Mechanical arm of silkworm breeding device soaking unit

Abstract

The mechanical arm of the silkworm breeding device soaking unit comprises a frame, a lifting mechanism, a walking mechanism and a grabbing mechanism, the lifting mechanism, the walking mechanism and the grabbing mechanism are installed on the frame, the lifting mechanism is used for driving the grabbing mechanism to ascend and descend, the walking mechanism is used for driving the grabbing mechanism to transversely move and walk, and the grabbing mechanism is used for grabbing devices. The mechanical arm special for grabbing, feeding, soaking and discharging after soaking is designed, the continuous and automatic tool feeding, tool soaking and tool discharging procedures are achieved, the problems of long consumed time, high failure rate and the like existing in manual operation are avoided, and the soaking and cleaning efficiency is remarkably improved; and the workload of workers is reduced, and the labor cost is reduced. In addition, the soaking time can be strictly controlled by regulating and controlling the mechanical arm, and the soaking disinfection effect is guaranteed.

Description

Technical Field

[0001] The invention belongs to the field of factory silkworm breeding, and in particular relates to a mechanical arm of a silkworm breeding equipment soaking unit. Background Art

[0002] The traditional breeding method is a family-style small workshop breeding method, which generally uses small bamboo baskets for breeding. This small bamboo basket has a simple structure, is easy to manufacture, can be woven by hand, and has low cost. Small workshop breeding is a fully artificial breeding method. From silkworm eggs to adults to cocoon collection, all are achieved through manual operation. It is time-consuming and labor-intensive, and the breeding efficiency is very low. In addition, due to seasonal conditions, silkworms can only be raised at specific times. The annual output of silkworm cocoons is extremely low, which cannot meet the needs of today's society and has been gradually eliminated by society.

[0003] In order to make up for the shortcomings of traditional workshop-style silkworm farming, large-scale and factory-based silkworm farming technology was born. In order to meet the requirements of large-scale silkworm farming, it is necessary to design special silkworm farming equipment, such as shelves, silkworm frames, cocoon cages, etc., based on the equipment to achieve silkworm breeding, silkworm transfer between different ages, feed delivery and other processes, it can be seen that these equipment plays an important role in factory-based silkworm farming technology.

[0004] After raising silkworms, the utensils will inevitably have residues such as feed and silkworm sand, and their surfaces are full of bacteria. They need to be thoroughly cleaned and disinfected before they can be put into use again. Therefore, in factory-based silkworm breeding technology, corresponding cleaning equipment or cleaning lines are often required. Existing cleaning equipment often includes two parts: flushing and soaking. Flushing can wash away the residues in the utensils, and then soaking can disinfect the bacteria on the surface of the utensils. The main body of the soaking equipment is a soaking tank, which is filled with soaking disinfectant and is used to soak the utensils after silkworm breeding. How to realize the feeding and discharging of the utensils is the key to affecting the efficiency of soaking and cleaning, and determines whether mechanical automated soaking can be achieved. Summary of the invention

[0005] The purpose of the present invention is to provide a mechanical arm for a silkworm raising equipment soaking unit. In view of the defects in the prior art, a mechanical arm is designed to grab the equipment for loading and soaking, and unloading after soaking, so as to realize the continuous and automated equipment loading-equipment soaking-equipment unloading process, which not only avoids the problems of long time consumption and high failure rate in manual operation, but also significantly improves the soaking and cleaning efficiency; and reduces the workload of workers and reduces labor costs. In addition, by regulating the mechanical arm, the soaking time can be strictly controlled to ensure the soaking and disinfection effect.

[0006] In order to solve the above technical problems, the following technical solutions are adopted:

[0007] A mechanical arm of a silkworm breeding equipment soaking unit, characterized in that it includes a frame and a lifting mechanism, a walking mechanism and a grabbing mechanism installed on the frame, the lifting mechanism is used to drive the grabbing mechanism to rise and fall, the walking mechanism is used to drive the grabbing mechanism to move horizontally, and the grabbing mechanism is used to grab the equipment.

[0008] Furthermore, the lifting mechanism includes a lifting motor group, a lifting transmission assembly and a lifting frame. The lifting motor group is connected to the lifting transmission assembly, and the lifting transmission assembly is connected to and drives the lifting frame to rise and fall.

[0009] Furthermore, the lifting transmission assembly includes a lifting main sprocket, a lifting slave sprocket and a lifting chain. The lifting motor group is connected to the lifting main sprocket. The lifting chain is connected between the lifting main sprocket and the lifting slave sprocket. The lifting chain connects and drives the lifting frame to rise and fall.

[0010] Furthermore, the lifting transmission assembly is provided with two matching groups, the lifting motor group is synchronously connected to the lifting main sprockets of the two lifting transmission assemblies through the lifting shaft, and the lifting chains of the two lifting transmission assemblies are connected to drive the lifting frame to rise and fall.

[0011] Furthermore, the lifting mechanism also includes a lifting guide assembly, which includes a lifting frame and a lifting pulley, and the lifting pulley is slidably connected to the lifting guide rail, and the two are used to guide the lifting and lowering action of the lifting frame.

[0012] Furthermore, the gripping mechanism includes a clamping assembly, which includes a connected cylinder and a clamping plate, and the cylinder controls the clamping plate to clamp the device.

[0013] Furthermore, the clamping assembly is provided with a matching even number of arrays, which cooperate with the clamping device.

[0014] Furthermore, the clamping assembly also includes a connected clamping slider and a clamping guide rail, both of which are used to guide the clamping action of the clamping plate.

[0015] Furthermore, the robot arm also includes a pressing mechanism, which includes a pressing rod and a spring rod connected to each other, and the pressing rod is used for pressing the tool.

[0016] Furthermore, the pressing mechanism also includes a limit mounting piece, and the spring rod is mounted on the limit mounting piece.

[0017] Furthermore, the walking mechanism includes a walking motor group and a walking component, and the walking motor group is connected to and drives the walking component to walk.

[0018] Furthermore, the walking assembly is provided with two matching groups, which include a walking frame and a walking main wheel and a walking secondary wheel connected to the walking frame, and the walking main wheel is driven by a walking motor group.

[0019] Furthermore, the walking component also includes a walking main sprocket, a walking sub-sprocket and a walking chain. The walking main sprocket is connected to the walking motor group. The walking main sprocket is connected to and drives the walking sub-sprocket through the walking chain. The walking sub-sprocket is connected to the walking main wheel.

[0020] Furthermore, the walking assembly also includes guide rollers, which can roll on the left and right sides of the walking frame and are arranged on the left and right sides of the front and rear ends of the walking frame for guiding the walking assembly.

[0021] The above technical solution has the following beneficial effects:

[0022] The present invention is designed to be a mechanical arm specially used for grabbing tools for loading and soaking, and unloading after soaking, realizing a continuous and automated process of tool loading-tool soaking-tool unloading, which not only avoids the problems of long time consumption and high failure rate in manual operation, but also significantly improves the efficiency of soaking and cleaning; it also reduces the workload of workers and reduces labor costs. In addition, by regulating the mechanical arm, the soaking time can be strictly controlled to ensure the soaking and disinfection effect.

[0023] The robotic arm consists of a lifting mechanism, a walking mechanism and a grasping mechanism. The lifting mechanism is used to drive the grasping mechanism to rise and fall, and the walking mechanism is used to drive the grasping mechanism to move horizontally. The grasping mechanism grasps or lowers the instrument by opening or clamping actions, thereby completing the automated instrument loading-instrument immersion-instrument unloading process, with a simple structure and ingenious design. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention will be further described below in conjunction with the accompanying drawings:

[0025] Figure 1 It is a structural schematic diagram of the soaking unit;

[0026] Figure 2 for Figure 1 The structural diagram of the middle A direction;

[0027] Figure 3 It is a structural schematic diagram of the loading platform;

[0028] Figure 4 It is a structural schematic diagram of the unloading platform;

[0029] Figure 5 It is a structural schematic diagram of the immersion tank;

[0030] Figure 6 for Figure 5 The structural diagram of the middle A direction;

[0031] Figure 7 for Figure 5 Schematic diagram of the structure in the middle B direction;

[0032] Figure 8It is a schematic diagram of the structure of a single slot;

[0033] Fig. 9 It is a schematic diagram of the structure of the robotic arm;

[0034] Fig.10 for Fig. 9 The structural diagram of the middle A direction;

[0035] Fig.11 for Fig. 9 Schematic diagram of the structure in the middle B direction;

[0036] Fig.12 It is a structural diagram of the lifting mechanism and the grabbing mechanism;

[0037] Fig.13 for Fig.12 The structural diagram of the middle A direction;

[0038] Fig.14 It is the structural diagram of the walking mechanism;

[0039] Fig.15 for Fig.14 The structural diagram of the middle A direction;

[0040] Fig.16 for Fig.14 Schematic diagram of the structure in the middle B direction;

[0041] Fig.17 is a structural schematic diagram of a pressing mechanism;

[0042] Fig.18 for Fig.17 Schematic diagram of the structure in the A direction.

[0043] The accompanying drawings are marked as follows: a loading platform 1, a loading conveyor 11, an immersion tank 2, a tank position 21, a tank body 22, a support 23, a partition plate 24, a left limit plate 25, a right limit plate 26, a rear limit plate 27, a front limit plate 28, a discharge platform 3, a discharge conveyor 31, a mechanical arm 4, a frame 41, a lifting mechanism 42, a lifting motor group 421, a lifting shaft 422, a first lifting transmission assembly 423, a first lifting main sprocket 4231, and a first lifting chain 4 232, first lifting slave sprocket 4233, second lifting transmission assembly 424, second lifting master sprocket 4241, second lifting chain 4242, second lifting slave sprocket 4243, lifting frame 425, connecting piece 4251, lifting pulley 426, lifting guide rail 427, grabbing mechanism 43, first clamping assembly 431, first clamping cylinder 4311, first clamping slider 4312, first clamping guide rail 4313, first clamping plate 4314 , the second clamping assembly 432, the second clamping cylinder 4321, the second clamping slider 4322, the second clamping guide rail 4323, the second clamping plate 4324, the support 433, the pressing mechanism 44, the spring rod 441, the pressing rod 442, the limit mounting member 443, the walking mechanism 45, the walking motor group 451, the walking shaft 452, the first walking assembly 453, the first walking main sprocket 4531, the first walking chain 4532, the first walking auxiliary Sprocket 4533, first walking main wheel 4534, first walking bracket 4535, first guide roller 4536, first walking secondary wheel 4537, second walking assembly 454, second walking main sprocket 4541, second walking chain 4542, second walking secondary sprocket 4543, second walking main wheel 4544, second walking bracket 4545, second guide roller 4546, second walking secondary wheel 4547, frame 5, mounting slot 6, shelf 7. DETAILED DESCRIPTION

[0044] The present invention aims to provide a mechanical arm for a silkworm breeding equipment soaking unit, which is specially designed to grab equipment for loading and soaking, and unloading after soaking, realizing a continuous and automated equipment loading-equipment soaking-equipment unloading process, which not only avoids the problems of long time consumption and high failure rate in manual operation, but also significantly improves the soaking and cleaning efficiency; it also reduces the workload of workers and reduces labor costs. In addition, by regulating the mechanical arm, the soaking time can be strictly controlled to ensure the soaking and disinfection effect.

[0045] The technical solution of the present invention is described in detail below in conjunction with specific embodiments:

[0046] A mechanical arm of a soaking unit for silkworm raising equipment, in particular, a mechanical arm for grabbing silkworm raising shelves 7 for soaking, loading and unloading. The mechanical arm is a part of the soaking unit, and in addition to the mechanical arm, it also includes a loading platform 1, an unloading platform 3 and a soaking tank 2. The loading platform 1 is used to receive the shelves 7 to be cleaned and load them to the soaking tank 2, the soaking tank 2 is used to soak the shelves 7 to be cleaned, the unloading platform 3 is used to receive the cleaned shelves 7 and send them out, and the mechanical arm 4 is used to grab the shelves 7 to be cleaned from the loading platform 1 to the soaking tank 2, and grab the cleaned shelves 7 from the soaking tank 2 to the unloading platform 3. The shelves 7 are grabbed, soaked and unloaded by the mechanical arm in the form of multiple stacking groups.

[0047] The loading table 1 includes a loading conveyor 11, which is a chain conveyor. Two of them are provided for receiving the shelves 7 to be soaked in sequence. After the shelves 7 are loaded into the soaking tank 2, there will be shelves 7 fed in to fill the position. In this way, the shelves 7 are provided to the robot arm 4 in a reciprocating manner, and then the robot arm 4 delivers them into the soaking tank 2.

[0048] The unloading platform 3 includes a unloading conveyor 31, which is a chain conveyor. Two of them are provided for sequentially receiving the soaked shelves 7 and delivering the soaked shelves 7 in sequence. Whenever the shelf 7 is soaked, it is delivered to the unloading conveyor 31 by the robot arm 4, and the soaked shelf 7 is delivered forward, so that the unloading conveyor 31 is idle, and the soaked shelf 7 is delivered in this way repeatedly.

[0049] The soaking tank 2 is welded with 4 sections of tank body 22. According to the cleaning requirements, the number of sections of the tank body 22 and the length of each section of the tank body 22 can be adaptively set. The soaking tank 2 is installed in the installation tank 6, and the interior thereof is divided into a plurality of slots 21 by a partition plate 24. The number of the slots 21 can be adaptively adjusted according to the actual soaking requirements. A group of shelves 7 can be placed in each slot 21 for soaking, and the slots 21 are interconnected to facilitate the circulation of the soaking disinfectant. A support 23 is provided at the bottom of the slot 21, and the support 23 is used to support the shelf 7. A limit plate is also provided in the slot 21, and the limit plate includes a front limit plate 28, a rear limit plate 27, a left limit plate 25 and a right limit plate 26, which respectively limit the front, rear, left and right sides of the shelf 7. And the front limit plate 28, the rear limit plate 27, the left limit plate 25 and the right limit plate 26 are each provided with two, which can balance the limiting force on the shelf 7. The left limit plate 25 and the right limit plate 26 are equipped with brushes (not shown in the figure), which are arranged vertically. After the shelf 7 enters the slot 21, the brush can be inserted between the shelves 7, thereby preventing the shelf 7 from floating up, ensuring that the upper shelf 7 is also immersed in the immersion disinfectant. In addition, each slot 21 can also be connected to a pipeline, and the immersion disinfectant is replenished to the immersion tank 2 through the pipeline.

[0050] To match the robot arm 4, the present invention is further provided with a frame 5, which covers the loading platform 1, the unloading platform 3 and the soaking tank 2. The frame 5 is provided with a walking track (not shown in the figure), which is used for the robot arm 4 to move horizontally. The walking track can also be set at the groove edge of the installation groove 6, and can be adaptively adjusted according to the structure of the robot arm 4.

[0051] The mechanical arm 4 includes a frame 41, a lifting mechanism 42, a walking mechanism 45 and a grabbing mechanism 43. The lifting mechanism 42 is installed on the frame 41, which is used to drive the grabbing mechanism 43 to move up and down; the walking mechanism 45 is installed on the frame 41, which is used to drive the mechanical arm 4 to move horizontally, thereby driving the grabbing mechanism 43 to move horizontally; the grabbing mechanism 43 is installed on the lifting mechanism 42, and is used to grab the shelf 7. Specifically:

[0052] like Figures 12 to 13 As shown, the lifting mechanism 42 includes a lifting motor group 421, a lifting transmission assembly and a lifting frame 425. The lifting motor group 421 is connected to the lifting transmission assembly through a lifting shaft 422. The lifting transmission assembly is provided with two matching groups, namely a first lifting transmission assembly 423 on the left and a second lifting transmission assembly 424 on the right. The first lifting transmission assembly 423 includes a first lifting main sprocket 4231, a first lifting slave sprocket 4233 and a first lifting chain 4232. The first lifting main sprocket 4231 is connected to the lifting shaft 422 for transmission. The first lifting main sprocket 4231 and the first lifting slave sprocket 4233 are used to connect and transmit the first lifting chain 4232. The first lifting chain 4232 is connected to the connecting piece 4251 on the left side of the lifting frame 425. The second lifting transmission assembly 424 includes a second lifting main sprocket 4241, a second lifting slave sprocket 4243 and a second lifting chain 4242. The second lifting main sprocket 4241 is connected to the lifting shaft 422 for transmission. The second lifting main sprocket 4241 and the second lifting slave sprocket 4243 are used to connect and transmit the second lifting chain 4242. The second lifting chain 4242 is connected to the connecting piece 4251 on the right side of the lifting frame 425. The first lifting transmission assembly 423 and the second lifting transmission assembly 424 cooperate with each other to drive the lifting frame 425 to rise and fall with a synchronous transmission action. The lifting mechanism 42 has a simple structure and strong practicality. By setting two sets of lifting transmission assemblies, the lifting stability of the lifting frame 425 can be enhanced.

[0053] In order to further enhance the lifting stability, the lifting mechanism 42 also includes a lifting guide assembly, which includes a lifting pulley 426 and a lifting guide rail 427. The lifting pulley 426 is provided on the lifting frame 425, and the lifting guide rail 427 is provided on the frame 41. The two cooperate with each other to guide the lifting action of the lifting frame 425, which can significantly enhance the lifting stability of the lifting frame 425. The guide assembly is provided with four symmetrical groups, two groups are provided on the left and right sides respectively, and the four groups of guide assemblies cooperate with each other to significantly enhance the lifting stability.

[0054] like Figures 14 to 16 As shown, the walking mechanism 45 includes a walking motor group 451 and a walking assembly. The walking motor group 451 is connected to and drives the walking assembly through a walking shaft 452, so that the walking assembly walks and moves horizontally on the walking track. The walking assembly includes a first walking assembly 453 on the left and a second walking assembly 454 on the right. The first walking assembly 453 includes a first walking bracket 4535 and a first walking main wheel 4534 and a first walking secondary wheel 4537 connected to the first walking bracket 4535, and also includes a first walking main sprocket 4531, a first walking secondary sprocket 4533 and a first walking chain 4532. The walking shaft 452 on the left side of the walking motor group 451 is connected to and drives the first walking main sprocket 4531, the first walking main sprocket 4531 drives the first walking secondary sprocket 4533 through the first walking chain 4532, the first walking secondary sprocket 4533 is connected to and drives the first walking main wheel 4534, and then the first walking main wheel 4534 drives the first walking secondary wheel 4537. In addition, the front end and the rear end of the first walking bracket 4535 are also connected to the first guide roller 4536, and the first guide roller 4536 rolls on the left and right sides of the walking track, which not only plays a guiding role but also improves the walking stability.

[0055] The second walking assembly 454 includes a second walking bracket 4545, a second walking main wheel 4544 and a second walking secondary wheel 4547 connected to the second walking bracket 4545, and also includes a second walking main sprocket 4541, a second walking secondary sprocket 4543 and a second walking chain 4542. The walking shaft 452 on the right side of the walking motor group 451 is connected to and drives the second walking main sprocket 4541. The second walking main sprocket 4541 drives the second walking secondary sprocket 4543 through the second walking chain 4542. The second walking secondary sprocket 4543 is connected to and drives the second walking main wheel 4544, and then the second walking main wheel 4544 drives the second walking secondary wheel 4547. In addition, the second walking bracket 4545 is also connected to a second guide roller 4546 on the outside. The second guide roller 4546 rolls on the left and right sides of the walking track, which not only plays a guiding role but also improves the walking stability.

[0056] The first walking component 453 and the second walking component 454 cooperate with each other to walk and move laterally on the corresponding walking tracks with synchronous walking movements, thereby driving the entire robot arm 4 to walk and move laterally. The walking mechanism 45 has a simple structure and strong practicality. By setting two groups of walking components, the walking stability of the robot arm 4 can be enhanced.

[0057] like Fig.12 and Fig.13As shown, the gripping mechanism 43 is installed on the lifting frame 425, which includes two groups of clamping components that match each other, namely, a first clamping component 431 on the left and a second clamping component 432 on the right. The two groups of clamping components are arranged opposite to each other, and the shelf 7 is clamped or lowered by the coordinated action. The first clamping component 431 includes a first clamping cylinder 4311 and a first clamping plate 4314. The first clamping cylinder 4311 is arranged in the left direction and connected to the first clamping plate 4314, and is used to drive the first clamping plate 4314 to move left and right. The bottom of the first clamping plate 4314 is provided with a support 433, and the support 433 can be inserted into the bottom of the shelf 7, so as to clamp the shelf 7. The first clamping assembly 431 also includes a first clamping slider 4312 and a first clamping guide rail 4313 connected to each other. The first clamping slider 4312 is arranged on the first clamping plate 4314, and the first clamping guide rail 4313 is arranged on the lifting frame 425. The two cooperate to guide the left and right movement of the first clamping plate 4314. The second clamping assembly 432 includes a second clamping cylinder 4321 and a second clamping plate 4324. The second clamping cylinder 4321 is arranged rightward and connected to the second clamping plate 4324 to drive the second clamping plate 4324 to move left and right. The bottom of the second clamping plate 4324 is provided with a support 433, which can be inserted into the bottom of the shelf 7, so as to clamp the shelf 7. The second clamping assembly 432 also includes a second clamping slider 4322 and a second clamping guide rail 4323 connected to each other. The second clamping slider 4322 is disposed on the second clamping plate 4324, and the second clamping guide rail 4323 is disposed on the lifting frame 425, and the two cooperate to guide the left and right movement of the second clamping plate 4324. The first clamping assembly 431 and the second clamping assembly 432 on the right side clamp the shelf 7 from the left and right sides of the shelf 7, respectively, to cooperate in grabbing the shelf 7 or lowering the shelf 7.

[0058] The grabbing mechanism 43 can be adaptively set in multiple groups according to the soaking production requirements. Two groups are set in the drawings of the present application. Each group of grabbing mechanism 43 is used to clamp a group of shelves 7. Therefore, the present application can clamp two groups at the same time to achieve the purpose of loading, soaking and unloading two groups of shelves 7 at the same time. In addition to the clamping structure, other grabbing structures can also be set.

[0059] like Fig.17 and Fig.18As shown, the mechanical arm 4 also includes a pressing mechanism 44, which is installed on the lifting frame 425. The pressing mechanism 44 includes a connected pressing rod 442 and a spring rod 441. Two spring rods 441 are connected to the upper end of the pressing rod 442 to balance the rebound force applied to the pressing rod 442. The pressing rod 442 is used to press the shelf 7 of the clamp, thereby improving the stability of the clamp. The spring rod 441 provides rebound force to the pressing rod 442, strengthens its pressing force on the shelf 7, and further improves the stability of the clamp. In order to ensure the stability of the spring rod 441, it is installed on the limit mounting member 443, which is U-shaped, and the spring rod 441 is installed in the U-shaped groove of the limit mounting member 443. Each group of grabbing mechanisms 43 corresponds to two groups of pressing mechanisms 44, which improves the stability of pressing.

[0060] The soaking process of the present invention comprises the following steps:

[0061] 1. Two groups of shelves 7 are fed to the loading platform 1.

[0062] 2. The robot arm 4 moves to the top of the loading platform 1, and grabs the two sets of shelves 7 after descending, clamping and lifting.

[0063] 3. The robot arm 4 moves horizontally to the top of the vacant slot 21 and places the grabbed shelf 7 into the corresponding slot 21 after a descending-lowering-lifting action.

[0064] 4. After the soaking of the shelves 7 is completed, the robot arm 4 moves horizontally to the top of the corresponding slot 21, and grabs the two groups of soaked shelves 7 after the actions of descending, clamping and lifting.

[0065] 5. The robot arm 4 moves horizontally to the top of the unloading platform 3, and after the descending-lowering-lifting action, the grabbed soaked shelf 7 is placed on the unloading platform 3 and sent out.

[0066] 6. Repeat the above steps 1-5 to achieve a continuous loading-soaking-unloading process.

[0067] The above are only specific embodiments of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent replacements or modifications made based on the present invention to solve basically the same technical problems and achieve basically the same technical effects are all included in the protection scope of the present invention.

Claims

1. A mechanical arm of a silkworm raising equipment soaking unit, characterized in that: It includes a lifting mechanism, a walking mechanism and a grabbing mechanism. The lifting mechanism is used to drive the grabbing mechanism to rise and fall, the walking mechanism is used to drive the grabbing mechanism to move horizontally, and the grabbing mechanism is used to grab tools.

2. The mechanical arm of the silkworm raising equipment soaking unit according to claim 1, characterized in that: The lifting mechanism comprises a lifting motor group, a lifting transmission component and a lifting frame. The lifting motor group is connected to the lifting transmission component, and the lifting transmission component is connected to and drives the lifting frame to rise and fall.

3. The mechanical arm of the silkworm raising equipment soaking unit according to claim 2, characterized in that: The lifting transmission assembly includes a lifting main sprocket, a lifting slave sprocket and a lifting chain. The lifting motor group is connected to the lifting main sprocket. The lifting chain is connected between the lifting main sprocket and the lifting slave sprocket. The lifting chain is connected to and drives the lifting frame to rise and fall.

4. The mechanical arm of the silkworm raising equipment soaking unit according to claim 2, characterized in that: The lifting mechanism also includes a lifting guide assembly, which includes a lifting frame and a lifting pulley. The lifting pulley is slidably connected to the lifting guide rail, and the two are used to guide the lifting action of the lifting frame.

5. The mechanical arm of the silkworm raising equipment soaking unit according to claim 1, characterized in that: The gripping mechanism comprises a clamping assembly, which comprises a connected cylinder and a clamping plate, and the cylinder controls the clamping plate to clamp the device.

6. The mechanical arm of the silkworm raising equipment soaking unit according to claim 5, characterized in that: The clamping assembly also includes a connected clamping slider and a clamping guide rail, both of which are used to guide the clamping action of the clamping plate.

7. The mechanical arm of the silkworm raising equipment soaking unit according to claim 1, characterized in that: The mechanical arm also includes a pressing mechanism, which includes a pressing rod and a spring rod connected to each other, and the pressing rod is used for pressing the tool.

8. The mechanical arm of the silkworm raising equipment soaking unit according to claim 1, characterized in that: The walking mechanism comprises a walking motor group and a walking component, and the walking motor group is connected to and drives the walking component to walk.

9. The mechanical arm of the silkworm raising equipment soaking unit according to claim 8, characterized in that: The walking assembly comprises a walking frame, and a main walking wheel and a secondary walking wheel connected to the walking frame, and the main walking wheel is driven by the walking motor group.

10. The mechanical arm of the silkworm raising equipment soaking unit according to claim 9, characterized in that: The walking assembly also includes a walking main sprocket, a walking sub-sprocket and a walking chain. The walking main sprocket is connected to the walking motor group. The walking main sprocket is connected to and transmits the walking sub-sprocket through the walking chain. The walking sub-sprocket is connected to the walking main wheel.

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