Automatic silkworm seed selection robot

Abstract

The invention relates to the technical field of silkworm breeding, and discloses an automatic silkworm breeding robot which comprises a base, a placing table, a collecting box and a stand column are sequentially installed on the base, a breeding box and a PLC are fixed to the placing table, a plurality of breeding boxes are movably arranged in the breeding box, a dispersing mechanism is movably arranged in each breeding box, and the PLC is connected with the PLC. A camera for shooting is mounted on the side surface of the breeding box; and an adsorption mechanism and a clamping jaw are movably arranged on the first moving block and the second moving block respectively. According to the invention, silkworm seed selection work can be automatically carried out, the efficiency is high, and manual operation is reduced; by arranging the breeding box and arranging a plurality of breeding boxes in the breeding box, silkworm eggs, larvae, pupal-stage silkworms, cocoon-shaped silkworms, moth silkworms and other silkworms can be bred; by arranging the dispersing mechanism in the breeding box, the silkworms can be dispersed, the situation that the silkworms are stacked, shooting and picking of defective goods are affected by a camera is prevented, and mistaken screening or screening leakage is prevented.

Description

Technical Field

[0001] This invention relates to the technical field of silkworm breeding selection, specifically to an automated silkworm breeding selection robot. Background Technology

[0002] Silkworm breeding and preservation is a core link in the high-quality development of the sericulture industry. It requires strict screening of the five key developmental stages of silkworms, including eggs, larvae, pupae, cocoons, and moths, and elimination of hybrids that do not conform to the inherent characteristics of the variety or the direction of breeding, in order to maintain the purity and trait stability of superior varieties.

[0003] Traditional silkworm breeding relies on manual labor, which has many technical shortcomings: Firstly, manual screening is inefficient and cannot meet the needs of large-scale breeding. Moreover, the critical stages such as the silkworm pupal stage are short, and the breeding progress is easily affected by untimely screening. Secondly, manual identification relies on experience and judgment, and its accuracy in distinguishing subtle features such as the size of silkworm eggs, the body color of larvae, the shape and color of cocoons, and the markings on moth wings is insufficient, which can easily lead to misscreening or missed screening. Summary of the Invention

[0004] The purpose of this invention is to provide an automated silkworm selection robot to solve the technical problems existing in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: An automated silkworm selection robot includes a base, on which a placement platform, a collection box, and a column are sequentially mounted. A selection box and a PLC controller are fixed on the placement platform. Multiple selection boxes are movably arranged within the selection box, and a dispersing mechanism is movably installed within each selection box. A camera for capturing images is mounted on the side of each selection box. A lifting platform is movably connected to the column, and a connecting plate is movably arranged on the top of the lifting platform. A picking frame is fixed to the bottom of the connecting plate. Two mounting frames are movably arranged within the picking frame, and a first moving block and a second moving block are movably arranged within each mounting frame. An adsorption mechanism and a gripper are movably arranged on the first and second moving blocks, respectively.

[0006] Furthermore, multiple drive wheels are installed at the bottom of the base. The drive wheels are electrically driven and electrically connected to the PLC controller.

[0007] Furthermore, a connecting rod is fixedly connected to the bottom side of the lifting platform, and a hydraulic cylinder is installed on the base. The hydraulic cylinder is electrically connected to the PLC controller. The telescopic end of the hydraulic cylinder is connected to the connecting rod. The two sides of the lifting platform are hollow. The lifting platform is movably sleeved on the column. A linear motor is fixed to the top of the lifting platform. A moving seat is driven by the linear motor. The connecting plate is fixedly installed on the moving seat. A counterweight is arranged on the side of the connecting plate away from the picking frame. The linear motor is electrically connected to the PLC controller.

[0008] Furthermore, a guide rod is fixed to the inner side of the picking frame, and both mounting frames are slidably mounted on the guide rod. Third cylinders are installed at both ends of the outer side of the picking frame, and the extension / retraction ends of the two third cylinders are respectively connected to the two mounting frames. Both third cylinders are electrically connected to the PLC controller. Second cylinders are installed inside the two mounting frames, and the extension / retraction ends of the two second cylinders are respectively connected to the first moving block and the second moving block. Both second cylinders are electrically connected to the PLC controller. A fourth cylinder is installed on the first moving block, and the extension / retraction end of the fourth cylinder is connected to the adsorption mechanism. A rotary motor is installed on the second moving block, and the output end of the rotary motor is connected to the gripper drive. The fourth cylinder, adsorption mechanism, rotary motor, and gripper are all electrically connected to the PLC controller.

[0009] Furthermore, the gripper includes a gripping frame, a fifth cylinder, a connecting block, a movable rod, a gripping plate, and an inner movable rod. The gripping frame is connected to the drive end of a rotary motor. The fifth cylinder is installed in the middle of the bottom of the gripping frame and is electrically connected to a PLC controller. The telescopic end of the fifth cylinder is connected to the connecting block. The two ends of the inner movable rod are respectively movably disposed in the connecting block and the movable rod. The top of the movable rod is hinged to the bottom of the gripping frame, and the bottom of the movable rod is connected to the gripping plate. The inner side of the gripping plate is provided with an anti-slip flexible pad with textured patterns.

[0010] Furthermore, multiple first cylinders are evenly arranged on one side of the inner side of the breeding box. The first cylinders are matched with the breeding box, and the telescopic end of the first cylinder is connected to the side of the breeding box. A baffle is provided on the inner side of the breeding box, and the side of the baffle and the inside of the breeding box form a cavity. A waste box is movably installed in the cavity. A temperature controller is also provided inside the breeding box. The temperature controller is used to regulate the temperature inside the entire breeding box. The breeding box is electrically connected to a power supply mechanism.

[0011] Furthermore, the inner wall of the breeding box is provided with a sliding groove, and a corrugated sleeve is installed in the sliding groove. A slider is fixed between the corrugated sleeves and the slider is slidably disposed in the sliding groove. The two sides of the breeding box are hollow inside, and a servo motor is installed inside. The telescopic end of the servo motor is connected to a screw, and a threaded block is threaded on the screw. The threaded block is fixedly connected to the slider, and the servo motor is electrically connected to the PLC controller.

[0012] Furthermore, the dispersing mechanism includes a dispersing plate and a connecting rod, the connecting rod being fixed between the two sliders, the dispersing plate being arranged in an inverted U-shape, and the dispersing plate being made of flexible PVC material.

[0013] This invention also includes an automated silkworm selection method, which comprises the following steps: S1, Input: Through the human-computer interaction interface of the central control module of the peripheral device, input the variety name, breeding batch, and standard characteristic parameters of each developmental stage of the silkworm, and retrieve them from the built-in variety database. S2, selection and breeding: place silkworm eggs, larvae, pupae, cocoons, and moths into the selection boxes of the selection box, and activate the temperature controller to regulate the internal temperature of the selection box as needed; S3, discrimination, synchronously transmit the input data to the human-machine interface connected to the PLC controller, start the first cylinder in the breeding box, the first cylinder pushes the corresponding breeding box for placing silkworm eggs, larvae, pupae, cocoons and moths, the PLC controller discriminates the corresponding breeding box, and selects the corresponding gripper or adsorption mechanism according to the requirements; S4, rejection: The cameras in the sequentially selected breeding boxes record real-time video and upload it to the peripheral terminal. The peripheral terminal identifies the corresponding defective products according to the standard feature parameters entered in S1, selects the corresponding defective products, and transmits the corresponding instructions to the PLC controller. The PLC controller controls the corresponding gripper or adsorption mechanism to move and select the defective products into the waste box on the side of the corresponding breeding box for temporary storage. After the rejection work of the corresponding breeding box is completed, the corresponding waste box is transferred to the collection box by the gripper for unified collection. S5, Record, records the data removed in S4 in the peripheral device's storage template; S6, repeat steps 2-5 in a cyclical manner until the breeding work of this batch of silkworms is completed. The central control module generates a batch breeding summary report, which includes key indicators such as total sample size, number of defective products, and pass rate.

[0014] In S3, the adsorption mechanism is used to adsorb silkworm eggs and larvae in the corresponding breeding box, and the gripper is used to grip the pupae, cocoons, moths in the corresponding breeding box, as well as the waste box on the side of the breeding box.

[0015] Compared with the prior art, the beneficial effects of the present invention are: This invention can automate the selection of silkworms, remove defective products, and is highly efficient, reducing manual labor. By setting up a selection box and setting up multiple selection boxes in the selection box, silkworm eggs, larvae, pupae, cocoons, moths and other silkworms can be selected and bred. By setting a dispersing mechanism inside the selection box, silkworms can be dispersed to prevent them from piling up and affecting the camera's ability to select defective products, thus preventing mis-screening or missed screening. The adsorption mechanism and grippers in the activity can remove defective products as needed, effectively ensuring the quality of the silkworm varieties in the breeding box. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the breeding box in this invention; Figure 3 This is a top view of the breeding box in this invention; Figure 4 This is a side sectional view of the breeding box in this invention; Figure 5 This is a schematic diagram of the picking frame in this invention; Figure 6 This is a schematic diagram of the gripper structure in this invention.

[0017] Figure label: 1-Base, 101-Drive wheel, 2-Placement platform, 3-Selection box, 301-Selection container, 302-Waste container, 303-Guide rail, 304-Corrugated sleeve, 305-Slider, 306-Camera, 307-Dispersion plate, 308-Power supply mechanism, 309-Threaded block, 3010-Screw, 3011-Servo motor, 3012-Connecting rod, 3013-First cylinder, 4-Picking frame, 401-Mounting frame, 402-Second cylinder, 403-Guide rod, 404-First moving block 405-Third cylinder, 406-Second moving block, 407-Fourth cylinder, 408-Rotary motor, 409-Gripper, 4010-Adsorption mechanism, 4091-Clamping frame, 4092-Fifth cylinder, 4093-Connecting movable block, 4094-Moving rod, 4095-Clamping plate, 4096-Inner moving rod, 5-Column, 6-Lifting platform, 7-Connecting rod, 8-Linear motor, 9-Moving seat, 10-Connecting plate, 11-Collection box, 12-Controller, 13-Counterweight, 14-Hydraulic cylinder. Detailed Implementation

[0018] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the technical solution of the present invention and are therefore intended to limit the scope of protection of the present invention.

[0019] Please see Figure 1-6An automated silkworm breeding robot includes a base 1, on which a placement platform 2, a collection box 11, and a column 5 are sequentially mounted. A breeding box 3 and a PLC controller 15 are fixed on the placement platform 2. Multiple breeding boxes 301 are movably arranged in the breeding box 3, and a dispersing mechanism is movably provided in each breeding box 301. A camera 306 for capturing images is mounted on the side of each breeding box 301. A lifting platform 6 is movably connected to the column 5. A connecting plate 10 is movably arranged on the top of the lifting platform 6, and a picking frame 4 is fixed to the bottom of the connecting plate 10. Two mounting frames 401 are movably arranged in the picking frame 4. A first moving block 404 and a second moving block 406 are movably arranged in each mounting frame 401. An adsorption mechanism 4010 and a gripper 409 are movably arranged on the first moving block 404 and the second moving block 406, respectively.

[0020] In practical use, by setting up the selection box 3 and multiple selection boxes 301 in the selection box 3, silkworm eggs, larvae, pupae, cocoons, and moths can be selected and bred. By setting up a dispersing mechanism inside the selection box 301, the silkworms can be dispersed to prevent them from piling up and affecting the camera 306 in capturing the selection of defective products. Through the movable adsorption mechanism 4010 and grippers 409, defective products can be removed as needed, effectively ensuring the quality of the silkworm varieties in the selection box 301.

[0021] In this embodiment, a plurality of drive wheels 101 are installed at the bottom of the base 1. The drive wheels 101 are electrically driven and electrically connected to the PLC controller 15. Specifically, the drive wheels 101 can be moved as needed by the PLC controller 15 to better adapt to the seed selection work.

[0022] In this embodiment, a connecting rod 7 is fixedly connected to the bottom side of the lifting platform 6, and a hydraulic cylinder 14 is installed on the base 1. The hydraulic cylinder 14 is electrically connected to the PLC controller 15, and the telescopic end of the hydraulic cylinder 14 is connected to the connecting rod 7. The two sides of the lifting platform 6 are hollow, and the lifting platform 6 is movably sleeved on the column 5. A linear motor 8 is fixed to the top of the lifting platform 6, and a movable seat 9 is driven on the linear motor 8. The connecting plate 10 is fixedly installed on the movable seat 9. A counterweight 13 is arranged on the side of the connecting plate 10 away from the picking frame 4. The linear motor 8 is electrically connected to the PLC controller 15. Specifically, the hydraulic cylinder 14 can drive the connecting rod 7 and the lifting platform 6 connected to the connecting rod 7 to rise and fall, thereby facilitating the adjustment of the lifting platform 6 and the linear motor 8 above the lifting platform 6. This allows for the adjustment of the height of the picking frame 4 according to requirements, adapting to the picking work. The linear motor 8 facilitates the lateral movement of the connecting plate 10 and the picking frame 4 below the connecting plate 10, thereby facilitating effective picking work.

[0023] In this embodiment, a guide rod 403 is fixedly connected to the inner side of the picking frame 4. Both mounting frames 401 are slidably mounted on the guide rod 403. Third cylinders 405 are installed at both ends of the outer side of the picking frame 4. The telescopic ends of the two third cylinders 405 are respectively connected to the two mounting frames 401. Both third cylinders 405 are electrically connected to the PLC controller 15. Second cylinders 402 are installed inside the two mounting frames 401. The telescopic ends of the two second cylinders 402 are respectively connected to the first moving block 404 and the second moving block 406. Both second cylinders 402 are electrically connected to the PLC controller 15. A fourth cylinder 407 is installed on the first moving block 404. The telescopic end of the fourth cylinder 407 is connected to the adsorption mechanism 4010. A rotary motor 408 is installed on the two moving blocks 406. The output end of the rotary motor 408 is driven and connected to the gripper 409. The fourth cylinder 407, the adsorption mechanism 4010, the rotary motor 408, and the gripper 409 are all electrically connected to the PLC controller 15. Specifically, the guide rod 403 facilitates the stable movement of the mounting frame 401 in the picking frame 4. By starting the third cylinder 405, the positions of the two mounting frames 401 can be adjusted as needed, so that the corresponding gripper 409 or adsorption mechanism 4010 can be selected for removal according to the actual removal requirements. By starting the two second cylinders 402, the lateral position of the gripper 409 or adsorption mechanism 4010 can be adjusted, so that defective products in the silkworms can be removed from multiple directions.

[0024] The working principle of the adsorption mechanism 4010 is that of a traditional micro-adsorption device used to adsorb larvae or silkworm eggs.

[0025] In this embodiment, the gripper 409 includes a gripping frame 4091, a fifth cylinder 4092, a connecting block 4093, a movable rod 4094, a gripping plate 4095, and an inner movable rod 4096. The gripping frame 4091 is connected to the drive end of the rotary motor 408. The fifth cylinder 4092 is installed at the bottom center of the gripping frame 4091 and is electrically connected to the PLC controller 15. The telescopic end of the fifth cylinder 4092 is connected to the connecting block 4093. The two ends of the inner movable rod 4096 are respectively movably disposed on the connecting block 4094. 3. In the movable rod 4094, the top of the movable rod 4094 is hinged to the bottom of the clamping frame 4091, and the bottom of the movable rod 4094 is connected to the clamping plate 4095. The inner side of the clamping plate 4095 is provided with a non-slip flexible pad with textured surface. Specifically, by activating the fifth cylinder 4092, the connecting movable block 4093 can be moved, thereby moving the clamping plate 4095 to achieve the clamping function. By setting the flexible pad and the textured surface on the flexible pad, the silkworm can be prevented from being damaged during the clamping process, while also ensuring stable clamping.

[0026] In this embodiment, a plurality of first cylinders 3013 are evenly arranged on one side of the interior of the breeding box 3. The first cylinders 3013 are matched with the breeding box 301. The telescopic ends of the first cylinders 3013 are connected to the side of the breeding box 301. A baffle is provided on the inner side of the breeding box 301. The side of the baffle and the interior of the breeding box 301 form a cavity. A waste box 302 is movably installed in the cavity. A temperature controller is also provided inside the breeding box 3 to regulate the overall temperature inside the breeding box 3. The breeding box 3 is electrically connected to a power supply mechanism 308. The inner wall of the selection box 301 has a sliding groove, in which a corrugated sleeve 304 is installed. A slider 305 is fixedly connected between the corrugated sleeves 304, and the slider 305 is slidably disposed in the sliding groove. The two sides of the selection box 301 are hollow, and a servo motor 3011 is installed inside. The telescopic end of the servo motor 3011 is connected to a screw 3010, and a threaded block 309 is threaded on the screw 3010. The threaded block 309 is fixedly connected to the slider 305. The servo motor 3011 is electrically connected to the PLC controller 15. The dispersing mechanism includes a dispersing plate 307 and a connecting rod 3012. The connecting rod 3012 is fixed between the two sliders 305. The dispersing plate 307 is arranged in an inverted U-shape and is made of flexible PVC material. Specifically, the first cylinder 3013 can be activated to push the corresponding selection box 301, thereby facilitating the selection of silkworms in the corresponding selection box 301. After the corresponding selection box 301 extends, the corresponding gripper 409 or adsorption mechanism 4010 can be controlled to move to perform the selection. The servo motor 3011 can be controlled to drive the threaded block 309 to move, thereby driving the connecting rod 3012 and the dispersing plate 307 to move, thus dispersing the silkworms and preventing them from piling up and affecting the shooting. After the connecting rod 3012 and the dispersing plate 307 move, the servo motor 3011 moves them to below the camera 306 to prevent them from affecting the shooting of the camera 306. The corrugated sleeve 304 can prevent the silkworms from crawling into the groove and will not affect the normal movement of the threaded block 309 and the slider 305.

[0027] This invention also includes an automated silkworm selection method, which comprises the following steps: S1, Input: Through the human-computer interaction interface of the central control module of the peripheral device, input the variety name, breeding batch, and standard characteristic parameters of each developmental stage of the silkworm, and retrieve them from the built-in variety database. S2, selection and breeding: place silkworm eggs, larvae, pupae, cocoons, and moths in the selection box 301 of the selection box 3 respectively, and start the temperature controller to regulate the internal temperature of the selection box 3 as needed; S3, determine, synchronously transmit the entered data to the human-machine interface connected to the PLC controller 15, start the first cylinder 3013 in the breeding box 3, the first cylinder 3013 pushes the corresponding breeding box 301 for placing silkworm eggs, larvae, pupae, cocoons and moths, the PLC controller 15 determines the corresponding breeding box 301, and selects the corresponding gripper 409 or adsorption mechanism 4010 according to the requirements; S4, rejection. The camera 306 in the sequentially released breeding boxes 301 records the video in real time and uploads it to the terminal of the peripheral device. The terminal of the peripheral device identifies the corresponding defective products according to the standard feature parameters entered in S1, selects the corresponding defective products, and transmits the corresponding instructions to the PLC controller 15. The PLC controller 15 controls the corresponding gripper 409 or adsorption mechanism 4010 to move and select the defective products to the waste box 302 on the side of the corresponding breeding box 301 for temporary storage. After the rejection work of the corresponding breeding box 301 is completed, the corresponding waste box 302 is transferred to the collection box 11 for unified collection through the gripper 409. S5, Record, records the data removed in S4 in the peripheral device's storage template; S6, repeat steps 2-5 in a cyclical manner until the breeding work of this batch of silkworms is completed. The central control module generates a batch breeding summary report, which includes key indicators such as total sample size, number of defective products, and pass rate.

[0028] In S3, the adsorption mechanism 4010 is used to adsorb silkworm eggs and larvae in the corresponding breeding box 301, and the gripper 409 is used to grip the pupae, cocoons, moths in the corresponding breeding box 301, as well as to grip the waste box 302 on the side of the breeding box 301 separately.

[0029] In actual operation, the gripper 409 is driven by the fifth cylinder 4092, which in turn moves the clamping plate 4095 to clamp the silkworm or the waste box 302. During the clamping of the silkworm, the fifth cylinder 4092 maintains the clamping distance under the control of the PLC controller 15 to prevent excessive clamping that could lead to the loss of the silkworm. When clamping the waste box 302, the fifth cylinder 4092 can stably clamp the waste box 302 under the control of the PLC controller 15.

[0030] Working principle: Workers place silkworms according to their stage (egg, larva, pupa, cocoon, moth) into the selection boxes 301 of the selection box 3. As needed, the temperature controller is activated to regulate the internal temperature of the selection box 3. The first cylinder 3013 is then activated sequentially, causing multiple selection boxes 301 to be pushed out one by one. Based on recorded data, the PLC controller 15 selects the corresponding gripper 409 or suction mechanism 4010, first driving the servo motor 3011, which in turn drives the connecting rod 3012 to disperse... The dispersing plate 307 moves to disperse the silkworms. After dispersion, the moving drive servo motor 3011 moves the connecting rod 3012 and the dispersing plate 307 to the end of the selection box 301, without affecting the recording work of the camera 306. The camera 306 transmits the recorded video to the human-machine interface connected to the PLC controller 15 in real time to determine the location of defective silkworms and transmits instructions to the PLC controller 15. The PLC controller 15 then controls the hydraulic cylinder 14, linear motor 8, third cylinder 405, and the... The linkage of the two cylinders 402, grippers 409, and adsorption mechanism 4010 is used to remove defective products. The removed defective products are temporarily placed in the waste box 302, and afterwards, the waste box 302 is transferred from the waste box 302 to the collection box 11 by the grippers 409. During the removal process, instructions are transmitted to the PLC controller 15, which selects the corresponding grippers 409 and adsorption mechanism 4010. When grippers 409 are needed for removal, the PLC controller 15 controls the third cylinder near the gripper 409. When cylinder 405 moves, it pushes the mounting frame 401 containing grippers 409 to move. When the adsorption mechanism 4010 is needed for adsorption and rejection, the PLC controller 15 controls the third cylinder 405 near the adsorption mechanism 4010 to move, pushing the mounting frame 401 containing the adsorption mechanism 4010 to move. The grippers 409 can be adjusted in position by rotating motor 408, and the adsorption mechanism 4010 can be adjusted in height by fourth cylinder 407, so as to facilitate the misalignment of the grippers 409 and the adsorption mechanism 4010.

[0031] It should be noted that in this document, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used solely for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. The terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, unless otherwise explicitly specified and limited, the terms "fixed," "installed," "connected," and "linked" should be interpreted broadly. For example, "linked" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a mechanical connection or an electrical connection; "linked" can be a direct connection, an indirect connection through an intermediate medium, or a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0032] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and specification of the present invention.

Claims

1. An automatic silkworm seed selection robot, comprising a base (1) which is sequentially provided with a placing table (2), a collecting box (11) and a stand (5), characterized in that: The placement platform (2) is fixed with a selection box (3) and a PLC controller (15). Multiple selection boxes (301) are movably arranged in the selection box (3). A dispersing mechanism is movably arranged in the selection box (301). A camera (306) for taking pictures is installed on the side of the selection box (301). A lifting platform (6) is movably connected to the column (5). A connecting plate (10) is movably arranged on the top of the lifting platform (6). A picking frame (4) is fixed to the bottom of the connecting plate (10). Two mounting frames (401) are movably arranged in the picking frame (4). A first moving block (404) and a second moving block (406) are movably arranged in the mounting frame (401). An adsorption mechanism (4010) and a gripper (409) are movably arranged on the first moving block (404) and the second moving block (406).

2. The automated silkworm breeding robot according to claim 1, characterized in that: The base (1) has multiple drive wheels (101) installed at its bottom. The drive wheels (101) are electrically driven and electrically connected to the PLC controller (15).

3. The automated silkworm selection robot according to claim 1, characterized in that: The bottom side of the lifting platform (6) is fixed with a connecting rod (7), and a hydraulic cylinder (14) is installed on the base (1). The hydraulic cylinder (14) is electrically connected to the PLC controller (15). The telescopic end of the hydraulic cylinder (14) is connected to the connecting rod (7). The two sides of the lifting platform (6) are hollow. The lifting platform (6) is movably sleeved on the column (5). A linear motor (8) is fixed on the top of the lifting platform (6). A moving seat (9) is driven on the linear motor (8). The connecting plate (10) is fixedly installed on the moving seat (9). A counterweight (13) is arranged on the side of the connecting plate (10) away from the picking frame (4). The linear motor (8) is electrically connected to the PLC controller (15).

4. The automated silkworm selection robot according to claim 1, characterized in that: A guide rod (403) is fixedly connected to the inner side of the picking frame (4). Both mounting frames (401) are slidably mounted on the guide rod (403). Third cylinders (405) are installed at both ends of the outer side of the picking frame (4). The telescopic ends of the two third cylinders (405) are respectively connected to the two mounting frames (401). Both third cylinders (405) are electrically connected to the PLC controller (15). Second cylinders (402) are installed inside the two mounting frames (401). The telescopic ends of the two second cylinders (402) are respectively connected to the first moving block (404) and... The second moving block (406) is connected, and the two second cylinders (402) are electrically connected to the PLC controller (15). The first moving block (404) is equipped with a fourth cylinder (407), and the telescopic end of the fourth cylinder (407) is connected to the adsorption mechanism (4010). The second moving block (406) is equipped with a rotary motor (408), and the output end of the rotary motor (408) is driven and connected to the gripper (409). The fourth cylinder (407), the adsorption mechanism (4010), the rotary motor (408), and the gripper (409) are all electrically connected to the PLC controller (15).

5. The automated silkworm selection robot according to claim 4, characterized in that: The gripper (409) includes a gripping frame (4091), a fifth cylinder (4092), a connecting block (4093), a movable rod (4094), a gripping plate (4095), and an inner movable rod (4096). The gripping frame (4091) is connected to the drive end of a rotary motor (408). The fifth cylinder (4092) is installed at the bottom center of the gripping frame (4091) and is electrically connected to a PLC controller (15). The telescopic end of the fifth cylinder (4092) is connected to the connecting block (4093). The two ends of the inner movable rod (4096) are respectively movably set in the connecting block (4093) and the movable rod (4094). The top of the movable rod (4094) is hinged to the bottom of the clamping frame (4091). The bottom of the movable rod (4094) is connected to the clamping plate (4095). The inner side of the clamping plate (4095) is provided with a non-slip flexible pad with textured surface.

6. The automated silkworm selection robot according to claim 1, characterized in that: Multiple first cylinders (3013) are evenly arranged on one side of the interior of the breeding box (3). The first cylinders (3013) are matched with the breeding box (301). The telescopic end of the first cylinder (3013) is connected to the side of the breeding box (301). A baffle is provided on the inner side of the breeding box (301). The side of the baffle and the interior of the breeding box (301) form a cavity. A waste box (302) is movably installed in the cavity. A temperature controller is also provided inside the breeding box (3). The temperature controller is used to adjust the overall temperature inside the breeding box (3). The breeding box (3) is electrically connected to a power supply mechanism (308).

7. The automated silkworm selection robot according to claim 6, characterized in that: The inner wall of the breeding box (301) is provided with a sliding groove, and a corrugated sleeve (304) is installed in the sliding groove. A slider (305) is fixed between the corrugated sleeves (304). The slider (305) is slidably disposed in the sliding groove. The two sides of the breeding box (301) are hollow inside, and a servo motor (3011) is installed inside. The telescopic end of the servo motor (3011) is connected to a screw (3010). A threaded block (309) is threaded on the screw (3010). The threaded block (309) is fixedly connected to the slider (305). The servo motor (3011) is electrically connected to the PLC controller (15).

8. The automated silkworm selection robot according to claim 7, characterized in that: The dispersing mechanism includes a dispersing plate (307) and a connecting rod (3012). The connecting rod (3012) is fixed between the two sliders (305). The dispersing plate (307) is arranged in an inverted U-shape and is made of flexible PVC material.

9. The automated silkworm selection robot according to any one of claims 1-8 further includes an automated silkworm selection method, characterized in that, The method includes the following steps: S1, Input: Through the human-computer interaction interface of the central control module of the peripheral device, input the variety name, breeding batch, and standard characteristic parameters of each developmental stage of the silkworm, and retrieve them from the built-in variety database. S2, selection and breeding: place silkworm eggs, larvae, pupae, cocoons and moths in the selection box (301) of the selection box (3) respectively, and start the temperature controller to regulate the internal temperature of the selection box (3) as needed; S3, determine, synchronously transmit the entered data to the human-machine interface connected to the PLC controller (15), start the first cylinder (3013) in the breeding box (3), the first cylinder (3013) pushes the corresponding breeding box (301) for placing silkworm eggs, larvae, pupae, cocoons and moths, the PLC controller (15) determines the corresponding breeding box (301), and selects the corresponding gripper (409) or adsorption mechanism (4010) according to the requirements. S4, rejection. The camera (306) in the sequentially released breeding boxes (301) records the video in real time and uploads it to the terminal of the peripheral device. The terminal of the peripheral device identifies the corresponding defective products according to the standard feature parameters entered in S1, selects the corresponding defective products, and transmits the corresponding instructions to the PLC controller (15). The PLC controller (15) controls the corresponding gripper (409) or adsorption mechanism (4010) to move and select the defective products to the waste box (302) on the side of the corresponding breeding box (301) for temporary storage. After the rejection work of the corresponding breeding box (301) is completed, the corresponding waste box (302) is transferred to the collection box (11) through the gripper (409) for unified collection. S5, Record, records the data removed in S4 in the peripheral device's storage template; S6, repeat steps 2-5 in a cyclical manner until the breeding work of this batch of silkworms is completed. The central control module generates a batch breeding summary report, which includes key indicators such as total sample size, number of defective products, and pass rate.

10. The automated silkworm selection method according to claim 9, characterized in that, In S3, the adsorption mechanism (4010) is used to adsorb silkworm eggs and larvae in the corresponding breeding box (301), and the gripper (409) is used to grip the pupae, cocoons, moths in the corresponding breeding box (301) and to grip the waste box (302) on the side of the breeding box (301) separately.

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