made to roll along the corresponding contact surface (such as the guiding surface), and the position of the bee larva transferring needle can be adjusted.

[0082] (4) In the present invention, the bee larva transferring needle is installed in the motion module, and the motion module can slide in the sliding groove. The motion module and the sliding groove cooperate with each other to adjust the angle (the amplitude of forward and backward swinging) of the bee larva transferring needle tilting forward or backward, so that the bee larva transferring needle can tilt into the honeycomb cell, avoiding directly moving up and down to pick up the bee larva, resulting in a low success rate of bee larva transferring.

[0083] (5) The height adjusting mechanism in the present invention includes a power device, a power transmission device and a moving frame; the power device can transmit power to the power transmission device, and the moving frame can move under the drive of the power, and the bee larva transferring needle can move upward or downward accordingly, thereby realizing the adjustment of the bee larva transferring needle at different heights. This adjusting mechanism is simple and convenient for adjusting the height of the bee larva transferring needle, which is beneficial to picking up the bee larva.

[0084] (6) In the present invention, an elastic member is provided inside the moving frame. The setting of the elastic member enables the cooperating member and the bee larva transferring needle not to move upward immediately along with the moving frame, but there is a certain buffer time or a certain time delay. For example, when the bee larva transferring element touches the bottom of the culture bowl, the fourth motor is started, and the interference block connected to the fourth motor will press the transverse convex block, causing the bee larva transferring needle to swing. The upper section of the bee larva transferring needle tilts backward, and the bee larva transferring element moves forward to dig out the bee larva. Then, the bee larva transferring needle moves upward. When the bee larva transferring needle moves upward initially, there is a certain time delay to avoid the following phenomenon: the bee larva transferring element has not dug out the bee larva yet, but the bee larva transferring needle has already moved upward and separated from the honeycomb cell. The setting of the elastic member enables the bee larva transferring element to better pick up the bee larva and effectively transfer the bee larva, avoiding the situation that the bee larva transferring needle cannot dig out the bee larva and resulting in the failure of bee larva transfer. BRIEF DESCRIPTION OF THE DRAWINGS

[0085] Figure 1 is a schematic structural diagram of the first installation mechanism and the second installation mechanism of the present invention.

[0086] Figure 2 is a side structural diagram of the first installation mechanism of the present invention.

[0087] Figure 3 In (1), it is a front view of the first installation mechanism, and (2) is a side structural diagram of the first installation mechanism (showing the support point structure).

[0088] Figure 4 In (1), it is a front view of the second installation mechanism, and (2) is a side structural diagram of the second installation mechanism.

[0089] Figure 5 In (1), it is a schematic structural diagram of the motion module in a specific embodiment, (2) is a schematic structural diagram of the motion module in another specific embodiment; (3) is a schematic structural diagram of the motion module in other specific embodiments.

[0090] Figure 6 In (1), it is a schematic structural diagram of the bee larva transferring needle combined with the motion module, and (2) is a schematic structural diagram of the motion module combined with the second installation mechanism.

[0091] Figure 7 In (1), it is a schematic structural diagram of the second installation mechanism combined with the first installation mechanism, and (2) is a schematic structural diagram of the stop block.

[0092] Figure 8 In (1), it is a schematic structural diagram of the second installation mechanism combined with the first installation mechanism, (2) is a schematic structural diagram of the bee larva transferring needle combined with the first installation mechanism, and (3) is an exploded view of the bee larva transferring needle.

[0093] Figure 9It is a schematic structural diagram of the motion module combined with the second installation mechanism.

[0094] Figure 10 It is a schematic diagram of the process of the bee larvae transfer needle swinging forward or backward.

[0095] Figure 11 In (1), it is a schematic structural diagram of the bee larvae transfer needle in a backward tilted state when the interference block presses the convex block (the height adjustment mechanism is shown in the figure); (2) is a schematic diagram of the back of the height adjustment mechanism (part of the support frame structure is hidden to show the cooperation structure of the first gear and the first engaging plate).

[0096] Figure 12 In (1), it is a schematic structural diagram of the timing rule in a specific embodiment, and (2) is a schematic structural diagram of the timing rule in another specific embodiment.

[0097] Figure 13 In (1), it is a schematic structural diagram of the combination of the interference block and the timing rule, and (2) is a schematic structural diagram of the interference block.

[0098] Figure 14 It is a schematic diagram of the process of the bee larvae transfer needle picking up bee larvae (showing the relative position relationship between the bee larvae transfer needle and the honeycomb cell over time).

[0099] Figure 15 It is a schematic diagram of the relative position between the bee larvae transfer needle and the timing rule during the process of picking up bee larvae.

[0100] Figure 16 It is a schematic structural diagram of the front-back position adjustment mechanism installed on the bee larvae transfer machine (part of the bee larvae transfer machine structure is hidden to show the front-back position adjustment mechanism).

[0101] Figure 17 It is a schematic structural diagram of the front-back position adjustment mechanism.

[0102] Figure 18 In (1), it is a schematic diagram of the combination of the outer shell and the support frame (part of the structure of the first installation mechanism and the motion module is hidden to show the installation positions of the camera device and the position sensor), and (2) is a schematic structural diagram of the outer shell.

[0103] Figure 19 It is an exploded view of the bee larvae transfer mechanism in a specific embodiment.

[0104] Figure 20 It is Figure 19 In it, it is a schematic structural diagram of the first installation mechanism, the second installation mechanism and the motion module.

[0105] Figure 21Among them, (1) is a schematic structural diagram of the moving frame and the connecting frame in a separated state, (2) is a schematic diagram of the moving frame and the connecting frame combined together, and (3) is a schematic diagram of the back of the structure in (2).

[0106] Figure 22 Among them, (1) is a schematic structural diagram of the moving frame (a part of the moving frame structure is hidden to show the structure of the first cavity and the second cavity); (2) is a schematic structural diagram of the connecting frame.

[0107] Figure 23 Among them, (1) is a schematic diagram of the moving frame, the connecting frame, the mounting mechanism, and the motion module combined together; (2) is a schematic structural diagram of the height adjustment mechanism in a specific embodiment; (3) is a side schematic diagram of the structure in (2) (showing the clamping structure).

[0108] Figure 24 Among them, (1) is an exploded view of the bee larvae transferring mechanism in a specific embodiment, (2) is a schematic structural diagram of the mounting mechanism, the bee larvae transferring needle, the motion module, and the connecting frame in a separated state, and (3) is a schematic structural diagram of the mounting mechanism, the bee larvae transferring needle, the motion module, and the connecting frame in a combined state.

[0109] Figure 25 is a schematic structural diagram of the sliding bracket.

[0110] Figure 26 is a picture taken by the camera device (showing the bee larvae in the honeycomb cell).

[0111] Figure 27 is a schematic diagram of the bee larvae transferring process in an embodiment (showing the relative position changes of the bee larvae transferring element, the pushing tongue, and the honeycomb cell during the bee larvae transferring process), and the flat object at the bottom of the honeycomb cell represents the bee larvae.

[0112] Figure 28 is a schematic diagram of the bee larvae transferring process in an embodiment (showing the relative position changes of the bee larvae transferring element, the pushing tongue, and the honeycomb cell during the bee larvae transferring process), and the flat object at the bottom of the honeycomb cell represents the bee larvae.

[0113] Figure 29 is a schematic diagram of the bee larvae placing process in an embodiment (showing the relative position changes of the bee larvae transferring element, the pushing tongue, and the culture bowl during the bee larvae placing process), and the flat object at the bottom of the honeycomb cell represents the bee larvae. Specific Embodiment

[0114] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application will be described and explained below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments provided in the present application without creative efforts belong to the scope of protection of the present application.

[0115] Reference to "embodiment" in the present application means that a specific feature, structure or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those of ordinary skill in the art will explicitly and implicitly understand that the embodiments described in the present application can be combined with other embodiments without conflict.

[0116] Unless otherwise defined, the technical terms or scientific terms involved in the present application should have the ordinary meaning understood by those with ordinary skills in the technical field to which the present application belongs. The terms "a", "one", "kind", "the" and other similar words involved in the present application do not indicate a limitation in quantity and can represent a singular or plural number. The terms "include", "comprise", "have" and any variations thereof involved in the present application are intended to cover non-exclusive inclusion; the terms "connected", "coupled" and other similar words involved in the present application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "plurality" involved in the present application means greater than or equal to two. "And / or" describes the association relationship of associated objects and indicates that three relationships may exist. For example, "A and / or B" may represent: A exists alone, A and B exist simultaneously, and B exists alone. The terms "first", "second", "third", etc. involved in the present application are only used to distinguish similar objects and do not represent a specific order for the objects.

[0117] Embodiment 1

[0118] A larvae-transferring mechanism or device, as Figure 1-2 shown, includes a mechanism (or mounting mechanism) configured to be able to receive a larvae-transferring needle, so that the larvae-transferring needle swings back and forth around a fulcrum within the mechanism.

[0119] The so-called "fulcrum" refers to the cooperation between a certain position on the larva-transferring needle and a certain position or structure on the mechanism, enabling the larva-transferring needle to swing back and forth relying on this fulcrum, thereby achieving the control of the angle of the larva-transferring needle relative to the vertical direction (that is, controlling the angle between the straight line where the larva-transferring needle is located and the vertical line). The fulcrum here can be understood as a relatively fixed point. This fixation does not mean completely fixed. Instead, a certain position or point on the larva-transferring needle supports a point or structure on the installation mechanism as the fulcrum. The larva-transferring needle can rotate along this fulcrum. During the rotation process, the position of this fulcrum remains basically unchanged on the larva-transferring needle.

[0120] In some ways, the movement of this fulcrum changes depending on the change in the position of another point relative to the fulcrum. This other point can be defined as a moving point, which drives the movement of another position or another point on the larva-transferring needle. Using principles similar to the lever principle or the seesaw principle, the movement of the moving point, such as moving back and forth, drives the rotation of the fulcrum, thereby driving the swing of the larva-transferring needle.

[0121] Certainly, the fulcrum here can be the support point or support structure where a certain point on the larva-transferring needle supports a point or a structure on the installation mechanism as the fulcrum, so that the larva-transferring needle rotates or swings around the fulcrum or the support structure. The moving point here can be another point located on the larva-transferring needle, and this point is driven to move. This movement includes horizontal position movement or other forms of position movement, driving the fulcrum on the larva-transferring needle to rotate around the support structure or the support point.

[0122] In some ways, the present invention provides a specific structure to realize the movement of the moving point on the larva-transferring needle driving the movement of the fulcrum on the larva-transferring needle, thereby realizing the back-and-forth swing of the larva-transferring needle. Specific details will be explained below.

[0123] For example Figure 1 As shown, this structure includes a fulcrum structure 7 or a so-called support point structure. The larva-transferring needle includes a fulcrum 201, which is movably matched with the fulcrum structure or the support point structure, which can also be called the support point. The fulcrum 201 on the larva-transferring needle can rotate or swing around the support point on the structure 700 relying on the fulcrum structure or the support point on the structure. For example, as Figure 1-3As shown, the fulcrum structure 7 can be a groove, and the fulcrum 201 can be a structure similar to a wing or a convex structure, including two extended first wings 202 and second wings 203, which are respectively located on two grooves: the first groove 701 and the second groove 703, so that the wing structure can move in the groove in a manner similar to a fulcrum. Of course, the fulcrum and the support point here can be in any other way. For example, the fulcrum structure can be a cylinder, and the beekeeping needle contains a transverse through hole, and the cylinder passes through the through hole, which can also realize the rotation of the fulcrum around the support point. Any other form or structure that can achieve the direct or indirect contact between the beekeeping needle including the fulcrum 201 and the support point on the mechanism, so as to realize the rotation or swing of the beekeeping needle including the fulcrum 201 relative to the support point can be used in the specific implementation manner of the present invention.

[0124] In some preferred ways, 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 mounting here is only understood as a mechanism for mounting, accommodating, and receiving the beekeeping needle, rather than a mechanism that fixes the beekeeping needle so that it cannot move.

[0125] In some preferred ways, as Figure 2-3 shown, the first mounting mechanism includes grooves 7 provided at the left and right ends of the fourth mounting plate 4 (i.e., the bottom plate). The grooves 7 can cooperate with the raised blocks on the beekeeping needle 20 to respectively mount the first wing 202 and the second wing 203 of the beekeeping needle in the first groove 701 and the second groove 703, so that the beekeeping needle 20 will not fall downward or come out of the beekeeping needle 20 mounting mechanism; in some preferred ways, the groove is an arc-shaped groove (the support point or support structure for supporting the fulcrum), and the arc-shaped groove enables the fulcrum 201 on the beekeeping needle 20 to swing back and forth around the support point set by the arc-shaped groove 7, facilitating the adjustment of the angle of the beekeeping needle 20 tilting forward or backward.

[0126] In some preferred ways, the first mounting mechanism further includes an opening 5 provided on the first mounting plate 1 (i.e., the right side plate). Through the opening, it is convenient to mount the beekeeping needle, and it is possible to see that the beekeeping needle 20 is installed inside the first mounting mechanism to determine whether the installation is in place.

[0127] In some preferred ways, as Figure 1-3 shown, 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 to each other in pairs or are integrally formed. In some preferred ways, as Figure 1-3As shown, the first mounting plate 1 and the second mounting plate 2 are arranged opposite to each other. The first mounting plate 1 and the second mounting plate 2 serve as two opposite sides, which can protect the insect moving needle 20 and prevent the insect moving needle from being interfered by other objects or mechanisms on the left and right sides when moving insects.

[0128] In some preferred embodiments, the third mounting plate 3 is used as a rear side plate, and is connected to the first mounting plate 1, the second mounting plate 2, and the fourth mounting plate 4 respectively; the fourth mounting plate 4 is used as a bottom plate, and is connected and fixed to the first mounting plate 1, the second mounting plate 2, and the third mounting plate 3 respectively. Figure 1-3 As shown, a through hole 6 is provided on the fourth mounting plate 4 (i.e., the bottom plate), so that the insect removing needle 20 can just be inserted into the through hole, the upper section 21 of the insect removing needle is located at the upper part of the through hole 6, the mounting joint is combined with the through hole, and the middle section and the lower section of the insect removing needle are both located below the through hole.

[0129] It can be understood that the so-called first to fourth mounting plates are only names for different parts of the structure, and they can be integrally formed, such as plastic, such as metal, etc. Of course, the first and third mounting plates here can be omitted, and only the fourth mounting plate 4 with the supporting structure is retained.

[0130] In some preferred embodiments, Figure 1 As shown, the first mounting mechanism further includes a stopper 8. In some preferred embodiments, the stopper 8 is arranged opposite to the third mounting plate 3 and is detachably connected to the first mounting plate 1 and the second mounting plate 2. For example, in this embodiment, the stopper 8 is respectively connected to the first mounting plate 1 and the second mounting plate 2 by snap-fitting. Figure 7 As shown, the stopper 8 includes a snap-fit ​​surface 70. In some preferred embodiments, the snap-fit ​​surface 70 is an arc snap-fit ​​surface that can be combined with the insect removal needle installation joint 83. In some preferred embodiments, the stopper 8 also includes a first snap-fit ​​portion 71 and a second snap-fit ​​portion 72, both of which can cooperate with the slot on the first installation mechanism to achieve connection. The setting of the stopper can further fix the insect removal needle, so that the installation joint of the insect removal needle and the first installation mechanism are more tightly combined. Figure 8 As shown, the insect transfer needle mounting joint 83 can be used as a fulcrum, and the insect transfer needle can remain stationary or can be slightly swung forward or backward, such as Figure 3 As shown, the insect-moving needle 20 is installed in the first installation mechanism, and the fixed place (i.e., the insect-moving needle installation joint 83) is used as a fulcrum. When the upper section 21 of the insect-moving needle is moved forward by hand or in other ways, the upper section 21 of the insect-moving needle can tilt forward or swing forward, and the lower section 23 of the insect-moving needle can tilt backward or swing backward, as shown in FIG. Figure 10As shown. In some preferred embodiments, connection components are provided on the first mounting plate and the second mounting plate. In some preferred embodiments, the connection components include a first connection component 10 and a second connection component 11, and the first connection component 10 and the second connection component 11 are fixedly connected. In this embodiment, as Figure 3 shown, the first connection component 10 is a connecting plate, and the second connection component 11 is fixedly connected to the first mounting plate and the second mounting plate; connection holes are provided on the second connection component 11.

[0131] In another embodiment, the bee larva transfer needle includes a moving point, which is located at another position on the bee larva transfer needle, such as the moving point 204 at one end. This moving point can move, and this movement drives the movement of the fulcrum. The following will be described with specific structural diagrams. The moving point 204 of the bee larva transfer needle is arranged on a motion module 200, and the movement of the motion module drives the movement of the moving point 204. For example, the horizontal forward and backward movement of the motion module will necessarily drive the rotation of the fulcrum 201 around the support point. For example Figure 1 shown, the horizontal movement of the moving point 204 drives the forward and backward swing of the fulcrum 201, and this swing is the swing of the fulcrum around the support point.

[0132] Generally, the bee larva transfer needle here has a rigid structure, so it is easy to realize the movement of the moving point 204 driving the movement of the fulcrum 201, thereby generating a seesaw-like movement mode. Specifically, one end of the bee larva transfer needle is provided with a bee larva transfer element, which can be a flexible element, such as a brush, a flexible thin sheet, a flexible block, a flexible wire, etc. This flexible element can be inserted into the honeycomb cell, and the bending of the flexible element can pick up, bond or scoop up bee larvae. The bee larva transfer element is generally an elastic element and can be bent and deformed. In some preferred embodiments, the bee larva transfer mechanism in the present invention may include a bee larva transfer needle, as Figure 8 shown, the bee larva transfer needle includes an upper section 21, a mounting and coupling part, a middle section 22 and a lower section 23. The lower section 23 of the bee larva transfer needle includes a bee larva transfer element for picking up bee larvae; the lower section of the bee larva transfer needle further includes a pushing tongue 7m. The pushing tongue 7m is located on the side of the bee larva transfer element 4f, and the pushing tongue 7m contacts the bee larva transfer element. The pushing tongue 7m can push the royal jelly and the larva on the surface of the bee larva transfer element out, so that they are separated from the bee larva transfer element. In the present invention, the bee larva transfer needle can adopt a conventional bee larva transfer needle in the prior art, such as the bee larva transfer needle in the patent application number: 201810974288.0 or the application number: 201810974335.1, etc. Of course, other forms of bee larva transfer needles in the prior art can also be adopted, and the present invention does not improve the structure of the bee larva transfer needle.

[0133] Generally, the bee larva transfer element is located at one end of the bee larva transfer needle, such as the lower end of the fulcrum 201 (when the bee larva transfer needle is in the vertical position), and the moving point 204 is located at the upper end of the fulcrum.

[0134] Therefore, the present invention provides an insect moving device, which includes a support point for supporting the fulcrum of the insect moving needle, and a motion module for fixing the moving point of the insect moving needle. The movement of the motion module drives the fulcrum of the insect moving needle to rotate around the support point, thereby realizing the swing of the insect moving element of the insect moving needle. In some embodiments, the forward and backward movement of the moving point drives the forward and backward movement or the forward and backward swing of the insect moving element. Here, the forward and backward swing or the forward and backward movement has an angle with the vertical direction (such as Figure 10 ). It can also be understood that the movement of the moving point is used to adjust the angle of the forward or backward swing of the insect moving needle. The angle mentioned here can also refer to: the angle between the insect moving needle and the vertical axis.

[0135] In some embodiments, the support point and the motion module are an integrated structure. Figure 1 As shown, the motion module 200 includes a hole for fixing the moving point 204 on the insect transfer needle. For example, the moving point can also be a wing-like structure, which is fixed in the opening 3b ( Figure 6 ), the "fixed" mentioned here means: it can be used to install the insect moving needle 20. After installation, the insect moving needle 20 will not be separated from the motion module and will not swing left and right, but the moving point 204 of the insect moving needle 20 can be driven by the motion module to move forward and backward.

[0136] The forward and backward movement of the motion module can be driven by the force of the contact mechanism. Of course, the motion module can also be driven by the power of the motor. Even in the process of the up and down movement of the insect transfer needle, the moving point of the insect transfer needle can be driven to move, thereby realizing the forward and backward swing of the insect transfer element. This will be explained in detail later.

[0137] In some embodiments, the motion module 200 is disposed in a fixed structure 300 (i.e., the second mounting mechanism). For example, the motion module 200 has slide rails on both sides, and the fixed structure 300 has a slideway. The motion module can move back and forth in the slideway, thereby driving the moving point of the worm transfer needle to move back and forth.

[0138] In some preferred embodiments, the second mounting mechanism is configured to cooperate with the motion module 200 to adjust the angle between the insect moving pin 20 and the vertical axis, wherein the angle refers to the angle at which the insect moving pin 20 is tilted forward or backward relative to the vertical axis, such as Figure 10 The second mounting mechanism may be directly or indirectly connected to the first mounting mechanism, and the two may also be integrally formed.

[0139] In some preferred embodiments, the second mounting mechanism is slidably connected to the motion module, such as Figure 6 As shown, the motion module can slide in the second mounting mechanism, and can change the amplitude of the forward or backward swing of the insect-moving needle, and change the angle between the insect-moving needle and the vertical axis.

[0140] Specifically, as Figure 4 shown, the second installation mechanism includes a chute 1c, which is configured to be able to adjust the angle (swing angle) of the larvae transfer needle 20 to tilt forward or backward; since the larvae transfer needle 20 is installed in the motion module, the motion module can slide in the chute 1c, and the larvae transfer needle 20 can move in the chute 1c accordingly. As Figure 6 shown, the motion module and the chute 1c cooperate with each other to be able to adjust the tilt angle of the larvae transfer needle 20, so that the larvae transfer needle 20 can tilt into the honeycomb cell, avoiding digging out the bee larvae straight up and down, resulting in a low survival rate of the bee larvae.

[0141] In some preferred embodiments, there is an elastic element in the chute. The elastic element can be a spring, and the spring can be compressed or rebound, so as to enable the movement of the motion module in the chute. As Figure 4 ,6 shown, there is a spring 2c in the chute 1c, and a spring mounting seat 3c is provided inside the chute 1c for mounting the spring 2c. In some preferred embodiments, the spring mounting seat 3c adopts a cylindrical structure, the opening of the cylinder faces outward, and the spring 2c can be fixedly installed inside the cylinder. In this embodiment, as Figure 6 (2) shown, one end of the spring 2c is in the spring mounting seat 3c. During the process of the motion module sliding from the starting end to the ending end of the chute 1c, the spring 2c can be compressed, and conversely, the spring 2c rebounds.

[0142] In some preferred embodiments, as Figure 4 shown, a limit block 4c is provided at the outer end of the chute 1c, and the limit block 4c can limit the motion module to prevent the motion module from detaching from or deviating from the chute 1c. In some preferred embodiments, the limit blocks 4c are arranged in pairs, which is beneficial to restricting the motion module in the chute 1c so that the motion module always moves in the chute 1c.

[0143] In some preferred embodiments, connection segments are provided on both sides and the bottom of the chute 1c. Specifically, as Figure 4-7 shown, a first connection segment 5c and a second connection segment 6c are respectively provided on both sides of the chute, and a third connection segment 7c is provided at the bottom of the chute. The first connection segment 5c and the second connection segment 6c can be used to connect other components above the chute 1c, and the third connection segment 7c can be used to connect other components below the chute. In this embodiment, as Figure 7 (1) shown, the third connection segment 7c can be used to connect the first installation mechanism.

[0144] In some preferred embodiments, as Figure 4 shown, first connection holes 8c are provided on the first connection segment 5c, the second connection segment 6c, and the third connection segment 7c. In some preferred embodiments, the first connection holes 8c are threaded holes, and the chute 1c can be connected to other components through screws 10c or bolts. As Figure 7As shown, the second mounting mechanism is combined with the first mounting mechanism. In some embodiments, the second mounting mechanism and the first mounting mechanism may be two separate mechanisms, connected together by a connecting component, such as Figure 3-4 As shown in FIG. 7, in some other embodiments, the second mounting mechanism and the first mounting mechanism may be integrally formed, such as Figure 1-2 As shown in FIG. 9.

[0145] In some embodiments, such as Figure 4 As shown, a pair of retaining bars 9c are respectively provided on the left and right sides of the third connecting section 7c. The first connecting component 10 in the first mounting mechanism can be caught between the two retaining bars 9c, which can strengthen the connection between the second mounting mechanism and the first mounting mechanism.

[0146] In some preferred embodiments, the bee larva transferring mechanism further includes a height adjusting mechanism and a horizontal position adjusting mechanism. The mounting mechanism is connected to the height adjusting mechanism so that the bee larva transferring needle 20 can move up and down; the horizontal position adjusting mechanism is configured to enable the bee larva transferring needle 20 to move horizontally. In some preferred embodiments, the height adjusting mechanism and the horizontal position adjusting mechanism can be controlled separately, so that the bee larva transferring needle 20 can move up and down alone or move horizontally alone, or the bee larva transferring needle 20 can move up and down and horizontally at the same time.

[0147] The height adjusting mechanism and the horizontal position adjusting mechanism can use sliders, slide rails, etc. to realize the movement of the position of the bee larva transferring needle, or use gears, racks, conveyor belts, etc. to realize the movement of the position of the bee larva transferring needle, which will be elaborated in detail below. The height adjusting mechanism and the horizontal position adjusting mechanism can also use other devices or methods in the prior art to realize.

[0148] The present invention also provides a bee larva transferring method, such as Figure 27 As shown, the method simulates the manual bee larva transferring operation, and can use the bee larva transferring mechanism or device described above, including the following steps:

[0149] (1) When the bee larva transferring needle contacts the inner wall of the honeycomb cell or before contacting the inner wall of the honeycomb cell, make the bee larva transferring needle 20 be in the second position w2. The second position w2 refers to: the bee larva transferring needle 20 tilts forward, the bee larva transferring element 4f tilts backward, and the direction of the bee larva transferring element 4f of the bee larva transferring needle tilts backward at a certain angle relative to the vertical direction; the relative position relationship between the bee larva transferring needle and the honeycomb cell is as Figure 14 As shown, the relative position relationship between the bee larva transferring element and the honeycomb cell is as Figure 27 As shown, the swing of the bee larva transferring needle is as Figure 10 As shown. Figure 14 Among them, the second position w2 may be the state represented by d or the state represented by a certain moment between c and d of the second position.

[0150] The beekeeping implement can be pushed to the second position by mechanical force. Of course, the beekeeping implement can also be moved by the power of an electric motor.

[0151] (2) Move the beekeeping implement 20 to the first position w1. During the process of the beekeeping implement changing from the second position to the first position, the larva is dug out. The first position w1 means that the beekeeping implement 20 is tilted backward, and the beekeeping element 4f of the beekeeping implement 20 is tilted forward by a certain angle relative to the vertical direction. The relative position relationship between the beekeeping implement and the honeycomb cell is as Figure 14 shown, and the relative position relationship between the beekeeping element and the honeycomb cell is as Figure 27 shown. Figure 14 In, the first position w1 can be the state represented by f or the state represented by a certain moment before f when the second position is reached.

[0152] In some ways, before the beekeeping implement touches the inner wall of the honeycomb cell, the beekeeping implement can be in the second position or the first position, or in any position during the process of changing from the first position to the second position, or in other positions, which is acceptable.

[0153] In some preferred ways, in steps (1)-(2), the certain angle is 5°-40°.

[0154] In some preferred ways, in step (2), during the process of changing the beekeeping implement from the second position to the first position, after the beekeeping element touches the inner wall of the honeycomb cell, the beekeeping implement is swung backward (the driving force for swinging the beekeeping implement can be pushed by mechanical force or controlled by the power of an electric motor to swing the beekeeping implement), the beekeeping element moves forward, the beekeeping element bends forward along the inner wall of the honeycomb cell, the beekeeping element stirs the bee paste containing the bee larva, and the bee paste containing the bee larva adheres to the beekeeping element.

[0155] Similarly, the beekeeping implement can be pushed to change from the second position to the first position by mechanical force. Of course, the beekeeping implement can also be moved by the power of an electric motor.

[0156] In some preferred ways, in step (2), after the beekeeping element is loaded or adhered with the bee larva, the beekeeping implement is moved upward to separate from the honeycomb cell.

[0157] In some preferred ways, in step (2), after the beekeeping element is loaded with the bee larva, the beekeeping implement is moved upward and backward simultaneously to separate from the honeycomb cell.

[0158] In some preferred ways, after the beekeeping implement separates from the honeycomb cell, the beekeeping implement is moved to the target position, and the beekeeping implement enters the culture bowl obliquely, and the bee larva is pushed out and placed in the culture bowl. The target position means that the beekeeping implement is above the culture bowl of the foundation bar.

[0159] In some preferred embodiments, during the process of placing the bee larvae, after the transfer needle moves downward until the transfer element contacts the inner wall of the culture bowl, the bee larvae are pushed out, and then the transfer needle moves upward and backward simultaneously.

[0160] By using the transfer mechanism and method of the present invention, the success rate of transferring bee larvae is as high as over 90%, and the final survival rate of the transferred bee larvae is also relatively high. Compared with the traditional method of transferring bee larvae, the method of the present invention can protect the transfer needle and extend its service life.

[0161] In other embodiments, the present invention provides a method for transferring bee larvae, as Figure 28 shown, the method simulates the manual operation of transferring bee larvae, and the above-mentioned transfer mechanism or device can be used. Specifically, it includes the following steps:

[0162] (1) Place the transfer needle 20 at the second position w22. The second position w22 means that the transfer needle 20 is tilted forward, the transfer element 4f is tilted backward, and the direction of the transfer element 4f is tilted backward by a certain angle relative to the vertical direction; and the push tongue 7m of the transfer needle is in the state of being pushed downward, and the push tongue 7m is closely attached to the transfer element, so that the transfer element has a certain rigidity. The transfer element 4f is straight and not in a bent state. In this way, when the transfer element contacts the inner wall of the honeycomb cell, the transfer element is straight and does not bend. When the push tongue 7m moves upward, the transfer element bends forward, which can effectively dig out the bee larvae and avoid the transfer element bending backward when it contacts the inner wall of the honeycomb cell and being unable to dig out the bee larvae.

[0163] The relative position relationship between the transfer needle and the honeycomb cell is similar to Figure 14 , and the relative position relationship between the transfer element and the honeycomb cell is as Figure 28 shown. The swing of the transfer needle is as Figure 10 shown. Figure 28 In, the second position w22 can be the state represented by (4) or the state represented by a certain moment between (3) - (4).

[0164] (2) Place the transfer needle 20 at the third position w33. During the process of the transfer needle changing from the second position to the third position, the operation of transferring bee larvae is completed. The third position w33 means that the transfer needle 20 is tilted backward, and the transfer element 4f of the transfer needle is tilted forward by a certain angle relative to the vertical direction, and the transfer element is loaded or adhered with bee larvae. The relative position relationship between the transfer needle and the honeycomb cell is similar to Figure 14 , and the relative position relationship between the transfer element and the honeycomb cell is as Figure 28 shown. The swing of the transfer needle is as Figure 10 shown. Figure 28 In, the third position w33 can be the state represented by (7) or the state represented by a certain moment between (6) - (7).

[0165] In some preferred embodiments, in steps (1)-(2), the certain angle is 5°-40°.

[0166] In some preferred embodiments, in step (2), during the process of changing the grafting needle 20 from the second position w22 to the third position w33, after the grafting element contacts the inner wall of the cell, the pushing tongue 7m of the grafting needle moves upward, and the grafting element bends forward along the inner wall of the cell; the grafting needle swings backward (the driving force for swinging the grafting needle can be the mechanical force or the force of a motor to control the swing of the grafting needle), the grafting element 4f moves forward, the grafting element 4f stirs the bee jelly containing the bee larvae, and makes the bee jelly containing the bee larvae adhere to the grafting element 4f.

[0167] In some preferred embodiments, in step (2), after the grafting element is loaded or adhered with bee larvae, then the grafting needle 20 is moved upward, and the grafting needle takes the bee larvae and the bee jelly and detaches from the cell.

[0168] Further, in step (2), after the grafting element is loaded or adhered with bee larvae, then the grafting needle 20 is moved horizontally backward and upward at the same time, and the grafting needle takes the bee larvae and the bee jelly and detaches from the cell.

[0169] In some preferred embodiments, after the grafting needle detaches from the cell and is in the third position, the grafting needle is moved forward.

[0170] In some preferred embodiments, after the grafting needle detaches from the cell and is in the third position, the grafting needle is moved forward, and at the same time the grafting needle is moved downward to the target position, the grafting needle enters the culture bowl obliquely, contacts the inner wall of the culture bowl, and then the bee larvae are pushed out and placed in the culture bowl. The target position refers to: the grafting needle is above the culture bowl of the foundation bar.

[0171] In some preferred embodiments, after the grafting needle 20 detaches from the cell, the grafting needle 20 is in the third position w33. During the process of placing the larvae: the grafting needle 20 is moved forward to the foundation bar, aligned with the culture bowl, the grafting needle is moved downward, enters the culture bowl obliquely. When the grafting element contacts the culture bowl, the grafting element tilts forward. Then, the grafting needle is pressed, so that the pushing tongue 7m moves downward, pushing the bee larvae and the royal jelly on the surface of the grafting element, so that the bee larvae and the royal jelly detach from the grafting element 4f and enter the culture bowl of the foundation bar.

[0172] Further, during the process of placing the larvae, after the grafting element contacts the inner wall of the culture bowl, the grafting needle is pressed, so that the pushing tongue 7m moves downward, pushing the bee larvae and the royal jelly on the surface of the grafting element. Then the pushing tongue 7m moves upward, the grafting needle moves upward, and at the same time the grafting needle moves backward, and the back of the grafting element scrapes on the edge of the culture bowl, scraping off the royal jelly adhered to the back of the grafting element. Then the grafting needle continues to move upward and backward and leaves the culture bowl.

[0173] In some ways, before the larvae transfer needle contacts the inner wall of the cell cup, the larvae transfer needle can be in the second position or the third position, or in any position during the change from the first position to the second position, or in other positions.

[0174] In some preferred ways, before the larvae transfer needle 20 reaches the second position w22, the larvae transfer needle 20 is in the first position w11, where the first position w11 means that the larvae transfer needle tilts backward, the larvae transfer element tilts forward, and the direction of the larvae transfer element tilts forward by a certain angle relative to the vertical direction, making the larvae transfer element in a straight state without bending; in some preferred ways, after the larvae transfer needle 20 reaches the first position, the larvae transfer needle 20 is moved downward.

[0175] In some preferred ways, the larvae transfer method in this embodiment is similar to Figure 23 , except that when the larvae transfer needle is in the first position and the second position, the tongue 7m of the larvae transfer needle is in the state of being pushed out downward. In some preferred ways, during the process of changing the larvae transfer needle 20 from the first position w11 to the second position w22, the larvae transfer needle 20 is horizontally moved backward and at the same time the larvae transfer needle is moved downward.

[0176] In some preferred ways, during the process of changing the larvae transfer needle 20 from the first position w11 to the second position w22, the larvae transfer needle 20 is moved downward and at the same time the whole larvae transfer needle is horizontally moved backward until the larvae transfer element 4f contacts the inner wall of the cell cup. At this time, the larvae transfer element 4f tilts by a certain angle (the larvae transfer element tilts relative to the inner wall of the cell cup), and the larvae transfer element is straight without bending, which is different from the traditional larvae transfer method (in the traditional larvae transfer method, regardless of the shape of the cell cup, the larvae transfer needle always enters the cell cup vertically from the middle position of the cell cup).

[0177] Using the larvae transfer method of the present invention, the success rate of larvae transfer is as high as over 95%, and the final survival rate of the transferred larvae is also relatively high. Compared with the traditional larvae transfer method, the larvae transfer method of the present invention can protect the larvae transfer needle, extend the service life of the larvae transfer needle, and can avoid harming the bee larvae.

[0178] Embodiment 2

[0179] In some preferred ways, the larvae transfer mechanism further includes a guiding mechanism, which is configured to be able to guide

[0180] the larvae transfer needle 20 to move downward or upward, and can interact with the motion module to make the larvae transfer needle swing, change the angle between the larvae transfer needle 20 and the vertical axis, and thus be able to change the larvae transfer trajectory.

[0181] In some preferred ways, the guiding mechanism for larvae transfer, such as Figure 12As shown, it includes a timing rule which has a guiding surface and is configured to be able to guide the movement module to move. Here, the movement means that the movement module can move upward or downward along the guiding surface. Moreover, during the upward or downward movement, the guiding surface interacts with the movement module, which can change the position of the movement module in the sliding groove, and further can change the position of the larva-transferring needle in the sliding groove. That is to say, it can change the position of the larva-transferring needle in the front-back direction.

[0182] As Figure 11 shown, during the process that the movement module can move upward or downward along the guiding surface, the position of the guiding surface is fixed and does not change. The position of the movement module will change with the different shapes of the guiding surface, enabling the movement module to move in the sliding groove. The larva-transferring needle 20 can move upward or downward and forward or backward accordingly, and then complete the larva-transferring operation. As Figure 14-15 shown, dig out the bee larvae from the honeycomb cells (generally, when digging out the bee larvae, some royal jelly will be taken along).

[0183] In some preferred ways, as Figure 12 shown, the guiding surface includes a transition surface. When the movement module moves upward or downward along the transition surface, the movement module can move in the sliding groove, the larva-transferring needle swings, and the front-back position of the larva-transferring needle changes, and the larva-transferring needle changes from one position to another. In some embodiments, the transition surface is only an arc surface. When the movement module moves upward or downward along the arc surface, the movement module moves slowly in the sliding groove, and the swing amplitude of the larva-transferring needle per unit time is small, and the larva-transferring needle slowly changes its position in the front-back direction. In some embodiments, the transition surface includes an inclined surface. When the movement module moves upward or downward along the inclined surface, the movement module moves quickly in the sliding groove, and the swing amplitude of the larva-transferring needle per unit time is large, and the larva-transferring needle can quickly change its position in the front-back direction. In some other

[0184] embodiments, the transition surface includes an inclined surface and an arc surface. The sequence of the inclined surface and the arc surface, as well as the quantity and size of the inclined surface and the arc surface, can be set according to specific situations.

[0185] In some embodiments, the guiding surface includes a transition surface and / or a flat surface; when the movement module moves upward or downward along the flat surface, the horizontal distance between the movement module and the flat surface remains unchanged, the position of the movement module in the sliding groove remains unchanged, and the larva-transferring needle does not swing. That is to say, the height of the larva-transferring needle is constantly changing, but the horizontal position (front-back position) of the larva-transferring needle remains unchanged. In specific implementation, different shapes of guiding surfaces can be selected according to the actual situation. The present invention does not specifically limit the shape of the guiding surface.

[0186] In a specific embodiment, as Figure 11, as shown in Fig. 12(1), from top to bottom, the guiding surface includes multiple states, which are successively the first plane 4a, the arc surface 5a, the first inclined surface 2a, the second plane 6a, and the second inclined surface 7a. Since the timing rule is fixedly connected to the support frame 9, the guiding surface is stationary, and the motion module can move upward or downward under the action of the height adjustment mechanism. The motion module interacts with the guiding surface in different states (the motion module and the guiding surface can be in direct contact or non-direct contact, but there is an interaction force between the two), and can change the angle between the larvae transfer needle 20 and the vertical axis. When the larvae transfer needle is at the second inclined surface 7a, the larvae transfer needle is in the process of digging larvae at the bottom of the honeycomb cell. As Figure 14 shown, the larvae transfer needle is in state d, and at this time, the larvae transfer needle is at a certain position on the second inclined surface 7a. The setting of the second inclined surface 7a also facilitates the motion module to change the moving direction. For example, it is beneficial for the motion module to change from moving downward to moving upward.

[0187] In some preferred ways, the guiding mechanism can be installed in the larvae transfer device or the larvae transfer mechanism. In this embodiment, as Figure 11 shown, the guiding mechanism can be fixedly installed on the support frame 9. The motion module can move upward or downward along the guiding surface 1a, and then can guide the larvae transfer needle 20 to move upward or downward. At the same time, the larvae transfer needle can be swung so that the larvae transfer needle 20 can smoothly enter the honeycomb cell to dig out the bee larvae.

[0188] In some preferred ways, as Figure 11-12 shown, the upper end of the timing rule has a connection head 3a, which can be connected to other components. In some preferred ways, the connection head 3a can be fixedly connected to the larvae transfer machine or other devices by bolts or screws, etc., so that the timing rule is installed on the larvae transfer machine or other devices. In this embodiment, as Figure 11 shown, the connection head 3a is fixedly connected to the support frame 9.

[0189] In other embodiments, as Figure 12 shown in Fig. (2), from top to bottom, the guiding surface includes multiple states, which are successively the first plane 4a, the arc surface 5a, the first inclined surface 2a, the second plane 6a, the second inclined surface 7a, and the third plane 88a. Among them, the second inclined surface 7a facilitates the motion module to change the moving direction and move upward. The third plane 88a serves as a protection surface, so that the motion module will not move to the bottom of the timing rule due to inertia.

[0190] Other embodiments in this embodiment can be the same as or similar to those in Embodiment 1.

[0191] Embodiment 3

[0192] In some preferred ways, as Figure 5As shown, the motion module is provided with a mounting hole 1b. The upper section 21 of the larva transfer needle can be fixedly installed in the mounting hole 1b, and the larva transfer needle can swing along with the motion of the motion module. In some preferred embodiments, the diameter of the mounting hole 1b matches the diameter of the upper section 21 of the larva transfer needle. Specifically, the diameter of the mounting hole 1b is slightly larger than the diameter of the upper section 21 of the larva transfer needle, and the upper section 21 of the larva transfer needle can just stably be in the mounting hole 1b. Since the larva transfer needle is installed in the first mounting mechanism, the mounting joint 83 of the larva transfer needle can serve as a fulcrum. When the motion module moves forward (or backward) in the second mounting mechanism, then, the upper section 21 of the larva transfer needle can swing forward (or backward) along with the motion module, and at the same time, the middle section 22 and the lower section 23 of the larva transfer needle can swing backward (or forward), as Figure 8 shown.

[0193] In some preferred embodiments, a rolling element is connected to the end of the motion module; in some preferred embodiments, the rolling element is a roller 2b. In some preferred embodiments, as Figure 5 shown, the outer end of the motion module is connected with a roller 2b, and the roller 2b can roll along the contact surface; relatively speaking, the friction between the roller 2b and the contact surface is small, and it will not wear the contact surface or damage other components. Moreover, under the same conditions, the roller rolls faster.

[0194] In some preferred embodiments, as Figure 5-6 shown, an opening 3b is provided at the outer end of the motion module for placing the roller 2b. The transverse dimension of the opening 3b is slightly larger than the transverse dimension of the roller surface, so that the roller 2b can just be located at this opening 3b, but cannot move laterally or oscillate left and right. In some preferred embodiments, a shaft hole 4b is provided at the outer end of the motion module for fixedly installing the roller connecting shaft 41b, and the roller 2b can rotate around the roller connecting shaft 41b. In some preferred embodiments, the roller surface protrudes from the outer end of the motion module, so that only the roller 2b contacts 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 rolling of the roller 2b. Moreover, when the roller 2b rolls, other parts on the motion module will not be damaged or worn.

[0195] In some preferred embodiments, a convex block is provided at the end of the motion module where the rolling element is installed. The convex block is used to interfere with other components (such as the second interference part of the interference block). After the interference occurs, the position of the motion module in the front-back direction can be changed (as Figure 6 (1) shown, the x-axis direction represents the front-back direction), and further, the angle of forward or backward swing (or the inclined angle) of the larva transfer needle 20 can be changed, that is, the included angle between the larva transfer needle 20 and the vertical axis can be changed, as Figure 10 shown. In some preferred embodiments, as Figure 5As shown, at one end of the motion module where the rolling element is installed, there is a bump 5b; the setting of the bump 5b does not affect the rolling of the rolling element on the guiding surface (or contact surface). In some embodiments, the protruding direction of the bump 5b is consistent with the axial direction of the roller connecting shaft. In some other embodiments, the protruding direction of the bump 5b is perpendicular to the axial direction of the roller connecting shaft. As Figure 5 shown in (2), in some preferred ways, an installation component 5m is connected to the bump 5b. In some other preferred ways, an installation component 5m is connected to the other side of the bump 5b. As Figure 5 shown in (3). In some preferred ways, as Figure 5 shown in (2), a roller is connected to the end of the bump. When the roller contacts other components, there will be no significant wear.

[0196] In some preferred ways, at the end of the motion module away from the rolling element, there is a connecting element. In some preferred ways, as Figure 5 shown, the connecting element is a connecting post 6b, and the connecting post 6b is used to connect other components.

[0197] In some preferred ways, at the end of the motion module where the roller 2b is installed, there is an inclined surface 7b. As Figure 5 shown.

[0198] When the contact surface of the roller 2b is an inclined surface, the inclined surface 7b on the motion module can match this contact surface; if the contact surface of the roller 2b is an inclined surface while the end of the motion module where the roller 2b is installed is still a flat surface, then during the sliding process of the roller 2b, the flat surface will interfere with the contact surface (i.e., the inclined surface), affecting the movement of the roller 2b and wearing the contact surface and the motion module.

[0199] Other embodiments in this embodiment can be the same as those in Embodiments 1 - 2 or adopt a similar way to that in Embodiments 1 - 2.

[0200] Embodiment 4

[0201] In some embodiments, as Figure 11 shown, the timing device is vertically installed on the support frame 9; as Figure 12As shown, from top to bottom, the guiding surface 1a sequentially includes a first plane 4a (i.e., the first vertical plane), an arc surface 5a, a first inclined surface 2a, a second plane 6a (i.e., the second vertical plane), and a second inclined surface 7a. The roller 2b can slide downward along the guiding surface 1a. During the sliding process, the states of the spring and the bee transferring needle 20 are constantly changing. When the roller 2b slides along the first plane 4a, the roller 2b contacts the first plane 4a, the spring is in a compressed state, the upper section 21 of the bee transferring needle tilts backward, and the bee transferring element 4f of the bee transferring needle extends forward; when the roller 2b slides along the transition surface (i.e., the arc surface 5a and the first inclined surface 2a), the spring gradually rebounds, the upper section 21 of the bee transferring needle gradually moves forward to restore verticality, and then tilts forward, and the bee transferring element 4f of the lower section of the bee transferring needle extends backward; when the roller 2b slides along the second plane 6a (i.e., the second vertical plane), the roller 2b contacts the second plane 6a, the spring is in a slightly compressed state, the bee transferring needle 20 tilts forward, and the bee transferring element 4f of the bee transferring needle extends 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 a slightly compressed state or the spring is at its free length, the bee transferring needle 20 tilts forward, the tilting angle increases, and the bee transferring element 4f of the bee transferring needle extends backward.

[0202] In some preferred embodiments, such as Figure 13 shown, the guiding mechanism includes a fourth motor 8a. A swinging block 9a is connected to the fourth motor 8a. The fourth motor 8a can control the swinging or stationary state of the swinging block 9a. In some preferred embodiments, such as Figure 12 shown in (1), the timing gauge is provided with a first mounting portion 10a for mounting the fourth motor 8a.

[0203] In some preferred embodiments, such as Figure 12 shown, the timing gauge is provided with a relief structure 11a. In some preferred embodiments, the timing gauge is provided with a second mounting portion. In some preferred embodiments, the second mounting portion includes a connecting shaft 12a.

[0204] In some preferred embodiments, the guiding mechanism further includes an interference block 13a. The interference block 13a is connected to the timing gauge. The interference block 13a can be mounted on the second mounting portion. Specifically, as Figure 13 shown, the middle portion of the interference block 13a is provided with a second connection hole 14a. The connecting shaft 12a can pass through the second connection hole 14a to realize the connection between the interference block 13a and the timing gauge. After the two are connected or combined, the interference block 13a can be in a certain position. When a force of a certain magnitude acts on the interference block 13a, the interference block 13a can swing around the connecting shaft 12a.

[0205] In some preferred embodiments, such as Figure 13As shown, the upper end portion of the interference block 13a is located at the yield structure 11a, which facilitates the swing of the interference block 13a and can limit the swing range of the interference block 13a.

[0206] In some preferred embodiments, Figure 13 As shown, the interference block 13a has a first interference portion 15a at one end and a second interference portion 16a at the other end. The first interference portion 15a is configured to interfere with the swing block 9a on the fourth motor 8a; the second interference portion 16a is configured to interfere with the protrusion 5b; Figure 18 As shown, when the fourth motor 8a drives the swing block 9a to rotate, the swing block 9a pushes the first interference part 15a of the interference block 13a outward, the interference block 13a rotates, and the second interference part 16a of the interference block 13a presses the protrusion 5b inward, so that the motion module slides into the inside of the slide groove, the upper section 21 of the insect moving needle swings backward (i.e., tilts backward), and the insect moving element 4f of the insect moving needle extends forward to dig out the bee worm.

[0207] In other embodiments, Figure 12 As shown, the fourth motor is not set on the timing gauge, and the fourth motor is set on the side of the motion module, such as Figure 5 (2) The fourth motor can move along with the movement module. Therefore, the fourth motor can control the pushing tongue 7m of the insect removal needle to be in the pushing or normal state in real time.

[0208] Other implementations of this embodiment may be the same as embodiments 1-3 or may be implemented in a manner similar to embodiments 1-3.

[0209] Example 5

[0210] In some preferred embodiments, the insect transferring mechanism also includes a height adjustment mechanism, which can be used to adjust the height of the mounting mechanism so that the insect transferring needle is at different heights, changing the vertical distance between the insect transferring needle 20 and the nest cell, making it easier for the insect transferring needle 20 to enter the nest cell to dig out bees and worms, and to leave the nest cell after digging out the bees and worms.

[0211] In some preferred embodiments, the mounting mechanism is connected to a height adjustment mechanism so that the insect transfer pin 20 can be moved upward or downward to different heights.

[0212] In some preferred embodiments, Figure 23 As shown, the height adjustment mechanism includes a first gear 8e and a first gear plate 9e; the first gear 8e and the first gear plate 9e cooperate with each other to adjust the height of the mounting mechanism, thereby adjusting the height of the insect moving pin. In other embodiments, other methods can also be used to achieve height adjustment, such as using gears, transmission belts, etc. to achieve height adjustment of the insect moving pin.

[0213] In some preferred embodiments, the height adjustment mechanism further includes a first motor 7e, which can be used to provide power to drive the first gear to rotate. In other embodiments, instead of using a motor, other mechanical devices can be used for driving to make the first gear rotate.

[0214] In some preferred embodiments, the height adjustment mechanism further includes a moving frame, a moving block 1e and a connecting member 6e. In some preferred embodiments, the bee larva transferring mechanism further includes a support frame 9, and a column 2e is connected to the support frame 9.

[0215] In some preferred embodiments, such as Figure 11 shown, the column 2e and the support frame are fixedly connected by a connecting component or a connecting rod, etc. The moving block 1e is fixedly connected to the moving frame, and the moving block 1e is also slidably connected to the column 2e, so that the moving frame can move up or down relative to the column 2e. The first engaging plate 9e and the connecting member 6e are respectively fixedly connected to the moving frame, and the moving 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 be in contact and engaged with the first engaging plate 9e. When the first motor 7e rotates, the first gear 8e rotates, and the first engaging plate 9e can move up or down (when the first gear rotates clockwise or counterclockwise, the first engaging plate can move down or up, and the moving frame can move down or up).

[0216] In some preferred embodiments, the second mounting mechanism is fixedly connected to the moving frame. (In this embodiment, as Figure 11 shown, the second mounting mechanism is fixedly connected to the connecting member 6e, and the connecting member 6e is fixedly connected to the moving frame. The second mounting mechanism can move with the movement of the moving frame, so that the bee larva transferring needle can move up or down accordingly.

[0217] In some preferred embodiments, a first limiting member is provided on the upper part of the support frame 9, and a second limiting member is provided on the lower part. The setting of the limiting members can enable the moving block 1e to move up and down within a certain range, and the bee larva transferring needle 20 can move within a certain range, avoiding excessive movement beyond the appropriate range and damaging the bee larva transferring needle 20.

[0218] In some preferred embodiments, the column 2e is fixedly connected to the support frame 9, and the moving block 1e can be slidably connected to the column 2e and can slide up and down along the column 2e. In some preferred embodiments, chutes are provided on both sides of the column 2e, and protrusions are provided on the moving block 1e that are matched with the chutes. The cooperation between the protrusions and the chutes can enable the moving block 1e to slide on the column 2e. In this embodiment, as Figure 11As shown, the height adjustment mechanism further includes two columns 2e. In other embodiments, one column or more than two columns can be provided; in some embodiments, one or more moving blocks can be provided according to actual needs. In this embodiment, as Figure 11 shown in Fig. 16, 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 moving blocks are located on the same column (the two moving blocks are located at different positions on the column). In some preferred ways, the column and the moving frame do not interfere with each other. In this embodiment, the frame of the moving frame is located in the middle space between the two columns, and the column does not affect the upward or downward movement of the moving frame.

[0219] In some preferred ways, the moving block is fixedly connected to the moving frame. When the first motor 7e rotates, the first gear 8e rotates, and the first engaging plate 9e can move upward or downward. The moving frame can move upward or downward, and the moving block can slide upward or downward on the column. The fixing mechanism and the second mounting mechanism connected to the moving frame can move upward or downward, and can change the vertical position of the bee larva transfer needle (i.e., change the height of the bee larva transfer needle).

[0220] In other embodiments, as Figure 23 shown in Fig. 17, the height adjustment mechanism includes a power transmission device and a moving frame. The power transmission device is connected to the moving frame, and the bee larva transfer needle is connected to the moving frame. A buffer element is provided inside the moving frame, and the buffer element can be an elastic member or other structures or devices with a time buffering effect.

[0221] In some preferred ways, the height adjustment mechanism includes a power device. The power device is connected to the power transmission device, and the power device can be a motor. In this embodiment, as Figure 23 shown in Fig. 18, the power device adopts the first motor 7e; in other embodiments, a motor may not be used, but other mechanical devices can be used for driving. The power device can transmit power to the power transmission device, the moving frame can move under the drive of the power device, and the bee larva transfer needle can move upward or downward accordingly, thereby realizing the adjustment of the bee larva transfer needle at different heights.

[0222] In some preferred ways, the power transmission device includes a first gear 8e, a first engaging plate 9e, and a moving block 1e; in other embodiments, other ways can also be used to achieve power transmission, such as using gears, transmission belts, etc.

[0223] In this embodiment, as Figure 23As shown, the first gear 8e is connected to the first motor 7e. The first gear 8e is in contact connection with the first engagement plate 9e. The first engagement plate 9e is connected to the moving frame 1h (the first engagement plate 9e is fixedly connected to the moving frame 1h, or the two can be integrally formed). The worm transfer needle is directly or indirectly connected to the moving frame 1h, and the moving frame 1h is also connected to the moving block 1e. If the first motor 7e rotates, it can drive the first gear 8e to rotate, the first engagement plate 9e can move upward or downward, the moving frame 1h can move upward or downward, and the worm transfer needle can move upward or downward accordingly.

[0224] In some preferred embodiments, the height adjustment mechanism further includes a vertical column 2e. The moving block 1e can be slidably connected to the vertical column 2e, so that the moving frame 1h and the worm transfer needle can move upward or downward relative to the vertical column 2e.

[0225] In some preferred embodiments, as Figure 23 shown, the height adjustment mechanism further includes a connecting frame configured to connect the second mounting mechanism to the moving frame, so that the worm transfer needle can move with the movement of the moving frame.

[0226] The moving frame 1h in this embodiment is different from the moving frame described above, and the connecting frame is also different from the connecting member described above.

[0227] In some preferred embodiments, as Figure 22 shown in (1), the moving frame 1h includes a vertical support 2h. The vertical support 2h is provided with a first cavity 3h and a second cavity 4h. A first connection through hole 5h is provided at the bottom of the first cavity 3h, 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.

[0228] In some preferred embodiments, as Figure 22 shown in (2), the connecting frame includes a connecting piece 10h. The left and right sides of the connecting piece are provided with moving block connection parts 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. In this embodiment, the fourth motor 8a is installed at the support arm 7h. The support arm 7h can support the fourth motor 8a. The fourth motor 8a is connected to a pressing block (or interference block 13a), which can be used to press or strike the convex block 5b, so that the motion module moves backward (i.e., moves into the chute, and the spring inside the chute is compressed); the worm transfer needle swings, the upper section of the worm transfer needle tilts backward, and the worm transfer element tilts forward.

[0229] In some preferred embodiments, as Figure 22As shown in (2), a fitting 8h is provided on the back of the connecting piece. A third connecting through-hole 9h is also provided on the fitting 8h. In some preferred ways, the fitting 8h can be fitted and connected to the first cavity. For example, the fitting 8h can be inserted into the first cavity, and then the connecting column is used to sequentially pass through the first connecting through-hole 5h, the third connecting through-hole 9h on the fitting 8h, and the second connecting through-hole 6h on the second cavity 4h. Nuts are screwed on both ends of the connecting column to seal it so that the connecting column does not fall off, which can truly play a connecting role and connect the fitting 8h to the vertical bracket 2h (connect the connecting frame to the moving frame 1h). In some preferred ways, the dimensions (length, width, height) of the fitting 8h are all smaller than the dimensions (length, width, height) of the first cavity 3h, but the lateral dimension of the fitting 8h is larger than the dimension of the first connecting through-hole 5h, so that the fitting 8h can be located inside the first cavity 3h but will not slide out from the first connecting through-hole 5h. In some preferred ways, the height of the first cavity 3h is larger than the height of the fitting 8h, as Figure 23 shown, after the fitting 8h is assembled in the first cavity 3h, there is a remaining space 11h in the upper part of the first cavity 3h, so that the fitting 8h can move up (or down) along the connecting column inside the first cavity 3h.

[0230] In some preferred ways, an elastic member 8m is provided inside the first cavity 3h. The elastic member 8m serves as a buffer element, and the elastic member 8m can be a spring (not shown in the drawings). In some preferred ways, the elastic member 8m is sleeved outside the connecting column. The elastic member 8m is located above the third connecting through-hole 9h and below the second connecting through-hole 6h. When the moving frame 1h moves upward under the control of the first motor 7e, the fitting 8h is subjected to an upward force, and the fitting 8h moves upward, thereby compressing the spring. After the spring is compressed, it will give the fitting 8h a downward force, and finally a balance is formed. The fitting 8h moves upward with the moving frame 1h, and the larva-transferring needle moves upward with the moving frame 1h. Similarly, when the moving frame 1h moves downward under the control of the first motor 7e, the spring is compressed, and the fitting 8h is subjected to a downward force, so that the fitting 8h and the larva-transferring needle can smoothly move downward with the moving frame 1h.

[0231] The setting of the elastic member 8m makes the fitting 8h and the larva-transferring needle 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 larva-transferring needle is at position d, as Figure 14As shown, the larvae-transferring 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 strike) the convex block 5b. The movement module moves backward, the larvae-transferring needle swings, the upper section of the larvae-transferring needle tilts backward, the larvae-transferring element moves forward to dig out the bee larvae, and then, the larvae-transferring needle moves upward. In theory, when the fourth motor 8a is activated, the interference block should press the convex block 5b synchronously, so that the larvae-transferring element digs out the bee larvae and at the same time makes the larvae-transferring needle move upward. However, in actual situations, there is a reaction time when the fourth motor 8a is activated, and it also takes a corresponding time for the interference block to press the convex block 5b to make the larvae-transferring element dig out the bee larvae. Therefore, there needs to be a certain time delay when the larvae-transferring needle moves upward initially to avoid the following phenomenon: the larvae-transferring element has not dug out the bee larvae yet, but the larvae-transferring needle has already moved upward and left the honeycomb cell. The setting of the elastic member 8m enables the larvae-transferring element to dig out the bee larvae better, effectively dig the larvae, and avoid the phenomenon of leaving without digging out the bee larvae.

[0232] In some preferred embodiments, a larvae-releasing mechanism is connected to the moving 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, and the swinging member is connected to a pressing flat plate for pressing down the upper end of the larvae-transferring needle to move the pushing tongue 7m downward, so that the bee larvae are separated from the larvae-transferring element.

[0233] Other embodiments in this embodiment can be the same as those in Embodiments 1-4 or adopt a similar manner to Embodiments 1-4.

[0234] Embodiment 6

[0235] In some preferred embodiments, the larvae-transferring mechanism includes a larvae-releasing mechanism. The larvae-releasing mechanism can use a motor to control the pushing tongue to move downward to push out the bee larvae and leave the larvae-transferring element to achieve the larvae-releasing operation. For example, the second motor 3e shown in Figure 24 (2) strikes the upper end of the larvae-transferring needle to move the pushing tongue downward, and the bee larvae leave the larvae-transferring element. Of course, other methods can also be used to release the larvae.

[0236] In a specific embodiment, as Figure 11 shown, the larvae-releasing mechanism includes a second motor 3e, a second gear 4e, and a second engaging plate 5e. The three cooperate with each other and can be used for the larvae-releasing operation, that is, to put the bee larvae on the larvae-transferring element 4f into the culture bowl of the foundation bar.

[0237] In some preferred embodiments, 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 engaged with the second engaging plate 5e. In some preferred embodiments, as Figure 11As shown, the connecting member 6e has a multi-section connection structure. The connecting member 6e can be connected to the second mounting mechanism (i.e., the first connecting section 5c and the second connecting section 6c in the second mounting mechanism are connected by screws or bolts), and at the same time, the connecting member 6e is connected to the moving block 1e, the connecting member 6e is connected to the moving frame, and the connecting member 6e is also connected to the second engaging plate 5e.

[0238] In some preferred embodiments, the second engaging plate is provided with clamping bars on both sides, the connecting member is provided with a slotted opening, the second engaging plate is clamped within the frame of the connecting member, and the second engaging plate can slide up or down along the slotted opening. When the second motor 3e is started, the second gear can rotate. Correspondingly, the second engaging plate 5e can move up or down. The bottom of the second engaging plate 5e is provided with a flat plate. When the second engaging plate moves downward to above the larva-transferring needle, and then continues to move downward, the flat plate can press against the upper end of the larva-transferring needle, pressing the larva-transferring needle, so that the pushing tongue 7m moves downward, pushing the bee larvae and royal jelly on the surface of the larva-transferring element, causing the bee larvae and royal jelly to separate from the larva-transferring element 4f and enter the culture bowl of the cell bar. In some preferred embodiments, the second engaging plate is provided with a limiting protrusion, which can interfere with the connecting member to prevent the second engaging plate from continuing to move upward and disengaging from the connecting member. In this embodiment, as Figure 18 shown, the limiting protrusion is located at a position slightly below the middle of the second engaging plate, enabling the second engaging plate to move upward a relatively large distance. When no larvae are placed, the flat plate at the bottom of the second engaging plate is at a certain distance from the upper end of the larva-transferring needle, does not press the upper end of the larva-transferring needle, does not interfere with the upper end of the larva-transferring needle, and does not affect the larva-transferring operation of the larva-transferring needle.

[0239] Other embodiments in this embodiment may be the same as or similar to those in Embodiments 1-5.

[0240] Embodiment 7

[0241] In some preferred embodiments, the larva-transferring mechanism further includes a horizontal position adjusting mechanism, which can be used to adjust the horizontal position of the mounting mechanism, so that the larva-transferring needle 20 is at different horizontal positions, changing the horizontal distance between the larva-transferring needle and the larva-transferring element 4f and the comb cell, facilitating the larva-transferring needle 20 to move horizontally to align with the target comb cell and pick up bee larvae.

[0242] In some preferred embodiments, the horizontal position adjusting mechanism includes a front-back position adjusting mechanism and a left-right position adjusting mechanism. The "front-back position" refers to Figure 6 the direction represented by the x-axis in Figure 6 it. The "left-right position" is

[0243] The "target comb cell" refers to a comb cell containing bee larvae inside. As Figure 16As shown, in the horizontal direction (i.e., the left - right direction), there are multiple rows of honeycomb cells, each row including multiple honeycomb cells. Among these honeycomb cells, some contain bee larvae and some do not.

[0244] In some preferred ways, such as Figure 16 As shown, a horizontal position adjusting mechanism (here the horizontal position adjusting mechanism refers to the front - back position adjusting mechanism), and the horizontal position adjusting mechanism can use gears, meshing plates, etc. to achieve position adjustment, or use gears, transmission belts, etc. or use lead screws, lead screw sleeves, etc. to achieve position adjustment.

[0245] In a specific embodiment, the front - back position adjusting mechanism includes a third motor 1d, a third gear 2d, a third meshing plate 3d, and a translation plate 4d. The horizontal position adjusting mechanism is configured to be able to adjust and change the horizontal position (i.e., the front - back position) of the larva - transferring needle. In some preferred ways, 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 that of the translation plate, so that there is a distance between the translation plate and the support plate. When the translation plate moves, the third meshing plate will not interfere with the support plate and will not affect the movement of the translation plate.

[0246] In some preferred ways, such as Figure 16-17 As shown, the third gear 2d is connected to the third motor 1d, and the third motor 1d can drive the third gear 2d to rotate. The third meshing plate 3d is in contact and meshed with the third gear 2d, and the rotation of the third gear 2d can drive the third meshing plate 3d to move forward or backward relative to the third motor 1d. In some preferred ways, such as Figure 17 As shown, the third meshing plate 3d is fixedly connected to the translation plate 4d, and the translation plate 4d can move along with the movement of the third meshing plate 3d.

[0247] In some preferred ways, the translation plate 4d is directly or indirectly fixedly connected to the support frame 9. When the translation plate 4d moves horizontally forward or backward, it can drive the support frame 9 to move forward or backward. Then, the components connected to the support frame 9 can also move horizontally. Therefore, the larva - transferring needle 20 can move horizontally forward or backward. During the larva - transferring process, the larva - transferring needle 20 can not only move up or down, but also move horizontally forward or backward, and can also swing forward or backward obliquely (i.e., move along with the movement module in the chute).

[0248] In some preferred embodiments, the left - right position adjustment mechanism can adopt a conventional position adjustment mechanism in the prior art (not shown in the figure), which mainly includes a fifth motor, a fourth gear, a fifth gear, a conveyor belt, a slide rail, a slider, a connection structure, etc. The fifth motor is connected to the fourth gear, the conveyor belt is respectively connected to the fourth gear and the fifth gear, the slider is slidably connected to the slide rail, the slider is also connected to the support frame, the connection structure is connected to the conveyor belt, and the connection structure is connected to the support frame. The fifth motor can drive the fourth gear to rotate, the conveyor belt moves accordingly, the fifth gear rotates, and the connection structure and the support frame connected to the conveyor belt move accordingly. The slider slides along the slide rail as the support frame moves, and thus the position of the worm transfer needle in the left - right direction can be adjusted.

[0249] Other embodiments in this embodiment can be the same as those in Embodiments 1 - 6 or adopt a similar manner to Embodiments 1 - 6.

[0250] Embodiment 8

[0251] A method for transferring worms, the method simulates manual worm - transferring operations, and can adopt the above - mentioned worm - transferring mechanism, specifically including the following steps:

[0252] (1) Make the worm transfer needle 20 be in the first position w1. The first position w1 means that the worm transfer needle 20 inclines backward, the worm - transferring element 4f inclines forward, and the direction of the worm - transferring element 4f of the worm transfer needle 20 inclines forward by a certain angle relative to the vertical direction.

[0253] (2) Make the worm transfer needle 20 be in the second position w2. The second position w2 means that the worm transfer needle 20 inclines forward, the worm - transferring element 4f inclines backward, and the direction of the worm - transferring element 4f of the worm transfer needle inclines backward by a certain angle relative to the vertical direction.

[0254] (3) Make the worm transfer needle 20 be in the first position w1 again. During the process of changing from the second position w2 to the first position, the worm - digging is completed. When the worm transfer needle is in the first position w1, the worm transfer needle 20 inclines backward, and the worm - transferring element 4f of the worm transfer needle 20 inclines forward by a certain angle relative to the vertical direction to dig out the bee worm.

[0255] In some preferred embodiments, in steps (1) - (3), the certain angle is 5° - 30°.

[0256] In some preferred embodiments, in step (1), make the worm transfer needle 20 be in the first position w1, and then make the worm transfer needle 20 move downward.

[0257] In some preferred embodiments, in step (2), as Figure 14-15 shown, during the process of changing the worm transfer needle 20 from the first position w1 to the second position w2, move the worm transfer needle 20 horizontally backward and at the same time move the worm transfer needle downward.

[0258] In some preferred embodiments, in step (2), when the grafting needle 20 is changed from the first position w1 to the second position w2, ( Figure 10 is a schematic diagram of the change in the inclination angle when the grafting needle 20 only swings back and forth. In the figure, the inclination angle of the grafting needle 20 is 10°. As can be seen from the figure, the grafting needle 20 swings and changes from the first position w1 to the second position w2, passing through the intermediate position wg in the middle. Since the fulcrum hardly moves, the grafting needle 20 changes from tilting backward to tilting forward. Then, the grafting element 4f below the fulcrum changes from tilting forward to tilting backward), the grafting needle 20 moves downward and the whole grafting needle moves horizontally backward, as Figure 14 shown, the grafting element 4f enters the cell. The grafting element 4f is inclined at a certain angle and enters the cell along the inner wall of the cell, not straight up and down, and enters the cell from the middle position of the cell. Figure 14 In, the grafting needle at position w1 is not initially shown, but the grafting needle can start from position w1, gradually move downward, and the grafting needle swings. The grafting element 4f tilts backward to position (a), and then the grafting element 4f continues to move downward and tilts backward to position (d). Position w2 can be position (d) or a certain position state between positions (c) - (d). When the grafting element 4f is at position w2, the front end of the grafting element is bent and fits the bottom of the cell. The relative position relationship between the grafting element and the cell is as Figure 27 shown, Figure 27 In, the second position w2 can be the state shown in (3).

[0259] In some preferred embodiments, in step (3), as Figure 14-15 shown, when the grafting needle 20 is changed from the second position w2 to the first position w1, the grafting element bends, the grafting needle swings, the grafting element 4f moves forward, the grafting element 4f stirs the bee jelly containing the bee larvae, and makes the bee jelly containing the bee larvae adhere to the grafting element 4f. Then, the grafting needle 20 moves horizontally backward and upward at the same time, and the grafting needle carries the bee larvae and the bee jelly and detaches from the cell.

[0260] In some preferred embodiments, after the grafting element is loaded with bee larvae, the grafting needle 20 moves upward along the guiding surface, makes the grafting needle 20 swing again, and the grafting element tilts backward, which is consistent with the state when the grafting needle 20 is at the first position w1 in step (1).

[0261] In some preferred embodiments, after the larvae transfer needle 20 is withdrawn from the cell, it moves upward until the larvae transfer needle 20 is again in the first position w1, causing the larvae transfer needle 20 to move forward to the cell bar, aligning with the culture bowl. At this time, the second motor 3e is activated, the second gear rotates, and correspondingly, the second engaging plate 5e can move downward. The flat plate at the bottom of the second engaging plate 5e presses against the upper end of the larvae transfer needle, pressing the larvae transfer needle, causing the push tongue 7m to move downward, pushing the bee larvae and royal jelly on the surface of the larvae transfer element, so that the bee larvae and royal jelly are separated from the larvae transfer element 4f and enter the culture bowl of the cell bar.

[0262] In some preferred embodiments, during the larvae placement process, the larvae transfer needle moves downward and enters the culture bowl obliquely. In some preferred embodiments, during the larvae placement process, after the larvae transfer element contacts the bottom of the culture bowl, the bee larvae are pushed out, the larvae transfer needle moves upward and simultaneously moves backward.

[0263] The process of transferring larvae using the larvae transfer mechanism is as Figure 14 , shown in Figure 27;

[0264] The specific process of step (1) is as follows: After the larvae transfer needle 20 is in the first position w1, the first engaging plate moves downward, and correspondingly, the larvae transfer needle 20 moves downward obliquely backward.

[0265] Since the upper section 21 of the larvae transfer needle is installed inside the motion module, the larvae transfer needle mounting joint 83 is combined with the first mounting mechanism, the roller 2b on the motion module contacts the guiding surface 1a of the timing rule, and the roller 2b slides downward on the first plane 4a. During this process, the spring is in a compressed state, and the larvae transfer needle 20 is in the first position w1: the larvae transfer needle 20 is inclined backward, and the larvae transfer element 4f of the larvae transfer needle (i.e., the larvae digging part of the larvae transfer needle) extends forward.

[0266] The specific process of step (2) is as follows: The larvae transfer needle 20 moves downward, and at the same time, the translation plate moves backward (correspondingly, the larvae transfer needle moves backward). During this process, the roller 2b slides along the transition surface of the timing rule (the arc surface 5a and the first inclined surface 2a), and then slides along the second plane 6a of the timing rule (when the roller 2b slides on the second plane 6a, the larvae transfer element can be in Figure 27 the middle position (4)), and finally slides to the second inclined surface 7a of the timing rule. During this process, the spring gradually rebounds, the larvae transfer needle 20 swings, the upper section of the larvae transfer needle gradually swings forward to return to the vertical (i.e., the middle position wg), and then the upper section of the larvae transfer needle tilts forward, and the larvae transfer element 4f (i.e., the larvae digging part of the larvae transfer needle) extends backward (i.e., the second position w2); the larvae transfer element 4f moves downward into the cell. Figure 14 In, the second position w2 can be the state represented by d, Figure 27 In, the second position w2 can be the state represented by (3). When the larvae transfer needle is in the second position w2, the roller 2b is located at the second inclined surface 7a of the timing rule.

[0267] The specific process of step (3) is as follows: Figure 11 As shown in (1), since the roller 2b is located at the second inclined surface 7a, the fourth motor 8a controls the interference block 13a to swing, and the second interference portion 16a of the interference block 13a presses the protrusion 5b, and the motion module slides into the inside of the slide groove. Accordingly, the insect moving needle 20 swings, and the upper section of the insect moving needle tilts backward (the spring is in a compressed state), as shown in FIG. Figure 14 As shown in FIG. 27 , the insect transfer element 4f (i.e., the insect transfer needle scooping part) tilts forward, and at the same time, the translation plate moves forward (correspondingly, the insect transfer needle moves forward), so that the insect transfer needle moves upward to scoop up the bee worms together with a small amount of royal jelly. In other embodiments, as Figure 24 As shown, the fourth motor 8a is started and rotated, hitting or pressing the protrusion 5b, so that the motion module slides into the inside of the slide groove, and accordingly, the insect moving needle 20 swings, and the insect moving needle changes from the second position w2 to the first position w1.

[0268] After the insect transfer element is loaded with bees, the insect transfer needle 20 is moved backward and continues to move upward along the guide surface 1a, leaving the nest cell and moving to the first plane 4a of the timing gauge. At this time, the state of the insect transfer needle 20 is consistent with the state of the insect transfer needle 20 in step (1) when it is in the first position.

[0269] Furthermore, during the worm release process, after the worm transfer element contacts the inner wall of the culture bowl, the worm transfer needle moves upward and moves backward at the same time, and the back of the worm transfer element scrapes the edge of the culture bowl. Figure 29 As shown, (5) at some point thereafter, the royal jelly adhered to the back of the worm transfer element is scraped off, and then the worm transfer needle continues to move upward and backward to leave the culture bowl.

[0270] The insect transfer mechanism and insect transfer method of the present invention can achieve an insect transfer success rate of more than 90%, and a high final insect transfer survival rate. Compared with the traditional straight up and down insect transfer method, the insect transfer method of the present invention can protect the insect transfer needle and extend the service life of the insect transfer needle.

[0271] Example 9

[0272] A method for transferring worms, the method simulating manual worm transfer operation, such as Figure 28 As shown, the above-mentioned insect transfer mechanism can be used, which specifically includes the following steps:

[0273] (1)Position the larvae transfer needle 20 at the first position w11. The first position w11 means that the larvae transfer needle 20 is tilted backward, the larvae transfer element 4f is tilted forward, the direction of the larvae transfer element 4f is tilted forward by a certain angle relative to the vertical direction, the push tongue 7m of the larvae transfer needle is in the state of being pushed downward (i.e., the state when releasing the larvae), the push tongue 7m is closely attached to the larvae transfer element, so that the larvae transfer element has a certain rigidity, the larvae transfer element 4f is straight and not in a bent state. In this way, when the larvae transfer element contacts the inner wall of the cell, the larvae transfer element is straight and does not bend. When the push tongue 7m moves upward, the larvae transfer element bends forward, which can effectively dig out the bee larvae and avoid the larvae transfer element bending backward when contacting the inner wall of the cell and being unable to dig out the bee larvae. Figure 26 is a photo taken by the imaging device, and the bee larvae are located in the cell.

[0274] (2)Position the larvae transfer needle 20 at the second position w22. The second position w22 means that the larvae transfer needle 20 is tilted forward, the larvae transfer element 4f is tilted backward, the direction of the larvae transfer element 4f is tilted backward by a certain angle relative to the vertical direction; the push tongue 7m of the larvae transfer needle is in the state of being pushed downward (i.e., the state when releasing the larvae), the push tongue 7m is closely attached to the larvae transfer element, so that the larvae transfer element has a certain rigidity, the larvae transfer element 4f is straight and not in a bent state. In this way, when the larvae transfer element contacts the inner wall of the cell, the larvae transfer element is straight and does not bend. When the push tongue 7m moves upward, the larvae transfer element bends forward, which can effectively dig out the bee larvae and avoid the larvae transfer element bending backward when contacting the inner wall of the cell and being unable to dig out the bee larvae.

[0275] (3)Position the larvae transfer needle 20 at the third position w33. During the process of the larvae transfer needle changing from the second position to the third position, the larvae transfer operation is completed. The third position w33 means that the larvae transfer needle 20 is tilted backward, the larvae transfer element 4f of the larvae transfer needle is tilted forward by a certain angle relative to the vertical direction, and the larvae transfer element is loaded or adhered with bee larvae.

[0276] In some preferred ways, in steps (1)-(3), the certain angle is 5°-40°.

[0277] In some preferred ways, in step (1), position the larvae transfer needle 20 at the first position w11, and then move the larvae transfer needle 20 downward.

[0278] In some preferred ways, the larvae transfer method in this embodiment is similar to Figure 14 , the difference is that when at the first position and the second position, the push tongue 7m of the larvae transfer needle is in the state of being pushed downward (i.e., the state when releasing the larvae), as Figure 28 shown. In step (2), during the process of changing the larvae transfer needle 20 from the first position w11 to the second position w22, move the larvae transfer needle 20 horizontally backward and at the same time move the larvae transfer needle downward.

[0279] In some preferred embodiments, in step (2), when the larvae transfer needle 20 changes from the first position w11 to the second position w22, the larvae transfer needle 20 moves downward while the whole larvae transfer needle moves horizontally backward until the larvae transfer element 4f contacts the inner wall of the cell. At this time, the larvae transfer element 4f is inclined at a certain angle, and the larvae transfer element is straight without bending, which is different from the traditional larvae transfer method (the traditional larvae transfer method is to enter the cell vertically from the middle position of the cell).

[0280] Specifically, when the larvae transfer needle 20 changes from the first position w11 to the second position w22, the roller 2b slides along the transition surface of the timing rule (the arc surface 5a and the first inclined surface 2a), and then slides along the second flat

[0281] surface 6a of the timing rule (when the roller 2b slides on the second plane 6a, the larvae transfer element can be in the Figure 28 middle position (4)), and finally slides to the second inclined surface 7a of the timing rule. During this process, the spring gradually rebounds, the larvae transfer needle 20 swings, the upper part of the larvae transfer needle gradually swings forward to return to the vertical (i.e., the middle position wg), and then the upper part of the larvae transfer needle tilts forward, and the larvae transfer element 4f (i.e., the worm-digging part of the larvae transfer needle) extends backward (i.e., the second position w22); the larvae transfer element 4f moves downward into the cell. Figure 28 In the middle, the second position w22 can be the state shown in (5). When the larvae transfer needle is in the second position w2, the roller 2b is located at the second inclined surface 7a of the timing rule.

[0282] In some preferred embodiments, in step (3), as Figure 28 shown, when the larvae transfer needle 20 changes from the second position w22 to the third position w33, after the larvae transfer element contacts the inner wall of the cell, the push tongue 7m of the larvae transfer needle moves upward, and the larvae transfer element bends; at the same time, under the action of the fourth motor 8a, the interference block presses the convex block 5b, the larvae transfer needle swings, the larvae transfer element 4f moves forward, the larvae transfer element 4f stirs the bee jelly containing the bee larvae, and makes the bee jelly containing the bee larvae adhere to the larvae transfer element 4f, and then moves the larvae transfer needle 20 horizontally backward and upward at the same time, and the larvae transfer needle carries the bee larvae and the bee jelly and detaches from the cell. In other embodiments, as Figure 24 shown, the fourth motor 8a is started, the fourth motor 8a rotates, hits or presses the convex block 5b, so that the motion module slides into the chute, and correspondingly, the larvae transfer needle 20 swings, and the larvae transfer needle changes from the second position w22 to the third position w33.

[0283] In some preferred embodiments, after the bee larvae are loaded on the larvae transfer element, the larvae transfer needle 20 moves upward along the guiding surface while moving backward. Finally, the larvae transfer needle 20 is located at the third position w33, which is beneficial to the operation of releasing the larvae.

[0284] In some preferred embodiments, after the grafting needle disengages from the cell and is in the third position, the grafting needle is moved forward.

[0285] In some preferred embodiments, after the grafting needle disengages from the cell and is in the third position, the grafting needle is moved forward. Meanwhile, the grafting needle is moved downward to the target position. The grafting needle enters the culture bowl obliquely, contacts the inner wall of the culture bowl, and then pushes the bee larva out and places it in the culture bowl. The target position refers to: the upper part of the culture bowl of the cell bar.

[0286] In some preferred embodiments, after the grafting needle 20 disengages from the cell, the grafting needle 20 is in the third position w33, as Figure 29 shown. During the process of placing the larva: the grafting needle 20 is moved forward to the cell bar, aligned with the culture bowl, the grafting needle is moved downward, and enters the culture bowl obliquely. When the grafting element contacts the culture bowl, the grafting element tilts forward. Then, the second motor 3e is started, the second gear rotates, and correspondingly, the second engaging plate 5e moves downward. The flat plate at the bottom of the second engaging plate 5e presses against the upper end of the grafting needle, pressing the grafting needle (the operation of pressing the grafting needle can also be directly completed by the second motor 3e, as Figure 24 shown), so that the pushing tongue 7m moves downward, pushing the bee larva and royal jelly on the surface of the grafting element, so that the bee larva and royal jelly disengage from the grafting element 4f and enter the culture bowl of the cell bar.

[0287] Further, during the process of placing the larva, after the grafting element contacts the inner wall of the culture bowl, the grafting needle is moved upward and backward at the same time, and the back of the grafting element scrapes against the edge of the culture bowl, as Figure 29 shown. At a certain moment after (5), the royal jelly adhered to the back of the grafting element is scraped off, and then the grafting needle continues to move upward and backward to leave the culture bowl.

[0288] Using the grafting method of the present invention, the grafting success rate is as high as over 95%, and the final grafting survival rate is also relatively high. Compared with the traditional grafting method of moving straight up and down, the grafting method of the present invention can protect the grafting needle, extend the service life of the grafting needle, and avoid harming the bee larva.

[0289] Example 10

[0290] A detection device for grafting, including a collection element for collecting information of bee larvae in the cell and a detection element for detecting

[0291] bee larvae in the cell. The collection element can transmit the collected information to the detection element, and the detection element can analyze the received information to obtain a detection result.

[0292] In some preferred embodiments, it further includes a positioning element for identifying the position of the grafting needle or the cell. The positioning element can be a position sensor or the like.

[0293] In some preferred embodiments, the acquisition element is a camera device, configured to be able to take photos inside the honeycomb cells and transmit the photo information to the detection element. The detection element can analyze the photos to obtain a detection result, that is, whether there are bee larvae in the honeycomb cells. The camera device can be a camera or other conventional devices capable of taking photos in the prior art. In some embodiments, the detection element includes an image analysis unit, and the image analysis unit includes, but is not limited to, a GPU server and a detection module for the presence or absence of bee larvae running on the GPU server. The detection module can analyze the image data and train a high-precision model on the basis of a large amount of training data sets to detect the image data.

[0294] The present invention does not improve the structures of the camera device, the detection element, the position sensor, etc. itself. The present invention only uses existing devices and technologies to achieve the purpose of detecting bee larvae.

[0295] In some specific embodiments, as Figure 18 shown, a detection device for larva transfer includes an acquisition element, a position sensor, etc.; the larva transfer mechanism includes a housing 1f, the housing is connected to a support frame, and both sides of the housing are connected with mounting structures, and the mounting structures include a first mounting structure 2f and a second mounting structure 5f. The first mounting structure 2f can be used to mount the acquisition element; the second mounting structure can be used to mount the position sensor, which can be used to identify the position of the larva transfer needle or the honeycomb cell, facilitating the adjustment of the position of the larva transfer needle for larva transfer operations.

[0296] Other embodiments in this embodiment can be the same as those in Embodiments 1-7 or adopt similar ways to those in Embodiments 1-7.

[0297] Embodiment 11

[0298] In other embodiments, a detection device for larva transfer, as Figure 25 shown, includes a sliding bracket, an acquisition element for collecting information about bee larvae in the honeycomb cells, and a detection element for detecting bee larvae in the honeycomb cells. The acquisition element is mounted on the sliding bracket, and the sliding bracket includes a sliding member, and the sliding member can slide along a slideway, and the acquisition element can move accordingly.

[0299] In some preferred embodiments, it further includes a positioning element for identifying the position of the larva transfer needle or the honeycomb cell.

[0300] In some ways, the acquisition component adopts a camera device for taking photos inside the honeycomb cells, and the positioning component adopts a position sensor. The detection component includes an image analysis unit, and the image analysis unit includes, but is not limited to, a GPU server, and a detection module for the presence or absence of bees and worms running on the GPU server. The detection module analyzes the image data and trains a high-precision model based on a large number of training data sets and validation data sets to detect the image data.

[0301] The present invention does not improve the structures of the camera device, the detection component, the position sensor, etc. itself. The present invention only uses existing devices and technologies to achieve the purpose of detecting bees and worms.

[0302] In some preferred ways, such as Figure 25 As shown, 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 the first mounting arm. In some embodiments, the number of position sensors can be one or more. When the slider 5k slides along the slideway, the slideway is arranged in parallel with the slide rail in the left and right position adjustment mechanism. The camera device and the position sensor 2k can move accordingly.

[0303] In some preferred ways, a mounting member 4k is connected to the side of the first mounting arm 6k, and the camera device can be mounted on the camera device mounting part of the mounting member 4k.

[0304] In some preferred ways, the first mounting arm 6k and the second mounting arm 7k are spaced apart by a certain distance and are arranged opposite to each other.

[0305] In some preferred ways, the detection device further includes a clamping structure, and the clamping structure includes a clamping part.

[0306] In some ways, such as Figure 23 As shown, the clamping structure is fixedly connected to the support frame, and the clamping structure does not interfere with the height adjustment mechanism. In some preferred ways, such as Figure 23 As shown, the clamping structure has a clamping part 1k, which is configured to be capable of being clamped and connected with other components. In some preferred ways, the clamping part 1k is an arc-shaped clamping part 1k, and the combination of the arc-shaped clamping part 1k and the component to be clamped is relatively tight, and can preferably connect the component to be clamped and the support frame together.

[0307] In some preferred ways, such as Figure 25 As shown, 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 achieve clamping connection. In some preferred ways, the clamping member 3k has an arc-shaped surface, and the arc-shaped surface can be combined with the arc-shaped clamping part 1k.

[0308] When the clamping structure is combined with the clamping member 3k and the larvae transferring needle moves left and right under the drive of the left and right position adjusting mechanism, the imaging device and the position sensor 2k can move left and right accordingly. Since the imaging device and the position sensor 2k are not fixedly connected to the support frame, when the larvae transferring needle moves up and down along the column 2e, it will not affect the imaging device and the position sensor 2k. The vibration caused by the upward or downward movement of the larvae transferring needle has little impact on the imaging device and the position sensor 2k, which can protect the imaging device and the position sensor 2k, does not affect their work, and extends their service life. In the prior art, some larvae transferring mechanisms install the imaging device, the position sensor 2k and the larvae transferring needle in the same installation mechanism, which will cause the imaging device and the position sensor 2k to move upward or downward along with the larvae transferring needle, making the imaging device and the position sensor 2k vulnerable to the vibration during the movement. The components connected to the imaging device and the position sensor 2k are also prone to vibration or wear during the frequent upward or downward movement.

[0309] Other embodiments in this embodiment may be the same as or similar to those in Embodiments 1-7.

[0310] Those skilled in the art should understand that the technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0311] The above-described embodiments merely represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application.

Claims

1. A bee larva transferring device, characterized in that, Comprising an installation mechanism configured to be able to receive a larva-transferring needle, which can swing around a fulcrum within the mechanism; The larva-transferring device further includes a guiding mechanism configured to be able to guide the larva-transferring needle to move downward or upward and to adjust the swinging angle of the larva-transferring needle; the larva-transferring device further includes a motion module, which can drive a moving point on the larva-transferring needle to swing; The guiding mechanism includes a timing rule having a guiding surface configured to be able to guide the motion module to move. The motion module can move upward or downward along the guiding surface, and during the upward or downward movement, the guiding surface interacts with the motion module to change the position of the motion module in the chute, and thus change the position of the larva-transferring needle in the chute; The guiding surface further includes a transition surface. When the motion module moves upward or downward along the transition surface, it can move in the chute to swing the larva-transferring needle, changing the front and rear positions of the larva-transferring needle, and the larva-transferring needle changes from one position to another.

2. The bee larva transferring device according to claim 1, characterized in that, The installation mechanism includes a first installation mechanism, and the first installation mechanism includes a fulcrum structure or a support point structure.

3. The bee larva transferring device according to claim 2, characterized in that, The support point structure is a groove.

4. The bee larva transferring device according to claim 2, characterized in that, The first installation mechanism includes a support point structure for supporting the fulcrum of the larva-transferring needle.

5. The bee larva transferring device according to claim 4, characterized in that, The installation mechanism includes a second installation mechanism for installing the motion module.

6. The bee larva transferring device according to claim 5, characterized in that, The second installation mechanism is slidably connected to the motion module.

7. The bee larva transferring device according to claim 1, characterized in that, The transition surface is an arc surface and / or an inclined surface.

8. The bee larva transferring device according to claim 7, characterized in that, The guiding surface includes a transition surface and / or a flat surface.

9. The bee larva transferring device according to claim 1, characterized in that, A first installation part is provided on the timing rule.

10. The bee larva transferring device according to claim 1, characterized in that, An installation hole is provided on the motion module for installing the moving point of the larva-transferring needle, and the larva-transferring needle can swing with the movement of the motion module.

11. The bee larva transferring device according to claim 1, characterized in that, A rolling element is connected to the end of the motion module.

12. The bee larva transferring device according to claim 11, characterized in that, A convex block is provided at the end of the motion module where the rolling element is installed.

13. The bee larva transferring device according to claim 11, characterized in that, A connecting element is provided at the end of the motion module away from the rolling element.

14. The bee larva transferring device according to claim 1, characterized in that, The second installation mechanism includes a chute configured to receive the motion module.

15. The bee larva transferring device according to claim 14, characterized in that, An elastic element is provided inside the chute.

16. The bee larva transferring device according to claim 14, characterized in that, A limiting block is provided at the outer end of the chute.

17. The bee larva transferring device according to claim 2, characterized in that, The first installation mechanism further includes a stop block.

Images