Processing equipment and method for venenum bufonis

Abstract

The invention relates to the technical field of venenum bufonis processing, in particular to venenum bufonis processing equipment and method.The venenum bufonis processing equipment comprises a base, a mechanical arm, a discharge promoting module, a flexible attaching module, an adsorption recycling module and a main controller. And the drainage promoting module is used for performing non-destructive stimulation on the posterior auricular gland to induce drainage. The flexible attaching module is provided with a flexible scraping head which can deform in a self-adaptive mode to be attached to the surface of a gland, and a flexible touch sensor array for sensing pressure distribution and a micro pneumatic cavity grid array for driving deformation are arranged in the flexible attaching module. The adsorption recovery module is integrated on the working face of the scraping head and is provided with a micro-suction hole network capable of independently controlling adsorption force in different areas. And the main controller coordinates all the modules to work in sequence: firstly promoting discharge, then controlling the flexible scraping head to perform scraping in a fitting state, meanwhile, intelligently adjusting adsorption force of different areas according to real-time pressure distribution so as to recover slurry, and constraining global contact force through a multi-dimensional force sensor so as to ensure safety.

Description

Technical Field

[0001] This invention relates to the field of toad venom processing technology, specifically to a toad venom processing equipment and method. Background Technology

[0002] Toad venom is a white slurry scraped from the parotid glands and skin of species such as the Chinese giant toad. Traditional extraction mainly involves steps such as scraping, filtering to remove impurities, spreading out to air dry or drying at low temperature, ultimately forming a sheet-like or lumpy finished product.

[0003] Traditional toad venom harvesting relies entirely on manual extraction. Operators use metal tweezers or porcelain shards to scrape the parotid glands of toads. This method is inefficient, unhygienic, and poses a risk of poisoning to operators, while also causing severe skin damage to the toads, affecting their survival. Although some mechanized equipment has been developed to replace manual labor, it generally suffers from poor adaptability to the morphology of parotid glands in toads of different sizes. The fixed scraping head cannot achieve a tight fit, resulting in more residual venom, unstable recovery rates, and the increased force used to achieve a complete harvest can easily cause new tissue damage.

[0004] Therefore, it is necessary to develop a processing equipment for toad venom to solve the above problems. Summary of the Invention

[0005] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0006] A processing device for toad venom, comprising: Base; The robotic arm can move the base to any position. An induced drainage module, mounted on the base, is used to provide non-destructive physical stimulation to the postauricular gland tissue to induce a drainage reflex. A flexible fitting module, disposed on the base, is used to clean the surface of the glands after ovulation induction; An adsorption and recovery module, integrated into the working area of ​​the flexible bonding module, is used to adsorb the slurry generated during scraping; and... The main controller is connected to the above modules and is used to coordinate and control the modules to work together according to preset or dynamically adjusted timing and parameters.

[0007] Preferably, the flexible bonding module includes: Flexible scraper head; A flexible tactile sensor array is fitted onto one side of the working surface of the flexible scraper head to acquire pressure distribution information of the contact surface in real time; A drive array, integrated within the flexible scraper head, is used to drive the working surface to deform; the main controller controls the drive array based on feedback information from the flexible tactile sensor array, so that the working surface adaptively conforms to the gland surface.

[0008] Preferably, the drive array is a miniature pneumatic cavity array, and the main controller is connected to a multi-way air valve to drive the deformation of each cavity in the miniature pneumatic cavity array by controlling the gas inlet or outlet.

[0009] Preferably, the adsorption and recovery module includes multiple micro-suction holes formed on the working surface of the flexible scraper, an internal microchannel communicating with the micro-suction holes, and a negative pressure generator connected to the internal microchannel; the internal microchannel is divided into multiple independently controllable adsorption zones.

[0010] Preferably, the main controller is configured to: locate the high-pressure region based on the pressure distribution information fed back by the flexible tactile sensor array, and selectively enhance the negative pressure adsorption effect of the adsorption zone corresponding to the high-pressure region.

[0011] Preferably, the main controller is configured to execute harvesting logic: first, control the operation of the drainage-promoting module; then, simultaneously initiate the conformal bonding and scraping actions of the flexible bonding module and the zoned adsorption of the adsorption and recovery module; during the process, dynamically adjust the parameters of each module based on sensor feedback.

[0012] Preferably, it also includes a multi-dimensional force sensor connected to the rear end of the base, and the main controller uses the contact force information fed back by the multi-dimensional force sensor as a safety threshold to constrain the output force of the flexible bonding module.

[0013] Preferably, the ovulation induction module includes a microcurrent stimulation head, which is connected to the base via an electric telescopic rod.

[0014] Preferably, the internal microchannel is composed of multiple independent channels formed by molding or processing inside the flexible scraper head, and each adsorption zone corresponds to a set of independent microchannel branches; it is connected to the negative pressure generator via a rotary gas-liquid coupler, and the negative pressure generator transports the collected slurry to an external storage tank for storage through a liquid guide pipe.

[0015] A method for using a toad venom processing device includes the following steps: S1: The main controller coordinates the movement of the robotic arm to align the ovulation-inducing module integrated on the base with the parotid gland area of ​​the toad; S2: Activate the ovulation induction module to apply physical stimulation to the postauricular gland tissue and induce it to produce an ovulation reflex; S3: After the ovulation induction is completed, the control robot arm moves the flexible scraper head of the flexible fitting module to the gland surface, and based on the feedback of the flexible tactile sensor array, the working surface of the flexible scraper head adapts to the morphology of the gland surface by driving the array. S4: While maintaining the fit, the robotic arm drives the flexible scraper head to scrape the gland surface along a predetermined path. At the same time, the adsorption and recovery module is activated, and the adsorption force of the corresponding adsorption zone is dynamically adjusted according to the real-time pressure distribution fed back by the flexible tactile sensor array, so as to simultaneously recover the slurry generated by scraping. S5: Throughout the harvesting process, the main controller receives contact force information from the multi-dimensional force sensor in real time and uses it as a safety threshold to constrain the movement of the robotic arm and the flexible bonding module. S6: Repeat steps S4 to S5 until the harvest of the designated area is completed, and transport the recovered slurry to an external storage device through the liquid guide pipe.

[0016] The beneficial effects of this invention are: This invention overcomes the limitations of traditional toad venom harvesting, which relies on manual labor, is inefficient, and causes significant damage, through a combination of minimally invasive drainage stimulation, adaptive flexible adhesion, and zoned intelligent adsorption. The device first uses gentle electrical stimulation to induce the toad to actively expel venom, significantly reducing the intensity of subsequent mechanical intervention. Then, a flexible scraper head that can sense and conform to the curved surface of biological tissue in real time ensures uniform and safe contact. Simultaneously, a dynamic zoned adsorption mechanism based on pressure feedback accurately recovers the slurry, eliminating waste and secondary pollution. Integrated force monitoring throughout the process provides reliable safety assurance for operation. This improves the slurry recovery rate and purity. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] in: Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 for Figure 1 Enlarged view of the structure at point A in the middle; Figure 3 A schematic diagram of the base, robotic arm, and main controller; Figure 4 A schematic diagram of the structure of a flexible scraper head, a flexible tactile sensor array, and a micro pneumatic cavity array; Figure 5 for Figure 4Enlarged view of the structure at point B in the middle; Figure 6 This is a schematic diagram of the internal microchannels, adsorption zones, and flexible scraper head. Figure 7 for Figure 6 Enlarged view of the structure at point C; Figure 8 This is the overall control flowchart of the present invention; Figure 9 This is a flowchart of the collaborative scraping and suction stage of the present invention; Figure 10 This is a flowchart of the global security monitoring sub-process of the present invention; In the picture: 1. Base; 2. Robotic arm; 3. Ovulation induction module; 31. Electric telescopic rod; 32. Microcurrent stimulation head; 4. Flexible bonding module; 41. Flexible scraper head; 42. Flexible tactile sensor array; 43. Miniature pneumatic cavity array; 5. Main controller; 6. Adsorption and recovery module; 61. Micro-suction hole; 62. Internal microchannel; 63. Negative pressure generator; 64. Adsorption zone; 65. Liquid guide tube.

[0019] 7. Multidimensional force sensor. Detailed Implementation

[0020] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0021] Example: like Figures 1-10 As shown, a processing device for toad venom includes... Base 1; Robotic arm 2 can move base 1 to any position. The ovulation induction module 3, located on the base 1, is used to provide non-destructive physical stimulation to the postauricular gland tissue to induce the ovulation reflex. The flexible fitting module 4, set on the base 1, is used to clean the surface of the glands after ovulation induction; The adsorption and recovery module 6, integrated into the working area of ​​the flexible bonding module 4, is used to adsorb the slurry generated during scraping; and... The main controller 5 is connected to the above modules and is used to coordinate and control the modules to work together according to preset or dynamically adjusted timing and parameters.

[0022] A multi-degree-of-freedom robotic arm 2 is mounted on a base 1, which can move and adjust the posture of the base 1 and its integrated functional modules in three-dimensional space to adapt to toads of different sizes and postures.

[0023] The front working surface of the base 1 integrates a ovulation induction module 3, a flexible fitting module 4, and an adsorption and recovery module 6. The ovulation induction module 3 is located on one side and is used to perform initial stimulation. The flexible fitting module 4 is located in the central working position and integrates the end interface of the adsorption and recovery module 6. All modules are electrically connected to the main controller 5 located on the side of the device body via cables. The main controller 5 has a pre-set control program to receive signals from each sensor and coordinate the movement of the robotic arm 2 and the timing and working parameters (such as stimulation intensity, deformation degree, negative pressure magnitude, etc.) of the ovulation induction module 3, flexible fitting module 4, and adsorption and recovery module 6 according to a preset or real-time calculated strategy.

[0024] During operation, robotic arm 2 first moves base 1 to the vicinity of the toad's parotid gland area. Subsequently, under the control of main controller 5, each module enters its working state. This transforms the traditional operation, which relies on human experience, into an automated process, improving the standardization and efficiency of harvesting operations.

[0025] Specifically, the flexible bonding module 4 includes: Flexible scraper head 41; A flexible tactile sensor array 42 is fitted to one side of the working surface of the flexible scraper head 41 to acquire pressure distribution information of the contact surface in real time. The drive array, integrated within the flexible scraper head 41, is used to drive the deformation of its working surface; the main controller 5 controls the drive array based on the feedback information from the flexible tactile sensor array 42, so that the working surface adaptively conforms to the gland surface.

[0026] The drive array is a miniature pneumatic cavity array 43. The main controller 5 is connected to a multi-way air valve, which controls the gas flow in or out to drive the deformation of each cavity in the miniature pneumatic cavity array 43.

[0027] The main body of the flexible fitting module 4 is a flexible scraping head 41 made of medical-grade silicone or other biocompatible elastic materials. The working surface of the flexible scraping head 41 (i.e. the side that contacts the skin) is designed to be flat or slightly convex in its initial shape.

[0028] To achieve adaptive fit, a miniature pneumatic cavity array 43 is encapsulated inside the flexible scraper head 41 as a drive array. This array consists of multiple independent miniature elastic cavities (such as rubber bladders) arranged in a matrix, with each cavity connected to an independent miniature air tube. These air tubes converge and connect to a multi-way air valve (not shown in the figure) controlled by the main controller 5 and an external air source. The main controller 5 can fill or discharge gas into one or a group of designated cavities by controlling the opening and closing of each air valve and the duration of air flow. When a cavity is filled with air, it expands, pushing the local area it occupies outward; when air is discharged, the area returns to its original shape under the restoring force of the elastic material. Through this principle, the working surface of the flexible scraper head 41 can be driven to produce controllable deformation.

[0029] To sense the contact state, a flexible tactile sensor array 42 is tightly fitted onto the working side of the flexible scraper head 41. This sensor array can be a thin-film sensor based on piezoresistive or capacitive principles, capable of measuring and feeding back pressure distribution information across the entire contact surface in real time with high spatial resolution.

[0030] When the flexible scraping head 41 approaches the parotid gland of the toad, the main controller 5 first guides it to make light contact with the skin based on the positioning information of the robotic arm 2. At this time, the flexible tactile sensor array 42 provides feedback on an initial pressure distribution map (typically with pressure at the edges and lower pressure in the center). The algorithm within the main controller 5 then calculates, based on this pressure map, which areas of the micro-pneumatic cavity array 43 need to be inflated to compensate for gaps. For example, it may instruct several cavities in the center of the array to inflate, causing the central area of ​​the scraping head to bulge until the pressure distribution feedback from the flexible tactile sensor array 42 becomes uniform. This process achieves real-time, adaptive, and close contact between the working surface of the flexible scraping head 41 and the irregular, soft biological tissue surface, avoiding sebum residue or skin scratches caused by hard contact or localized suspension.

[0031] Specifically, the adsorption and recovery module 6 includes multiple micro-suction holes 61 opened on the working surface of the flexible scraper head 41, an internal microchannel 62 connected to the micro-suction holes 61, and a negative pressure generator 63 connected to the internal microchannel 62; the internal microchannel 62 is divided into multiple independently controllable adsorption zones 64.

[0032] The main controller 5 is configured to: locate the high-pressure area based on the pressure distribution information fed back by the flexible tactile sensor array 42, and selectively enhance the negative pressure adsorption effect of the adsorption partition 64 corresponding to the high-pressure area.

[0033] The adsorption and recovery module 6 works in conjunction with the flexible bonding module 4. Multiple micro-suction holes 61 are machined on the working surface of the flexible scraper head 41. These micro-suction holes 61 are not uniformly straight, but are connected to the complex internal microchannels 62 below the flexible scraper head 41.

[0034] These internal microchannels 62 are structurally designed as multiple independently controllable adsorption zones 64. For example, the channels can be divided into three zones: left, middle, and right, or into more fine grid-like zones. Each adsorption zone 64 corresponds to an independent group of micro-suction holes 61 and an independent channel branch, which are ultimately connected to the control valve assembly and negative pressure generator 63 (such as a miniature vacuum pump) at the base 1 via flexible tubing.

[0035] While the flexible scraping head 41 is applying pressure and scraping, the flexible tactile sensor array 42 continues to operate. The main controller 5 analyzes the pressure distribution information in real time, identifying high-pressure areas (typically corresponding to areas of tight contact, slurry accumulation, or the leading edge area being scraped). Upon identifying such areas, the main controller 5 immediately sends a command to the valve controlling the corresponding adsorption zone 64, selectively enhancing the negative pressure adsorption in that area (e.g., increasing the vacuum pump power or increasing the valve opening). For areas with lower pressure, the basic adsorption force is maintained or adsorption is shut off to save energy and reduce unnecessary adsorption to the skin. This achieves dynamic optimization of adsorption resources, concentrating the strongest adsorption force in real time at the location where slurry recovery is most needed. It can capture the scraped slurry, preventing splashing or backflow; it can effectively remove slurry adhering to skin folds; and it avoids the pressure discomfort that traditional overall negative pressure adsorption may cause to large areas of skin. This improves the immediacy and thoroughness of slurry recovery.

[0036] Specifically, the main controller 5 is configured to execute the harvesting logic: first, control the operation of the drainage-promoting module 3; then, simultaneously start the conformal bonding and scraping action of the flexible bonding module 4, and the zoned adsorption of the adsorption and recovery module 6; during the process, the parameters of each module are dynamically adjusted based on sensor feedback.

[0037] The pre-set collaborative harvesting control logic within the main controller 5 is as follows: During the ovulation induction phase: The main controller 5 first activates the ovulation induction module 3, controlling the electric telescopic rod 31 to extend the microcurrent stimulation head 32 to contact the parotid gland skin. Simultaneously, the microcurrent stimulation head 32 stimulates the parotid gland skin with a specific frequency and intensity of current for a duration of T1 (e.g., 10-15 seconds). This stage gently stimulates the toad's physiological excretion reflex, causing it to actively secrete most of the basal serous fluid, thereby significantly reducing the force and difficulty required for subsequent mechanical scraping and minimizing the risk of damage to the parotid gland skin at the source. During this period, a vision system (not shown in the figure) consisting of an industrial camera and an image processing unit monitors the serous fluid exudation and provides feedback to the main controller 5.

[0038] Synergistic Scraping and Suction Phase: After the expulsion is induced, the main controller 5 immediately activates the flexible bonding module 4 and the adsorption and recovery module 6. The flexible scraping head 41 is controlled to complete adaptive bonding. Subsequently, the robotic arm 2 is instructed to move the bonded flexible scraping head 41 along a predetermined path (e.g., from top to bottom, from inside to outside) to perform a slow and stable scraping motion on the gland surface. Simultaneously, the adsorption and recovery module 6 is activated throughout the process, performing zoned adsorption. During this process, the main controller 5 receives real-time feedback from multiple sources, including the flexible tactile sensor array 42, and dynamically adjusts the scraping speed, path, deformation maintenance state of the pneumatic cavity, and negative pressure intensity of each adsorption zone 64.

[0039] Cycle and Judgment: After one scraping and suction cycle is completed, the surface image of the gland can be captured by the aforementioned vision system, and the image processing algorithm in the main controller 5 can assess the serous fluid residue. If the cleanliness standard is met, the process ends; if there is still significant residue, it can return to the second stage for a second fine scraping and suction, or repeat after slight adjustments to the parameters.

[0040] The three steps above are highly complementary in function. They simulate and optimize the natural and artificial combination of the "stimulation-expulsion-collection" process, improving the slurry recovery rate while keeping mechanical and physiological damage to an extremely low level.

[0041] Specifically, it also includes a multi-dimensional force sensor 7 connected to the rear end of the base 1. The main controller 5 uses the contact force information fed back by the multi-dimensional force sensor 7 as a safety threshold to constrain the output force of the flexible bonding module 4.

[0042] The multi-dimensional force sensor 7 is precisely mounted at the rear end of the base 1. It can measure the force and torque in six degrees of freedom in real time with high precision and transmit the data stream to the main controller 5.

[0043] The main controller 5 uses the contact force information (especially the contact force perpendicular to the skin) fed back by the multi-dimensional force sensor 7 as the highest priority safety threshold. Throughout the harvesting process, regardless of the program instructions, once the real-time contact force is detected to exceed the preset safety limit (e.g., 0.5N-1.0N, which can be set according to the size of the toad), the main controller 5 will immediately trigger a safety constraint strategy: First, it sends a stop or reverse micro-movement command to the robotic arm 2; simultaneously, it reduces the driving air pressure on the micro-pneumatic cavity array 43 in the flexible bonding module 4, thereby forcibly reducing the output force. This may interrupt the current action until the force value returns to the safe range.

[0044] The multi-dimensional force sensor 7 acts as a tactile protective layer for the device. It monitors human-machine interaction forces at a system-wide level, effectively preventing excessive pressure or shearing caused by program errors, positioning deviations, or sudden animal movement, thus eliminating the possibility of mechanical damage and greatly improving the device's reliability and operational safety. Specifically, the ovulation induction module 3 includes a microcurrent stimulation head 32, which is connected to the base 1 via an electric telescopic rod 31.

[0045] The ovulation induction module 3 includes an electrically operated telescopic rod 31 and a detachable microcurrent stimulation head 32. The tail end of the electrically operated telescopic rod 31 is fixed to the base 1, and the front end of its telescopic shaft is connected to the microcurrent stimulation head 32 through a quick-connect interface.

[0046] During operation, the main controller 5 first controls the extension of the electric telescopic rod 31, allowing the microcurrent stimulation head 32 to gently contact (or come very close to) the skin of the target postauricular gland area. Subsequently, the main controller 5 controls the stimulator connected to the microcurrent stimulation head 32 to output a low-intensity microcurrent signal with a specific waveform (such as a square wave or triangular wave). The current parameters (such as frequency 0.5-2Hz, intensity 0.1-0.5mA, pulse width 50-200ms) are optimized to be sufficient to stimulate the nerve endings of the skin or the smooth muscle of the gland, triggering a drainage reflex, but far below the threshold that would cause electrical burns or severe discomfort to the tissue.

[0047] Specifically, the internal microchannel 62 consists of multiple independent channels formed by molding or processing inside the flexible scraper head 41, and each adsorption zone 64 corresponds to a set of independent microchannel branches; it is connected to the negative pressure generator 63 via a rotary gas-liquid coupler, and the negative pressure generator 63 transports the collected slurry to an external storage tank for storage through a liquid guide pipe 65.

[0048] The internal microchannels 62 are a three-dimensional channel network molded into the interior of the flexible scraper head 41 in a single molding process. These channels are designed as multiple independent channels, with each channel network serving an adsorption zone 64, ensuring that the airflow and slurry between zones do not interfere with each other.

[0049] To enable the flexible scraper head 41 to rotate and oscillate freely during continuous operation without tangling the tubing, the individual microchannel branches converge at the root of the flexible scraper head 41 and connect to a rotary gas-liquid coupler (not shown in the figure, typically a multi-channel rotary joint). The rotating end of the coupler moves with the flexible scraper head 41, while the fixed end is connected to a negative pressure generator 63 located on the equipment frame via multiple flexible hoses.

[0050] The negative pressure generated by the negative pressure generator 63 is transmitted to the micro-suction hole 61 through the rotary coupler and the internal microchannel 62, forming an adsorption force. The sucked-in slurry is transported in the opposite direction along the same path, and after passing through the rotary coupler, it flows into the liquid guide pipe 65. The liquid guide pipe 65 continuously and stably transports the collected slurry to an external cold storage tank for preservation.

[0051] Work process: The main controller 5 first instructs the robotic arm 2 to move the entire end effector to the vicinity of the toad's parotid glands. Subsequently, the main controller 5 controls the extension of the electric telescopic rod 31 of the ovulation induction module 3, so that the microcurrent stimulation head 32 contacts the target skin and releases a microcurrent with specific parameters to stimulate the toad to actively excrete fluid.

[0052] After the expulsion process is completed, the equipment enters the cleaning phase. The robotic arm 2 moves the flexible scraping head 41 of the flexible bonding module 4 to the gland surface. The flexible tactile sensor array 42 built into the flexible scraping head 41 senses the initial contact pressure distribution in real time. Based on this data, the main controller 5 drives the corresponding cavities in the micro pneumatic cavity array 43 to inflate and deflate, causing the working surface of the flexible scraping head 41 to undergo adaptive deformation, thereby achieving full-area tight bonding with the irregular gland surface.

[0053] While maintaining contact, the robotic arm 2 drives the flexible scraper head 41 to scrape the gland surface along a predetermined trajectory. Simultaneously, the adsorption and recovery module 6 activates. Negative pressure generated by the negative pressure generator 63 is transmitted through the internal microchannels 62 to numerous micro-suction holes 61 on the working surface of the flexible scraper head 41. Based on the real-time pressure distribution feedback from the flexible tactile sensor array 42 (e.g., the high-pressure area at the scraping front), the main controller 5 intelligently enhances the adsorption force of the corresponding adsorption zone 64, recovering the scraped slurry. The recovered slurry is collected through the internal microchannels 62 and finally transported to an external storage tank via the liquid guide tube 65.

[0054] Throughout the process, the multi-dimensional force sensor 7 installed at the rear end of the base 1 continuously monitors the overall contact force and torque. The main controller 5 uses this data as the maximum safety threshold. Once the contact force approaches the set upper limit, it will immediately adjust the movement of the robotic arm 2 or reduce the output force of the flexible bonding module 4 to ensure safe and damage-free operation.

[0055] After the entire process is completed, the vision system can perform imaging evaluation of the harvested area. If the residue meets the standard, the process ends; otherwise, the main controller 5 can instruct a secondary fine scraping and suction.

[0056] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of protection claimed by the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A processing device for toad venom, characterized in that, include: Base (1); The robotic arm (2) moves the base (1) to any position. The ovulation induction module (3) is set on the base (1) and is used to perform non-destructive physical stimulation on the postauricular gland tissue to induce the ovulation reflex; A flexible fitting module (4) is disposed on the base (1) and is used to clean the surface of the gland after ovulation. An adsorption and recovery module (6), integrated into the working area of ​​the flexible bonding module (4), is used to adsorb the slurry generated during scraping; and, The main controller (5) is connected to the above modules and is used to coordinate and control the modules to work together according to the preset or dynamically adjusted timing and parameters.

2. The toad venom processing equipment according to claim 1, characterized in that, The flexible bonding module (4) includes: Flexible scraper (41); A flexible tactile sensor array (42) is attached to one side of the working surface of the flexible scraper head (41) to obtain pressure distribution information of the contact surface in real time; The drive array, integrated within the flexible scraper head (41), is used to drive the working surface to deform; the main controller (5) controls the drive array according to the feedback information of the flexible tactile sensor array (42) so that the working surface adaptively conforms to the gland surface.

3. The toad venom processing equipment according to claim 2, characterized in that, The drive array is a micro pneumatic cavity array (43), and the main controller (5) is connected to a multi-way air valve to drive the deformation of each cavity in the micro pneumatic cavity array (43) by controlling the gas to enter or exit.

4. The processing equipment for toad venom according to claim 2, characterized in that, The adsorption and recovery module (6) includes multiple micro-suction holes (61) opened on the working surface of the flexible scraper (41), an internal microchannel (62) communicating with the micro-suction holes (61), and a negative pressure generator (63) connected to the internal microchannel (62); the internal microchannel (62) is divided into multiple independently controllable adsorption zones (64).

5. The toad venom processing equipment according to claim 4, characterized in that, The main controller (5) is configured to: locate the high-pressure area in the pressure distribution information fed back by the flexible tactile sensor array (42), and selectively enhance the negative pressure adsorption effect of the adsorption partition (64) corresponding to the high-pressure area.

6. The toad venom processing equipment according to claim 1, characterized in that, The main controller (5) is configured to execute the harvesting logic: first, control the operation of the drainage module (3); then, simultaneously start the conformal bonding and scraping action of the flexible bonding module (4) and the partitioned adsorption of the adsorption and recovery module (6); during the process, dynamically adjust the parameters of each module based on sensor feedback.

7. The processing equipment for toad venom according to claim 1, characterized in that, It also includes a multi-dimensional force sensor (7) connected to the rear end of the base (1). The main controller (5) uses the contact force information fed back by the multi-dimensional force sensor (7) as a safety threshold to constrain the output force of the flexible bonding module (4).

8. The toad venom processing equipment according to claim 1, characterized in that, The ovulation induction module (3) includes a microcurrent stimulation head (32), which is connected to the base (1) via an electric telescopic rod (31).

9. The toad venom processing equipment according to claim 4, characterized in that, The internal microchannel (62) is composed of multiple independent channels formed by molding or processing inside the flexible scraper (41), and each adsorption zone (64) corresponds to a set of independent microchannel branches; it is connected to the negative pressure generator (63) via a rotary gas-liquid coupler, and the negative pressure generator (63) transports the collected slurry to an external storage tank for storage through a liquid guide pipe (65).

10. A method of using a processing apparatus for toad venom according to any one of claims 1-9, characterized in that, Includes the following steps: S1: The main controller (5) coordinates the movement of the robotic arm (2) to align the ovulation-promoting module (3) integrated on the base (1) with the parotid gland area of ​​the toad; S2: Activate the ovulation induction module (3) to apply physical stimulation to the postauricular gland tissue and induce it to produce an ovulation reflex; S3: After the ovulation is induced, the control robot arm (2) moves the flexible scraper (41) of the flexible fitting module (4) to the gland surface, and based on the feedback of the flexible tactile sensor array (42), the working surface of the flexible scraper (41) is adaptively fitted to the gland surface morphology by driving the array. S4: While maintaining the fit, the robotic arm (2) drives the flexible scraper (41) to scrape the gland surface along a predetermined path. At the same time, the adsorption and recovery module (6) is activated, and the adsorption force of the corresponding adsorption zone (64) is dynamically adjusted according to the real-time pressure distribution fed back by the flexible tactile sensor array (42) to simultaneously recover the slurry generated by the scraping. S5: Throughout the harvesting process, the main controller (5) receives the contact force information fed back by the multi-dimensional force sensor (7) in real time, and uses it as a safety threshold to constrain the movement of the robotic arm (2) and the flexible bonding module (4). S6: Repeat steps S4 to S5 until the harvest of the designated area is completed, and transport the recovered slurry to an external storage device through the liquid guide pipe (65).

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