Automatic mass moth grinding system

Abstract

This invention relates to an automated group moth grinding system, belonging to the field of automated moth grinding technology, and particularly to the integrated processing of grinding, pipetting, and cleaning of female moth samples in the detection of silkworm microsporidiosis. The system uses a moth removal platform to place grinding cups containing female moth samples. A circular conveyor belt forms a closed loop along the horizontal plane, sequentially passing through the working areas of the grinding machine, the pipetting centrifuge platform, and the cleaning system. The grinding machine includes a grinding blade assembly, a liquid injection port, a first drive mechanism, and a first position sensor. The grinding blade assembly and the liquid injection port are linked by a servo motor-driven lifting mechanism. The first position sensor detects when the grinding cup assembly reaches the workstation inlet or grinding station, triggering the control unit to execute the liquid injection, grinding, and blade cleaning processes. The liquid injection port precisely controls the amount of grinding liquid injected via a solenoid valve. The high-pressure nozzle of the cleaning system automatically cleans the blade surface after the blades are reset. This system achieves automated continuous processing of female moth samples, reducing manual intervention and improving detection efficiency.

Description

Technical Field

[0001] This invention belongs to the field of automated moth grinding technology, and more specifically, this invention relates to an automated group moth grinding system. Background Technology

[0002] Detection of silkworm moths infected with microsporidiosis is a crucial step in silkworm seed quality control, and the efficiency and cleanliness of sample preparation directly affect the accuracy of test results and production efficiency. In existing technologies, CN102706717B (a moth-grinding sample preparation system for detecting microsporidiosis pathogens in silkworm moths) has initially achieved mechanization of some steps by integrating moth-grinding, pipetting, centrifugation, and washing devices. However, the following technical challenges still exist in practical applications: 1. Material transfer relies on manual operation, which limits efficiency and poses a risk of contamination. For example, although the existing system (CN102706717B) integrates moth grinding, pipetting, and centrifugation devices on the same workbench, the transfer of moth grinding cups still requires manual operation. For instance, after moth grinding, operators must manually move the material cups from the moth grinding station to the pipetting station and then to other areas. This manual intervention reduces processing speed. Furthermore, the repeated handling of material cups increases the frequency of contact between equipment and personnel, further exacerbating the risk of pathogen spore spread.

[0003] 2. The lack of closed-loop control leads to insufficient system reliability. For example, the automation level of existing systems is concentrated at the single-machine operation level, such as the linkage control of liquid injection and blade lifting during moth grinding. However, there are still breakpoints in the overall process. For instance, the moth grinding cup needs to be manually placed back into the moth removal platform after cleaning, which cannot form a closed-loop reuse process. Such breakpoints make it difficult for the system to achieve true full-process automation, limiting its application in large-scale testing scenarios.

[0004] The aforementioned problems have long constrained the automation upgrade of silkworm microparticle disease detection equipment, and there is an urgent need for a system design scheme that can reduce manual intervention and achieve efficient resource utilization. Summary of the Invention

[0005] One object of the present invention is to address at least the aforementioned deficiencies and to provide at least the advantages that will be described later.

[0006] One purpose of this invention is to provide an automatic group grinding moth system to solve the problem of existing systems lacking an automated transmission mechanism and a continuous material flow between workstations, which affects the detection effect.

[0007] The automated moth-grinding system includes a moth-removal platform, a circular conveyor belt, a moth-grinding machine, a pipetting centrifuge table, a cleaning system, and a control unit. The moth removal platform is used to place the moth grinding cup group containing the mother moth sample; The annular conveyor belt forms a closed loop along the horizontal plane, passing through the working areas of the moth grinder, the centrifuge table, and the cleaning system in sequence; The moth grinding machine includes a grinding blade assembly, a liquid injection port, a first drive mechanism, and a first position sensor. The grinding blade assembly and the liquid injection port are connected by a lifting mechanism driven by a servo motor. The first position sensor is located at the entrance of the moth grinding machine and is used to detect when the moth grinding cup assembly on the circular conveyor belt reaches the grinding station and trigger the control unit to perform the following operations: control the first drive mechanism to push the moth grinding cup assembly from the circular conveyor belt into the grinding station; start the servo motor to drive the lifting mechanism to lower the grinding blade assembly and the liquid injection port into the moth grinding cup assembly; inject a preset amount of grinding liquid into each moth grinding cup through the liquid injection port; after the grinding blade assembly completes grinding by rotating, control the servo motor to drive the grinding blade assembly and the liquid injection port to rise and reset; trigger the first drive mechanism to pull the moth grinding cup assembly back to the circular conveyor belt; a first cleaning cavity is provided below the grinding blade assembly. After the grinding blade assembly resets, it descends into the first cleaning cavity, where the blades are cleaned by a high-pressure nozzle; after cleaning, the blades rise and reset, waiting for the next operation. The control unit is electrically connected to the first position sensor, the servo motor, the first drive mechanism, the drive device of the annular conveyor belt, and the high-pressure nozzle of the cleaning system.

[0008] The present invention refers to the group grinding moth, that is, 28 original species or 28 or more hybrid species are put into each grinding moth cup and ground together.

[0009] Preferably, the first drive mechanism is located on the outer side of the annular conveyor belt, and an L-shaped push plate and a horizontal pull plate are provided on the output end of the first drive mechanism; one side plate of the L-shaped push plate is parallel to the radial direction of the annular conveyor belt, and the other side plate is parallel to the tangent of the annular conveyor belt; the horizontal pull plate is parallel to the tangent of the annular conveyor belt (that is, parallel to one side plate of the L-shaped push plate); the L-shaped push plate is used to push the grinding cup assembly into the grinding station; the horizontal pull plate is used to pull the grinding cup assembly back to the annular conveyor belt; when the first drive mechanism is in standby mode, one side plate of the L-shaped push plate spans across the annular conveyor belt without contact.

[0010] Preferably, the grinding cup assembly consists of a magnetic base plate and four grinding cups fixed on the magnetic base plate; the grinding blade assembly includes four blades corresponding to the grinding cups; the magnetic base plate is magnetically attached to the surface of the annular conveyor belt. The first position sensor includes a contact sensor disposed on the L-shaped push plate of the first drive mechanism and an infrared sensor disposed above the grinding station; the contact sensor is used to detect the contact state between the grinding cup assembly and the push plate; the infrared sensor is used to detect the position of the grinding cup assembly non-contactly.

[0011] Preferably, the pipetting centrifuge stage includes a first interception component, a filter funnel, a centrifuge cup, and a centrifuge; the first interception component is used to intercept the moth-shaped cup group on the annular conveyor belt; the filter funnel is fitted over the opening of the centrifuge cup to filter the sample slurry in the moth-shaped cup group into the centrifuge cup; the centrifuge cup is placed in the centrifuge for centrifugal enrichment; The cleaning system includes a cleaning tank, a second drive mechanism, a third drive mechanism, a spring, a mesh plate, a high-pressure nozzle, and a second position sensor. The output structure of the second drive mechanism is the same as that of the first drive mechanism. The second position sensor is located at the entrance of the cleaning tank and is used to detect when the moth-grinding cup assembly arrives at the cleaning station and trigger the control unit to perform the following operations: control the second drive mechanism to push the moth-grinding cup assembly into the cleaning station; push the moth-grinding cup assembly overturned into the cleaning tank by the spring; rinse the moth-grinding cup assembly with the high-pressure nozzle; after rinsing, the third drive mechanism drives the mesh plate to rise to be flush with the circular conveyor belt; trigger the second drive mechanism to pull the moth-grinding cup assembly back to the circular conveyor belt. The spring is located on the inner side of the other side plate of the L-shaped push plate of the second drive mechanism, and the spring protrudes 2-5cm from the inner side of the side plate. The spring is parallel to the upper surface of the annular conveyor belt and is located above the moth-grinding cup group. When the spring comes into contact with the moth-grinding cup group, it bends and deforms. When the moth-grinding cup group enters the edge of the cleaning tank, the spring gradually recovers and releases its elastic potential energy, pushing the moth-grinding cup group forward and causing the moth-grinding cup group to tip over and enter the cleaning tank. The moth-removing platform is equipped with a second interception component, which has the same structure as the first interception component. The second interception component includes a first plate that is radially parallel to the annular conveyor belt and a second plate that is tangent to the annular conveyor belt. The first plate and the second plate are perpendicular to each other to form an L-shaped barrier. The first plate spans across the annular conveyor belt and is used to intercept the incoming moth-removing cup assembly.

[0012] The control unit is electrically connected to the second position sensor, the second drive mechanism, and the third drive mechanism.

[0013] Preferably, the worktable of the grinding station is provided with a limiting groove that matches the shape of the magnetic substrate; the width of the limiting groove is the same as the width of the magnetic substrate, and the length direction is parallel to the tangential direction of the annular conveyor belt; when the L-shaped pusher pushes the grinding cup assembly into the grinding station, the magnetic substrate is embedded in the limiting groove, so that the central axis of the four grinding cups coincides with the rotation axis of the four grinding blades respectively. When they coincide, the downstream side plate of the L-shaped pusher is vertically aligned with the downstream edge of the limiting groove; the length of the horizontal side plate of the L-shaped pusher is greater than or equal to the total length of the grinding cup assembly, ensuring that the four grinding cups are synchronously displaced during the pushing process.

[0014] Preferably, the spray direction of the high-pressure nozzle forms an angle of 30°-45° with the axis of the grinding blade, and the spray coverage includes the blade surface and the gap between the blades; the control unit dynamically adjusts the water pressure of the high-pressure nozzle according to the rotation speed of the grinding blade, specifically: when the blade rotation speed is higher than 1000 rpm, the water pressure is increased to 2.5-3.0 MPa to enhance the scouring force; when the blade is stationary, the water pressure is reduced to 0.8-1.2 MPa to reduce water consumption.

[0015] Preferably, the drive device for the annular conveyor belt includes a variable frequency motor, an encoder, and a transmission gear; the outer teeth of the transmission gear mesh with the inner teeth of the annular conveyor belt. The variable frequency motor drives the annular conveyor belt to run at a constant speed of 0.5-1.2 meters per minute through the transmission gear; the encoder monitors the displacement of the conveyor belt in real time and feeds it back to the control unit. The control unit dynamically adjusts the operating status of the variable frequency motor according to the trigger signals of the first position sensor and the second position sensor: when the moth grinding cup group enters one of the work stations, the control unit reduces the conveyor belt speed to 0.2-0.3 meters / minute to achieve precise positioning, and restores the original speed after the work station operation is completed.

[0016] Preferably, magnetic positioning marks are embedded at equal intervals on the inner side of the annular conveyor belt, and the spacing between adjacent marks is an integer multiple of the length of the grinding cup group; The control unit detects the position of the magnetic positioning mark in real time using a Hall sensor and compares it with the displacement data of the encoder; when the cumulative error exceeds ±0.5 mm, the following compensation logic is triggered: (a) If the error is positive, control the variable frequency motor to reduce its speed by 0.05 m / min during the next station stop cycle; (b) If the error is negative, the speed increases by 0.05 m / min; (c) The adjusted speed is maintained until the absolute value of the error is less than 0.2 mm before the reference speed is restored.

[0017] The Hall sensor has a detection accuracy of ±0.1 mm and a response time of less than 10 milliseconds; the surface magnetic field strength of the magnetic positioning mark is 800-1000 Gauss, ensuring signal stability under conveyor belt vibration conditions.

[0018] Preferably, the encoder displacement monitoring method includes the following steps: (a) The rotational pulse signal of the transmission gear is acquired in real time by an incremental encoder, and the instantaneous angular velocity is calculated with a period of 0.1 milliseconds; (b) Compare the angular velocity data with the output torque characteristic curve of the variable frequency motor to dynamically correct the pulse counting error caused by gear backlash; the correction formula is: Corrected pulse count = Original pulse count × (1 + Motor instantaneous torque / Rated torque × 0.005); (c) Calculate the conveyor belt displacement based on the corrected pulse count, and fuse it with the magnetic positioning mark position detected by the Hall sensor using Kalman filtering to output the final displacement value; (d) When the displacement value fluctuates by more than ±0.05 mm within 5 consecutive cycles, the encoder self-calibration program is triggered to reset the pulse count based on the current Hall sensor position.

[0019] For the parameter definition in the correction formula, the instantaneous torque of the motor is the actual output torque of the motor at the current moment (unit: Newton-meter, N·m), which is obtained in real time through the current feedback of the variable frequency motor or a torque sensor. For example, if the rated torque of the motor is 10 N·m and the instantaneous torque under the current load is 8 N·m, then the ratio is 0.8. The rated torque is the maximum continuous output torque (unit: N·m) specified by the motor manufacturer, which is a fixed value. For example, the rated torque of a certain motor is 15 N·m. 0.005 is an empirical correction coefficient, obtained through experimental calibration, used to quantify the "degree of influence of torque variation on backlash error". Its physical meaning is that when the instantaneous torque of the motor reaches the rated torque, the pulse counting error caused by backlash needs to be compensated by 0.5% (i.e., 1 × 0.005).

[0020] Preferably, the method for detecting cumulative error includes the following steps: (a) Obtain the theoretical displacement Lt of the transmission gear through the encoder. The calculation formula is as follows: Lt=(Np / Pr)×πD, where Np is the number of pulses, Pr is the number of pulses per encoder revolution, and D is the pitch circle diameter of the transmission gear; (b) The actual displacement La of the magnetic positioning mark is obtained by the Hall sensor. The calculation formula is La=Nm×Sm, where Nm is the number of detected marks and Sm is the distance between adjacent marks. (c) Calculate the cumulative error E=Lt−La. When |E|≥0.5 mm, trigger the compensation logic; (d) After every 100 station stops, the encoder pulse count initial value is forcibly reset based on the current Hall sensor data to eliminate historical error accumulation.

[0021] The present invention has at least the following beneficial effects: This invention achieves automatic grinding, cleaning, and transfer of mother moth samples through a ring conveyor belt and multi-station collaborative control, reducing manual operation and improving processing efficiency and cleanliness.

[0022] This invention ensures stable adsorption and movement of the cup assembly on the conveyor belt through the cooperation of the magnetic substrate and the magnetic conductive layer; the coordinated design of the L-shaped push plate and the limiting groove realizes the axial alignment of the grinding station; the horizontal pull plate pulls the cup assembly back to the conveyor belt during the return of the L-shaped push plate, which is conducive to automation.

[0023] This invention achieves directional removal of residues on the blade surface through dynamic pressure adjustment and spray angle optimization, solving the problem that traditional blade cleaning relies on fixed water pressure, resulting in incomplete cleaning or water waste.

[0024] This invention achieves dynamic speed switching through closed-loop control of encoders and variable frequency motors, constructs a continuous transmission link, solves the problem of fixed conveyor belt speed and lack of coordinated control, which leads to poor material flow and positioning errors between workstations, and avoids cup stacking or idling.

[0025] This invention overcomes the limitations of pure encoder closed-loop systems by combining absolute position calibration using magnetic markers and Hall sensors with micro-stepping speed compensation. It effectively suppresses the accumulation of displacement errors caused by gear backlash and wear, thus resolving the issue of cumulative errors.

[0026] This invention overcomes the limitations of pure hardware precision by correcting torque and pulse correlation and fusing multi-source data. It solves the problem of nonlinear error between pulse count and actual displacement caused by gear backlash and torque fluctuations in encoders, and effectively enhances anti-interference capability.

[0027] This invention achieves precise separation and dynamic zeroing of error sources through a dual calculation model of theoretical and actual displacement, combined with periodic benchmark resetting. It solves the problem that relying on a single sensor for error detection fails to distinguish between error sources such as gear backlash, drift, and pulse counting distortion, leading to compensation logic failure and effectively improving operational stability.

[0028] Other advantages, objectives and features of the present invention will become apparent in part from the following description, and in part from those skilled in the art through study and practice of the invention. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of one implementation of the automatic swarm moth-grinding system described in this invention; Figure 2 for Figure 1 A magnified side view of section A; The components include: a ring conveyor belt 1; a driving device for the ring conveyor belt 2; a transmission gear 3; a pipetting centrifuge table 4; a first interception assembly 5; a connecting rod 6; a spring 7; a second driving mechanism 8; one side plate of an L-shaped pusher 10; the other side plate of an L-shaped pusher 9; a horizontal pull plate 11; a cleaning tank 12; a moth grinding cup 13; a magnetic base plate 14; a moth grinding cup assembly 15; a moth removal table 16; a second interception assembly 17; a moth grinding machine 18; a first driving mechanism 19; a mesh plate 20; a third driving mechanism 21; and a high-pressure nozzle 22. Detailed Implementation

[0030] The present invention will be further described in detail below with reference to embodiments, so that those skilled in the art can implement it based on the description.

[0031] It should be noted that, unless otherwise specified, the experimental methods described in the following embodiments are conventional methods, and the reagents and materials mentioned are commercially available. In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "setting" should be interpreted broadly. For example, they can refer to fixed connection or setting, detachable connection or setting, or integral connection or setting. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. The terms "lateral," "longitudinal," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention and simplifying the description. They 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, and therefore should not be construed as a limitation of this invention.

[0032] Figures 1-2 The present invention illustrates an implementation of an automatic group moth grinding system, which includes a moth removal platform 16, a ring conveyor belt 1, a moth grinding machine 18, a pipetting centrifuge platform 4, a cleaning system, and a control unit. The moth removal platform 16 is used to place the moth grinding cup group 15 containing the mother moth sample; The annular conveyor belt 1 forms a closed loop along the horizontal plane, passing through the working areas of the moth grinder 18, the centrifuge table 4, and the cleaning system in sequence. The moth grinding machine 18 includes a grinding blade assembly, a liquid injection port, a first drive mechanism 19, and a first position sensor. The grinding blade assembly and the liquid injection port are connected by a lifting mechanism driven by a servo motor. The first position sensor is located at the entrance of the moth grinding machine 18 and is used to detect when the moth grinding cup assembly 15 on the circular conveyor belt 1 reaches the grinding station and trigger the control unit to perform the following operations: control the first drive mechanism 19 to push the moth grinding cup assembly 15 from the circular conveyor belt 1 into the grinding station; start the servo motor to drive the lifting mechanism to lower the grinding blade assembly and the liquid injection port into the moth grinding cup assembly 15; inject a preset amount of grinding liquid into each moth grinding cup through the liquid injection port; after the grinding blade assembly completes grinding by rotating, control the servo motor to drive the grinding blade assembly and the liquid injection port to rise and reset; trigger the first drive mechanism 19 to pull the moth grinding cup assembly 15 back to the circular conveyor belt 1; a first cleaning cavity is provided below the grinding blade assembly. After the grinding blade assembly resets, it descends into the first cleaning cavity, where the blades are cleaned by a high-pressure nozzle; after the blades are cleaned, they rise and reset, waiting for the next operation. The control unit is electrically connected to the first position sensor, servo motor, first drive mechanism 19, drive device 2 of the annular conveyor belt, and high-pressure nozzle of the cleaning system. The injection port is connected to the storage tank through an injection pipe, and a solenoid valve is installed on the injection pipe; the control unit controls the opening duration of the solenoid valve according to a preset amount, so that a preset amount of grinding fluid is injected into each grinding cup.

[0033] In one embodiment, the automatic moth-grinding system of the present invention includes a moth-removal platform 16, a circular conveyor belt 1, a moth-grinding machine 18, a pipetting centrifuge table 4, a cleaning system, and a control unit. The moth-removal platform 16 can be used to place a moth-grinding cup group 15 containing samples of mother moths. The moth-grinding cup group 15 can contain four moth-grinding cups 13 arranged side-by-side, each with a capacity of 20-30 ml. The circular conveyor belt 1 can form a closed loop along a horizontal plane, with a width of 200-300 mm and a circumference of 3-5 meters, sequentially passing through the working areas of the moth-grinding machine 18, the pipetting centrifuge table 4, and the cleaning system. The moth-grinding machine 18 includes a grinding blade assembly, a liquid inlet, a first drive mechanism 19, and a first position sensor. The first drive mechanism 19 can be a telescopic motor. The grinding blade assembly can include four stainless steel blades with a diameter of 15-20 mm and a blade rotation speed of 800-1200 rpm. The injection port is connected to the storage tank via an injection pipe. A solenoid valve can be installed on the injection pipe, with an opening time of 0.5-2 seconds. The injection volume for each moth-grinding cup is controlled at 5-10 ml. The lifting mechanism is driven by a servo motor, with a lifting stroke of 100-150 mm and a lifting speed of 10-20 mm / s. The first position sensor can be an infrared photoelectric sensor, installed on the inlet side of the moth-grinding machine 18, with a detection distance of 50-100 mm. The cleaning system includes a high-pressure nozzle and a first cleaning cavity. The spray angle of the high-pressure nozzle can be set to an angle of 35°-40° with the blade axis. The water pressure is dynamically adjusted according to the blade status: 1.0 MPa when the blade is stationary, and increased to 2.8 MPa when the blade speed is higher than 1000 rpm. The control unit may include a PLC controller, electrically connected to each sensor and drive device.

[0034] Working Process: The operator loads the female moth samples into the moth grinding cup set 15 at the moth removal table 16 and places it on the circular conveyor belt 1. The circular conveyor belt 1 transports the cup set to the inlet of the moth grinding machine 18 at a speed of 0.8 m / min. After the first position sensor detects that the cup set has reached the grinding station, it triggers the control unit to start the first drive mechanism 19, which pushes the cup set from the conveyor belt into the limiting groove of the grinding station through the L-shaped push plate. The servo motor drives the lifting mechanism to lower the grinding blade set and the liquid injection port into the moth grinding cup. The solenoid valve opens for 0.8 seconds to inject 8 ml of grinding liquid into each cup. Then the blades grind at a speed of 1000 rpm for 40 seconds. After grinding is completed, the blade set rises and resets. The first drive mechanism 19 pulls the cup set back to the conveyor belt. The blade set descends to the first cleaning cavity. The high-pressure nozzle cleans the blade surface and gaps with 2.8 MPa water pressure for 12 seconds, after which the blades reset. The cup set pulled back to the conveyor belt is then transferred to the pipetting centrifuge table 4 for further processing.

[0035] This invention achieves automatic grinding, cleaning, and transfer of mother moth samples through the coordinated control of a ring conveyor belt 1 and multiple workstations, reducing manual operation steps and improving processing efficiency and cleanliness.

[0036] Based on the above implementation, the first drive mechanism 19 is located on the outer side of the annular conveyor belt 1. An L-shaped push plate and a horizontal pull plate 11 are provided on the output end of the first drive mechanism 19. One side plate 10 of the L-shaped push plate is parallel to the radial direction of the annular conveyor belt 1, and the other side plate 9 is parallel to the tangent of the annular conveyor belt 1. The horizontal pull plate is parallel to the tangent of the annular conveyor belt 1 (that is, the horizontal pull plate 11 is parallel to the other side plate 9 of the L-shaped push plate). The L-shaped push plate is used to push the grinding cup assembly 15 into the grinding station. The horizontal pull plate 11 is connected to one side plate of the L-shaped push plate by a connecting rod 6. The horizontal pull plate is used to pull the grinding cup assembly 15 back to the annular conveyor belt 1. When the first drive mechanism 19 is in standby mode, one side plate of the L-shaped push plate spans across the annular conveyor belt 1 without contact.

[0037] Based on the above implementation, the grinding cup assembly 15 consists of a magnetic base plate 14 and four grinding cups 13 fixed on the magnetic base plate 14; the grinding blade assembly includes four blades corresponding to the grinding cups; the magnetic base plate 14 is magnetically attached to the surface of the annular conveyor belt 1. The first position sensor includes a contact sensor disposed on the L-shaped push plate of the first drive mechanism 19 and an infrared sensor disposed above the grinding station; the contact sensor is used to detect the contact state between the grinding moth cup group 15 and the push plate; the infrared sensor is used to detect the position of the grinding moth cup group 15 non-contactly.

[0038] During implementation, an annular iron magnetic conductive layer is embedded on the surface of the conveyor belt. The magnetic conductive layer has a continuous annular structure and is arranged in the central area of ​​the upper surface along the length of the conveyor belt. The width is 1.1-1.2 times the width of the magnetic substrate 14 (for example, when the width of the magnetic substrate 14 is 100mm, the width of the iron ring is 110-120mm), and the thickness is 2-3mm. This is conducive to the magnetic substrate 14 being magnetically attracted to the surface of the annular conveyor belt 1. Under the action of thrust, the magnetic substrate 14 can slide on the surface of the annular conveyor belt 1.

[0039] Based on the above implementation, the pipetting centrifuge station 4 includes a first interception component 5, a filter funnel, a centrifuge cup, and a centrifuge; the first interception component 5 is used to intercept the moth-grinding cup group 15 on the annular conveyor belt 1; the filter funnel is fitted at the opening of the centrifuge cup and is used to filter the sample slurry in the moth-grinding cup group 15 into the centrifuge cup; the centrifuge cup is placed in the centrifuge for centrifugal enrichment. The cleaning system includes a cleaning tank 12, a second drive mechanism 8, a third drive mechanism 21, a spring 7, a mesh plate 20, a high-pressure nozzle, and a second position sensor. The output end design of the second drive mechanism 8 is the same as that of the first drive mechanism 19. The second position sensor is located at the entrance of the cleaning tank and is used to detect when the moth-grinding cup assembly 15 arrives at the cleaning station and trigger the control unit to perform the following operations: control the second drive mechanism 8 to push the moth-grinding cup assembly 15 into the cleaning station; push the moth-grinding cup assembly 15 overturned into the cleaning tank 12 by the spring 7; rinse the moth-grinding cup assembly 15 with the high-pressure nozzle 22; after rinsing, the third drive mechanism 21 drives the mesh plate 20 to rise to be flush with the circular conveyor belt 1; trigger the second drive mechanism 8 to pull the moth-grinding cup assembly 15 back to the circular conveyor belt 1. The spring 7 is located on the inner side of the other side plate 9 of the L-shaped push plate of the second drive mechanism 8, and the spring 7 protrudes 2-5cm from the inner side of the side plate. The spring 7 is parallel to the upper surface of the annular conveyor belt 1, and the spring 7 is located on the upper part of the moth-grinding cup group 15. When the spring 7 comes into contact with the moth-grinding cup group 15, it bends and deforms. When the moth-grinding cup group 15 enters the edge of the cleaning tank 12, the spring 7 gradually recovers, releases the elastic potential energy of the spring 7, and pushes the moth-grinding cup group 15 forward, causing the moth-grinding cup group 15 to tip over and enter the cleaning tank 12. The moth removal platform 16 is equipped with a second interception component 17, which has the same structure as the first interception component 5. The second interception component 17 includes a first plate that is radially parallel to the annular conveyor belt 1 and a second plate that is tangent to the annular conveyor belt 1. The first plate and the second plate are perpendicular to each other to form an L-shaped barrier. The first plate spans across the annular conveyor belt 1 and is used to intercept the moth grinding cup group 15 that is being conveyed.

[0040] The control unit is electrically connected to the second position sensor, the second drive mechanism 8, and the third drive mechanism 21.

[0041] Based on the above implementation, the worktable of the grinding station is provided with a limiting groove that matches the shape of the magnetic substrate 14; the width of the limiting groove is the same as the width of the magnetic substrate 14, and the length direction is parallel to the tangential direction of the annular conveyor belt 1; when the L-shaped pusher pushes the grinding cup assembly 15 into the grinding station, the magnetic substrate 14 is embedded in the limiting groove, so that the central axis of the four grinding cups coincides with the rotation axis of the four grinding blades respectively. When they coincide, the downstream side plate of the L-shaped pusher is vertically aligned with the downstream edge of the limiting groove; the length of the horizontal side plate of the L-shaped pusher is greater than or equal to the total length of the grinding cup assembly 15, ensuring that the four grinding cups are synchronously displaced during the pushing process.

[0042] In another embodiment of the automatic moth-grinding system of the present invention, the system includes a moth-removal platform 16, a circular conveyor belt 1, a moth-grinding machine 18, a pipetting centrifuge table 4, a cleaning system, and a control unit. The moth-removal platform 16 can be used to place moth-grinding cup sets 15 containing samples of mother moths. Each moth-grinding cup set 15 consists of a magnetic base plate 14 and four moth-grinding cup sets 15 fixed thereon, each with a capacity of 20-30 ml. The magnetic base plate 14 has a width of 80-120 mm and is magnetically attached to the surface of the circular conveyor belt 1. A circular iron magnetic conductive layer can be embedded in the surface of the conveyor belt. The width of the magnetic conductive layer is 1.1-1.2 times the width of the magnetic base plate 14 (e.g., when the base plate is 100 mm wide, the magnetic conductive layer is 110-120 mm wide), and the thickness is 2-3 mm, to enhance magnetic stability. The circular conveyor belt 1 forms a closed loop along a horizontal plane, with a circumference of 3-5 meters, sequentially passing through the working areas of the moth-grinding machine 18, the pipetting centrifuge table 4, and the cleaning system.

[0043] The moth grinding machine 18 includes a grinding blade assembly, a liquid inlet, a first drive mechanism 19, and a first position sensor. The grinding blade assembly may include four stainless steel blades with a diameter of 15-20 mm and a blade rotation speed of 800-1200 rpm. The first drive mechanism 19 is located outside the annular conveyor belt 1, and its output end is equipped with an L-shaped push plate and a horizontal pull plate. One side plate of the L-shaped push plate is radially parallel to the conveyor belt, and the other side plate is parallel to the tangent; the horizontal pull plate is parallel to the tangent of the conveyor belt and is used to push or pull the cup assembly in or out. The first position sensor includes a contact sensor mounted on the L-shaped push plate and an infrared sensor above the grinding station. The contact sensor has a detection distance of 5-10 mm, and the infrared sensor has a detection distance of 50-100 mm. The worktable surface of the grinding station is provided with a limiting groove. The width of the groove is consistent with that of the magnetic base plate 14, and the length direction is parallel to the tangent of the conveyor belt, ensuring that the central axis of the four moth grinding cups coincides with the blade rotation axis when the cup assembly is pushed in.

[0044] The pipetting centrifuge stage 4 includes a first interception component 5, a filter funnel, centrifuge cups, and a centrifuge. The first interception component 5 is an L-shaped baffle that spans the conveyor belt to intercept the cup assembly. The filter funnel is fitted over the opening of the centrifuge cup to filter the ground sample slurry into the centrifuge cup. The cleaning system includes a cleaning tank 12, a second drive mechanism 8, a spring 7, a mesh plate 20, and a high-pressure nozzle. The mesh plate 20 can be an elastic mesh plate, and its outer frame is a rigid frame that slides in contact with the inner wall of the cleaning tank 12. The second drive mechanism 8 has the same structure as the first drive mechanism 19, except that it has a spring 7 located inside the L-shaped push plate. The spring 7 protrudes 2-5 cm from the inner side of the side plate and is parallel to the conveyor belt. A second position sensor is installed at the inlet of the cleaning tank 12. When the cleaning process is triggered, the spring 7 pushes the cup assembly to tip over and enter the cleaning tank 12, and the high-pressure nozzle rinses the cup assembly with a water pressure of 1.0-1.5 MPa.

[0045] Working process: After the operator places the moth grinding cup assembly 15 on the moth removal platform 16, the conveyor belt transports the cup assembly to the moth grinding machine 18 at a speed of 0.8 m / min. Once the infrared sensor of the first position sensor detects that the cup assembly has reached the grinding station, it triggers the L-shaped push plate of the first drive mechanism 19 to push the cup assembly into the limiting groove. The servo motor drives the grinding blade assembly and the liquid injection port to descend, and the solenoid valve opens for 0.8 seconds to inject 8 ml of grinding liquid into each cup. The blades grind at 1000 rpm for 40 seconds. After grinding, the blade assembly rises, the first drive mechanism 19 pulls the cup assembly back to the conveyor belt, and then the blade assembly descends into the first cleaning cavity. The high-pressure nozzle cleans the blades with 2.8 MPa water pressure for 12 seconds. After the cup group is pulled back to the conveyor belt, it is transferred to the centrifuge station 4. The first interception component 5 intercepts the cup group. The staff pours the slurry of the cup group into the centrifuge cup equipped with a filter funnel, and then puts the centrifuge cup into the centrifuge. The centrifuge centrifuge is centrifuged at 3000 rpm for 5 minutes. The empty moth grinding cup group 15 is placed on the conveyor belt. The cup group continues to move to the cleaning station. The second drive mechanism 8 pushes the cup group to tip over into the cleaning tank 12. After the high-pressure nozzle rinses for 20 seconds, the bottom mesh plate 20 of the cleaning tank 12 rises. The second drive mechanism 8 pulls the cup group back to the conveyor belt and transfers it to the moth removal station 16 to complete the cycle.

[0046] The present invention ensures the stable adsorption and movement of the cup assembly on the conveyor belt through the cooperation of the magnetic substrate 14 and the magnetic conductive layer; the coordinated design of the L-shaped push plate and the limiting groove realizes the axial alignment of the grinding station; and the horizontal pull plate pulls the cup assembly back to the conveyor belt during the return of the L-shaped push plate.

[0047] Based on the above implementation, the spray direction of the high-pressure nozzle forms an angle of 30°-45° with the axis of the grinding blade, and the spray coverage includes the blade surface and the gap between the blades; the control unit dynamically adjusts the water pressure of the high-pressure nozzle according to the rotation speed of the grinding blade, specifically: when the blade rotation speed is higher than 1000 rpm, the water pressure is increased to 2.5-3.0 MPa to enhance the scouring force; when the blade is stationary, the water pressure is reduced to 0.8-1.2 MPa to reduce water consumption.

[0048] This invention achieves directional removal of residues on the blade surface through dynamic pressure adjustment and spray angle optimization, solving the problem that traditional blade cleaning relies on fixed water pressure, resulting in incomplete cleaning or water waste.

[0049] Another embodiment of the automatic moth-grinding system: A high-pressure nozzle can be installed in the first cleaning cavity below the grinding blade assembly, with the spray direction at a 35°-40° angle to the axial direction of the grinding blades. The nozzle can be a commercially available high-pressure fan nozzle (such as the Lechler series SN fan nozzle), covering the blade surface and the gap between blades. The nozzle is installed 50-80 mm from the blade surface. The control unit can be configured to dynamically adjust the water pressure according to the real-time rotational speed of the grinding blades: when the blade rotational speed exceeds 1000 rpm, the water pressure increases to 2.8 MPa; when the blades are stationary, the water pressure decreases to 1.0 MPa. Pressure adjustment is achieved through a proportional valve (such as the Festo type MPPES-3-1 / 4-6-010), with the inlet connected to the outlet of a water pump in the cleaning system, and the outlet connected to the high-pressure nozzle pipeline.

[0050] During operation, the grinding blade assembly rises to its reset position after grinding and then descends into the cleaning cavity. The control unit reads the blade rotation speed in real time via an encoder. If the speed is 1050 rpm, the proportional valve is triggered to increase the water pressure to 2.8 MPa, and the nozzle sprays water at a 40° angle for 12 seconds. If the blades stop, the water pressure automatically drops to 1.0 MPa, and the nozzle switches to low-pressure mode for 5 seconds of rinsing. After cleaning, the water pump is turned off, the blade assembly rises to its reset position, and the wastewater is discharged through the drain.

[0051] This invention uses dynamic water pressure adjustment and spray angle optimization to directionally peel off residues from the blade surface, reducing blind spots in cleaning; combined with pressure control that matches the rotation speed, it avoids incomplete cleaning caused by fixed water pressure.

[0052] Based on the above implementation, the drive device 2 of the annular conveyor belt includes a variable frequency motor, an encoder, and a transmission gear 3; the outer teeth of the transmission gear 3 mesh with the inner teeth of the annular conveyor belt 1. The variable frequency motor drives the annular conveyor belt 1 to run at a constant speed of 0.5-1.2 meters per minute through the transmission gear 3; the encoder monitors the displacement of the conveyor belt in real time and feeds it back to the control unit. The control unit dynamically adjusts the operating status of the variable frequency motor according to the trigger signals of the first position sensor and the second position sensor: when the moth cup group 15 enters one of the work stations, the control unit reduces the conveyor belt speed to 0.2-0.3 meters / minute to achieve precise positioning, and restores the original speed after the work station operation is completed.

[0053] This invention achieves dynamic speed switching through closed-loop control of encoders and variable frequency motors, constructs a continuous transmission link, solves the problem of fixed conveyor belt speed and lack of coordinated control, which leads to poor material flow and positioning errors between workstations, and avoids cup stacking or idling.

[0054] Based on the above implementation, magnetic positioning marks are embedded at equal intervals on the inner side of the annular conveyor belt 1, and the spacing between adjacent marks is an integer multiple of the length of the moth cup group 15. The control unit detects the position of the magnetic positioning mark in real time using a Hall sensor and compares it with the displacement data of the encoder; when the cumulative error exceeds ±0.5 mm, the following compensation logic is triggered: (a) If the error is positive, control the variable frequency motor to reduce its speed by 0.05 m / min during the next station stop cycle; (b) If the error is negative, the speed increases by 0.05 m / min; (c) The adjusted speed is maintained until the absolute value of the error is less than 0.2 mm before the reference speed is restored.

[0055] The Hall sensor has a detection accuracy of ±0.1 mm and a response time of less than 10 milliseconds; the surface magnetic field strength of the magnetic positioning mark is 800-1000 Gauss, ensuring signal stability under conveyor belt vibration conditions.

[0056] This invention overcomes the limitations of pure encoder closed-loop systems by combining absolute position calibration using magnetic markers and Hall sensors with micro-stepping speed compensation. It effectively suppresses the accumulation of displacement errors caused by gear backlash and wear, thus resolving the issue of cumulative errors.

[0057] Based on the above implementation, the encoder displacement monitoring method includes the following steps: (a) The rotational pulse signal of the transmission gear 3 is acquired in real time by an incremental encoder, and the instantaneous angular velocity is calculated with a period of 0.1 milliseconds; (b) Compare the angular velocity data with the output torque characteristic curve of the variable frequency motor to dynamically correct the pulse counting error caused by gear backlash; the correction formula is: Corrected pulse count = Original pulse count × (1 + Motor instantaneous torque / Rated torque × 0.005); (c) Calculate the conveyor belt displacement based on the corrected pulse count, and fuse it with the magnetic positioning mark position detected by the Hall sensor using Kalman filtering to output the final displacement value; (d) When the displacement value fluctuates by more than ±0.05 mm within 5 consecutive cycles, the encoder self-calibration program is triggered to reset the pulse count based on the current Hall sensor position.

[0058] This invention overcomes the limitations of pure hardware precision by correcting torque and pulse correlation and fusing multi-source data. It solves the problem of nonlinear error between pulse count and actual displacement caused by gear backlash and torque fluctuations in encoders, and effectively enhances anti-interference capability.

[0059] For the parameter definition in the correction formula, the instantaneous torque of the motor is the actual output torque of the motor at the current moment (unit: Newton-meter, N·m), which is obtained in real time through the current feedback of the variable frequency motor or a torque sensor. For example, if the rated torque of the motor is 10 N·m and the instantaneous torque under the current load is 8 N·m, then the ratio is 0.8. The rated torque is the maximum continuous output torque (unit: N·m) specified by the motor manufacturer, which is a fixed value. For example, the rated torque of a certain motor is 15 N·m. 0.005 is an empirical correction coefficient, obtained through experimental calibration, used to quantify the "degree of influence of torque variation on backlash error". Its physical meaning is that when the instantaneous torque of the motor reaches the rated torque, the pulse counting error caused by backlash needs to be compensated by 0.5% (i.e., 1 × 0.005).

[0060] Based on the above implementation, the method for detecting cumulative error includes the following steps: (a) The theoretical displacement Lt of the transmission gear 3 is obtained through the encoder, and the calculation formula is as follows: Lt=(Np / Pr)×πD, where Np is the number of pulses, Pr is the number of pulses per revolution of the encoder, and D is the diameter of the 3-pitch circle of the transmission gear; (b) The actual displacement La of the magnetic positioning mark is obtained by the Hall sensor. The calculation formula is La=Nm×Sm, where Nm is the number of detected marks and Sm is the distance between adjacent marks. (c) Calculate the cumulative error E=Lt−La. When |E|≥0.5 mm, trigger the compensation logic; (d) After every 100 station stops, the encoder pulse count initial value is forcibly reset based on the current Hall sensor data to eliminate historical error accumulation.

[0061] This invention achieves precise separation and dynamic zeroing of error sources through a dual calculation model of theoretical and actual displacement, combined with periodic benchmark resetting. It solves the problem that relying on a single sensor for error detection fails to distinguish between error sources such as gear backlash, drift, and pulse counting distortion, leading to compensation logic failure and effectively improving operational stability.

[0062] In another embodiment of the automatic moth-grinding system of the present invention, the driving device 2 of the annular conveyor belt includes a variable frequency motor, an incremental encoder, and a transmission gear 3; The variable frequency motor can be selected from the Siemens SINAMICSG120 series (model: 6SL3220-1YE35-5UF0), with a rated power of 0.75kW, an output torque of 4.8N·m, and support for stepless speed regulation from 0.2 to 1.2 m / min.

[0063] The transmission gear 3 can be selected with a module of 2mm, 50 teeth, and a pitch circle diameter of 100mm. The incremental encoder can be an Omron E6B2-CWZ6C with 2500 pulses per revolution and a resolution of 0.1 mm / pulse, which is installed on the coaxial end of the output shaft of the variable frequency motor.

[0064] The control unit can be a Siemens S7-1200 PLC, which has a built-in PID control module and supports dynamic speed adjustment and error compensation.

[0065] Usage process and parameter settings (1) Initial run: The variable frequency motor is started, driving the annular conveyor belt 1 to run at a reference speed of 1.0 m / min via transmission gear 3. The encoder collects the gear rotation pulse signal in real time and calculates the displacement every 0.1 milliseconds. The displacement calculation formula is: Displacement = (Number of pulses ÷ 2500) × π × 100 mm.

[0066] (2) Workstation docking control: When the first position sensor (such as an Omron E3Z-T61 infrared sensor or an Omron D4N-4A32 sensor) detects that the grinding cup assembly 15 has arrived at the grinding machine inlet, the PLC controls the variable frequency motor to reduce the conveyor belt speed to 0.25 m / min. The deceleration process continues until the cup assembly is aligned with the center of the limiting groove (error ±0.3 mm), reaching the grinding station. After the station operation (such as liquid injection, grinding) is completed, the speed returns to the reference value.

[0067] (3) Cumulative error compensation: The control unit compares the encoder displacement data with the position of the magnetic positioning mark detected by the Hall sensor (such as Allegro A1324) every 10 minutes. If the cumulative error exceeds ±0.5 mm, the speed compensation logic is triggered. Positive error (conveyor belt leading): speed decrease of 0.05 m / min; Negative error (conveyor belt lag): Speed ​​increases by 0.05 m / min.

[0068] The adjusted speed is maintained until the absolute value of the error is less than 0.2 mm, then the reference speed is restored.

[0069] Among them, the sensor types and functions are as follows: the contact sensor on the L-shaped push plate of the first position sensor: triggers the operation of the first drive mechanism; the infrared sensor in the first position sensor, which is set above the grinding station: triggers the operation of the grinding station and responds quickly. Hall effect sensor: Provides absolute position calibration to ensure positioning accuracy; Second position sensor (cleaning station): triggers the cleaning process in the cleaning tank.

[0070] Phase division: Transmission phase: The conveyor belt runs at a constant speed, and Hall sensor data is used for periodic calibration (low priority). Workstation operation phase (grinding, cleaning): First / second position sensor triggers action (high priority).

[0071] 3. Error suppression test: Under continuous 24-hour operation, the cumulative error of the conveyor belt decreased from ±2.1 mm (uncompensated) to ±0.3 mm (compensated), achieving an error suppression rate of 85%. Test method: A laser displacement sensor (Keyence LK-G5000) was used to measure the station's stopping position deviation in real time.

[0072] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. It can be applied to various fields suitable for the present invention. Further modifications can be readily implemented by those skilled in the art.

Claims

1. An automatic group moth-grinding system, characterized in that, It includes a moth removal platform, a circular conveyor belt, a moth grinding machine, a pipetting centrifuge platform, a cleaning system, and a control unit; The moth removal platform is used to place the moth grinding cup group containing the mother moth sample; The annular conveyor belt forms a closed loop along the horizontal plane, passing through the working areas of the moth grinder, the centrifuge table, and the cleaning system in sequence; The moth grinding machine includes a grinding blade assembly, a liquid injection port, a first drive mechanism, and a first position sensor. The grinding blade assembly and the liquid injection port are connected by a lifting mechanism driven by a servo motor. The first position sensor is located at the entrance of the moth grinding machine and is used to detect when the moth grinding cup assembly on the circular conveyor belt reaches the grinding station and trigger the control unit to perform the following operations: control the first drive mechanism to push the moth grinding cup assembly from the circular conveyor belt into the grinding station; start the servo motor to drive the lifting mechanism to lower the grinding blade assembly and the liquid injection port into the moth grinding cup assembly. A preset amount of grinding fluid is injected into each grinding cup through the injection port; After the grinding blade assembly completes grinding by rotating, the servo motor is controlled to drive the grinding blade assembly and the liquid injection port to rise and reset; the first drive mechanism is triggered to pull the grinding cup assembly back to the ring conveyor belt; a first cleaning cavity is provided below the grinding blade assembly, and after the grinding blade assembly is reset, it descends into the first cleaning cavity, and the blade is cleaned by the high-pressure nozzle. The control unit is electrically connected to the first position sensor, the servo motor, the first drive mechanism, the drive device of the annular conveyor belt, and the high-pressure nozzle of the cleaning system.

2. The automatic swarm moth-grinding system as described in claim 1, characterized in that, The first driving mechanism is located on the outer side of the annular conveyor belt. An L-shaped push plate and a horizontal pull plate are provided on the output end of the first driving mechanism. One side plate of the L-shaped push plate is parallel to the radial direction of the annular conveyor belt, and the other side plate is parallel to the tangent of the annular conveyor belt. The horizontal pull plate is parallel to the tangent of the annular conveyor belt. The L-shaped push plate is used to push the grinding cup assembly into the grinding station. The horizontal pull plate is used to pull the grinding cup assembly back to the annular conveyor belt. When the first driving mechanism is in standby mode, one side plate of the L-shaped push plate spans across the annular conveyor belt without contact.

3. The automatic swarm moth-grinding system as described in claim 2, characterized in that, The grinding cup assembly consists of a magnetic base plate and four grinding cups fixed on the magnetic base plate; the grinding blade assembly includes four blades corresponding to the grinding cups; the magnetic base plate is magnetically attached to the surface of the annular conveyor belt. The first position sensor includes a contact sensor disposed on the L-shaped push plate of the first drive mechanism and an infrared sensor disposed above the grinding station; the contact sensor is used to detect the contact state between the grinding cup assembly and the push plate; the infrared sensor is used to detect the position of the grinding cup assembly non-contactly.

4. The automatic swarm moth-grinding system as described in claim 2, characterized in that, The pipetting centrifuge station includes a first interception component, a filter funnel, a centrifuge cup, and a centrifuge; the first interception component is used to intercept the moth-shaped cup group on the annular conveyor belt; the filter funnel is fitted over the opening of the centrifuge cup to filter the sample slurry in the moth-shaped cup group into the centrifuge cup; the centrifuge cup is placed in the centrifuge for centrifugation enrichment; The cleaning system includes a cleaning tank, a second drive mechanism, a third drive mechanism, a spring, a mesh plate, a high-pressure nozzle, and a second position sensor. The output structure of the second drive mechanism is the same as that of the first drive mechanism. The second position sensor is located at the entrance of the cleaning tank and is used to detect when the moth-grinding cup assembly arrives at the cleaning station and trigger the control unit to perform the following operations: control the second drive mechanism to push the moth-grinding cup assembly into the cleaning station; push the moth-grinding cup assembly overturned into the cleaning tank by the spring; rinse the moth-grinding cup assembly with the high-pressure nozzle; after rinsing, the third drive mechanism drives the mesh plate to rise to be flush with the circular conveyor belt; trigger the second drive mechanism to pull the moth-grinding cup assembly back to the circular conveyor belt. The spring is located on the inner side of the other side plate of the L-shaped push plate of the second drive mechanism, and the spring protrudes 2-5cm from the inner side of the side plate. The spring is parallel to the upper surface of the annular conveyor belt and is located at the upper part of the grinding cup assembly. The moth removal platform is equipped with a second interception component, which has the same structure as the first interception component. The control unit is electrically connected to the second position sensor, the second drive mechanism, and the third drive mechanism.

5. The automatic swarm moth-grinding system as described in claim 2, characterized in that, The worktable of the grinding station is provided with a limiting groove that matches the shape of the magnetic substrate; the width of the limiting groove is the same as the width of the magnetic substrate, and the length direction is parallel to the tangent direction of the annular conveyor belt; when the L-shaped pusher pushes the grinding cup assembly into the grinding station, the magnetic substrate is embedded in the limiting groove, so that the central axis of the four grinding cups coincides with the rotation axis of the four grinding blades respectively. When they coincide, the downstream side plate of the L-shaped pusher is vertically aligned with the downstream edge of the limiting groove; the length of the horizontal side plate of the L-shaped pusher is greater than or equal to the total length of the grinding cup assembly.

6. The automatic swarm moth-grinding system according to any one of claims 1-5, characterized in that, The high-pressure nozzle sprays at an angle of 30°-45° to the axial direction of the grinding blade, and the spray coverage includes the blade surface and the gap between the blades. The control unit dynamically adjusts the water pressure of the high-pressure nozzle according to the rotation speed of the grinding blade. Specifically, when the blade rotation speed is higher than 1000 rpm, the water pressure is increased to 2.5-3.0 MPa; when the blade is stationary, the water pressure is reduced to 0.8-1.2 MPa.

7. The automatic swarm moth-grinding system as described in claim 1, characterized in that, The driving device for the annular conveyor belt includes a variable frequency motor, an encoder, and a transmission gear; the outer teeth of the transmission gear mesh with the inner teeth of the annular conveyor belt. The variable frequency motor drives the annular conveyor belt to run at a constant speed of 0.5-1.2 meters per minute through the transmission gear; the encoder monitors the displacement of the conveyor belt in real time and feeds it back to the control unit. The control unit dynamically adjusts the operating status of the variable frequency motor according to the trigger signals of the first position sensor and the second position sensor: when the moth grinding cup group enters one of the work stations, the control unit reduces the conveyor belt speed to 0.2-0.3 meters / minute, and restores the original speed after the work station operation is completed.

8. The automatic swarm moth-grinding system as described in claim 7, characterized in that, The inner side of the annular conveyor belt is equidistantly embedded with magnetic positioning marks, and the spacing between adjacent marks is an integer multiple of the length of the moth cup group. The control unit detects the position of the magnetic positioning mark in real time using a Hall sensor and compares it with the displacement data of the encoder; when the cumulative error exceeds ±0.5 mm, the following compensation logic is triggered: a) If the error is positive, control the variable frequency motor to reduce its speed by 0.05 m / min during the next station stop cycle; b) If the error is negative, the speed increases by 0.05 m / min; c) Maintain the adjusted speed until the absolute value of the error is less than 0.2 mm, then restore the reference speed.

9. The automatic swarm moth-grinding system as described in claim 8, characterized in that, The displacement monitoring method of the encoder includes the following steps: The rotational pulse signal of the transmission gear is acquired in real time by an incremental encoder, and the instantaneous angular velocity is calculated with a period of 0.1 milliseconds. The angular velocity data is compared with the output torque characteristic curve of the variable frequency motor to dynamically correct the pulse counting error caused by gear backlash; the correction formula is: Corrected pulse count = Original pulse count × (1 + Motor instantaneous torque / Rated torque × 0.005); The conveyor belt displacement is calculated based on the corrected pulse count and then fused with the position of the magnetic positioning mark detected by the Hall sensor using Kalman filtering to output the final displacement value. When the displacement value fluctuates by more than ±0.05 mm within 5 consecutive cycles, the encoder self-calibration program is triggered to reset the pulse count based on the current Hall sensor position.

10. The automatic swarm moth-grinding system as described in claim 8 or 9, characterized in that, The method for detecting cumulative error includes the following steps: The theoretical displacement Lt of the transmission gear is obtained through an encoder, and the calculation formula is as follows: Lt=(Np / Pr)×πD, where Np is the number of pulses, Pr is the number of pulses per encoder revolution, and D is the pitch circle diameter of the transmission gear; The actual displacement La of the magnetic positioning mark is obtained by the Hall sensor. The calculation formula is La=Nm×Sm, where Nm is the number of detected marks and Sm is the distance between adjacent marks. Calculate the cumulative error E=Lt−La, and trigger the compensation logic when |E|≥0.5 mm; After every 100 station stops, the encoder's pulse count initial value is forcibly reset based on the current Hall sensor data to eliminate historical error accumulation.

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