Full-intelligent fish vaccine injection robot

Abstract

The invention discloses a full-intelligent fish vaccine injection robot which comprises a frame body, one end of the upper end of the frame body is fixedly connected with a throwing plate, and one end of the throwing plate is slightly inclined upwards; and the alternate conveying mechanism is arranged at the upper part of the inner side of the frame main body, and one end of the alternate conveying mechanism corresponds to the lower part of the putting plate. According to the full-intelligent fish vaccine injection robot provided by the invention, through the structural cooperative design of the frame main body, the throwing plate, the alternate conveying mechanism, the turnover mechanism, the injection mechanism and the driving mechanism, the device can convey fishes into the turnover mechanism one by one through cooperation of the alternate conveying mechanism and the driving mechanism, and the situation that the fishes are gathered to influence production is avoided; the device is simple in overall structure, easy to produce and capable of effectively replacing manual vaccine injection to fish, the injection effect is improved, and meanwhile the labor requirement is effectively reduced.

Description

Technical Field

[0001] The invention relates to the technical field of fish breeding, and in particular to a fully intelligent fish vaccine injection robot. Background Art

[0002] When many fish are farmed in large quantities, the fry need to be vaccinated to avoid large-scale viral infection of the fry during the breeding process, which will affect the breeding income. When vaccinating spindle-shaped fish such as grass carp, black carp, and salmon, the vaccination site is usually the pectoral fin, which has no scales and softer tissue. When vaccinating farmed fry, the farming worker grabs the anesthetized fry in one hand and holds the syringe in the other hand, then inserts the needle into the pectoral fin of the fry for injection, and then grabs the next fry after the injection is completed.

[0003] As food safety is increasingly valued, my country's technical requirements for aquaculture and fish disease prevention are constantly increasing. Injection and vaccination of fish is an effective means of fish disease prevention. At present, fish injection and vaccination in my country are mainly carried out manually, which is time-consuming and labor-intensive, and has low vaccination efficiency. For this reason, this application proposes a fully intelligent fish vaccine injection robot to solve the above-mentioned technical problems and provide a new technical solution. Summary of the invention

[0004] Based on this, it is necessary to provide a fully intelligent fish vaccine injection robot to address the above-mentioned technical problems. Through the structural coordination design of the frame body, the delivery plate, the alternating conveying mechanism, the flipping mechanism, the injection mechanism, and the driving mechanism, the device can transport the fish one by one to the inside of the flipping mechanism through the alternating conveying mechanism and the driving mechanism, so as to avoid the fish from clumping and affecting production. The overall structure of the device is relatively simple and easy to produce. It can effectively replace manual vaccination of fish, improve the injection effect, and effectively reduce the labor required.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] A fully intelligent fish vaccine injection robot, which is used for fish vaccination.

[0007] The fully intelligent fish vaccine injection robot specifically includes:

[0008] A frame body, one end of the upper end of the frame body is fixedly connected to a delivery plate, and one end of the delivery plate is slightly inclined upward;

[0009] An alternating conveying mechanism is arranged at an upper position inside the frame body, and one end of the alternating conveying mechanism corresponds to a position at a lower portion of the delivery plate;

[0010] A driving mechanism, which is arranged inside the frame body and below the alternating conveying mechanism, and is used to drive the alternating conveying mechanism;

[0011] A turning mechanism, which is arranged inside the frame body and located at an end of the alternating conveying mechanism away from the delivery plate, and is used for receiving, lifting and delivering fish;

[0012] An injection mechanism, which is arranged at the upper end of the frame body, the injection mechanism corresponds to the position of the flip mechanism, and the injection mechanism is used for injecting fish vaccines;

[0013] The alternating conveying mechanism comprises a lifting beam 1 and a lifting beam 2, wherein the number of the lifting beam 1 and the lifting beam 2 is multiple, and the multiple lifting beams 1 and 2 are alternately arranged, and the upper ends of the lifting beam 1 and the lifting beam 2 are respectively fixedly connected to a V-shaped conveying frame 1 and a V-shaped conveying frame 2 through a connecting plate, and the multiple V-shaped conveying frames 1 on the lifting beam 1 and the multiple V-shaped conveying frames 2 on the lifting beam 2 are alternately arranged;

[0014] The driving mechanism comprises a driving rod 1 and a driving rod 2, wherein the driving rod 2 is located on the inner side of the driving rod 1, and a follower connecting beam is fixedly connected to the upper end of the driving rod 1 and at a position corresponding to each of the lifting beams 2, and a follower connecting beam is also fixedly connected to the upper end of the driving rod 2 and at a position corresponding to each of the lifting beams 1, and the lower end of the lifting beam 1 is detachably connected to the follower connecting beam on the driving rod 2, and the lower end of the lifting beam 2 is detachably connected to the follower connecting beam on the driving rod 1; the ends of the driving rod 1 and the driving rod 2 are both provided with a driving shaft, and the driving shaft is rotatably connected to the frame body, and the two driving shafts are connected by a transmission member 1, and the driving rod 1 and the driving rod 2 are both movably connected to the end of the driving shaft through a crankshaft, and the ends of the driving rod 1 and the driving rod 2 are both movably connected through a connecting member, and when the driving rod 1 moves upward, the driving rod 2 moves downward synchronously, and a driving motor is provided on the inner side of the frame body and at a position on one side of the driving shaft, and the output end of the driving motor is connected by a transmission member 2 to one of the driving shafts.

[0015] As a preferred embodiment of the fully intelligent fish vaccine injection robot provided by the present invention, the flipping mechanism includes a limiting groove, the lower end of the limiting groove is fixedly connected with a flipping plate, the end of the flipping plate away from the alternating conveying mechanism is fixedly connected with a rotating shaft, the flipping plate is rotatably connected to the frame body through the rotating shaft, the rotating shaft at the end of the flipping plate is driven by a motor, a bracket is arranged below the limiting groove, the end of the bracket is fixedly connected to the frame body, and the lower end of the flipping plate is in contact with the top of the bracket.

[0016] As a preferred embodiment of the fully intelligent fish vaccine injection robot provided by the present invention, a guide frame is fixedly connected to the side of the limiting groove close to the alternating conveying mechanism, and a through groove is formed on the side of the guide frame away from the limiting groove.

[0017] As a preferred embodiment of the fully intelligent fish vaccine injection robot provided by the present invention, the injection mechanism includes a gantry, both ends of the gantry are fixedly connected to the frame body, a mounting frame is provided on the inner side of the gantry and at a position corresponding to the flipping mechanism, a pressing piece is provided at the lower end of the mounting frame, an injection structure is provided at the upper end of the mounting frame, the injection end of the injection structure extends to the outside of the lower end of the mounting frame, a lifting mechanism is fixedly connected to the top of the gantry, the telescopic end of the lifting mechanism is fixedly connected to the mounting frame, the upper end of the mounting frame is also fixedly connected to a guide rod, and the top of the guide rod is vertically slidably connected to the gantry.

[0018] As a preferred embodiment of the fully intelligent fish vaccine injection robot provided by the present invention, pressure pieces are fixedly connected to both sides of the lower end of the mounting frame, the length of the pressure pieces is greater than the length of the mounting frame, and protective pads are provided at the lower ends of the pressure pieces.

[0019] As a preferred embodiment of the fully intelligent fish vaccine injection robot provided by the present invention, the lower end of the inner side of the frame body is arranged as a slope, the lower end of the slope is close to the delivery plate, and a reflux window is provided at the end of the frame body and at a position located at the lower end of the slope at the bottom of the frame body.

[0020] As a preferred embodiment of the fully intelligent fish vaccine injection robot provided by the present invention, guide grooves are vertically opened on both sides of the frame body and at positions corresponding to the follow-up connecting beams, and the ends of the follow-up connecting beams are located inside the guide grooves, and the ends of the follow-up connecting beams are vertically slidably connected to the frame body through the guide grooves.

[0021] As a preferred embodiment of the fully intelligent fish vaccine injection robot provided by the present invention, a mounting beam is provided at the bottom of the driving motor, the driving motor is fixedly connected to the mounting beam by bolts, and both ends of the mounting beam are fixedly connected to the inner wall of the frame body.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] The fully intelligent fish vaccine injection robot provided by the present invention has a structural coordination design of a frame body, a delivery plate, an alternating conveying mechanism, a flipping mechanism, an injection mechanism, and a driving mechanism, so that the device can convey fish one by one to the inside of the flipping mechanism through the alternating conveying mechanism cooperating with the driving mechanism, so as to avoid the fish from clumping up and affecting production. The overall structure of the device is relatively simple and easy to produce. It can effectively replace manual vaccination of fish, improve the injection effect, and effectively reduce the labor required. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the scheme of the present invention, a brief introduction is given below to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 This is a schematic diagram of the overall structure of the fully intelligent fish vaccine injection robot provided by the present invention;

[0026] Figure 2 A schematic diagram of the internal structure of the main body of the fully intelligent fish vaccine injection robot provided by the present invention;

[0027] Figure 3 This is a structural schematic diagram of the delivery plate, alternating conveying mechanism, and flipping mechanism of the fully intelligent fish vaccine injection robot provided by the present invention;

[0028] Figure 4 This is a schematic diagram of the structure of the alternating conveying mechanism of the fully intelligent fish vaccine injection robot provided by the present invention;

[0029] Figure 5 A schematic diagram of the structure of the driving mechanism of the fully intelligent fish vaccine injection robot provided by the present invention;

[0030] Figure 6 A schematic diagram of the connection structure of the driving mechanism of the fully intelligent fish vaccine injection robot provided by the present invention;

[0031] Figure 7 A schematic diagram of the driving structure of the driving mechanism of the fully intelligent fish vaccine injection robot provided by the present invention;

[0032] Figure 8 This is a structural schematic diagram of the flipping mechanism and injection mechanism of the fully intelligent fish vaccine injection robot provided by the present invention;

[0033] Fig. 9 A schematic diagram of the structure of the flipping mechanism of the fully intelligent fish vaccine injection robot provided by the present invention;

[0034] Fig.10This is a schematic diagram of the structure of the injection mechanism of the fully intelligent fish vaccine injection robot provided by the present invention.

[0035] The markings in the figure are as follows:

[0036] 1. Frame body; 2. Delivery plate; 3. Alternating conveying mechanism; 4. Turning mechanism; 5. Injection mechanism; 6. Driving mechanism; 7. Lifting beam 1; 8. Lifting beam 2; 9. Connecting plate; 10. V-shaped conveying frame 1; 11. V-shaped conveying frame 2; 12. Driving rod 1; 13. Driving rod 2; 14. Follow-up connecting beam; 15. Connecting piece; 16. Driving shaft; 17. Driving motor; 18. Transmission piece 1; 19. Transmission piece 2; 20. Crankshaft; 21. Limiting groove; 22. Guide frame; 23. Turning plate; 24. Bracket; 25. Gantry; 26. Mounting frame; 27. Pressing piece; 28. Injection structure; 29. ​​Lifting mechanism; 30. Guide rod. DETAILED DESCRIPTION

[0037] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0038] As described in the background art, currently in my country, fish injection vaccination is mainly carried out manually, which is time-consuming and labor-intensive, and has low vaccination efficiency.

[0039] In order to solve this technical problem, the present invention provides a fully intelligent fish vaccine injection robot, which is used for fish vaccination.

[0040] Specifically, please refer to Figure 1 - Figure 7 The fully intelligent fish vaccination robot specifically includes:

[0041] A rack body 1, one end of the upper end of the rack body 1 is fixedly connected to a delivery plate 2, and one end of the delivery plate 2 is slightly inclined upward;

[0042] An alternating conveying mechanism 3 is arranged at an upper position inside the frame body 1, and one end of the alternating conveying mechanism 3 corresponds to a position at a lower portion of the delivery plate 2;

[0043] A driving mechanism 6, which is arranged inside the frame body 1 and below the alternating conveying mechanism 3, and the driving mechanism 6 is used to drive the alternating conveying mechanism 3;

[0044] The turning mechanism 4 is arranged inside the rack body 1 and located at the end of the alternating conveying mechanism 3 away from the placing plate 2, and is used for receiving, lifting and placing the fish;

[0045] An injection mechanism 5, which is arranged at the upper end of the frame body 1, and the position of the injection mechanism 5 corresponds to the position of the flip mechanism 4, and the injection mechanism 5 is used for injecting fish vaccines;

[0046] The alternating conveying mechanism 3 comprises a lifting beam 1 7 and a lifting beam 2 8. The number of the lifting beam 1 7 and the lifting beam 2 8 is multiple, and the multiple lifting beams 1 7 and the lifting beam 2 8 are alternately arranged. The upper ends of the lifting beam 1 7 and the lifting beam 2 8 are respectively fixedly connected to a V-shaped conveying frame 10 and a V-shaped conveying frame 2 11 through a connecting plate 9. The multiple V-shaped conveying frames 10 on the lifting beam 1 7 and the multiple V-shaped conveying frames 2 11 on the lifting beam 2 8 are alternately arranged.

[0047] The driving mechanism 6 includes a driving rod 12 and a driving rod 2 13. The driving rod 2 13 is located on the inner side of the driving rod 12. The upper end of the driving rod 12 and the position corresponding to each lifting beam 2 8 are fixedly connected with a follower connecting beam 14. The upper end of the driving rod 2 13 and the position corresponding to each lifting beam 1 7 are also fixedly connected with a follower connecting beam 14. The lower end of the lifting beam 1 7 is detachably connected to the follower connecting beam 14 on the driving rod 2 13, and the lower end of the lifting beam 2 8 is detachably connected to the follower connecting beam 14 on the driving rod 12. The ends of the driving rod 12 and the driving rod 2 13 are both provided with A driving shaft 16 is provided, and the driving shaft 16 is rotationally connected to the frame body 1. The two driving shafts 16 are connected by a transmission member 18. The driving rod 12 and the driving rod 2 are movably connected to the ends of the driving shaft 16 through a crankshaft 20. The ends of the driving rod 12 and the driving rod 2 are movably connected by a connecting member 15. When the driving rod 12 moves upward, the driving rod 2 13 moves downward synchronously. A driving motor 17 is provided on the inner side of the frame body 1 and at a position on one side of the driving shaft 16. The output end of the driving motor 17 is connected to one of the driving shafts 16 through a transmission member 2 19.

[0048] The fully intelligent fish vaccine injection robot provided by the present invention has a structural coordination design of a frame body 1, a delivery plate 2, an alternating conveying mechanism 3, a flipping mechanism 4, an injection mechanism 5, and a driving mechanism 6, so that the device can convey the fish one by one to the inside of the flipping mechanism 4 through the alternating conveying mechanism 3 cooperating with the driving mechanism 6, so as to avoid the fish from clumping and affecting the production. The overall structure of the device is relatively simple and easy to produce. It can effectively replace manual vaccination of fish, improve the injection effect and effectively reduce the labor required.

[0049] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings.

[0050] Embodiment 1:

[0051] Please refer to Figure 1 - Figure 7 , a fully intelligent fish vaccine injection robot, comprising:

[0052] The rack body 1 has one end fixedly connected to a delivery plate 2 at one end of the upper end of the rack body 1, and one end of the delivery plate 2 is arranged slightly tilted upward; wherein, in order to facilitate the guidance of the fish injected with the vaccine for reflux collection, the inner lower end of the rack body 1 is arranged as an inclined surface, and the lower end of the inclined surface is the end close to the delivery plate 2, and a reflux window is provided at the end of the rack body 1 and at a position at the lower end of the inclined surface at the bottom of the rack body 1.

[0053] An alternating conveying mechanism 3 is arranged at an upper position inside the frame body 1, and one end of the alternating conveying mechanism 3 corresponds to a position at a lower portion of the delivery plate 2;

[0054] A driving mechanism 6, which is arranged inside the frame body 1 and below the alternating conveying mechanism 3, and the driving mechanism 6 is used to drive the alternating conveying mechanism 3;

[0055] The turning mechanism 4 is arranged inside the rack body 1 and located at the end of the alternating conveying mechanism 3 away from the placing plate 2, and is used for receiving, lifting and placing the fish;

[0056] The injection mechanism 5 is arranged at the upper end of the frame body 1 . The position of the injection mechanism 5 corresponds to that of the flipping mechanism 4 . The injection mechanism 5 is used for injecting fish vaccines.

[0057] It can be known that fish can be put into the rack body 1 through the putting plate 2, the put fish can be transported one by one to the direction of the flipping mechanism 4 through the alternating conveying mechanism 3, the fish can be lifted by the flipping mechanism 4, and the fish can be fixed and injected by the injection mechanism 5. After the fish is injected, it can be flipped by the flipping mechanism 4, and the fish can be put into the bottom of the inner side of the rack body 1, and the bottom of the rack body 1 is obliquely set, so that the fish can slide to the lower end of the bottom of the rack body 1, so that it can be discharged through the reflux window at the end of the rack body 1.

[0058] Specifically, the alternating conveying mechanism 3 includes a lifting beam 1 7 and a lifting beam 2 8. The number of the lifting beam 1 7 and the lifting beam 2 8 is multiple, and the multiple lifting beams 1 7 and the lifting beam 2 8 are alternately arranged. The upper ends of the lifting beam 1 7 and the lifting beam 2 8 are respectively fixedly connected with a V-shaped conveying frame 10 and a V-shaped conveying frame 2 11 through a connecting plate 9. The multiple V-shaped conveying frames 10 on the lifting beam 1 7 and the multiple V-shaped conveying frames 2 11 on the lifting beam 2 8 are alternately arranged.

[0059] Specifically, the driving mechanism 6 includes a driving rod 12 and a driving rod 2 13. The driving rod 2 13 is located on the inner side of the driving rod 12. A follower connecting beam 14 is fixedly connected to the upper end of the driving rod 12 and at a position corresponding to each lifting beam 2 8. A follower connecting beam 14 is also fixedly connected to the upper end of the driving rod 2 13 and at a position corresponding to each lifting beam 7. The lower end of the lifting beam 7 is detachably connected to the follower connecting beam 14 on the driving rod 2 13, and the lower end of the lifting beam 2 8 is detachably connected to the follower connecting beam 14 on the driving rod 12. In order to guide and limit the movement of the follower connecting beam 14, guide grooves are vertically opened on both sides of the frame body 1 and at positions corresponding to the follower connecting beam 14. The end of the follower connecting beam 14 is located inside the guide groove, and the end of the follower connecting beam 14 is vertically slidably connected to the frame body 1 through the guide groove.

[0060] It can be seen that by driving the driving rod 12 and the driving rod 2 13 to move up and down alternately, the lifting beam 1 7 and the lifting beam 2 8 can be driven to move up and down alternately, thereby driving the V-shaped conveying frame 10 to move up and down alternately through the connecting plate 9. After the upper end of the delivery plate 2 is placed, the fish is guided by the inclined surface of one end of the V-shaped conveying frame 10 and slides into the other horizontal end of the V-shaped conveying frame 10. At this time, the V-shaped conveying frame 10 moves down and the V-shaped conveying frame 2 11 moves up, passing through one end of the inclined surface of the V-shaped conveying frame 2 11. The end horizontal to the V-shaped conveying rack 11 is guided so that the fish slides from the upper end of the V-shaped conveying rack 10 to the upper end of the V-shaped conveying rack 11, and then the V-shaped conveying rack 11 is moved down and the V-shaped conveying rack 10 is moved up, so that the V-shaped conveying rack 10 on the other side of the V-shaped conveying rack 11 can guide and displace the fish through the inclined surface, so that the fish can be transported by performing alternating up and down reciprocating motion through a plurality of alternately arranged V-shaped conveying racks 10 and V-shaped conveying racks 11, with less damage to the fish.

[0061] Furthermore, the ends of the driving rod 12 and the driving rod 2 13 are both provided with a driving shaft 16, the driving shaft 16 is rotatably connected to the frame body 1, the two driving shafts 16 are connected by a transmission member 18, the driving rod 12 and the driving rod 2 13 are both movably connected to the ends of the driving shaft 16 by a crankshaft 20, the ends of the driving rod 12 and the driving rod 2 13 are both movably connected by a connecting member 15, when the driving rod 12 moves upward, the driving rod 2 13 moves downward synchronously, and a driving motor 17 is provided on the inner side of the frame body 1 and at a position on one side of the driving shaft 16, and the output end of the driving motor 17 is connected by a transmission member 2 19 to one of the driving shafts 16. In order to facilitate the installation and fixation of the driving motor 17, a mounting beam is provided at the bottom of the driving motor 17, the driving motor 17 is fixedly connected to the mounting beam by bolts, and both ends of the mounting beam are fixedly connected to the inner wall of the frame body 1.

[0062] It can be known that by starting the drive motor 17, the drive shaft 16 is driven to rotate through the transmission member 19. When one of the drive shafts 16 rotates, the other drive shaft 16 can be driven to rotate synchronously through the transmission member 18. Then, while the two drive shafts 16 rotate synchronously, the crankshaft 20 at the end of the drive shaft 16 can drive the ends of the drive rod 12 and the drive rod 2 13 to move alternately, and the follower connecting beam 14 is connected to the frame body 1 through a vertical sliding connection, so that the drive rod 12 and the drive rod 2 13 can only move up and down due to the limit of the follower connecting beam 14, so that when the crankshaft 20 is driven by the drive shaft 16, the drive rod 12 and the drive rod 2 13 can realize up and down reciprocating motion.

[0063] Embodiment 2:

[0064] The fully intelligent fish vaccine injection robot provided in Example 1 is further optimized. Specifically, Figure 8 and Fig. 9 As shown, the flipping mechanism 4 includes a limit groove 21, the lower end of the limit groove 21 is fixedly connected with a flip plate 23, the end of the flip plate 23 away from the alternating conveying mechanism 3 is fixedly connected with a rotating shaft, the flip plate 23 is rotatably connected to the frame body 1 through the rotating shaft, the rotating shaft at the end of the flip plate 23 is driven by a motor, a bracket 24 is arranged below the limit groove 21, the end of the bracket 24 is fixedly connected to the frame body 1, and the lower end of the flip plate 23 is fitted with the top of the bracket 24; further, a guide frame 22 is fixedly connected to the side of the limit groove 21 close to the alternating conveying mechanism 3, and a through groove is opened on the side of the guide frame 22 away from the limit groove 21.

[0065] Through the above-mentioned structural design, the guide frame 22 on one side of the limiting groove 21 can guide the fish transported by the alternating conveying mechanism 3. The through groove opened by the guide frame 22 is convenient for the up and down movement of the V-shaped conveying frame 10 or the V-shaped conveying frame 2 11 in the alternating conveying mechanism 3 to be unobstructed. The fish is lifted by the limiting groove 21. During the process of fixing and injecting the fish by the injection mechanism 5, the limiting groove 21 is lifted by the bracket 24 to prevent the limiting groove 21 from shaking. After the fish is injected, the limiting groove 21 is turned over by rotating the flip plate 23, so that the injected fish can be put into the bottom of the frame body 1.

[0066] Embodiment 3:

[0067] The fully intelligent fish vaccine injection robot provided in Example 1 is further optimized. Specifically, Figure 8 and Fig.10As shown, the injection mechanism 5 includes a gantry 25, both ends of which are fixedly connected to the frame body 1, a mounting frame 26 is provided on the inner side of the gantry 25 and at a position corresponding to the flip mechanism 4, a pressing piece 27 is provided at the lower end of the mounting frame 26, an injection structure 28 is provided at the upper end of the mounting frame 26, and the injection end of the injection structure 28 extends to the outer side of the lower end of the mounting frame 26, a jacking mechanism 29 is fixedly connected to the top of the gantry 25, and the telescopic end of the jacking mechanism 29 is fixedly connected to the mounting frame 26, and a guide rod 30 is also fixedly connected to the upper end of the mounting frame 26, and the top of the guide rod 30 is vertically slidably connected to the gantry 25. Further, both sides of the lower end of the mounting frame 26 are fixedly connected with pressing pieces 27, the length of the pressing piece 27 is greater than the length of the mounting frame 26, and the lower end of the pressing piece 27 is provided with a protective pad.

[0068] Through the above structural design, the mounting frame 26 can be pushed to move by starting the jacking mechanism 29. During the movement of the mounting frame 26, the guide rod 30 is used to guide and limit the movement of the mounting frame 26, so that the movement of the mounting frame 26 is relatively stable. When injecting vaccines to fish, the mounting frame 26 is moved downward to make the pressing piece 27 extend into the inner side of the flipping mechanism 4, and the fish is limited by the pressing piece 27, so that the injection of the fish can be achieved through the injection structure 28.

Claims

1. A fully intelligent fish vaccine injection robot, characterized in that: include: A frame body (1), one end of the upper end of the frame body (1) is fixedly connected to a delivery plate (2), and one end of the delivery plate (2) is arranged slightly tilted upward; An alternating conveying mechanism (3) is arranged at an upper position inside the frame body (1), and one end of the alternating conveying mechanism (3) corresponds to a lower position of the delivery plate (2); A driving mechanism (6) is arranged inside the frame body (1) and located below the alternating conveying mechanism (3), and the driving mechanism (6) is used to drive the alternating conveying mechanism (3); A turning mechanism (4), which is arranged inside the frame body (1) and located at an end of the alternating conveying mechanism (3) away from the delivery plate (2), and is used for receiving, lifting and delivering fish; An injection mechanism (5) is arranged at the upper end of the frame body (1), the injection mechanism (5) corresponds to the position of the flip mechanism (4), and the injection mechanism (5) is used for injecting fish vaccines; The alternating conveying mechanism (3) comprises a lifting beam 1 (7) and a lifting beam 2 (8), wherein the number of the lifting beam 1 (7) and the lifting beam 2 (8) is plural, and the plurality of the lifting beam 1 (7) and the lifting beam 2 (8) are arranged alternately, and the upper ends of the lifting beam 1 (7) and the lifting beam 2 (8) are respectively fixedly connected to a V-shaped conveying frame 1 (10) and a V-shaped conveying frame 2 (11) through a connecting plate (9), and the plurality of V-shaped conveying frames 1 (10) on the lifting beam 1 (7) and the plurality of V-shaped conveying frames 2 (11) on the lifting beam 2 (8) are arranged alternately; The driving mechanism (6) comprises a driving rod 1 (12) and a driving rod 2 (13), wherein the driving rod 2 (13) is located on the inner side of the driving rod 1 (12), and a follower connecting beam (14) is fixedly connected to the upper end of the driving rod 1 (12) and at a position corresponding to each of the lifting beams 2 (8), and a follower connecting beam (14) is also fixedly connected to the upper end of the driving rod 2 (13) and at a position corresponding to each of the lifting beams 1 (7), and the lower end of the lifting beam 1 (7) is detachably connected to the follower connecting beam (14) on the driving rod 2 (13), and the lower end of the lifting beam 2 (8) is detachably connected to the follower connecting beam (14) on the driving rod 1 (12); the ends of the driving rod 1 (12) and the driving rod 2 (13) are both provided with A drive shaft (16) is provided, the drive shaft (16) is rotatably connected to the frame body (1), the two drive shafts (16) are transmission-connected via a transmission member 1 (18), the drive rod 1 (12) and the drive rod 2 (13) are both movably connected to the ends of the drive shaft (16) via a crankshaft (20), the ends of the drive rod 1 (12) and the drive rod 2 (13) are both movably connected via a connecting member (15), when the drive rod 1 (12) moves upward, the drive rod 2 (13) moves downward synchronously, and a drive motor (17) is provided on the inner side of the frame body (1) and at a position on one side of the drive shaft (16), and the output end of the drive motor (17) is transmission-connected to one of the drive shafts (16) via a transmission member 2 (19).

2. The fully intelligent fish vaccine injection robot according to claim 1, characterized in that: The flipping mechanism (4) comprises a limiting groove (21), the lower end of the limiting groove (21) is fixedly connected to a flipping plate (23), the end of the flipping plate (23) away from the alternating conveying mechanism (3) is fixedly connected to a rotating shaft, the flipping plate (23) is rotatably connected to the frame body (1) via the rotating shaft, the rotating shaft at the end of the flipping plate (23) is driven by a motor, a bracket (24) is arranged below the limiting groove (21), the end of the bracket (24) is fixedly connected to the frame body (1), and the lower end of the flipping plate (23) is in contact with the top of the bracket (24).

3. The fully intelligent fish vaccine injection robot according to claim 2, characterized in that: A guide frame (22) is fixedly connected to the side of the limiting groove (21) close to the alternating conveying mechanism (3), and a through groove is formed on the side of the guiding frame (22) away from the limiting groove (21).

4. The fully intelligent fish vaccine injection robot according to claim 1, characterized in that: The injection mechanism (5) comprises a gantry (25), both ends of which are fixedly connected to the frame body (1), a mounting frame (26) is arranged on the inner side of the gantry (25) and at a position corresponding to the flipping mechanism (4), a pressing piece (27) is arranged at the lower end of the mounting frame (26), an injection structure (28) is arranged at the upper end of the mounting frame (26), the injection end of the injection structure (28) extends to the outer side of the lower end of the mounting frame (26), a lifting mechanism (29) is fixedly connected to the top of the gantry (25), the telescopic end of the lifting mechanism (29) is fixedly connected to the mounting frame (26), and a guide rod (30) is also fixedly connected to the upper end of the mounting frame (26), and the top of the guide rod (30) is vertically slidably connected to the gantry (25).

5. The fully intelligent fish vaccine injection robot according to claim 4, characterized in that: Both sides of the lower end of the mounting frame (26) are fixedly connected with pressing pieces (27), the length of the pressing piece (27) is greater than the length of the mounting frame (26), and the lower end of the pressing piece (27) is provided with a protective pad.

6. The fully intelligent fish vaccine injection robot according to claim 1, characterized in that: The lower inner end of the frame body (1) is arranged as an inclined surface, the lower end of the inclined surface is the end close to the delivery plate (2), and a reflux window is provided at the end of the frame body (1) and at a position at the lower end of the inclined surface at the bottom of the frame body (1).

7. The fully intelligent fish vaccine injection robot according to claim 1, characterized in that: Guide slide grooves are vertically provided on both sides of the frame body (1) and at positions corresponding to the follower connecting beam (14); the ends of the follower connecting beam (14) are located inside the guide slide grooves; and the ends of the follower connecting beam (14) are vertically slidably connected to the frame body (1) via the guide slide grooves.

8. The fully intelligent fish vaccine injection robot according to claim 1, characterized in that: A mounting beam is provided at the bottom of the driving motor (17), the driving motor (17) is fixedly connected to the mounting beam via bolts, and both ends of the mounting beam are fixedly connected to the inner wall of the frame body (1).

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