An automated insect breeding and feeding equipment

Abstract

The present invention discloses an automated insect breeding and feeding equipment, wherein a frame is provided with a conveying assembly, a plate grabbing and transferring assembly, and an empty plate feeding assembly, wherein the conveying assembly comprises a breeding plate conveying mechanism and a stacking conveyor belt; the plate grabbing and transferring assembly comprises a manipulator mounting seat, a multi-axis manipulator, and a breeding plate clamp; the stacking conveyor belt is provided with a first and a second card stop position; the frame is provided with an automatic plate flipping and scraping assembly at one end of the breeding plate conveying mechanism, wherein the automatic plate flipping and scraping assembly comprises a receiving hopper, an automatic flipping assembly, and an automatic cleaning assembly, wherein the automatic flipping assembly comprises a movable flipping frame and a flipping driving mechanism, wherein the movable flipping frame comprises a flipping frame rotating shaft, a left bracket, and a right bracket, wherein the left and right brackets are respectively provided with a clamping mechanism; the empty plate feeding assembly is located at the other end of the breeding plate conveying mechanism, wherein the empty plate feeding assembly comprises a food hopper, an automatic feeding mechanism, and a weighing belt conveyor. The present invention has the advantages of novel structural design and high efficiency in receiving and feeding materials.

Description

Technical Field

[0001] The present invention relates to the technical field of manufacturing mechanized agricultural and gardening machinery and tools such as intelligent agricultural power machinery, and in particular to an automated insect breeding and feeding equipment. Background Art

[0002] In modern urban life, a large amount of kitchen waste is generated every day. Kitchen waste contains extremely high moisture and organic matter, which is easy to rot and produce stench, pollute the environment, and may even spread pathogens that endanger human health. Therefore, effective treatment technology is needed to reduce the environmental and economic burden of kitchen waste.

[0003] Black soldier flies have a short life cycle and strong reproductive capacity. A female fly can lay about 100 eggs a day, and it only takes 20 days to hatch the next generation. During the breeding process of black soldier flies, black soldier flies can eat processed kitchen waste, and black soldier flies can effectively decompose kitchen waste and convert it into high-value biomass such as oil and protein. Using black soldier flies to treat kitchen waste is an environmentally friendly and economically profitable method.

[0004] During the black soldier fish breeding process, processed kitchen waste is put into the breeding tray, and the black soldier fish larvae grow in the breeding tray by eating the processed kitchen waste. After the black soldier fish grow up, the black soldier fish and feces in the breeding tray need to be poured out, and the breeding tray is re-fed after the emptying of the feed and the next breeding cycle is carried out.

[0005] Among them, the patent application number is: 202311609355.6, and the patent name is: Chinese invention patent application for collection and delivery control equipment and intelligent control method thereof, and insect breeding system. The technical solution of the collection and delivery control equipment disclosed therein is: a collection and delivery control equipment, including a conveying mechanism, a cleaning mechanism, a feeding mechanism, an insect throwing mechanism, a transfer device, and a screening mechanism: the conveying mechanism includes a first conveying component, a transverse movement component and a second conveying component, one end of the first conveying component is a feeding end, the second conveying component is arranged in parallel with the first conveying component, and the end of the second conveying component opposite to the first conveying component is a unloading end, one end of the transverse movement component is connected to the other end of the first conveying component, and the other end of the transverse movement component is connected to the other end of the second conveying component; the cleaning mechanism is located on the first conveying component, and the cleaning mechanism is used to clean the breeding feed tray on the first conveying component, and the feeding mechanism and the insect throwing mechanism are both located on the second conveying component Parts; the transfer device is rotatably arranged on one side of the feeding end of the conveying mechanism, and a destacking station, a screening station, a feeding station, a unloading station and a stacking station are arranged in sequence along the rotation direction of the transfer device, the feeding end of the conveying mechanism is located at the feeding station, and the unloading end of the conveying mechanism is located at the unloading station; the screening mechanism is located at the screening station, the transfer device is used to grab the breeding feed tray located at the destacking station and rotate it to the screening station, and introduce the mixture of insects and breeding residues in the breeding feed tray into the screening mechanism, and the screening mechanism is used to separate insects and breeding residues; the transfer device includes a mechanical arm, a turning part and a feed tray clamp; the feeding mechanism includes a feeding tank and a spraying part connected to the feeding tank, the spraying part is located above the conveying mechanism, and the spraying part is provided with a spraying port on one side of the conveying mechanism, the conveying mechanism is used to convey the breeding feed tray through the spraying part at a uniform speed, and the spraying part is used to spray a preset weight of breeding feed within a set time period.

[0006] It should be pointed out that the above-mentioned receiving and delivering control device has the following defects, specifically:

[0007] Defect 1. During its working process, the transfer device first grabs the breeding feed tray from the destacking station and transfers the breeding feed tray to the screening mechanism at the screening station. After the mixture of insects and breeding residues in the breeding feed tray is poured into the screening mechanism, the empty breeding feed tray is transferred to the loading station of the first conveying component. The empty breeding feed tray is transported to the cleaning mechanism along with the first conveying component, and the cleaning mechanism cleans the empty breeding feed tray. It should be pointed out that the above-mentioned pouring process of the mixture of insects and breeding residues and the empty breeding feed tray cleaning process are two independent processes. The two processes also need to be transferred by the transfer device and the first conveying component. The transfer process will affect the overall work efficiency, that is, the collection and delivery control equipment has the problem of low work efficiency;

[0008] Defect 2: For the collection and delivery control equipment, the unstacking station is used to place the tray stacks of the breeding trays loaded with a mixture of insects and breeding residues, and the unloading station is used to place the tray stacks of the breeding trays reloaded with breeding feed and insects. When working, when the tray stacks at the unstacking station are used up, it is necessary to wait for the staff to put the subsequent tray stacks into the unstacking station; similarly, when the tray stacks at the unloading station are full, it is necessary to wait for the staff to move the tray stacks at the loading station out; the above waiting process will waste time, thereby affecting the overall work efficiency. Summary of the invention

[0009] The purpose of the present invention is to provide an automated insect breeding and feeding equipment to address the deficiencies in the prior art. The automated insect breeding and feeding equipment has a novel structural design and high feeding and collecting efficiency.

[0010] To achieve the above object, the present invention is implemented through the following technical solutions.

[0011] An automated insect breeding and feeding equipment comprises a frame, the frame is equipped with a conveying component, a plate grabbing and transferring component, and an empty plate feeding component, and the conveying component comprises a breeding plate conveying mechanism;

[0012] The plate grabbing and transferring assembly includes a manipulator mounting seat mounted on a frame, a multi-axis manipulator mounted on the upper end of the manipulator mounting seat, and a breeding plate clamp mounted on the driving end of the multi-axis manipulator;

[0013] The conveying assembly also includes a stacking conveyor belt, which is arranged in parallel and spaced apart from the culture tray conveying mechanism, and the manipulator mounting seat is located above the stacking conveyor belt and the stacking conveyor belt passes under the manipulator mounting seat; the stacking conveyor belt is provided with a first pallet stop position and a second pallet stop position arranged at intervals along the conveying direction, and the first pallet stop position and the second pallet stop position are located on both sides of the manipulator mounting seat;

[0014] The frame is equipped with an automatic plate turning and scraping assembly at one end side of the breeding plate conveying mechanism, and the automatic plate turning and scraping assembly includes a receiving hopper, an automatic turning component, and an automatic cleaning component respectively installed on the frame; the automatic turning component includes a movable turning frame and a turning driving mechanism installed on the frame, and the turning driving mechanism is drivingly connected to the movable turning frame; the movable turning frame includes a turning frame rotating shaft located between the breeding plate conveying mechanism and the receiving hopper, and the left end and the right end of the turning frame rotating shaft are respectively installed on the frame through bearing seats, and the turning driving mechanism is drivingly connected to the turning frame rotating shaft; the turning frame rotating shaft is provided with a left bracket, and a right bracket located on the right end side of the left bracket and arranged opposite to the left bracket at intervals, and the left bracket and the right bracket are respectively equipped with clamping mechanisms;

[0015] The automatic cleaning component includes a movable scraper, a linear drive module installed on a frame and moving horizontally along the conveying direction of the culture plate conveying mechanism, the movable scraper is located in the receiving hopper, the linear drive module is located below the culture plate conveying mechanism, and the driving end of the linear drive module extends into the receiving hopper and is connected to the movable scraper;

[0016] The empty tray feeding assembly is located at the other end side of the breeding tray conveying mechanism, and the empty tray feeding assembly includes a food hopper mounted on the frame, and the lower end of the food hopper is equipped with an automatic feeding mechanism for feeding the food in the food hopper downward; the frame is equipped with a weighing belt conveyor directly below the automatic feeding mechanism, and the weighing belt conveyor includes a weighing bracket, and the upper end of the weighing bracket is equipped with a weighing conveyor belt that is flush with the breeding tray conveying mechanism; the weighing bracket is arranged at intervals from the frame, and a weighing sensor is installed between the lower end of the weighing bracket and the frame;

[0017] The automated insect breeding and feeding equipment is equipped with a controller, and the breeding tray conveying mechanism, multi-axis manipulator, breeding tray clamp, stacking conveyor belt, flip drive mechanism, clamping mechanism, linear drive module, automatic feeding mechanism, weighing conveyor belt, and weighing sensor are electrically connected to the controller respectively.

[0018] Among them, the flipping drive mechanism includes a motor mounting seat screwed and fastened to the frame, the motor mounting seat is equipped with a flipping drive motor, the power output shaft of the flipping drive motor is connected to one end of the flip frame rotating shaft through a coupling, and the flipping drive motor is electrically connected to the controller.

[0019] Wherein, the left bracket and the right bracket are respectively provided with a bracket supporting part, and each bracket supporting part is respectively equipped with a roller group composed of a plurality of rollers arranged in sequence at intervals;

[0020] The left bracket and the right bracket are also provided with limit retaining walls respectively, and the limit retaining walls of the left bracket and the limit retaining walls of the right bracket are respectively equipped with the clamping mechanism.

[0021] Wherein, the clamping mechanism comprises a plurality of clamping cylinders arranged in sequence and at intervals, and the outer extension end of the piston rod of each clamping cylinder is the clamping ejector rod.

[0022] A food storage chamber is formed inside the food hopper, and a plurality of drop pipes are arranged in sequence and spaced apart in a direction perpendicular to the conveying direction of the breeding tray and are respectively connected to the food storage chamber at the lower end of the food hopper;

[0023] The automatic feeding mechanism includes a feeding nozzle, which is located directly below the feeding pipe of the food hopper. A feeding cavity opening downward is formed inside the feeding nozzle, and the feeding cavity of the feeding nozzle is wide at the top and narrow at the bottom.

[0024] A solenoid valve is installed between each drop pipe and the feeding nozzle, each drop pipe is connected with the feeding cavity of the feeding nozzle through the corresponding solenoid valve, and each solenoid valve is electrically connected to the controller.

[0025] Wherein, the weighing bracket is equipped with a feeding position sensor, and the feeding position sensor is electrically connected to the controller.

[0026] Among them, an upper electric stirrer is installed in the middle of the food hopper, and a lower electric stirrer is installed at the lower end of the food hopper. The upper electric stirrer and the lower electric stirrer extend into the interior of the food hopper respectively, and the upper electric stirrer and the lower electric stirrer are electrically connected to the controller respectively.

[0027] Among them, the frame is equipped with a first stop position sensor at the first pallet stop position of the stacking conveyor belt, and the frame is equipped with a second stop position sensor at the second pallet stop position of the stacking conveyor belt. The first stop position sensor and the second stop position sensor are electrically connected to the controller respectively.

[0028] Wherein, the culture tray conveying mechanism comprises a first conveying belt and a second conveying belt which are arranged horizontally and aligned and connected in sequence, and the first conveying belt and the second conveying belt are electrically connected to the controller respectively;

[0029] The automatic tray flipping and scraping assembly is located at one end side of the first conveyor belt and away from the second conveyor belt, and the empty tray feeding component is located at one end side of the second conveyor belt and away from the first conveyor belt.

[0030] Wherein, the frame is equipped with an insect throwing mechanism for throwing insect seedlings into the breeding tray beside the second conveyor belt.

[0031] Compared with the prior art, the present invention has the following beneficial effects, specifically:

[0032] 1. During operation, the present invention can complete the dumping process of adult excrement and the cleaning process of empty breeding trays at one time through the automatic turning and scraping assembly, and it is not necessary to transfer the breeding trays when completing the dumping process of adult excrement and the cleaning process of empty breeding trays, so the working efficiency is high;

[0033] 2. The present invention realizes the stacking of the breeding trays to be collected and fed and the stacking and transportation of the breeding trays after feeding is completed through the stacking conveyor belt. During operation, multiple stacks of breeding trays to be collected and fed enter the grabbing position of the tray grabbing and transferring component in sequence, and multiple stacks of breeding trays after feeding are transported to the forklift loading position in sequence along the stacking conveyor belt. The above process can effectively reduce the waiting time and effectively improve the work efficiency;

[0034] 3. Therefore, the automated insect breeding feeding and collecting equipment of the present invention has the advantages of novel structural design and high feeding and collecting efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The present invention is further described below with the aid of the accompanying drawings. However, the embodiments in the accompanying drawings do not constitute any limitation to the present invention.

[0036] Figure 1 It is a structural schematic diagram of the present invention.

[0037] Figure 2 It is a structural schematic diagram of another viewing angle of the present invention.

[0038] Figure 3 This is a structural schematic diagram of another viewing angle of the present invention.

[0039] Figure 4 It is a schematic structural diagram of the disk grabbing and transferring assembly of the present invention.

[0040] Figure 5 It is a schematic structural diagram of the automatic flip-up scraping and sweeping assembly of the present invention before flipping over.

[0041] Figure 6 It is a structural schematic diagram of the automatic flip-up scraper assembly of the present invention from another viewing angle before flipping over.

[0042] Figure 7 It is a schematic diagram of the structure of the automatic flip-up scraper and sweeper assembly of the present invention after flipping over.

[0043] Figure 8 It is a schematic structural diagram of the automatic turning component of the automatic turning plate scraping and sweeping assembly of the present invention.

[0044] Fig. 9 It is a structural schematic diagram of the empty tray feeding assembly of the present invention.

[0045] Fig.10 It is a structural schematic diagram of the empty tray feeding assembly of the present invention from another perspective.

[0046] Fig.11 It is a partial structural schematic diagram of the empty tray feeding assembly of the present invention.

[0047] Fig.12 It is a structural schematic diagram of the food hopper and the automatic feeding mechanism of the present invention.

[0048] exist Figures 1 to 12 Included are:

[0049] 1-frame; 2-disc grabbing and transferring assembly; 21-manipulator mounting seat; 22-multi-axis manipulator; 23-breeding disc clamp; 3-empty disc feeding assembly; 31-food hopper; 311-feeding pipe; 312-upper electric stirrer; 313-lower electric stirrer; 32-automatic feeding mechanism; 321-feeding nozzle; 322-solenoid valve; 33-weighing belt conveyor; 331-weighing bracket; 332-weighing conveyor belt; 333-weighing sensor; 4-breeding disc conveying mechanism; 41-first conveyor belt; 42-second conveyor belt; 5-stacking conveyor belt; 6-automatic turning disc hanging and sweeping assembly; 61-receiving hopper ;62-automatic flip assembly;621-movable flip frame;6211-flip frame shaft;6212-bearing seat;6213-left bracket;6214-right bracket;6215-bracket supporting part;6216-roller group;6217-limiting retaining wall;6218-bracket mounting part;622-flip drive mechanism;6221-motor mounting seat;6222-flip drive motor;623-clamping mechanism;6231-clamping cylinder;6232-clamping push rod;63-automatic cleaning assembly;631-movable scraper;632-linear drive module;7-breeding tray;8-stacking pallet. DETAILED DESCRIPTION

[0050] The present invention is described below in conjunction with specific implementation methods.

[0051] Embodiment 1, as Figures 1 to 3 As shown, an automated insect breeding and feeding equipment includes a frame 1, the frame 1 is equipped with a conveying component, a plate grabbing and transferring component 2, and an empty plate feeding component 3, and the conveying component includes a breeding plate conveying mechanism 4.

[0052] Among them, Figures 1 to 4 As shown, the plate grabbing and transferring assembly 2 includes a manipulator mounting seat 21 mounted on the frame 1, a multi-axis manipulator 22 mounted on the upper end of the manipulator mounting seat 21, and a breeding plate clamp 23 mounted on the driving end of the multi-axis manipulator 22.

[0053] Further, such as Figures 1 to 3As shown, the conveying assembly also includes a stacking conveyor belt 5, which is arranged in parallel and spaced apart from the culture tray conveying mechanism 4, and the manipulator mounting seat 21 is located above the stacking conveyor belt 5 and the stacking conveyor belt 5 passes under the manipulator mounting seat 21; the stacking conveyor belt 5 is provided with a first pallet stop position and a second pallet stop position arranged at intervals along the conveying direction, and the first pallet stop position and the second pallet stop position are located on both sides of the manipulator mounting seat 21. It should be explained that the frame 1 is equipped with a first stop position sensor at the first pallet stop position of the stacking conveyor belt 5, and the frame 1 is equipped with a second stop position sensor at the second pallet stop position of the stacking conveyor belt 5, and the first stop position sensor and the second stop position sensor are electrically connected to the controller respectively; wherein, the first stop position sensor and the second stop position sensor can be respectively a beam-type photoelectric sensor.

[0054] Furthermore, Figure 1 , Figure 2 , Figure 3 , Figure 5 , Figure 6 , Figure 7 as well as Figure 8 As shown, the frame 1 is equipped with an automatic plate turning and scraping assembly at one end side of the breeding plate conveying mechanism 4, and the automatic plate turning and scraping assembly includes a receiving hopper 61, an automatic turning component 62, and an automatic cleaning component 63 respectively installed on the frame 1; the automatic turning component 62 includes a movable turning frame 621 and a turning driving mechanism 622 installed on the frame 1, and the turning driving mechanism 622 is drivingly connected to the movable turning frame 621; the movable turning frame 621 includes a plate located between the breeding plate conveying mechanism 4 and the receiving hopper 61 The flip frame shaft 6211 is between the left and right ends of the flip frame shaft 6211, which are respectively installed on the frame 1 through bearing seats 6212, and the flip driving mechanism 622 is drivingly connected to the flip frame shaft 6211; the flip frame shaft 6211 is provided with a left bracket 6213, and a right bracket 6214 located on the right end side of the left bracket 6213 and arranged opposite to the left bracket 6213 at an interval, and the left bracket 6213 and the right bracket 6214 are respectively equipped with clamping mechanisms 623.

[0055] In addition, if Figures 5 to 7 As shown, the automatic cleaning component 63 includes a movable scraper 631, a linear drive module 632 installed on the frame 1 and moving horizontally along the conveying direction of the breeding tray conveying mechanism 4, the movable scraper 631 is located in the receiving hopper 61, the linear drive module 632 is located below the breeding tray conveying mechanism 4, and the driving end of the linear drive module 632 extends into the receiving hopper 61 and is connected to the movable scraper 631.

[0056] Also, if Figure 1 , Figure 2 , Figure 3 , Fig. 9 , Fig.10 , Fig.11 , Fig.12 As shown, the empty plate feeding assembly 3 is located at the other end side of the breeding plate conveying mechanism 4, and the empty plate feeding assembly 3 includes a food hopper 31 installed on the frame 1, and the lower end of the food hopper 31 is equipped with an automatic feeding mechanism 32 for dropping the food in the food hopper 31 downward; the frame 1 is equipped with a weighing belt conveyor 33 just below the automatic feeding mechanism 32, and the weighing belt conveyor 33 includes a weighing bracket 331, and the upper end of the weighing bracket 331 is equipped with a weighing conveyor belt 332 that is horizontally flush with the breeding plate conveying mechanism 4; the weighing bracket 331 is arranged at an interval from the frame 1, and a weighing sensor 333 is installed between the lower end of the weighing bracket 331 and the frame 1.

[0057] It should be noted that the automatic insect breeding feeding and collecting equipment is equipped with a controller, and the breeding tray conveying mechanism 4, the multi-axis manipulator 22, the breeding tray clamp 23, the stacking conveyor belt 5, the flipping drive mechanism 622, the clamping mechanism 623, the linear drive module 632, the automatic feeding mechanism 32, the weighing conveyor belt 332, and the weighing sensor 333 are electrically connected to the controller respectively; when working, the controller controls the breeding tray conveying mechanism 4, the multi-axis manipulator 22, the breeding tray clamp 23, the stacking conveyor belt 5, the flipping drive mechanism 622, the clamping mechanism 623, the linear drive module 632, the automatic feeding mechanism 32, and the weighing conveyor belt 332. Among them, the controller can be a PLC controller.

[0058] During the working process of the automatic flip-up scraper assembly of the first embodiment, the action process includes the following steps:

[0059] Step a: The automatic flipping assembly 62 is in the initial position, such as Figure 5 and Figure 6 As shown, at this time, the movable turning frame 621 is in a horizontal state, the left bracket 6213 of the movable turning frame 621 is located on the left side of the horizontal conveyor belt, and the right bracket 6214 of the movable turning frame 621 is located on the right side of the horizontal conveyor belt, and the front end of the horizontal conveyor belt is located between the left bracket 6213 and the right bracket 6214;

[0060] Step b, the breeding tray 7 loaded with adult insects and feces is placed on the movable turning frame 621 through the tray grabbing and transferring assembly 2, and the breeding tray 7 is placed between the left bracket 6213 and the right bracket 6214, and the left bracket 6213 and the right bracket 6214 jointly support the breeding tray 7;

[0061] Step c, after the culture tray 7 is placed on the movable turning frame 621 at the initial position, the clamping mechanism 623 is activated, and the clamping mechanism 623 clamps and fixes the culture tray 7;

[0062] Step d, after the clamping mechanism 623 is actuated and the culture tray 7 is clamped and fixed, the flipping driving mechanism 622 is actuated, and the flipping driving mechanism 622 drives the flipping frame rotating shaft 6211 to rotate and drives the movable flipping frame 621 to rotate toward the receiving hopper 61 side, so that the clamped and fixed culture tray 7 is rotated to the top of the receiving hopper 61; wherein, after the movable flipping frame 621 is flipped into place, the left bracket 6213 and the right bracket 6214 are kept in a horizontal position, and the culture tray 7 is also kept in a horizontal position;

[0063] Step e: After the culture tray 7 is turned over to the position above the receiving hopper 61, the linear drive module 632 is activated, and the linear drive module 632 drives the movable scraper 631 to move, and the movable scraper 631 contacts the inner wall of the culture tray 7. During this process, the movable scraper 631 scrapes off the adult insects and feces in the culture tray 7 in a scraping manner, and the scraped adult insects and feces fall into the receiving hopper 61;

[0064] Step f, after the automatic cleaning component 63 completes the scraping action, the flip driving mechanism 622 drives the movable flip frame 621 to flip and reset in the opposite direction, so that the movable flip frame 621 is reset to the initial position. During this process, the culture tray 7 that has been cleaned is flipped to the initial position synchronously with the movable flip frame 621, and the culture tray 7 that has been cleaned falls onto the culture tray conveying mechanism 4;

[0065] Step g, after the breeding tray 7 has been cleaned, it falls onto the breeding tray conveying mechanism 4, the clamping mechanism 623 releases the breeding tray 7, and then the breeding tray conveying mechanism 4 operates and moves the empty breeding tray 7 toward the empty tray feeding assembly 3.

[0066] For the empty tray feeding component 3 of the first embodiment, during the process of feeding the food into the empty breeding tray 7, the empty breeding tray 7 is fed to the weighing conveyor belt 332 by the breeding tray conveying mechanism 4; when the empty breeding tray 7 enters the weighing conveyor belt 332, the weighing conveyor belt 332 starts to operate and transports the empty breeding tray 7 to the bottom of the automatic feeding mechanism 32; when the empty breeding tray 7 reaches the designated feeding position and is located directly under the automatic feeding mechanism 32, the automatic feeding mechanism 32 starts to operate and feeds the food in the food hopper 31 into the breeding tray 7. In this process, the weighing conveyor belt 332 starts to operate and transports the empty breeding tray 7 to the bottom of the automatic feeding mechanism 32. The weighing sensor 333 obtains weight information in real time and feeds the weight information back to the controller in real time. The controller determines the weight of the food put into the breeding tray 7 according to the weight information fed back by the weighing sensor 333. When the weight of the food put into the breeding tray 7 reaches the set value, the controller controls the automatic feeding mechanism 32 to stop the food feeding action; after the specified weight of food is put into the breeding tray 7, the weighing conveyor belt 332 starts to operate and removes the breeding tray 7 filled with food from under the automatic feeding mechanism 32, and allows the breeding tray 7 loaded with food to enter the breeding tray 7 conveyor belt again.

[0067] The following describes the automatic insect breeding and feeding equipment of the first embodiment in combination with a specific action process, and the action process includes the following steps, specifically:

[0068] Step S1, a forklift delivers the breeding trays 7 loaded with adult insects and feces stacked and placed on the stacking pallet 8 to the stacking conveyor belt 5, and the stacking conveyor belt 5 transports the breeding trays to the first pallet stop position; wherein, there is a stacking pallet 8 at the second pallet stop position of the stacking conveyor belt 5, and the stacking pallet 8 can be directly placed at the second pallet stop position by the staff, or the stacking pallet 8 after all the breeding trays 7 are taken away at the first pallet stop position is transported to the second pallet stop position by the stacking conveyor belt 5;

[0069] Step S2, the plate grabbing and transferring assembly 2 directly grabs the breeding plate 7 loaded with adult insects and feces and places it on the automatic plate turning and scraping assembly through the multi-axis manipulator 22 and the breeding plate clamp 23, and the automatic plate turning and scraping assembly pours the adult insects and feces into the receiving hopper 61, and the empty breeding plate 7 that has been scraped and cleaned is placed on the breeding plate conveying mechanism 4;

[0070] Step S3, after the empty breeding tray 7 is cleaned by the automatic tray turning and scraping assembly and enters the breeding tray conveying mechanism 4, the breeding tray conveying mechanism 4 transfers the empty breeding tray 7 to the empty tray feeding assembly 3;

[0071] Step S4, after the breeding tray conveying mechanism 4 conveys the empty breeding tray 7 to the position of the empty tray feeding assembly 3, the empty tray feeding assembly 3 completes the food feeding operation and feeds the food into the breeding tray 7;

[0072] Step S5, after the empty tray feeding component 3 completes feeding of food, the breeding tray 7 loaded with food enters the breeding tray conveying mechanism 4 again, and the breeding tray conveying mechanism 4 reversely conveys the breeding tray 7 loaded with food, and makes the breeding tray 7 loaded with food reach the grabbing position of the tray grabbing and transferring component 2;

[0073] Step S6, when the breeding tray 7 loaded with food is transferred to the grabbing position of the tray grabbing and transferring assembly 2 by the breeding tray conveying mechanism 4, the tray grabbing and transferring assembly 2 is actuated to grab and transfer the breeding tray 7 loaded with food to the stacking pallet 8 at the second pallet stop position on the stacking conveyor belt 5;

[0074] Step S7, according to the above steps S2-S6, the feeding and collecting operations of multiple breeding trays 7 at the first pallet stop position of the stacking conveyor belt 5 are completed in sequence, and the breeding trays 7 after the food loading are stacked again on the stacking pallet 8 at the second pallet stop position of the stacking conveyor belt 5; wherein, when all the tray stacks at the first pallet stop position of the stacking conveyor belt 5 are taken away, the stacking conveyor belt 5 starts and transports the empty stacking pallet 8 to the second pallet stop position, and the subsequent stacking of breeding trays to be fed and collected enters the first pallet stop position in sequence, and the stacking of breeding trays formed by the breeding trays 7 that have completed the food delivery and are loaded with food is moved away from the second pallet stop position and enters the forklift loading position in sequence.

[0075] It should be emphasized that during the operation of the automated insect breeding and feeding equipment of the first embodiment, the first embodiment completes the adult excrement dumping process and the empty breeding feed tray cleaning process at one time through the automatic flipping and sweeping assembly, and there is no need to transfer the breeding tray 7 when completing the adult excrement dumping process and the empty breeding feed tray cleaning process, so the work efficiency is high; in addition, the first embodiment realizes the stacking of breeding trays to be collected and fed and the stacking and transportation of breeding trays after feeding is completed through the stacking conveyor belt 5. During operation, multiple stacks of breeding trays to be collected and fed enter the grabbing position of the tray grabbing and transferring assembly 2 in turn, and multiple stacks of breeding trays after feeding are completed are transported to the forklift loading position in turn along the stacking conveyor belt 5. The above process can effectively reduce waiting time and effectively improve work efficiency.

[0076] Therefore, based on the above, it can be known that, through the above structural design, the automated insect breeding feeding and collecting equipment of the first embodiment has the advantages of novel structural design and high feeding and collecting operation efficiency.

[0077] Embodiment 2, as Figures 5 to 8 As shown, the difference between the second embodiment and the first embodiment is that the flipping drive mechanism 622 includes a motor mounting base 6221 screwed and fastened to the frame 1, the motor mounting base 6221 is equipped with a flipping drive motor 6222, the power output shaft of the flipping drive motor 6222 is connected to one end of the flip frame shaft 6211 through a coupling, and the flipping drive motor 6222 is electrically connected to the controller.

[0078] Embodiment three, as Figures 5 to 8 As shown, the difference between the third embodiment and the first embodiment is that the left bracket 6213 and the right bracket 6214 are respectively provided with a bracket supporting portion 6215, and each bracket supporting portion 6215 is respectively equipped with a roller group 6216 composed of a plurality of rollers arranged in sequence at intervals.

[0079] The left bracket 6213 and the right bracket 6214 are also provided with limit retaining walls 6217 , respectively. The limit retaining walls 6217 of the left bracket 6213 and the limit retaining walls 6217 of the right bracket 6214 are respectively equipped with clamping mechanisms 623 .

[0080] When the breeding tray 7 loaded with adult insects and feces is placed on the movable turning frame 621 at the initial position through the tray grabbing and transferring assembly 2, the breeding tray 7 is limited by the limiting baffle wall 6217 of the left bracket 6213 and the right bracket 6214 to ensure that the breeding tray 7 can accurately fall onto the bracket supporting part 6215.

[0081] For the roller group 6216 installed on each bracket supporting part 6215, when the breeding tray conveying mechanism 4 is started and the breeding tray 7 that has been cleaned is sent to the side of the empty tray feeding assembly 3, the above-mentioned roller group 6216 can make the breeding tray 7 be sent out more smoothly.

[0082] Embodiment 4, as Figures 5 to 8 As shown, the difference between the fourth embodiment and the first embodiment is that the clamping mechanism 623 includes a plurality of clamping cylinders 6231 arranged in sequence and at intervals, and the outer extension end of the piston rod of each clamping cylinder 6231 is the clamping push rod 6232.

[0083] During the process of the clamping mechanism 623 actuating and clamping the breeding tray 7, the controller controls the actuation of each clamping cylinder 6231, and the piston rod of each clamping cylinder 6231 is pushed out toward the side of the breeding tray 7 respectively, so as to clamp and fix the breeding tray 7 through the clamping push rod 6232, thereby achieving clamping and fixing of the breeding tray 7.

[0084] Embodiment 5, as Fig. 9 , Fig.10 as well as Fig.12 As shown, the difference between the fifth embodiment and the first embodiment is that a food storage chamber is formed inside the food hopper 31, and a plurality of drop pipes 311 are arranged in sequence and spaced apart along a conveying direction perpendicular to the breeding plate 7 and respectively connected to the food storage chamber at the lower end of the food hopper 31.

[0085] The automatic feeding mechanism 32 includes a feeding nozzle 321, which is located directly below the feeding tube 311 of the food hopper 31. A feeding cavity opening downward is formed inside the feeding nozzle 321, and the feeding cavity of the feeding nozzle 321 is wide at the top and narrow at the bottom.

[0086] In addition, a solenoid valve 322 is installed between each drop pipe 311 and the feeding nozzle 321, and each drop pipe 311 is connected to the feeding cavity of the feeding nozzle 321 through the corresponding solenoid valve 322, and each solenoid valve 322 is electrically connected to the controller.

[0087] When the weighing conveyor belt 332 delivers the empty breeding tray 7 to the designated feeding position, the controller controls the operation of each solenoid valve 322 and adjusts each solenoid valve 322 to an open state. At this time, the food storage chamber of the food hopper 31 and the feeding chamber of the feeding nozzle 321 are in a connected state, and the food in the food storage chamber is dropped downward into the breeding tray 7 through the drop pipe 311, the solenoid valve 322 and the feeding nozzle 321; when the weight of the food dropped into the breeding tray 7 reaches the set value, the controller controls the operation of each solenoid valve 322 and adjusts each solenoid valve 322 to a closed state. At this time, the food storage chamber of the food hopper 31 and the feeding chamber of the feeding nozzle 321 are in a disconnected state, and the automatic feeding mechanism 32 stops feeding food.

[0088] In addition, when the automatic feeding mechanism 32 feeds food into the breeding tray 7, the food in the food storage chamber enters the feeding chamber of the feeding nozzle 321 through the feeding pipe 311 and the solenoid valve 322. Since the feeding chamber is wide at the top and narrow at the bottom, it can ensure that food falls at all positions of the lower end opening of the feeding chamber, so that the food can be dropped into the breeding tray 7 more evenly.

[0089] Embodiment 6: The difference between the embodiment 6 and the embodiment 1 is that the weighing bracket 331 is equipped with a feeding position sensor, and the feeding position sensor is electrically connected to the controller.

[0090] During the process of the weighing conveyor belt 332 conveying the empty breeding tray 7 to the designated feeding position, when the breeding tray 7 reaches the feeding position sensor position, the weighing conveyor belt 332 stops moving and makes the empty breeding tray 7 stop at the designated feeding position.

[0091] The feeding position sensor of the sixth embodiment may be a through-beam photoelectric sensor.

[0092] Embodiment seven, as Fig. 9 , Fig.10 as well as Fig.12 As shown, the difference between the seventh embodiment and the first embodiment is that an upper electric stirrer 312 is installed in the middle of the food hopper 31, and a lower electric stirrer 313 is installed at the lower end of the food hopper 31. The upper electric stirrer 312 and the lower electric stirrer 313 extend into the interior of the food hopper 31 respectively, and the upper electric stirrer 312 and the lower electric stirrer 313 are electrically connected to the controller respectively.

[0093] When the empty tray feeding assembly 3 of the seventh embodiment is working, the upper electric stirrer 312 and the lower electric stirrer 313 stir the food in the food storage chamber respectively to avoid the problem of agglomeration of the food in the food hopper 31, thereby ensuring the stability of food feeding; in addition, the lower electric stirrer 313 of the seventh embodiment is located at the lower end of the food hopper 31, such as Fig.12As shown, the lower electric stirrer 313 is close to the upper end of each material dropping tube 311 , that is, the lower electric stirrer 313 can ensure the stability and reliability of material dropping from each material dropping tube 311 .

[0094] Embodiment eight, as Figures 1 to 3 As shown, the difference between the eighth embodiment and the first embodiment is that the culture plate conveying mechanism 4 includes a first conveyor belt 41 and a second conveyor belt 42 which are horizontally aligned and connected in sequence, and the first conveyor belt 41 and the second conveyor belt 42 are electrically connected to the controller respectively.

[0095] Among them, the automatic flipping and scraping assembly is located at one end side of the first conveyor belt 41 and away from the second conveyor belt 42, and the empty tray feeding component 3 is located at one end side of the second conveyor belt 42 and away from the first conveyor belt 41.

[0096] In addition, the frame 1 is equipped with an insect throwing mechanism for throwing insect seedlings into the culture tray 7 beside the second conveyor belt 42.

[0097] The insect throwing mechanism of the eighth embodiment has been disclosed in the prior art and will not be described in detail here.

[0098] The above contents are only preferred embodiments of the present invention. For ordinary technicians in this field, according to the concept of the present invention, there will be changes in the specific implementation methods and application scopes. The content of this specification should not be understood as limiting the present invention.

Claims

1. An automated insect breeding and feeding equipment, comprising a frame (1), the frame (1) being equipped with a conveying component, a plate grabbing and transferring component (2), and an empty plate feeding component (3), the conveying component comprising a breeding plate conveying mechanism (4); The plate grabbing and transferring assembly (2) comprises a manipulator mounting seat (21) mounted on the frame (1), a multi-axis manipulator (22) mounted on the upper end of the manipulator mounting seat (21), and a breeding plate clamp (23) mounted on the driving end of the multi-axis manipulator (22); Features: The conveying assembly also includes a stacking conveyor belt (5), the stacking conveyor belt (5) and the culture tray conveying mechanism (4) are arranged in parallel and at intervals, the manipulator mounting seat (21) is located above the stacking conveyor belt (5) and the stacking conveyor belt (5) passes under the manipulator mounting seat (21); the stacking conveyor belt (5) is provided with a first pallet stop position and a second pallet stop position arranged at intervals along the conveying direction, and the first pallet stop position and the second pallet stop position are located on both sides of the manipulator mounting seat (21); The frame (1) is provided with an automatic plate turning and scraping assembly at one end side of the culture plate conveying mechanism (4), the automatic plate turning and scraping assembly comprising a material receiving hopper (61), an automatic turning component (62), and an automatic cleaning component (63) respectively mounted on the frame (1); the automatic turning component (62) comprises a movable turning frame (621) and a turning driving mechanism (622) mounted on the frame (1), the turning driving mechanism (622) being drivingly connected to the movable turning frame (621); the movable turning frame (621) comprises a material receiving hopper (61) and an automatic turning driving mechanism (622) disposed on the frame (1); the automatic turning frame (621) comprises a material receiving hopper (61) and an automatic turning driving mechanism (622) disposed on the frame (1); the automatic turning driving mechanism (622) is drivingly connected to the movable turning frame (621); the movable turning frame (621) comprises a material receiving hopper (61) and an automatic turning driving mechanism (63) disposed on the culture plate conveying mechanism (4) and the automatic turning driving mechanism (63) The turning frame rotating shaft (6211) is provided between the turning frame rotating shaft (6211), the left end portion and the right end portion of the turning frame rotating shaft (6211) are respectively mounted on the frame (1) through a bearing seat (6212), and the turning driving mechanism (622) is drivingly connected to the turning frame rotating shaft (6211); the turning frame rotating shaft (6211) is provided with a left bracket (6213), and a right bracket (6214) located at the right end side of the left bracket (6213) and arranged opposite to the left bracket (6213) at an interval, and the left bracket (6213) and the right bracket (6214) are respectively provided with a clamping mechanism (623); The automatic cleaning component (63) comprises a movable scraper (631), and a linear drive module (632) mounted on the frame (1) and moving horizontally along the conveying direction of the culture plate conveying mechanism (4); the movable scraper (631) is located in the receiving hopper (61), the linear drive module (632) is located below the culture plate conveying mechanism (4), and the driving end of the linear drive module (632) extends into the receiving hopper (61) and is connected to the movable scraper (631); The empty tray feeding assembly (3) is located at the other end side of the breeding tray conveying mechanism (4), and the empty tray feeding assembly (3) comprises a food hopper (31) mounted on the frame (1), and the lower end of the food hopper (31) is equipped with an automatic feeding mechanism (32) for feeding the food in the food hopper (31) downward; the frame (1) is equipped with a weighing belt conveyor (33) directly below the automatic feeding mechanism (32), and the weighing belt conveyor (33) comprises a weighing bracket (331), and the upper end of the weighing bracket (331) is equipped with a weighing conveyor belt (332) that is flush with the breeding tray conveying mechanism (4); the weighing bracket (331) is arranged at a distance from the frame (1), and a weighing sensor (333) is installed between the lower end of the weighing bracket (331) and the frame (1); The automated insect breeding and feeding equipment is equipped with a controller, and a breeding tray conveying mechanism (4), a multi-axis manipulator (22), a breeding tray clamp (23), a stacking conveyor belt (5), a flipping drive mechanism (622), a clamping mechanism (623), a linear drive module (632), an automatic feeding mechanism (32), a weighing conveyor belt (332), and a weighing sensor (333) are electrically connected to the controller respectively.

2. The automatic insect breeding and feeding equipment according to claim 1, characterized in that: The flipping drive mechanism (622) comprises a motor mounting seat (6221) screwed and fastened to the frame (1); the motor mounting seat (6221) is equipped with a flipping drive motor (6222); the power output shaft of the flipping drive motor (6222) is connected to one end of the flip frame rotating shaft (6211) through a coupling; and the flipping drive motor (6222) is electrically connected to the controller.

3. The automatic insect breeding and feeding equipment according to claim 1, characterized in that: The left bracket (6213) and the right bracket (6214) are respectively provided with a bracket supporting portion (6215), and each bracket supporting portion (6215) is respectively provided with a roller group (6216) composed of a plurality of rollers arranged in sequence at intervals; The left bracket (6213) and the right bracket (6214) are also respectively provided with a limit stop wall (6217), and the limit stop wall (6217) of the left bracket (6213) and the limit stop wall (6217) of the right bracket (6214) are respectively equipped with the clamping mechanism (623).

4. The automatic insect breeding and feeding equipment according to claim 1, characterized in that: The clamping mechanism (623) comprises a plurality of clamping cylinders (6231) arranged in sequence and at intervals, and the outer extension end of the piston rod of each clamping cylinder (6231) is the clamping push rod (6232).

5. The automatic insect breeding and feeding equipment according to claim 1, characterized in that: The food hopper (31) has a food storage chamber formed inside, and a plurality of drop pipes (311) are arranged at intervals in sequence along a conveying direction perpendicular to the breeding tray (7) and are respectively connected to the food storage chamber at the lower end of the food hopper (31); The automatic feeding mechanism (32) comprises a feeding nozzle (321), the feeding nozzle (321) is located directly below the feeding pipe (311) of the food hopper (31), and a feeding cavity opening downward is formed inside the feeding nozzle (321), and the feeding cavity of the feeding nozzle (321) is wide at the top and narrow at the bottom; A solenoid valve (322) is installed between each drop pipe (311) and the feeding nozzle (321), and each drop pipe (311) is connected to the feeding cavity of the feeding nozzle (321) through the corresponding solenoid valve (322). Each solenoid valve (322) is electrically connected to the controller.

6. The automatic insect breeding and feeding equipment according to claim 1, characterized in that: The weighing bracket (331) is equipped with a feeding position sensor, and the feeding position sensor is electrically connected to the controller.

7. The automatic insect breeding and feeding equipment according to claim 1, characterized in that: An upper electric stirrer (312) is installed in the middle of the food hopper (31), and a lower electric stirrer (313) is installed at the lower end of the food hopper (31). The upper electric stirrer (312) and the lower electric stirrer (313) extend into the interior of the food hopper (31) respectively, and the upper electric stirrer (312) and the lower electric stirrer (313) are electrically connected to the controller respectively.

8. The automatic insect breeding and feeding equipment according to claim 1, characterized in that: The frame (1) is provided with a first stop position sensor at the first pallet stop position of the palletizing conveyor belt (5), and the frame (1) is provided with a second stop position sensor at the second pallet stop position of the palletizing conveyor belt (5). The first stop position sensor and the second stop position sensor are electrically connected to the controller respectively.

9. The automatic insect breeding and feeding equipment according to any one of claims 1 to 8, characterized in that: The culture tray conveying mechanism (4) comprises a first conveying belt (41) and a second conveying belt (42) which are arranged horizontally and aligned and connected in sequence, and the first conveying belt (41) and the second conveying belt (42) are electrically connected to the controller respectively; The automatic tray sweeping assembly is located at one end side of the first conveyor belt (41) and away from the second conveyor belt (42), and the empty tray feeding assembly (3) is located at one end side of the second conveyor belt (42) and away from the first conveyor belt (41).

10. The automatic insect breeding feeding and collecting equipment according to claim 9, characterized in that: The frame (1) is provided with an insect throwing mechanism on the side of the second conveyor belt (42) for throwing insect seedlings into the culture tray (7).

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