A moving insect scraping assembly, a moving insect mechanism and a full-automatic moving insect machine

Abstract

The present application relates to the field of beekeeping equipment, especially to a moving and scraping insect component, a moving insect mechanism and a full-automatic moving insect machine. The moving and scraping insect component comprises a moving insect needle and a scraping insect needle, the scraping insect needle is arranged in cooperation with the moving insect needle and can be inserted into the moving insect needle to scrape the larvae on the needle head. The moving insect mechanism comprises multiple groups of moving and scraping insect components which are arranged in parallel and sleeved on a connecting rod and a sliding rod, and is provided with a lifting mechanism and a telescopic driving mechanism. The lifting mechanism is used to drive the scraping insect needle to move up and down to complete the operation of releasing insects. The telescopic driving mechanism drives the positioning chain to extend or retract to adjust the distance between the moving and scraping insect components to adapt to the different distance requirements of the bee guts and royal jelly strips. The full-automatic moving insect machine comprises a rack, a bee gut bearing mechanism and a royal jelly strip bearing mechanism, and is also provided with an X-axis driving mechanism, a Y-axis driving mechanism and a Z-axis driving mechanism which are used to drive the moving insect mechanism to move along the X-axis, the Y-axis and the Z-axis to complete the insect taking of the front and rear parts and the left and right parts of the bee guts and the moving of insects from the bee guts to the royal jelly strips.

Description

Technical Field

[0001] This invention relates to the field of beekeeping equipment, and more particularly to a larvae transfer and scraping component, a larvae transfer mechanism, and a fully automatic larvae transfer machine. Background Technology

[0002] In the production of royal jelly, queen bee larvae raised in the brood comb need to be transferred to royal jelly strips. Worker bees then secrete substances into the strips to nourish the larvae, which form royal jelly. Manual larvae transfer is done by hand using tweezers, a method that is labor-intensive, time-consuming, and inefficient, resulting in insufficient royal jelly production to meet market demand. Therefore, researchers have been developing automated larvae transfer devices. For example, patent CN104798697B, entitled "Larva Transfer Machine for Transferring Bee Larvae from Brood Combs to Royal Jet Strips," discloses a larva transfer machine. However, this device uses a brood comb carrying mechanism that can move forward, backward, left, and right, while the larvae transfer head and scraping mechanism remain stationary horizontally, only moving vertically. This structure is only suitable when the brood comb and royal jelly strip holes are at the same distance. However, the spacing between the holes on the honeycomb and the royal jelly strips, which are closer to the structure of a real honeycomb, is not the same. The spacing between the egg-laying holes on the honeycomb is smaller than that on the royal jelly strips. The spacing of the larvae transfer head of the larvae transfer machine disclosed in the aforementioned patent documents is not adjustable and cannot be applied to this type of honeycomb and royal jelly strip. The larvae scraping mechanism in the aforementioned patent documents is a steel wire rope that descends as a whole to scrape the larvae off. In this method, the steel wire rope does not fit well with the larvae transfer head, making it easy to miss some larvae. Summary of the Invention

[0003] To address the problems existing in current larvae transfer machines, this invention provides a larvae transfer and scraping component that can solve the problem of missed larvae during scraping. It also provides a larvae transfer mechanism that can adjust the spacing of the larvae transfer needles to adapt to situations where the spacing between the bee comb and the royal jelly strip holes is different. Furthermore, by controlling each drive mechanism through a controller, the larvae transfer operation can be fully automated, greatly improving the efficiency of larvae transfer.

[0004] The specific solution of the present invention is as follows:

[0005] A larvae transfer and scraping assembly includes a larvae transfer needle and a scraping needle. The larvae transfer needle includes at least two parallel tubes with a first ring on each tube. A plug is located on each of the at least two adjacent tubes on opposite sides. A flexible, sheet-like needle is located below each tube. The spacing between adjacent needles corresponds to the spacing between two rows of oviposition holes on the bee comb, and also corresponds to the spacing between two rows of holes on the royal jelly strip. The scraping needle includes a second ring and at least two parallel push rods. The spacing between adjacent push rods matches the spacing between adjacent tubes and adjacent needles, and is used to push the queen bee larvae on the needle into the holes of the royal jelly strip through the tubes.

[0006] The component's structure is adapted to accommodate both the larvae-transferring needle and the larvae-scraping needle. The scraping needle can be inserted into the tube of the transfer needle and pushed down close to the inner wall of the needle tip, pushing the larvae attached to the inner wall into the hole. This structure improves the comprehensiveness of larvae release and avoids omissions. Multiple pairs of needles and push rods can be configured in the component, enabling multiple rows of larvae to be collected and released at once, greatly improving larvae transfer efficiency. The following two schemes are preferred:

[0007] The first type is a double-headed worm transfer and scraping assembly, which includes two pairs of needles and push rods. The worm transfer needle includes two parallel tubes, each with a first collar on the outside and a pair of plugs opposite each other on the inside of the tubes. The two tubes are connected by a connecting arm. The worm scraping needle includes two parallel push rods.

[0008] The second type is a four-headed worm transfer and scraping assembly. This assembly includes four pairs of needles and push rods. The worm transfer needle includes four parallel tubes located in the same plane. The tops of the two tubes on the left and the two tubes on the right are connected by a first collar. The two tubes in the middle are each provided with a plug on their opposite sides and are connected by a connecting arm. The worm scraping needle includes four push rods that are parallel to each other and located in the same plane.

[0009] This invention also utilizes the aforementioned larvae transfer and scraping components to design a larvae transfer mechanism, including a support frame and a Z-axis drive mechanism for driving the support frame to move up and down. It also includes at least two sets of larvae transfer and scraping components. The spacing between the larvae transfer and scraping components is adjustable, so that when larvae are removed, the spacing of the egg-laying holes in the same row as the bee comb is matched, and when larvae are released, the spacing of the holes in the same row as the royal jelly strip is matched. Each end of the support frame has a mounting base, and the mounting bases are connected by a parallel connecting rod and a sliding rod. The sliding rod is located in the same horizontal plane and is used to attach the first ring of the larvae transfer needle. The connecting rod is located above the sliding rod and is used to attach the second ring of the scraping needle. Each end of the connecting rod has a lifting mechanism for driving its movement up and down, which lowers the connecting rod and the scraping needle, pushing the queen bee larva on the needle tip into the hole of the royal jelly strip.

[0010] This larvae transfer mechanism arranges multiple sets of larvae transfer needles and scraping needles side by side. The larvae transfer needles are connected in series via a sliding rod. A Z-axis drive mechanism lowers the larvae transfer mechanism, allowing all the larvae transfer needles to be inserted into the oviposition hole simultaneously to collect the larvae. Conversely, a connecting rod connects the scraping needles in series, allowing them to be lowered together via a lifting mechanism. This completes the larvae scraping and release operation in one go, improving larvae release efficiency. The above-mentioned larvae transfer mechanism can also be arranged with multiple rows arranged front and back, driven together by a Z-axis drive mechanism, enabling the transfer and release of more rows of larvae at once, further improving larvae transfer efficiency.

[0011] Considering the small diameter of the oviposition holes on the bee comb, the spacing between the holes is smaller than that on the royal jelly strips. Therefore, the spacing of the transfer needles when removing larvae from the bee comb should be different from the spacing when placing larvae into the royal jelly strips. This invention addresses this issue by improving the transfer mechanism, allowing for adaptive adjustment of the transfer needle spacing for both scenarios. Specifically, the transfer needles are connected in series via a positioning chain. The positioning chain comprises several links, each with a hole on its outer side for inserting the plug inside the transfer needle. The left end of the positioning chain connects to a mounting base, and the right end connects to a drag handle. The drag handle is connected to a telescopic drive mechanism, used to move the drag handle left and right, adjusting the distance between the transfer and scraping components. Because the transfer needles are connected by a chain, the chain links can be folded, providing two different spacings for the transfer needles when the chain is unfolded and folded, suitable for both larvae removal and placement operations.

[0012] Preferably, the length of the chain links and the position of the insertion holes should meet the following requirements: when the positioning chain is unfolded, the distance between two adjacent larvae transfer needles is equal to the distance between the holes in the same row of royal jelly strips; when the positioning chain is folded and retracted, the distance between two adjacent larvae transfer needles is equal to the distance between the oviposition holes in the same row of bee combs.

[0013] Since the links of the positioning chain are connected by a pivot, the flipping direction is relatively free. In order to control the flipping direction of the links and ensure that the insect transfer needles are evenly distributed, the right end of the positioning chain can be connected to the drag handle through a torsion spring. This is used to limit the flipping direction of the right end link when the chain is compressed, thereby driving the other links to flip in the set direction, ensuring that the insect transfer needles are evenly distributed when the positioning chain is folded and contracted.

[0014] Furthermore, the lifting mechanism includes an eccentric wheel and a lifting drive motor. The motor shaft of the lifting drive motor is connected to the eccentric wheel. When the lifting drive motor is working, the connecting rod moves along the outer edge of the eccentric wheel, converting the rotation of the motor into the up-and-down movement of the connecting rod, thereby realizing the up-and-down lifting of the connecting rod and the insect-scraping needle.

[0015] Furthermore, the telescopic drive mechanism includes a driving wheel, a driven wheel, and a synchronous belt connecting the driving wheel and the driven wheel. The driving wheel is connected to a telescopic drive motor, and the synchronous belt is connected to the tow handle. When the motor rotates forward, the synchronous belt drives the tow handle to move to the right, pulling open the insect-transferring needle until the tow handle reaches the right mounting position, at which point the motor stops. When the motor rotates in reverse, the synchronous belt drives the tow handle to move to the left, compressing the insect-transferring needle until it is compressed to a set spacing, at which point the motor stops.

[0016] A fully automatic larvae transfer machine includes a frame and a bee comb carrying mechanism and a royal jelly strip carrying mechanism on top of the frame. The frame is equipped with an X-axis drive mechanism, a Y-axis drive mechanism, and a gantry frame. The X-axis drive mechanism is connected to the gantry frame and is used to drive the gantry frame to move along the X-axis. The Y-axis drive mechanism is located on the gantry frame. The machine also includes the aforementioned larvae transfer mechanism and a controller. The Y-axis drive mechanism is connected to the royal jelly larvae transfer mechanism through a Z-axis drive mechanism and is used to drive it to move along the Y-axis. The X-axis drive mechanism, Y-axis drive mechanism, Z-axis drive mechanism, lifting mechanism, and telescopic drive mechanism are all electrically connected to the controller.

[0017] This fully automatic insect transfer machine is equipped with a controller. Programs can be designed and embedded in the controller according to the travel requirements of each mechanism in the equipment. The controller controls the X-axis drive mechanism, Y-axis drive mechanism, Z-axis drive mechanism, lifting mechanism and telescopic drive mechanism to perform actions according to the program settings, so as to automatically complete the insect transfer operation.

[0018] Furthermore, the bee comb carrying mechanism includes a rectangular frame formed by a front limiting plate, a left limiting plate, a right limiting plate, and a rear telescopic plate located on the top plate of the frame. The size of the rectangular frame matches the size of the bee comb, and the rear telescopic plate is used to lock the bee comb after it is placed into the rectangular frame.

[0019] Furthermore, the royal jelly strip carrying mechanism includes a support frame disposed on one side of the frame, the position of which corresponds to the position of the royal jelly larvae transfer mechanism, and ensures that the royal jelly strip is parallel to the larvae transfer needle array.

[0020] Furthermore, both mounting bases are equipped with limit switches on the side near the insect transfer needle, which are used to output a signal to the controller when the insect transfer needle is extended or retracted into place.

[0021] The present invention has the following beneficial effects:

[0022] 1. The fully automatic larvae transfer machine of the present invention is equipped with X-axis, Y-axis and Z-axis drive mechanisms to drive the larvae transfer mechanism to move along the X-axis, Y-axis and Z-axis directions, thereby completing the removal of larvae from the front and back, left and right parts of the bee comb and the transfer of larvae from the bee comb to the royal jelly strip; at the same time, a linkage lifting mechanism is provided to realize the up and down movement of the larvae scraping needle to complete the larvae release operation.

[0023] 2. This invention cleverly installs the worm-transferring and scraping components using a positioning chain and sets up a telescopic drive mechanism. The spacing of the worm-transferring and scraping components can be adjusted by pushing and pulling the positioning chain, thereby meeting the different hole spacing requirements of bee combs and royal jelly strips.

[0024] 3. The insect transfer and scraping assembly of the present invention has a matching scraping needle for each insect transfer needle. All scraping needles can move synchronously to complete the scraping of insects, which is highly efficient. In addition, the scraping needle can fit against the inner wall of the needle tip, which can accurately complete the scraping of insects without missing any.

[0025] 4. All electric mechanisms in this invention are controlled by a controller to achieve fully automated operation of the royal jelly larvae transfer process, which greatly saves labor costs, improves larvae transfer efficiency, and can significantly increase the yield of royal jelly. Attached Figure Description

[0026] Figure 1 This is a front view of Embodiment 1 of the insect transfer and scraping assembly described in this invention;

[0027] Figure 2 This is a front view of the insect-transferring needle in Embodiment 1 of the insect-transferring and scraping assembly of the present invention;

[0028] Figure 3 This is a front view of the insect scraping needle in Embodiment 1 of the insect transfer and scraping assembly described in this invention;

[0029] Figure 4 This is a front view of Embodiment 2 of the insect transfer and scraping component described in this invention;

[0030] Figure 5 This is a front view of the insect-transferring needle in Embodiment 2 of the insect-transferring and scraping assembly described in this invention;

[0031] Figure 6 This is a front view of the insect scraping needle in Embodiment 2 of the insect transfer and scraping assembly described in this invention;

[0032] Figure 7 This is a three-dimensional schematic diagram of the insect transfer mechanism described in this invention;

[0033] Figure 8 yes Figure 7 A magnified view of a section of the central I area;

[0034] Figure 9 This is a schematic diagram of the multi-link unfolded state of the positioning chain in the worm transfer mechanism;

[0035] Figure 10 This is a schematic diagram of the contracted state of the multi-segment chain of the positioning chain in the worm transfer mechanism;

[0036] Figure 11 This is the front view of the eccentric wheel;

[0037] Figure 12 This is a three-dimensional schematic diagram of the fully automatic insect transfer machine described in this invention;

[0038] Figure 13 This is a 3D schematic diagram of a fully automatic insect transfer machine after the frame baffle has been removed.

[0039] Figure 14 This is a block diagram of the control principle of a fully automatic insect transfer machine;

[0040] Figure 15 This is a partial schematic diagram of a bee comb;

[0041] Figure 16 This is a diagram of royal jelly strips.

[0042] The labels in the diagram are as follows:

[0043] 1. Rack;

[0044] 2. X-axis drive mechanism: 21. X-axis guide rod, 22. X-axis guide block, 23. X-axis motor, 24. X-axis bearing, 25. X-axis lead screw, 26. X-axis nut;

[0045] 3. Y-axis drive mechanism: 31. Y-axis motor, 32. Y-axis bearing, 33. Y-axis lead screw, 34. Y-axis nut, 35. Y-axis guide rod, 36. Y-axis guide block;

[0046] 4. Gantry frame: 41. Top beam, 42. Upright pole, 43. Bottom beam;

[0047] 5. Bee comb supporting mechanism: 51. Left limiting plate, 52. Right limiting plate, 53. Front limiting plate, 54. Rear telescopic plate, 55. Rear back plate;

[0048] 6. Support frame;

[0049] 7. Controller;

[0050] 8. Insect Transfer Mechanism: 801. Z-axis motor, 802. Z-axis lead screw, 803. Z-axis bracket, 804. Z-axis guide rail, 805. Z-axis slide plate, 806. Support frame, 807. Mounting base, 808. Lifting drive motor, 809. Drive wheel, 810. Synchronous belt, 811. Drag handle, 812. Telescopic drive motor, 813. Slide rod, 814. Connecting rod, 815. Insect transfer needle, 8151. First collar, 8152. Tube body, 8153. Flexible needle, 8154. Plug, 8155. Connecting arm, 816. Insect scraping needle, 8161. Second collar, 8162. Push rod, 817. Positioning chain, 8171. Chain link, 8172. Insertion hole, 818. Eccentric wheel, 819. Limit switch;

[0051] 9. Touchscreen;

[0052] 10. Power supply. Detailed Implementation

[0053] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings and examples. The following examples are merely illustrative of the implementation of the present invention and do not limit the scope of protection of the present invention. Equivalent feature substitutions, feature repetitions, etc., performed by those skilled in the art based on the concept of the present invention are all within the scope of protection of the present invention.

[0054] Example 1

[0055] A dual-headed insect transfer and scraping component, such as Figure 1 As shown, it includes a transplanting needle 815 and a scraping needle 816, with the scraping needle and the transplanting needle being inserted together. Figure 2 As shown, the larvae transfer needle 815 includes two parallel tubes 8152. Each tube 8152 has a first collar 8151 on its outer side and a plug 8154 on its inner side. The two tubes are connected by a connecting arm 8155. A flexible, sheet-like needle 8153 is positioned below each tube 8152. The distance between the two needles corresponds to the distance between two rows of egg-laying holes spaced apart on the bee comb. The larvae transfer needle 815 is a one-piece structure and can be injection molded from plastic. The flexible needle 8153 has an arc-shaped cross-section with grooves, allowing it to bend when inserted into the egg-laying hole and pressed down, thus removing the queen bee larva. Figure 3 As shown, the larvae-scraping needle 816 includes a second ring 8161 and two parallel push rods 8162 below it. The second ring and push rods are integrally formed and made of plastic. The distance between the two push rods matches the distance between the two tubes and the two needles. The length of the push rod is greater than the sum of the lengths of the tubes and the needles so that it can reach the bottom of the flexible needle. The push rod 8162 is cylindrical with a beveled end. After the push rod is inserted into the larvae-transferring needle, the arc surface fits tightly against the inner wall of the flexible needle, and the beveled end faces outward, similar to a shovel, which can push the queen bee larva into the hole of the royal jelly strip.

[0056] Example 2

[0057] A four-headed insect transfer and scraping component, such as Figure 4 As shown, it includes a transplanting needle 815 and a scraping needle 816, with the scraping needle and the transplanting needle being inserted together. Figure 5 As shown, the larvae transfer needle 815 includes four parallel tubes 8152 located in the same plane, spaced apart with equal spacing. The tops of the two left and two right tubes are connected by a first ring 8151, and the two middle tubes each have a plug 8154 on their opposite sides, connected at the bottom by a connecting arm 8155. A flexible, sheet-like needle 8153 is located below each of the four tubes, and the distance between any two adjacent needles corresponds to the distance between two rows of egg-laying holes spaced apart on the bee comb. The larvae transfer needle 815 is a one-piece structure, which can be injection molded from plastic. The flexible needle has an arc-shaped cross-section with grooves, allowing it to bend when inserted into the egg-laying hole and pressed down, thus removing the queen bee larva. Figure 6As shown, the larvae-scraping needle 816 includes a second ring 8161 and four parallel push rods 8162 located in the same plane below it. The second ring and push rods are integrally formed and made of plastic. The four push rods are evenly spaced and match the spacing between the two tubes and the two needles. The length of the push rod is greater than the sum of the lengths of the tubes and the needles so that it can reach the bottom of the flexible needle. The push rod 8162 is cylindrical with a beveled end. After the push rod is inserted into the larvae-transferring needle, the arc surface is pressed against the inner wall of the flexible needle, and the beveled end faces outward, similar to a shovel, which can push the queen bee larva into the hole of the royal jelly strip.

[0058] Example 3

[0059] The following describes the insect transfer mechanism structure using the dual-headed insect transfer and scraping assembly described in Example 1 as an example. Figure 7 , 8 As shown in Figure 11, the device includes a support frame 806 and a Z-axis drive mechanism for driving the support frame to move up and down. The Z-axis drive mechanism includes a Z-axis motor 801, a Z-axis bracket 803, a Z-axis lead screw 802, a Z-axis guide rail 804, and a Z-axis sliding plate 805. The Z-axis motor 801 is located at the top of the Z-axis bracket 803. The Z-axis guide rail 804 is vertically fixed in the middle of the Z-axis bracket 803. The bottom of the Z-axis sliding plate 805 is connected to the support frame 806, and the rear of the Z-axis sliding plate 805 is slidably connected to the Z-axis guide rail 804. One end of the Z-axis lead screw 802 passes through the Z-axis motor 801, and the other end is fixedly connected to the Z-axis sliding plate 805. The Z-axis motor is a through-axis motor. When the motor is working, the Z-axis lead screw drives the Z-axis sliding plate to move up and down along the Z-axis guide rail, thereby driving the support frame and its components to move up and down together. This allows the larvae transfer mechanism to descend, removing larvae from the beehive and placing larvae into the royal jelly strip. The support frame 806 has a mounting base 807 at each end. A connecting rod 814 and two sliding rods 813 are arranged parallel to each other between the mounting bases 807. The two sliding rods 813 are on the same horizontal plane and are respectively fitted with the first collar 8151 of the insect-transferring needle. The connecting rod 814 is located above the middle of the sliding rod and is fitted with the second collar 8161 of the insect-scraping needle. Several insect-transferring needles 815 are mounted side-by-side on the two sliding rods 813. A positioning chain 817 is sandwiched between the insect-transferring needles 815. The plugs 8154 of the insect-transferring needles are inserted into the insertion holes 8172 on both sides of the positioning chain link 8171. All the insect-transferring needles are connected together in series by the positioning chain. A lifting mechanism is connected to each end of the connecting rod 814. The lifting mechanism includes an eccentric wheel 818 and a lifting drive motor 808. The motor shaft of the lifting drive motor is connected to the eccentric wheel, and the two lifting drive motors rotate synchronously. When the lifting drive motor is working, the connecting rod moves along the outer edge of the eccentric wheel. The rotation of the motor is converted into the up and down movement of the connecting rod, which can drive the scraping needle down and push the queen bee larva on the needle tip into the hole of the royal jelly strip.

[0060] like Figure 7 ,9 As shown in Figure 10, the larvae transfer mechanism 8 also includes a telescopic drive mechanism to drive the positioning chain to unfold or retract, thereby adjusting the spacing between the larvae transfer needles. Specifically, the length of the positioning chain link 8171 and the position of the insertion hole 8172 are set so that when the positioning chain is unfolded, the distance L1 between two adjacent larvae transfer needles is equal to the distance between the holes in the same row of royal jelly strips; when the positioning chain is folded and retracted, the distance L2 between two adjacent larvae transfer needles is equal to the distance between the egg-laying holes in the same row of bee combs. The telescopic drive mechanism includes a drive wheel 809, a driven wheel, and a synchronous belt 810 connecting the drive wheel and the driven wheel. The drive wheel is connected to a telescopic drive motor (located behind the support frame, not shown in the figure). The left end of the positioning chain 817 is connected to the mounting base 807, and its right end is connected to the drag handle 811 via a torsion spring. The top of the drag handle 811 is connected to the synchronous belt 810. When the telescopic drive motor rotates, the synchronous belt can drive the drag handle to move left and right, unfolding or retracting the positioning chain and adjusting the distance between the larvae transfer and scraping components. The purpose of the torsion spring is to limit the rotation direction of the right-end link when the chain is compressed, so that the other links will rotate in the set direction under the action of the chain association, ensuring that the insect transfer needles are evenly distributed when the positioning chain is folded and contracted.

[0061] Example 4

[0062] A fully automatic insect transfer machine, such as Figure 12 , 13 As shown, the system includes a frame 1, a controller 7, a touch screen 9, a gantry frame 4, and a bee comb carrying mechanism 5 and a royal jelly strip carrying mechanism on the top of the frame. It also includes the worm transfer mechanism described in Example 3. The gantry frame 4 includes an upper beam 41, a lower beam 43, and two uprights 42. The upper beam 41 is located above the frame, and the lower beam 43 is located below the frame. The bottom surface of the top plate of the frame 1 is provided with an X-axis drive mechanism 2. The X-axis drive mechanism 2 includes an X-axis motor 23, an X-axis lead screw 25, an X-axis nut 26, and two X-axis bearings 24. One end of the X-axis lead screw 25 is connected to the X-axis bearing 24, and the other end passes through the other X-axis bearing and is connected to the X-axis motor 23. The X-axis nut 26 on the X-axis lead screw is fixedly connected to the lower beam 43 of the gantry frame. Both ends of the lower beam 43 are connected to the bottom ends of the two uprights 43. X-axis guide rods 21 are provided on the left and right sides of the frame 1. X-axis guide blocks 22 are slidably connected to the X-axis guide rods 21. The X-axis guide blocks 22 are fixedly connected to the uprights 42 of the gantry frame and limit their movement when the gantry frame moves back and forth, thus guiding the gantry frame.

[0063] A Y-axis drive mechanism 3 is installed on the upper beam 41 of the gantry frame, and the Y-axis drive mechanism is connected to the larva transfer mechanism. When the X-axis motor is working, the gantry frame and the larva transfer mechanism on it are driven to move along the X-axis direction through the lead screw and nut pair, which can realize the transfer of larvae from the back to the front of the beehive and the transfer of larvae to the royal jelly strips on the front side. The Y-axis drive mechanism 3 includes a Y-axis motor 31, a Y-axis lead screw 33, a Y-axis nut 34, and Y-axis bearings 32 at both ends of the Y-axis lead screw. A Y-axis guide rod 35 and a Y-axis guide block 36 are arranged parallel to each other below the Y-axis lead screw 33. The Y-axis nut 34 and the Y-axis guide block 36 are both fixedly connected to the Z-axis bracket 803, which can drive the entire larva transfer mechanism to move left and right, thereby realizing the transfer of larvae to the left and right sides of the beehive.

[0064] The bee comb carrying mechanism 5 includes a front limiting plate 53, a left limiting plate 51, a right limiting plate 52, and a rear back plate 55 located on the top plate of the frame. These four plates are vertically fixed to the frame, forming a rectangular frame whose dimensions match the dimensions of the bee comb. To facilitate the placement of the bee comb and ensure it is locked in place, a rear telescopic plate 54 is provided on the front side of the rear back plate 55. A spring is installed between the rear back plate and the rear telescopic plate. When placing the bee comb, the rear side of the bee comb can be pushed against the rear telescopic plate, causing it to retract. After the bee comb is placed, the rear telescopic plate automatically springs back, securing the bee comb. The royal jelly strip carrying mechanism includes a support frame 6 located on the front side of the frame. The position of the support frame corresponds to the position of the larvae transfer mechanism, ensuring that the royal jelly strip is parallel to the larvae transfer needle array.

[0065] like Figure 14 As shown, the X-axis motor 23, Y-axis motor 31, Z-axis motor 801, lifting drive motor 808, and telescopic drive motor 812 are all connected to the controller 7 via wires, receiving commands from the controller and completing the insect transfer operation in sequence. Each of the two mounting seats has a limit switch 809 near the insect transfer needle. Both limit switches are connected to the controller. When the synchronous belt moves the handle to the right mounting seat position, the right limit switch sends a signal, and the telescopic drive motor stops. After the insect transfer is complete, when the telescopic drive motor receives another command, it rotates in the opposite direction, moving the handle to the left until the left insect transfer needle presses against the left mounting seat. The left limit switch then outputs a signal, controlling the telescopic drive motor to stop. A touchscreen 9 can also be installed on the front of the frame 1. The touchscreen is connected to the controller and used to display the equipment status and setting parameters. The power supply 10 for this insect transfer machine can be AC ​​power or a battery.

[0066] The following uses the dual-headed insect transfer and scraping assembly described in Example 1 as an example to illustrate the working process of the fully automatic insect transfer machine.

[0067] First, the bee comb model is set to m rows * n columns, where m is an even number; the longitudinal centerline spacing of the oviposition holes in the same row is L1, and the transverse centerline spacing of adjacent oviposition holes is D1, with adjacent oviposition holes arranged alternately. The royal jelly strips are 2 rows * j columns, n = 2j; the longitudinal centerline spacing of the holes in the same row is L2 (L2 > L1), and the transverse centerline spacing of adjacent holes is D2; the number of double-headed worm-transferring and scraping components is j sets; the distance between the two needles of the worm-transferring needle and the two push rods of the worm-scraping needle is D2, where D2 = 2D1. For example... Figure 15 , 16 As shown.

[0068] Includes the following steps:

[0069] (1) Preparation for transferring larvae: Place the bee comb containing queen bee larvae into the bee comb carrying mechanism. Move the larvae transferring needle of the larvae transferring mechanism to the top of the egg-laying holes in the first and third rows of the bee comb through the X-axis drive mechanism. Retract the double-headed larvae transferring and scraping component to the left side through the telescopic drive mechanism, that is, the rightmost double-headed larvae transferring and scraping component is located at point J1(1,j). Move the larvae transferring needle of the larvae transferring mechanism to the left side of the bee comb through the Y-axis drive mechanism, and make the leftmost larvae transferring needle align with the first hole on the left side of the egg-laying holes in the first and third rows of the bee comb, that is, point A1(1,1). Ensure that the Z-axis drive mechanism and the lifting mechanism are in their original positions.

[0070] (2) Place the royal jelly strip: Place the royal jelly strip according to the position of the worm transfer mechanism, so that the first row of acupoints on the left side of the royal jelly strip is consistent with the coordinate of the worm transfer needle on the Y axis;

[0071] (3) Removing larvae: Control the Z-axis drive mechanism to move the larvae transfer mechanism downwards, insert the larvae transfer needle into the oviposition hole on the left side of the first and third rows of the bee comb, press down the needle, and then move the larvae transfer mechanism upwards to dig out the larvae;

[0072] (4) Transferring the insect: Control the X-axis drive mechanism to move the insect transfer mechanism along the X-axis to above the royal jelly strip. At the same time, the telescopic drive mechanism moves, pulling the handle to the right to unfold the insect transfer needle. When the handle moves to the right mounting position, the telescopic drive motor stops. At this time, the rightmost insect transfer needle is aligned with the rightmost row of holes on the royal jelly strip. The Z-axis drive mechanism then moves the insect transfer mechanism down again, and the insect transfer needle is inserted into the hole on the royal jelly strip.

[0073] (5) Releasing insects: Control the lifting mechanism to drive the connecting rod and the insect scraping needle to descend, push the larvae on the needle tip into the holes of the royal jelly strip, and then the Z-axis drive mechanism and the lifting mechanism are reset.

[0074] (6) The X-axis drive mechanism drives the insect transfer mechanism back to point A1, and the drive motor of the telescopic drive mechanism rotates in the opposite direction, pushing the double-headed insect transfer and scraping assembly to retract. When the left mounting seat is pressed, the telescopic drive motor stops.

[0075] (7) The Y-axis drive mechanism moves to the right, so that the leftmost double-headed insect transfer and scraping component moves to point A1'(1,j+1), and the rightmost double-headed insect transfer and scraping component is located at point J1'(1,2j).

[0076] (8) Perform steps (2)-(5) in sequence to complete the larval removal, larval transfer and larval release operations of the right-side egg-laying holes in the first and third rows of the bee comb;

[0077] (9) The X-axis drive mechanism moves the worm transfer mechanism to the 2nd and 4th rows of the bee comb above the oviposition holes, and makes the leftmost worm transfer point aligned with the 1st row of oviposition holes. At the same time, the drive motor of the telescopic drive mechanism rotates in the opposite direction, pushing the double-headed worm transfer and scraping component to retract to the left side, that is, the leftmost double-headed worm transfer and scraping component is located at point A2(2,1), and the rightmost double-headed worm transfer and scraping component is located at point J2(2,j).

[0078] (10) Perform steps (2)-(5) in sequence to complete the larval removal, transfer and release of larvae in the left oviposition holes of the second and fourth rows of the bee comb;

[0079] (11) The X-axis drive mechanism drives the insect transfer mechanism back to point A2, and the drive motor of the telescopic drive mechanism rotates in the opposite direction, pushing the double-headed insect transfer and scraping assembly to retract to the left side;

[0080] (12) The Y-axis drive mechanism moves to the right, so that the leftmost double-headed insect transfer and scraping component moves to point A2'(2,j+1), and the rightmost double-headed insect transfer and scraping component is located at point J2'(2,2j);

[0081] (13) Perform steps (2)-(5) in sequence to complete the worm removal, worm transfer and worm release operations in the oviposition holes on the right side of rows 2 and 4.

[0082] (14) Repeat the above steps to transfer larvae to the odd-numbered rows of oviposition holes in the bee comb and to the even-numbered rows of oviposition holes in turn.

Claims

1. A component for transferring and scraping insects, characterized in that: It includes an insect transfer needle and an insect scraping needle; the insect transfer needle includes two parallel tubes, each with a first collar on the outside and a pair of plugs opposite each other on the inside of the tubes, and the two tubes are connected by a connecting arm; the insect scraping needle includes a second collar and two parallel push rods; Below each tube body, a flexible, sheet-like needle is positioned. The flexible needle has an arc-shaped cross-section with grooves. The spacing between adjacent needles corresponds to the spacing between two rows of egg-laying holes on the bee comb, and also corresponds to the spacing between two rows of holes on the royal jelly strip. The push rod is cylindrical with a beveled end. After the push rod is inserted into the larvae transfer needle, the arc-shaped surface is pressed against the inner wall of the flexible needle, while the beveled surface faces outward. The spacing between adjacent push rods matches the spacing between adjacent tube bodies and adjacent needles, and is used to push the queen bee larvae on the needle into the holes of the royal jelly strip through the tube body. The worm-transferring needle has a positioning chain sandwiched in the middle. The worm-transferring needles are connected in series by the positioning chain. The positioning chain includes several chain links. Each of the two outer sides of the chain link is provided with a plug for the inner plug of the worm-transferring needle to be inserted. The first ring of the worm-transferring needle is used to fit on two parallel sliding rods. The second ring of the worm-scraping needle is used to fit on the connecting rod. The connecting rod and the sliding rod are arranged in parallel. The connecting rod is located above the sliding rod.

2. A component for transferring and scraping insects, characterized in that: It includes an insect transfer needle and an insect scraping needle; the insect transfer needle includes four parallel tubes located in the same plane, the tops of the two tubes on the left and the two tubes on the right are connected by a first ring; the two tubes in the middle are each provided with a plug on opposite sides and connected by a connecting arm; the insect scraping needle includes a second ring and four parallel push rods located in the same plane; Below each tube body, a flexible, sheet-like needle is positioned. The flexible needle has an arc-shaped cross-section with grooves. The spacing between adjacent needles corresponds to the spacing between two rows of egg-laying holes on the bee comb, and also corresponds to the spacing between two rows of holes on the royal jelly strip. The push rod is cylindrical with a beveled end. After the push rod is inserted into the larvae transfer needle, the arc-shaped surface is pressed against the inner wall of the flexible needle, while the beveled surface faces outward. The spacing between adjacent push rods matches the spacing between adjacent tube bodies and adjacent needles, and is used to push the queen bee larvae on the needle into the holes of the royal jelly strip through the tube body. The worm-transferring needle has a positioning chain sandwiched in the middle. The worm-transferring needles are connected in series by the positioning chain. The positioning chain includes several chain links. Each of the two outer sides of the chain link is provided with a plug for the inner plug of the worm-transferring needle to be inserted. The first ring of the worm-transferring needle is used to fit on two parallel sliding rods. The second ring of the worm-scraping needle is used to fit on the connecting rod. The connecting rod and the sliding rod are arranged in parallel. The connecting rod is located above the sliding rod.

3. A worm-transferring mechanism, comprising a support frame and a Z-axis drive mechanism for driving the support frame to move up and down, characterized in that: It also includes the larvae transfer and scraping assembly as described in claim 1 or 2; the left end of the positioning chain is connected to the mounting base, and its right end is connected to the drag handle, the drag handle is connected to the telescopic drive mechanism for driving the drag handle to move left and right, the spacing of the larvae transfer and scraping assembly is adjustable so that it matches the spacing of the egg-laying holes in the same row of bee combs when removing larvae, and matches the spacing of the holes in the same row of royal jelly strips when releasing larvae; each end of the support frame is provided with a mounting base, and the mounting bases are provided with a connecting rod and a sliding rod that are parallel to each other, the sliding rod is located in the same horizontal plane and is used to fit the first ring of the larvae transfer needle; the connecting rod is located above the sliding rod and is used to fit the second ring of the scraping needle, and each end of the connecting rod is provided with a lifting mechanism for driving its lifting and lowering, for driving the connecting rod and the scraping needle to descend and push the queen bee larva on the needle tip into the hole of the royal jelly strip.

4. The insect transfer mechanism according to claim 3, characterized in that: The length of the chain links and the position of the insertion holes must meet the following requirements: when the positioning chain is unfolded, the distance between two adjacent larvae transfer needles is equal to the distance between the holes in the same row of royal jelly strips; when the positioning chain is folded and retracted, the distance between two adjacent larvae transfer needles is equal to the distance between the oviposition holes in the same row of bee combs.

5. The worm transfer mechanism according to claim 3, characterized in that: The right end of the positioning chain is connected to the drag handle via a torsion spring, which is used to limit the flipping direction of the right end chain link when the chain is compressed, thereby driving other chain links to flip in the set direction, ensuring that the insect transfer needles are evenly distributed when the positioning chain is folded and contracted.

6. The worm transfer mechanism according to any one of claims 4-5, characterized in that: The lifting mechanism includes an eccentric wheel and a lifting drive motor. The motor shaft of the lifting drive motor is connected to the eccentric wheel. When the lifting drive motor is working, the connecting rod moves along the outer edge of the eccentric wheel, converting the rotation of the motor into the up-and-down movement of the connecting rod, thereby realizing the up-and-down lifting of the connecting rod and the insect-scraping needle.

7. The worm transfer mechanism according to any one of claims 4-5, characterized in that: The telescopic drive mechanism includes a drive wheel, a driven wheel, and a synchronous belt connecting the drive wheel and the driven wheel. The drive wheel is connected to a telescopic drive motor, and the synchronous belt is connected to a tow handle.

8. A fully automatic larvae transfer machine, comprising a frame and a bee comb carrying mechanism and a royal jelly strip carrying mechanism on top of the frame, wherein the frame is provided with an X-axis drive mechanism, a Y-axis drive mechanism and a gantry frame, the X-axis drive mechanism being connected to the gantry frame for driving the gantry frame to move along the X-axis, and the Y-axis drive mechanism being located on the gantry frame; characterized in that: It also includes the larvae transfer mechanism and controller as described in any one of claims 3-7, wherein the Y-axis drive mechanism is connected to the royal jelly larvae transfer mechanism via the Z-axis drive mechanism and is used to drive it to move along the Y-axis; the X-axis drive mechanism, Y-axis drive mechanism, Z-axis drive mechanism, lifting mechanism and telescopic drive mechanism are all electrically connected to the controller.

9. The fully automatic insect transfer machine according to claim 8, characterized in that: The bee comb carrying mechanism includes a rectangular frame formed by a front limiting plate, a left limiting plate, a right limiting plate, and a rear telescopic plate located on the top plate of the frame. The size of the rectangular frame matches the size of the bee comb, and the rear telescopic plate is used to lock the bee comb after it is placed in the rectangular frame.

10. The fully automatic insect transfer machine according to claim 8, characterized in that: The royal jelly strip carrying mechanism includes a support frame disposed on one side of the frame. The position of the support frame corresponds to the position of the royal jelly larvae transfer mechanism, and ensures that the royal jelly strip is parallel to the larvae transfer needle array.

11. The fully automatic insect transfer machine according to claim 8, characterized in that: Both mounting bases are equipped with limit switches near the insect transfer needle, which are used to output a signal to the controller when the insect transfer needle is extended or retracted into place.

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