Three-dimensional automatic earthworm breeding system and breeding method

Abstract

The invention relates to a three-dimensional automatic earthworm breeding system and a breeding method, and the three-dimensional automatic earthworm breeding system comprises a feeding mechanism, a three-dimensional circulating transportation mechanism, a temporary storage mechanism and a plurality of recycled breeding boxes; the three-dimensional circulating transportation mechanism is erected outside the temporary storage mechanism; the feeding mechanism is located on one side of the three-dimensional circulating conveying mechanism. When the breeding boxes are in a breeding state, the three-dimensional circulating transportation mechanism stacks the breeding boxes to the temporary storage mechanism in sequence; when the breeding boxes end the breeding state, the three-dimensional circulating transportation mechanism transports the breeding boxes from the temporary storage mechanism to the feeding mechanism; the breeding box is emptied at the feeding mechanism, and the feeding mechanism can redistribute materials to the emptied breeding box, so that the breeding box is restored to a breeding state. The method has the advantages that the earthworm breeding efficiency is higher, and the input cost of labor and land parcels in earthworm breeding is greatly reduced.

Description

Technical Field

[0001] This invention relates to the field of earthworm farming technology, and in particular to a three-dimensional automated earthworm farming system and farming method. Background Technology

[0002] Earthworms are rich in protein and various amino acids, making them an excellent protein feed. Earthworms can loosen soil and improve soil structure. Earthworm castings are excellent organic fertilizers, improving soil pH and fertility, and promoting the activity of nitrifying bacteria in the soil. Earthworm farming is a newly emerging industry in recent years. Utilizing their saprophytic nature, earthworms process organic solid waste such as sewage sludge, livestock manure, and kitchen waste. While addressing environmental pollution problems, it also produces adult earthworms and castings that can be used as raw materials for animal feed, medicines, cosmetics, and organic fertilizers, representing an important direction for the resource utilization of organic solid waste.

[0003] Earthworm farming mainly employs flat pond or box-based rearing methods. However, due to the relatively long cycle of earthworms processing organic waste (approximately 30 to 45 days), existing farming methods have revealed several prominent problems hindering the industry's development: they require large land areas, easily generate large amounts of foul-smelling gases during the rearing process, causing environmental pollution; they rely heavily on manual labor, resulting in high labor intensity; and they are difficult to scale up or industrialize, leading to low overall farming efficiency and high labor costs, severely impeding the large-scale industrial promotion and popularization of earthworm farming technology. Summary of the Invention

[0004] (a) Technical problems to be solved

[0005] In view of the above-mentioned shortcomings and deficiencies of the existing technology, the present invention provides a three-dimensional automated earthworm farming system and farming method, which solves the technical problem that the low degree of automation in existing earthworm farming hinders the large-scale development of earthworm farming.

[0006] (II) Technical Solution

[0007] To achieve the above objectives, the main technical solutions adopted by the present invention include:

[0008] In a first aspect, embodiments of the present invention provide a three-dimensional automated earthworm farming system, comprising a feeding mechanism, a three-dimensional circulating transport mechanism, a buffer mechanism, and multiple reusable farming boxes;

[0009] The three-dimensional circulating transport mechanism is installed outside the buffer mechanism; the feeding mechanism is located on one side of the three-dimensional circulating transport mechanism.

[0010] When the breeding box is in the breeding state, the three-dimensional circulating transport mechanism places the breeding box into the buffer mechanism in sequence;

[0011] When the breeding box ends its breeding state, the three-dimensional circulating transport mechanism transports the breeding box from the buffer mechanism to the feeding mechanism;

[0012] The breeding box is emptied at the feeding mechanism, and the feeding mechanism can refill the emptied breeding box to restore the breeding box to its breeding state.

[0013] Optionally, in the aforementioned three-dimensional automated earthworm farming system, the buffer mechanism includes at least one set of transport units;

[0014] At least one layer of the breeding boxes can be stacked on the transport section, and all the breeding boxes located on the transport section can move back and forth synchronously with the transport section.

[0015] When the breeding box is in the breeding state, the transport unit is in a stationary state;

[0016] When the breeding box ends its breeding state, the transport unit can move back and forth to drive the breeding box to move synchronously.

[0017] Optionally, in the aforementioned three-dimensional automated earthworm farming system, the three-dimensional circulating transport mechanism includes at least one mobile device;

[0018] The mobile device is mounted above all the transport units, and the mobile device is capable of clamping or unloading the breeding box;

[0019] The mobile device can drive the breeding box to move back and forth along the first horizontal direction, the second horizontal direction and the vertical direction to transfer the breeding box to the designated position;

[0020] The first horizontal direction is the length direction of the transport section, and the second horizontal direction is perpendicular to the first horizontal direction.

[0021] Optionally, the three-dimensional automated earthworm farming system may be configured with two mobile devices.

[0022] The two mobile devices are respectively disposed at both ends of the carrier;

[0023] When there are multiple sets of the carrier, the multiple sets of the carrier are arranged at intervals, and all the carriers pass through the interior of the two mobile devices.

[0024] The transport unit moves back and forth along the first horizontal direction to transfer the breeding box located above the transport unit to one of the mobile devices.

[0025] Optionally, the aforementioned three-dimensional automated earthworm farming system,

[0026] The moving device includes a gripper, a first linear guide rail, a second linear guide rail, a third linear guide rail, and a fourth linear guide rail;

[0027] The first linear guide rail and the second linear guide rail are positioned opposite each other above all the transport parts and both extend along the second horizontal direction;

[0028] The third linear guide rail extends along the first horizontal direction, and the two ends of the third linear guide rail are slidably disposed on the first linear guide rail and the second linear guide rail, respectively.

[0029] The fourth linear guide rail is vertically mounted on the third linear guide rail, and the gripper is located at the lower end of the fourth linear guide rail;

[0030] The fourth linear guide rail is capable of vertical reciprocating relative to the third linear guide rail, and the fourth linear guide rail is capable of reciprocating along the third linear guide rail.

[0031] Optionally, the aforementioned three-dimensional automated earthworm farming system,

[0032] The gripper includes a crossbeam arranged along the second horizontal direction, and a first clamping arm and a second clamping arm arranged opposite to each other at the lower ends of the crossbeam.

[0033] The first clamping arm can reciprocate relative to the second clamping arm, and the distance between the first clamping arm and the second clamping arm can be adjusted.

[0034] When the distance between the first clamping arm and the first clamping arm is adapted to the length or width of the breeding box, the lower ends of the first clamping arm and the first clamping arm can simultaneously support the lower end of the breeding box.

[0035] Optionally, in the aforementioned three-dimensional automated earthworm farming system, the feeding mechanism includes a feeding tank and a conveyor belt;

[0036] The conveyor belt passes parallel to the transport section through the interior of the moving device;

[0037] The mobile device is capable of transferring the breeding box located on the carrier section to the conveyor belt;

[0038] The conveyor belt can drive the breeding box to move back and forth along the first horizontal direction;

[0039] The feeding tank is positioned away from the moving device on the side of the conveyor belt opposite to the carrying device.

[0040] Optionally, in the three-dimensional automated earthworm farming system, the farming box includes an odor treatment layer, an earthworm cultivation layer, and a filtrate receiving layer assembled from top to bottom.

[0041] The odor treatment layer is equipped with an adsorbent and an ozone generator.

[0042] The bottom wall of the earthworm culture layer is a perforated plate to maintain communication with the filtrate receiving layer;

[0043] The inner wall of the earthworm culture layer is equipped with a breeding environment sensor.

[0044] Optionally, the aforementioned three-dimensional automated earthworm farming system,

[0045] The lower surface of the filtrate receiving layer is provided with multiple through-grooves at intervals;

[0046] The upper surface of the odor treatment layer is provided with positioning blocks;

[0047] The lower surface of the filtrate receiving layer is provided with a positioning groove corresponding to the position of the positioning block;

[0048] When the two breeding boxes are stacked one on top of the other, the positioning block of the lower breeding box is adapted to the positioning groove of the upper breeding box;

[0049] The bottom wall of the filtrate receiving layer is horizontally provided with a toothed structure at both ends;

[0050] The transport unit has a horizontal tracked structure;

[0051] Multiple limiting blocks are provided at intervals along the opposite edges of the upper surface of the carrier part in the second horizontal direction;

[0052] When the two breeding boxes are placed on the upper surface of the transport unit, the rack structure is adapted to the limiting block at the corresponding position so that the breeding boxes and the transport unit can move synchronously.

[0053] Secondly, embodiments of the present invention provide a three-dimensional automated earthworm farming method, employing the aforementioned three-dimensional automated earthworm farming system, comprising the following steps:

[0054] S1. Place the open breeding box on the feeding mechanism. After the feeding mechanism adds sludge and earthworm seedlings to the emptied breeding box, manually close the breeding box.

[0055] S2. The three-dimensional circulating transport mechanism places the breeding boxes processed in S1 into the buffer mechanism in sequence, and the breeding boxes enter the breeding state.

[0056] S3. When the breeding box located on the buffer mechanism ends the breeding state, the three-dimensional circulating transport mechanism moves the breeding box from the buffer mechanism to the feeding mechanism in sequence, manually opens and empties the breeding box, and then repeats step S1.

[0057] (III) Beneficial Effects

[0058] The beneficial effects of this invention are as follows: The three-dimensional automated earthworm farming system and method of this invention features a buffer mechanism located inside a three-dimensional circulating transport mechanism. This buffer mechanism can simultaneously accommodate multiple layers of farming boxes, effectively reducing the land area required for earthworm farming. During the earthworm farming process, the farming boxes are directly transferred to the feeding mechanism via the three-dimensional circulating transport mechanism, facilitating the replacement of sludge nutrients and earthworm seedlings, making the farming process more efficient. Compared to existing technologies, earthworm farming is more efficient, significantly reducing the input costs of labor and land in earthworm farming. Attached Figure Description

[0059] Figure 1 This is a three-dimensional schematic diagram of the three-dimensional automated earthworm farming system according to Embodiment 1 of the present invention;

[0060] Figure 2 for Figure 1 Side view of the three-dimensional automated earthworm farming system in the image;

[0061] Figure 3 for Figure 1 A three-dimensional schematic diagram of the mobile device in a three-dimensional automated earthworm farming system.

[0062] Figure 4 for Figure 3 Enlarged diagram of area A in the middle;

[0063] Figure 5 for Figure 3 Enlarged diagram of area B in the middle;

[0064] Figure 6 for Figure 3 A three-dimensional schematic diagram of the mobile device from another angle;

[0065] Figure 7 for Figure 6 Enlarged diagram of area C;

[0066] Figure 8 for Figure 1 A partial three-dimensional schematic diagram of the buffer mechanism in the three-dimensional automated earthworm farming system;

[0067] Figure 9 for Figure 8 Enlarged diagram of area D in the middle;

[0068] Figure 10 for Figure 1 A schematic diagram of an explosion in a medium-sized breeding tank.

[0069] [Explanation of Labels in the Attached Image]

[0070] 1. Feeding mechanism; 11. Feeding tank; 111. Screw conveyor; 112. Feeding pipe; 12. Conveyor belt; 2. Three-dimensional circulating transport mechanism; 21. Moving device; 211. Gripper; 2111. Crossbeam; 2112. First clamping arm; 2113. Second clamping arm; 2114. Fourth drive mechanism; 212. First linear guide rail; 213. Second linear guide rail; 214. Third linear guide rail; 215. Fourth linear guide rail; 216. First drive mechanism; 217. 2. Drive mechanism 218; 3. Drive mechanism 219; Mounting plate 220; Drive shaft 220; 3. Buffer mechanism 31; Carrier part 311; Limiting block 4. Breeding box 41; Odor treatment layer 42; Earthworm culture layer 43; Filtrate receiving layer 431; Strip trough 432; Positioning trough 433; Rack and pinion structure 44; Adsorbent 45; Ozone generator 46; Positioning block 5; Material recovery box 5. Material recovery box 6. First horizontal direction 4. Second horizontal direction 6. Detailed Implementation

[0071] To better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present invention can be understood more clearly and thoroughly, and that the scope of the present invention can be fully conveyed to those skilled in the art.

[0072] Example 1:

[0073] Reference Figure 1 and Figure 2 This embodiment provides a three-dimensional automated earthworm farming system, comprising a feeding mechanism 1, a three-dimensional circulating transport mechanism 2, a buffer mechanism 3, and multiple reusable farming boxes 4. The three-dimensional circulating transport mechanism 2 is mounted outside the buffer mechanism 3, and the feeding mechanism 1 is located to one side of the three-dimensional circulating transport mechanism 2. When the farming boxes 4 are in the farming state, the three-dimensional circulating transport mechanism 2 places the farming boxes 4 sequentially into the buffer mechanism 3. When the farming boxes 4 finish farming, the three-dimensional circulating transport mechanism 2 transports the farming boxes 4 from the buffer mechanism 3 to the feeding mechanism 1. The farming boxes 4 are emptied at the feeding mechanism 1, and the feeding mechanism 1 can refill the emptied farming boxes 4 with feed to restore the farming state.

[0074] The buffer mechanism 3 is located inside the three-dimensional circulating transport mechanism 2, resulting in a compact overall structure for the earthworm farming system. The buffer mechanism 3 can simultaneously accommodate multiple layers of farming boxes 4, effectively reducing the land area required for earthworm farming. During earthworm farming, the farming boxes 4 are directly transferred to the feeding mechanism 1 via the three-dimensional circulating transport mechanism 2, facilitating the replacement of sludge nutrients and earthworm seedlings. This makes box movement and feed replacement more efficient. Earthworm farming is more efficient, significantly reducing labor and land costs. Earthworm farming uses sludge as raw material, and also provides an efficient biological sludge treatment method.

[0075] Reference Figure 1 and Figure 2 This embodiment provides a three-dimensional automated earthworm farming system. The buffer mechanism 3 includes at least one set of transport units 31, on which at least one layer of farming boxes 4 can be stacked. All farming boxes 4 located on the transport units 31 can move back and forth synchronously with the transport units 31 to facilitate the storage and release of farming boxes 4. When the farming boxes 4 are in the farming state, the transport units 31 are stationary. The cycle for treating earthworm organic waste is generally about 30-45 days, which is referred to as the farming state. When the farming boxes 4 finish the farming state, and when it is necessary to replace materials and earthworm seedlings, the transport units 31 can move back and forth to drive the farming boxes 4 to move synchronously. For example, when it is necessary to store farming boxes 4 that have entered the farming state to the buffer mechanism 3, the transport units 31 move to cooperate with the three-dimensional circulating transport mechanism 2 to stack the farming boxes 4 onto the transport units 31 as quickly as possible. Alternatively, when it is necessary to release the breeding box 4, which has ended its breeding state, from the buffer mechanism 3, the carrier 31 moves to cooperate with the three-dimensional circulating transport mechanism 2 to transfer the breeding box 4 from the carrier 31 to the feeding mechanism 1 as quickly as possible.

[0076] The arrangement of the buffer mechanism 3 and the feeding mechanism 1 is perpendicular to the moving direction of the transport unit 31. In this way, while ensuring the overall space of the three-dimensional automated earthworm farming system is compact, the storage, release and feeding of the farming box 4 do not interfere with each other.

[0077] The carrier 31 can be a horizontal track structure or a horizontal conveyor roller, etc., to be able to stably support the breeding box 4 and drive the breeding box 4 to move.

[0078] Reference Figures 3 to 7This embodiment provides a three-dimensional automated earthworm farming system. The three-dimensional circulating transport mechanism 2 includes at least one moving device 21, which is mounted above all the transport sections 31. The moving device 21 can grip or unload the farming box 4. The moving device 21 can drive the farming box 4 to move back and forth along a first horizontal direction a, a second horizontal direction b, and a vertical direction to transfer the farming box 4 to a designated position. Here, the designated position is the position of the farming box 4 in the transport section 31 (including the specific position and the height of the layer), or the specific position of the farming box 4 in the feeding mechanism 1. The first horizontal direction a is the length direction of the transport section 31, and the second horizontal direction b is perpendicular to the first horizontal direction a.

[0079] Reference Figures 3 to 7 This embodiment provides a three-dimensional automated earthworm farming system. When there are two mobile devices 21, the two mobile devices 21 are respectively set at both ends of the transport section 31. In this way, each mobile device 21 is responsible for transporting the breeding box 4 on the transport section 31 in its corresponding adjacent area, which can improve the transfer efficiency of the breeding box 4.

[0080] When there are multiple sets of transport units 31, they are spaced apart to increase the number of breeding boxes 4 that can be stored. All transport units 31 pass through the interior of two mobile devices 21, so that the mobile devices 21 can pick up the breeding boxes 4 on the transport units 31 as close as possible. The transport units 31 move back and forth along the first horizontal direction a to transfer the breeding boxes 4 located above the transport units 31 to one of the mobile devices 21 as close as possible, thereby improving the transfer efficiency.

[0081] In addition, when the carrier unit 31 is in multiple groups, it can meet the cycle of the breeding period. For example, every day or every two days, one group (all the breeding boxes 4 on a carrier unit 31) or multiple groups of breeding boxes 4 will end the breeding state, so that the moving device 21 will move the corresponding breeding boxes 4 in a cycle every day.

[0082] Reference Figures 3 to 7 This embodiment provides a three-dimensional automated earthworm farming system. The mobile device 21 includes a gripper 211, a first linear guide rail 212, a second linear guide rail 213, a third linear guide rail 214, and a fourth linear guide rail 215. The first linear guide rail 212 and the second linear guide rail 213 are positioned opposite each other above all the transport parts 31 and extend along a second horizontal direction b. The first linear guide rail 212 and the second linear guide rail 213 are supported above all the transport parts 31 by four columns. The third linear guide rail 214 extends along a first horizontal direction a, and its two ends are slidably mounted on the first linear guide rail 212 and the second linear guide rail 213, respectively. In this way, the third linear guide rail 214 can reciprocate along the second horizontal direction b on the first linear guide rail 212 and the second linear guide rail 213 to reach different transport parts 31.

[0083] A fourth linear guide rail 215 is vertically mounted on the third linear guide rail 214, and a gripper 211 is located at the lower end of the fourth linear guide rail 215. The fourth linear guide rail 215 can reciprocate vertically relative to the third linear guide rail 214 to move the gripper 211 up and down; and the fourth linear guide rail 215 can reciprocate along the third linear guide rail 214 to adjust the position of the gripper 211 in the first horizontal direction a. In this way, the gripper 211 can be arbitrarily positioned in three-dimensional space to pick up and place the breeding box 4.

[0084] For more details, see Figure 7 The first drive mechanism 216 is fixedly mounted on the third linear guide rail 214. The first drive mechanism 216 drives the transmission shaft 220 to rotate via a belt (not shown in the figure). The two ends of the transmission shaft 220 mesh with the racks on the inner sides of the first linear guide rail 212 and the second linear guide rail 213. In turn, the first drive mechanism 216 drives the third linear guide rail 214 to reciprocate along the first linear guide rail 212 and the second linear guide rail 213. The contact position between the third linear guide rail 214 and the first linear guide rail 212 and the second linear guide rail 213 is such that the lower surface of both ends of the third linear guide rail 214 is provided with grooves, which are adapted to the raised tracks provided on the upper surfaces of the corresponding first linear guide rail 212 and the second linear guide rail 213.

[0085] See Figure 5 A mounting plate 219 (adapting to the raised track via a groove) is horizontally slidably mounted on the third linear guide rail 214, and a fourth linear guide rail 215 is vertically slidably mounted on the mounting plate 219. A second drive mechanism 217 is slidably mounted on the third linear guide rail 214 via the mounting plate 219. One end of the second drive mechanism 217 has a gear that meshes with a rack on one side of the third linear guide rail 214. The rotation of the gear drives the fourth linear guide rail 215 to reciprocate along the first horizontal direction a. Simultaneously, a third drive mechanism 218 is fixed to the mounting plate 219. One end of the third drive mechanism 218 has a gear that meshes with the fourth linear guide rail 215. The rotation of the gear drives the fourth linear guide rail 215 to move up and down.

[0086] If there are any unclear points regarding the operation and driving method of linear guides, please refer to existing technologies.

[0087] Reference Figure 3 and Figure 4This embodiment provides a three-dimensional automated earthworm farming system. The gripper 211 includes a crossbeam 2111 arranged along a second horizontal direction b, and a first clamping arm 2112 and a second clamping arm 2113 disposed at the lower ends of both ends of the crossbeam 2111. The first clamping arm 2112 can reciprocate relative to the second clamping arm 2113. The distance between the first clamping arm 2112 and the second clamping arm 2113 can be adjusted to facilitate gripping and releasing the farming box 4. When the distance between the first clamping arms 2112 and the second clamping arm 2113 is adapted to the length or width of the farming box 4, the lower ends of the first clamping arms 2112 and the second clamping arm 2113 can simultaneously support the lower end of the farming box 4. More specifically, the lower ends of the first clamping arms 2112 and the second clamping arm 2113 are bent inward on opposite sides, and correspondingly, a groove is formed on the lower outer side of the farming box 4. When clamping, the first clamping arm 2112 and its upper part fit into the breeding box 4. At the same time, the hook-shaped ends of the first clamping arm 2112 are adapted to the grooves at the bottom of the breeding box 4 to stably clamp the breeding box 4 and ensure that the breeding box 4 moves smoothly.

[0088] See Figure 4 The first clamping arm 2112 can reciprocate relative to the second clamping arm 2113, which is achieved by the fourth drive mechanism 2114 located on the crossbeam 2111. The first clamping arm 2112 is slidably disposed at the bottom of the crossbeam 2111, and the fourth drive mechanism 2114 drives the first clamping arm 2112 to slide left and right along the bottom of the crossbeam 2111 through a horizontally disposed lead screw (not shown in the figure).

[0089] Reference Figure 1 and Figure 2 This embodiment provides a three-dimensional automated earthworm farming system. The feeding mechanism 1 includes a feeding tank 11 and a conveyor belt 12. The conveyor belt 12 passes parallel to the transport section 31 through the interior of the moving device 21. The moving device 21 can transfer the breeding boxes 4 located on the transport section 31 to the conveyor belt 12. The conveyor belt 12 can drive the breeding boxes 4 to move back and forth along the first horizontal direction a. After the breeding boxes 4 are transferred to the conveyor belt 12, the worker first pours out the material from the breeding boxes 4 and then places them on the conveyor belt 12. The conveyor belt 12 moves to the position corresponding to the feeding port of the feeding tank 11 for re-feeding. The feeding tank 11 is located on the side of the conveyor belt 12 away from the transport section, avoiding the moving device 21. The feeding tank 11 conveys the material to the breeding boxes 4 on the conveyor belt 12 through an inclined auger 111. The highest point of the auger 111 is higher than the height of the worker, which facilitates the worker's movement on one side of the conveyor belt 12. The end of the auger 111 is provided with a vertically arranged flexible feeding pipe 112 to facilitate the worker's operation of feeding. Feeding tank 11 is used to feed sludge or earthworm seedlings, or the earthworm seedlings are manually dispersed into the breeding box 4.

[0090] Furthermore, when two mobile devices 21 are positioned at both ends of the transport section 31 and the conveyor belt 12, the conveyor belt 12 and all transport sections 31 pass through the interior of the two mobile devices 21. In this way, the two mobile devices 21 divide the conveyor belt 12 and all transport sections 31 into three areas along their length: the area inside the mobile devices 21 is used for picking up and releasing the breeding boxes 4; the area of ​​the transport sections 31 located between the two mobile devices 21 is used for collaboratively picking up and releasing the breeding boxes 4, for example, for storing breeding boxes 4 awaiting processing; and the area of ​​the conveyor belt 12 located between the two mobile devices 21 is used for feeding or other manual operations. This improves the overall coordination of the system.

[0091] A material recycling bin 5 is provided at one end of the conveyor belt 12. The breeding bin 4 after the breeding is completed is directly transferred to the end of the conveyor belt 12, which makes it convenient for workers to dump the waste.

[0092] Reference Figures 8 to 10 This embodiment provides a three-dimensional automated earthworm farming system. The farming box 4 includes, from top to bottom, an odor treatment layer 41, an earthworm cultivation layer 42, and a filtrate receiving layer 43. The odor treatment layer 41 contains an adsorbent 44 and an ozone generator 45 to treat odors generated within the farming box 4. The bottom wall of the earthworm cultivation layer 42 is a perforated plate to maintain communication with the filtrate receiving layer 43. The top and bottom of the odor treatment layer 41 are both breathable hollow screen structures with a pore size ≤50 mesh. The earthworm cultivation layer 42 serves as an earthworm growth reactor, with a hollow screen structure at the bottom and a pore size ≤50 mesh. During earthworm cultivation, a layer of permeable gauze can be laid at the bottom of the reactor simultaneously. The filtrate receiving layer 43 is open at the top and closed at the bottom. Approximately half a layer of activated carbon or other fillers can be laid at the bottom of the filtrate receiving layer 43 to adsorb leachate from the sludge (materials required for earthworm farming). The connection between the odor treatment layer 41, the earthworm culture layer 42 and the filtrate receiving layer 43 of the breeding box 4 is a slot structure, and there are also external locks for easy installation and disassembly.

[0093] The inner wall of the earthworm culture layer 42 is equipped with environmental sensors that monitor environmental indicators such as temperature and humidity inside the layer in real time. The data is first transmitted to an independent gateway, which then sends the data to a cloud server. This data is then available for management personnel to view and use, allowing for real-time adjustments to the culture environment based on the data from the sensors. It should be noted that each earthworm culture layer 42 has an environmental sensor on its inner wall. Because sensors are not conveniently placed in the center of the reactor, the environmental data collected by the sensors on the inner wall undergoes necessary calibration to ensure that it effectively reflects the actual conditions inside the reactor.

[0094] The breeding box 4 adopts the above-mentioned three-layer structure, which can ensure that the earthworm breeding system is clean and odorless, and achieve zero pollution emissions during the breeding stage.

[0095] Reference Figure 10 This embodiment provides a three-dimensional automated earthworm farming system. The lower surface of the filtrate receiving layer 43 is provided with multiple through-groove slots 431 on both ends to prevent a vacuum from forming between the bottommost farming box 4 and the transport unit 31 (horizontal track structure) during the farming process, facilitating the retrieval of the farming box 4. The upper surface of the odor treatment layer 41 is provided with positioning blocks 46, and the lower surface of the filtrate receiving layer 43 is provided with positioning grooves 432 corresponding to the positions of the positioning blocks 46. When two farming boxes 4 are stacked, the positioning block 46 of the lower farming box 4 matches the positioning groove 432 of the upper farming box 4. This facilitates positioning of the upper and lower farming boxes 4 during stacking; furthermore, when the transport unit 31 moves the farming boxes 4, the farming box 4 at the higher level can move synchronously, preventing the farming box 4 from detaching.

[0096] Reference Figure 9 and Figure 10 The bottom wall of the filtrate receiving layer 43 is horizontally provided with rack structures 433 at both ends, and multiple limiting blocks 311 are spaced apart at opposite edges along the second horizontal direction b on the upper surface of the transport part 31. When two breeding boxes 4 are placed on the upper surface of the transport part 31, the rack structures 433 are adapted to the limiting blocks 311 at the corresponding positions so that the breeding boxes 4 and the transport part 31 can move synchronously.

[0097] One carrier section 31 can hold one row of multi-layer breeding boxes 4 or multiple rows of multi-layer breeding boxes 4, depending on actual needs.

[0098] It should also be noted that the entire three-dimensional automated earthworm farming system also has a central control unit. This unit coordinates the working status of the various components within the system to ensure its orderly, coordinated, and accurate operation. Specifically, the control of the various components by the central control unit, and the position detection equipment, are based on existing technology and are not the main innovation of this invention; therefore, they will not be elaborated upon here.

[0099] Example 2:

[0100] See Figure 1 and Figure 2 This embodiment provides a three-dimensional automated earthworm farming method, which uses the three-dimensional automated earthworm farming system in Embodiment 1, and includes the following steps:

[0101] S1. Place the open breeding box 4 on the feeding mechanism 1. After the feeding mechanism 1 adds sludge and earthworm seedlings to the empty breeding box 4, manually close the breeding box 4.

[0102] S2. The three-dimensional circulating transport mechanism 2 places the breeding boxes 4 processed in S1 into the buffer mechanism 3 in sequence, and the breeding boxes 4 enter the breeding state.

[0103] S3. When the breeding box 4 located on the buffer mechanism 3 ends the breeding state, the three-dimensional circulation transport mechanism 2 moves the breeding box 4 from the buffer mechanism 3 to the feeding mechanism 1 in sequence, manually opens and empties the breeding box 4, and then repeats step S1.

[0104] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0105] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0106] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that they are in indirect contact through an intermediate medium. Furthermore, "above," "over," or "on top" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," or "beneath" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0107] In the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0108] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make modifications, alterations, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A three-dimensional automated earthworm farming system, characterized in that, Feeding mechanism (1), three-dimensional circulating transport mechanism (2), buffer mechanism (3) and multiple reusable breeding boxes (4); The three-dimensional circulating transport mechanism (2) is mounted outside the buffer mechanism (3); the loading mechanism (1) is located on one side of the three-dimensional circulating transport mechanism (2); When the breeding box (4) is in the breeding state, the three-dimensional circulating transport mechanism (2) places the breeding box (4) into the buffer mechanism (3) in sequence. When the breeding box (4) ends the breeding state, the three-dimensional circulating transport mechanism (2) transports the breeding box (4) from the buffer mechanism (3) to the feeding mechanism (1); The breeding box (4) is emptied at the feeding mechanism (1), and the feeding mechanism (1) can refill the emptied breeding box (4) to restore the breeding box (4) to its breeding state.

2. The three-dimensional automated earthworm farming system as described in claim 1, characterized in that, The caching mechanism (3) includes at least one set of carriers (31); At least one layer of the breeding boxes (4) can be stacked on the transport section (31), and all the breeding boxes (4) located on the transport section (31) can move back and forth synchronously with the transport section (31); When the breeding box (4) is in the breeding state, the transport unit (31) is in the stationary state; When the breeding box (4) ends the breeding state, the carrier (31) can move back and forth to drive the breeding box (4) to move synchronously.

3. The three-dimensional automated earthworm farming system as described in claim 2, characterized in that, The three-dimensional circular transport mechanism (2) includes at least one mobile device (21); The mobile device (21) is mounted above all the transport units (31), and the mobile device (21) is capable of clamping or unloading the breeding box (4). The mobile device (21) can drive the breeding box (4) to move back and forth along the first horizontal direction (a), the second horizontal direction (b) and the vertical direction, so as to transfer the breeding box (4) to the designated position; The first horizontal direction (a) is the length direction of the carrier (31), and the second horizontal direction (b) is perpendicular to the first horizontal direction (a).

4. The three-dimensional automated earthworm farming system as described in claim 3, characterized in that, When there are two mobile devices (21); The two moving devices (21) are respectively disposed at both ends of the carrier (31); When there are multiple sets of the carrier (31), the multiple sets of the carrier (31) are arranged at intervals, and all the carriers (31) pass through the interior of the two mobile devices (21); The transport unit (31) moves back and forth along the first horizontal direction (a) to transfer the breeding box (4) located above the transport unit (31) to one of the mobile devices (21) nearby.

5. The three-dimensional automated earthworm farming system as described in claim 3, characterized in that, The moving device (21) includes a gripper (211), a first linear guide rail (212), a second linear guide rail (213), a third linear guide rail (214), and a fourth linear guide rail (215). The first linear guide (212) and the second linear guide (213) are positioned opposite each other above all the transport parts (31) and both extend along the second horizontal direction (b); The third linear guide (214) extends along the first horizontal direction (a), and the two ends of the third linear guide (214) are slidably disposed on the first linear guide (212) and the second linear guide (213), respectively. The fourth linear guide rail (215) is vertically mounted on the third linear guide rail (214), and the gripper (211) is mounted at the lower end of the fourth linear guide rail (215). The fourth linear guide (215) is capable of vertical reciprocating relative to the third linear guide (214), and the fourth linear guide (215) is capable of reciprocating along the third linear guide (214).

6. The three-dimensional automated earthworm farming system as described in claim 5, characterized in that, The gripper (211) includes a crossbeam (2111) arranged along the second horizontal direction (b), and a first clamping arm (2112) and a second clamping arm (2113) arranged opposite to each other at the lower ends of the crossbeam (2111). The first clamping arm (2112) can reciprocate relative to the second clamping arm (2113), and the distance between the first clamping arm (2112) and the second clamping arm (2113) can be adjusted. When the distance between the first clamping arm (2112) and the first clamping arm (2112) is adapted to the length or width of the breeding box (4), the lower ends of the first clamping arm (2112) and the first clamping arm (2112) can simultaneously support the lower end of the breeding box (4).

7. The three-dimensional automated earthworm farming system as described in claim 3, characterized in that, The feeding mechanism (1) includes a feeding tank (11) and a conveyor belt (12). The conveyor belt (12) passes through the interior of the moving device (21) parallel to the transport section (31); The mobile device (21) is capable of transferring the breeding box (4) located on the carrier (31) to the conveyor belt (12); The conveyor belt (12) can drive the breeding box (4) to move back and forth along the first horizontal direction (a); The feeding tank (11) is positioned on the side of the conveyor belt (12) away from the transport vehicle, avoiding the moving device (21).

8. The three-dimensional automated earthworm farming system as described in claim 3, characterized in that, The breeding box (4) includes an odor treatment layer (41), an earthworm culture layer (42) and a filtrate receiving layer (43) assembled from top to bottom. The odor treatment layer (41) is equipped with an adsorbent (44) and an ozone generator (45). The bottom wall of the earthworm culture layer (42) is a perforated plate to maintain communication with the filtrate receiving layer (43); The inner wall of the earthworm culture layer (42) is equipped with a breeding environment sensor.

9. The three-dimensional automated earthworm farming system as described in claim 8, characterized in that, The lower surface of the filtrate receiving layer (43) is provided with a plurality of through-hole strip grooves (431) at intervals. The upper surface of the odor treatment layer (41) is provided with a positioning block (46). The lower surface of the filtrate receiving layer (43) is provided with a positioning groove (432) corresponding to the position of the positioning block (46). When the two breeding boxes (4) are stacked one on top of the other, the positioning block (46) of the lower breeding box (4) is adapted to the positioning groove (432) of the upper breeding box (4); The bottom wall of the filtrate receiving layer (43) is provided with a toothed structure (433) at both ends. The carrier (31) is a horizontal track structure; Multiple limiting blocks (311) are provided at intervals on the upper surface of the carrier (31) at opposite edges along the second horizontal direction (b). When the two breeding boxes (4) are placed on the upper surface of the transport part (31), the rack structure (433) is adapted to the corresponding limiting block (311) so that the breeding box (4) and the transport part (31) can move synchronously.

10. A three-dimensional automated earthworm farming method, characterized in that, The three-dimensional automated earthworm farming system according to any one of claims 1 to 9 includes the following steps: S1. Place the open breeding box (4) on the feeding mechanism (1). After the feeding mechanism (1) adds sludge and earthworm seedlings to the empty breeding box (4), manually close the breeding box (4). S2, the three-dimensional circulating transport mechanism (2) places the breeding box (4) processed in S1 into the buffer mechanism (3) in sequence, and the breeding box (4) enters the breeding state; S3. When the breeding box (4) located on the buffer mechanism (3) ends the breeding state, the three-dimensional circulating transport mechanism (2) moves the breeding box (4) from the buffer mechanism (3) to the feeding mechanism (1) in sequence, manually opens and empties the breeding box (4), and then repeats step S1.

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