An anchovy fertilized egg attachment matrix laying and collecting mechanism and automatic incubation pool

Abstract

The application relates to the technical field of aquaculture equipment, and discloses a hatchery fish fertilized egg attachment substrate laying and collecting mechanism and an automatic incubator, which comprises an integrated pool body structure, one end of the integrated pool body structure being provided with an oviposition pool, the mechanism is characterized in that an intelligent water spraying assembly is started synchronously during the collecting process, low-pressure water flow is sprayed to the surface of the plug-in substrate being pulled out, the fertilized eggs are loosened but not completely detached by using precisely controlled water flow pressure, flexible separation of the fertilized eggs is realized, damage of the fertilized eggs caused by dragging or water flow impact is effectively reduced, a plurality of clamping plates are arranged on the two sides of the oviposition pool, the plug-in substrate is arranged in a multi-layer three-dimensional mode, the vertical space of the pool body is fully utilized, the effective attachment area of the unit water body is increased, the breeding density is improved, and the problem of insufficient space utilization rate of traditional plane or single-layer arrangement is solved.

Description

Technical Field

[0001] This invention relates to the field of aquaculture equipment technology, and more specifically to a substrate laying and collection mechanism for fertilized eggs of the mandarin fish and an automatic hatching tank. Background Technology

[0002] The chub is a small stream-dwelling fish with good economic value. In recent years, its artificial breeding scale has gradually expanded. This fish produces adhesive eggs. The fertilized eggs need to be firmly attached to the surface of natural substrates such as gravel and aquatic plants in order to hatch normally. The traditional breeding method usually adopts artificial methods. The bottom or walls of the spawning pond are covered with palm sheets, net sheets or natural gravel as attachment substrates. After the parent fish have finished spawning, the substrate with attached fertilized eggs is removed by hand and transferred to the hatching pond for further incubation.

[0003] In traditional methods, the laying and collection of substrates rely entirely on manual operation, which is not only inefficient and labor-intensive, but also makes it difficult to ensure the uniformity and stability of the substrate, thus limiting the advancement of large-scale production. When collecting substrates with attached fertilized eggs, operators have difficulty precisely controlling the force, and fertilized eggs are easily detached, damaged, or locally piled up due to dragging or water flow impact, directly affecting the survival rate of fertilized eggs. Existing spawning spaces are mostly arranged in a plane or single layer, with limited effective attachment area per unit water volume, making it difficult to increase the stocking density in a limited space.

[0004] Therefore, there is an urgent need for a substrate laying and collection mechanism for fertilized eggs of the Chinese sturgeon and an automatic hatching tank to solve the aforementioned technical problems. Summary of the Invention

[0005] In order to overcome the above-mentioned defects of the prior art, the present invention provides a substrate laying and collection mechanism for fertilized eggs of the Chinese sturgeon and an automatic hatching tank to solve the problems existing in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a substrate for attaching fertilized eggs of the Chinese sturgeon is laid on a collection mechanism, comprising an integrated pool structure, one end of which is provided with a spawning pool, the inner wall of which is equipped with a modular monitoring and bearing component, and the top of which is provided with an automatic conveying component.

[0007] An electrically controlled robotic arm is mounted on the upper surface of the automatic conveying component. An automatic robotic hand is mounted on one end of the electrically controlled robotic arm. An intelligent water spray component is provided on the side of one end of the electrically controlled robotic arm. A control device is mounted on the front of the integrated pool structure. The control device contains a control system.

[0008] The modular monitoring support component includes two sets of bases, which are respectively installed on the inner walls of both sides of the spawning pool. Each set of bases has a support plate installed on its upper surface. Multiple sets of clamping plates are sequentially installed on the opposite sides of the two sets of support plates. Every two sets of corresponding clamping plates are at the same height. The same insert-type substrate is sleeved on the inner wall of the corresponding positions of the two sets of clamping plates. A weight sensor is set between the clamping plate and the insert-type substrate to monitor the weight data of the fertilized eggs on the surface of the insert-type substrate and transmit it to the control system to determine whether the weight of the fertilized eggs on the surface of the insert-type substrate has reached a preset threshold.

[0009] The hatching pool starts by controlling the electrically controlled robotic arm and automatic robotic hand to move to the corresponding insert substrate position. When the control system determines that the weight of the fertilized egg reaches the preset threshold, it controls the automatic robotic hand to clamp the insert substrate and release the clamping plate. During this process, the intelligent water spray component sprays low-pressure water to gently rinse the surface of the insert substrate, so that the fertilized egg is loosened but does not fall off.

[0010] Preferably, the upper surface of the insert-type substrate has multiple sets of grooves arranged at equal intervals, and the insert-type substrate has filter holes on the inner wall near each set of grooves.

[0011] The automatic conveying assembly includes a lead screw and a placement plate.

[0012] Preferably, the inner walls on both sides of the top of the incubation pool are provided with grooves that are adapted to the two sides of the placement plate. There are two sets of grooves. The two sides of the placement plate are sequentially fitted into the inside of each set of grooves. The inner walls on both sides of the placement plate are fitted with lead screws. A servo motor is installed at one end of each set of lead screws. Each set of servo motors is installed on the outer wall of one end of the integrated pool structure.

[0013] Preferably, the intelligent water spray assembly includes a frame, which is installed on the outer side of the electro-controlled robotic arm, wherein the installation position of the frame is close to the automatic robotic arm, and a water spray plate is movably sleeved on the inner wall of the frame. An electro-hydraulic rod is installed on the side of the water spray plate near the frame to drive the water spray plate to move towards the clamping area of ​​the automatic robotic arm.

[0014] An automatic water supply device is installed in the middle area at the front of the integrated pool structure, and a telescopic delivery pipe is installed inside the automatic water supply device.

[0015] Preferably, the outer side of the end of the telescopic conveying pipe away from the automatic water supply device penetrates the interior of the placement plate, and an auxiliary conveying pipe is installed at one end of the telescopic conveying pipe. The end of the auxiliary conveying pipe away from the telescopic conveying pipe passes through the interior of the electrically controlled robotic arm, the frame and the water spray plate in sequence, and is fixedly connected to the water spray gun.

[0016] The inner surfaces at both ends of the clamping plate are provided with sensing grooves.

[0017] Preferably, a limiting plate is fitted onto the opposite surfaces of both sets of sensing slots, and the same spring is installed perpendicularly to the opposite surface of each set of sensing slots and the limiting plate.

[0018] Preferably, a weight sensor is installed in the middle area of ​​the inner wall of a set of sensing slots located at the bottom of the clamping plate.

[0019] An automatic hatching pond is provided, in which a substrate for attaching fertilized eggs of the chub is laid in a collection mechanism. The hatching pond is located in the hatching area of ​​the integrated pond structure. A temperature sensor is installed inside the hatching pond to collect water temperature data inside the hatching pond and transmit it to a control device.

[0020] The control device adjusts the temperature inside the incubation tank in real time based on the received water temperature data, so as to maintain the water temperature within the set range suitable for the incubation of fertilized eggs.

[0021] A method for using a substrate for attaching fertilized eggs of the Chinese sturgeon to a collection mechanism, applicable to the aforementioned substrate for attaching fertilized eggs of the Chinese sturgeon to a collection mechanism, includes the following steps:

[0022] S1. The insert-type substrate is transported to the top of the spawning pool by the automatic conveying component. The electro-controlled robotic arm and automatic robotic arm insert the insert-type substrate layer by layer between the clamping plates at the corresponding height to form a multi-layered three-dimensional spawning bed.

[0023] S2. The artificially inseminated fertilized eggs of the chub are evenly distributed on the surface of each layer of insert-type substrate. The weight sensor monitors the weight data of the fertilized eggs in each insert-type substrate in real time and sends it to the control system.

[0024] S3. When the control system determines that the weight of the fertilized egg in a certain insert-type substrate reaches a preset threshold, it controls the automatic robotic arm to grasp the insert-type substrate and pull it outward. At the same time, it activates the intelligent water spray component to spray low-pressure water onto the substrate surface, so that the fertilized egg is flexibly loosened but does not fall off.

[0025] A method for using an automated incubator, applied to the aforementioned automated incubator, includes the following steps:

[0026] S4. The insert-type substrate with loosened fertilized eggs attached is transported from above the spawning pool to the hatching pool through the above-mentioned automatic conveying component for subsequent hatching. The hatching pool is equipped with a temperature sensor and the water temperature is regulated by the above-mentioned control device.

[0027] The technical effects and advantages of this invention are as follows:

[0028] 1. This invention achieves automatic substrate laying and collection by manufacturing the substrate into standard-sized insert-type modules, combined with automatic conveying components and electrically controlled robotic arms. This replaces the traditional manual operation method, improves work efficiency, reduces labor intensity, and ensures the uniformity and stability of substrate arrangement, thus providing conditions for large-scale production.

[0029] 2. This invention monitors the weight of fertilized eggs on the surface of each insert-type substrate in real time by setting a weight sensor, and judges the egg production progress by combining it with a preset threshold range. When the saturation state is reached, the collection action is automatically triggered, avoiding the problem of collecting too early or too late due to experience-based timed collection, and reducing the waste of resources and loss of fertilized eggs caused by insufficient egg production or excessive accumulation.

[0030] 3. This invention activates an intelligent water spray component simultaneously during the collection process to spray low-pressure water onto the surface of the insert-type substrate that is being pulled out. By using precisely controlled water pressure, the fertilized eggs are loosened but not completely detached, simulating the gentle water flow effect when shrimp are carrying eggs. This achieves the flexible separation of fertilized eggs and effectively reduces damage to fertilized eggs caused by dragging or water flow impact.

[0031] 4. This invention, by setting multiple sets of clamping plates on both sides of the spawning pond, arranges the insert-type substrate in a multi-layer three-dimensional manner, making full use of the vertical space of the pond, increasing the effective attachment area per unit water body, improving the breeding density, and solving the problem of insufficient space utilization in traditional planar or single-layer layouts. Attached Figure Description

[0032] Figure 1 This is a front view of the overall structure of the present invention;

[0033] Figure 2 for Figure 1 An enlarged schematic diagram of the structure at point A is shown;

[0034] Figure 3 for Figure 1 The diagram shows the overall structure of the modular monitoring support component.

[0035] Figure 4 for Figure 3 The diagram shows the overall device of the insert-type substrate;

[0036] Figure 5 for Figure 3 The side sectional view of the clamping plate shown;

[0037] Figure 6 This is a schematic diagram of the overall structure of the present invention from the rear.

[0038] The attached diagram is labeled as follows: 1. Integrated pool structure; 101. Spawning pool; 2. Modular monitoring and support assembly; 201. Support plate; 202. Base; 203. Insert-type substrate; 204. Clamping plate; 205. Groove; 206. Filter hole; 207. Sensing groove; 208. Limiting plate; 209. Weight sensor; 210. Spring; 3. Hatching pool; 4. Slide; 5. Servo motor; 6. Lead screw; 7. Placement plate; 8. Telescopic conveying pipe; 9. Automatic water supply device; 10. Control device; 11. Electrically controlled robotic arm; 111. Automatic robotic arm; 12. Intelligent water spray assembly; 121. Frame; 122. Water spray plate; 123. Water spray gun; 13. Power supply device. Detailed Implementation

[0039] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. In addition, the forms of the various structures described in the following embodiments are merely illustrative. The fertilized egg attachment substrate laying and collection mechanism and automatic hatching pool of the Chinese sturgeon involved in the present invention are not limited to the structures described in the following embodiments. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] Reference Figures 1 to 3 As shown, the present invention provides a substrate for attaching fertilized eggs of the chub to a collection mechanism, including an integrated pool structure 1, a spawning pool 101 at one end of the integrated pool structure 1, a modular monitoring and bearing component 2 installed on the inner wall of the spawning pool 101, and an automatic conveying component set on the top of the integrated pool structure 1.

[0041] An electrically controlled robotic arm 11 is installed on the upper surface of the automatic conveying component. An automatic robotic hand 111 is installed at one end of the electrically controlled robotic arm 11. An intelligent water spray component 12 is provided on the side of one end of the electrically controlled robotic arm 11. A control device 10 is installed in front of the integrated pool structure 1. A control system is installed inside the control device 10.

[0042] The modular monitoring support component 2 includes two sets of bases 202, which are respectively installed on the inner walls of both sides of the spawning pool 101. Each set of bases 202 has a support plate 201 installed on its upper surface. Multiple sets of clamping plates 204 are installed sequentially on the opposite sides of the two sets of support plates 201. Each pair of corresponding clamping plates 204 are at the same height. The same insert-type substrate 203 is sleeved on the inner wall of the corresponding positions of the two sets of clamping plates 204. A weight sensor 209 is provided between the clamping plate 204 and the insert-type substrate 203 to monitor the weight data of the fertilized eggs on the surface of the insert-type substrate 203 and transmit it to the control system to determine whether the weight of the fertilized eggs on the surface of the insert-type substrate 203 has reached a preset threshold.

[0043] The incubation pool 3 starts to control the electric control robotic arm 11 and the automatic robotic arm 111 to move to the corresponding insert substrate 203 position. When the control system determines that the weight of the fertilized egg reaches the preset threshold, it controls the automatic robotic arm 111 to clamp the insert substrate 203 and release the clamping plate 204. During this process, the intelligent water spray component 12 sprays low-pressure water to gently rinse the surface of the insert substrate 203, so that the fertilized egg is loosened but does not fall off.

[0044] In this embodiment of the application, the preset threshold range refers to the target range of the amount of fertilized eggs attached to the surface of a single insert-type matrix 203.

[0045] The threshold range is set as follows: Based on the actual area of ​​the insert substrate 203 and combined with the biological characteristics of spawning of the chub, the theoretical maximum number of eggs attached to a single substrate is calculated. When the fertilized eggs cover 60% to 80% of the substrate surface, it can be considered as a suitable saturation state for collection.

[0046] Multiple sets of experimental data are collected by the weight sensor 209 to determine the weight range corresponding to the saturation state. Taking the standard-sized insert substrate 203 as an example, when the detected weight of the fertilized egg reaches 1 gram to 1.5 grams, it indicates that the egg production has reached the standard and the collection action can be triggered.

[0047] If the weight is less than 1 gram, it indicates insufficient egg production, and the eggs should be kept in the spawning pond 101. If the weight exceeds 1.5 grams, there may be a risk of overcrowding of fertilized eggs, and collection should be triggered in this case to avoid affecting the hatching rate due to lack of oxygen or water mold growth.

[0048] In practical applications, this threshold range can be fine-tuned according to the condition of different batches of parent fish, water quality conditions, and substrate specifications to ensure the best collection time.

[0049] Reference Figures 1 to 5 As shown, the present invention provides a substrate for attaching fertilized eggs of the Chinese sturgeon to a collection mechanism, and the automatic conveying component includes a lead screw 6, a chute 4, and a placement plate 7;

[0050] The inner walls on both sides of the top of the hatching pool 3 are provided with sliding grooves 4 that are adapted to the two sides of the placement plate 7. There are two sets of sliding grooves 4. The two sides of the placement plate 7 are sequentially fitted into the interior of each set of sliding grooves 4. The inner walls on both sides of the placement plate 7 are fitted with lead screws 6. A servo motor 5 is installed at one end of each set of lead screws 6. Each set of servo motors 5 is installed on the outer wall of one end of the integrated pool structure 1.

[0051] The intelligent water spray assembly 12 includes a frame 121, which is installed on the outer side of the electro-controlled robotic arm 11. The frame 121 is installed close to the automatic robotic arm 111. A water spray plate 122 is movably sleeved on the inner wall of the frame 121. An electro-hydraulic rod is installed on the side of the water spray plate 122 near the frame 121 to drive the water spray plate 122 to move towards the clamping area of ​​the automatic robotic arm 111.

[0052] An automatic water supply device 9 is installed in the middle area in front of the integrated pool structure 1. The automatic water supply device 9 has a telescopic conveying pipe 8 installed inside. The outer side of the telescopic conveying pipe 8, which is away from the automatic water supply device 9, passes through the interior of the placement plate 7. An auxiliary conveying pipe is installed at one end of the telescopic conveying pipe 8. The end of the auxiliary conveying pipe, which is away from the telescopic conveying pipe 8, passes through the interior of the electrically controlled robotic arm 11, the frame 121, and the spray plate 122 in sequence, and is fixedly connected to the spray gun 123.

[0053] The upper surface of the insert substrate 203 has multiple sets of grooves 205 arranged at equal intervals, and the insert substrate 203 has filter holes 206 on the inner wall near each set of grooves 205.

[0054] The inner sides of both ends of the clamping plate 204 are provided with sensing grooves 207. The opposite surfaces of the two sets of sensing grooves 207 are fitted with limiting plates 208. The same spring 210 is installed perpendicularly to the opposite surfaces of the corresponding set of sensing grooves 207 and limiting plates 208.

[0055] A weight sensor 209 is installed in the middle area of ​​the inner wall of a set of sensing slots 207 located at the bottom of the clamping plate 204.

[0056] Reference Figure 1 As shown, the present invention provides an automatic hatching pond, which is applied to a substrate for attaching and collecting fertilized eggs of chub, including a hatching pond 3, wherein the hatching pond 3 is located in the hatching area of ​​an integrated pond structure 1, and a temperature sensor is installed inside the hatching pond 3 to collect water temperature data inside the hatching pond 3 and transmit it to a control device 10.

[0057] The control device 10 adjusts the temperature inside the hatching tank 3 in real time based on the received water temperature data, so as to maintain the water temperature within the set range suitable for hatching fertilized eggs.

[0058] A power supply device 13 is installed on the back of the integrated pool structure 1. The power supply device 13 is electrically connected to the automatic conveying component, the electrically controlled robotic arm 11, the intelligent water spray component 12, the control device 10, and the weight sensor 209, respectively, to provide working power to each electrical component.

[0059] In this embodiment of the application, a power supply device 13 is also provided on one side of the integrated pool structure 1. The power supply device 13 can be a mains-connected voltage regulator module or a battery pack, which is used to provide a stable working voltage for each electrical component in the whole system.

[0060] Specifically, the output of the power supply device 13 is electrically connected to the servo motor 5, the electric control robotic arm 11, the automatic robotic hand 111, the solenoid valve of the electric control hydraulic rod and the water spray gun 123 in the intelligent water spray assembly 12, the automatic water delivery device 9, the control device 10, the weight sensor 209, and the temperature sensor in the incubation pool 3 via wires.

[0061] The control device 10 is equipped with a power management module, which is used to supply power to each component in a time-sharing or simultaneous manner according to the working status of each component. For example, when the automatic conveying component moves, the servo motor 5 is given priority to power supply, and when the water spraying operation is performed, the power supply circuit of the automatic water delivery device 9 and the water spray gun 123 is activated.

[0062] When the system starts up, the power supply device 13 first supplies power to the control device 10. After the control device 10 completes its self-test, it outputs power signals to each execution component in sequence according to the preset program to ensure that each component is powered on and works in the logical order, and to avoid excessive instantaneous current affecting the stability of the equipment.

[0063] The specific workflow of this invention is as follows:

[0064] The broodstock were induced to spawn by a single injection at the base of the pectoral fin. The spawning-inducing hormone was a mixture of luteinizing hormone-releasing hormone (LRH-A2), domperidone maleate (DOM), and human chorionic gonadotropin (HCG). The injection dose per kilogram of female fish was 5 micrograms of LRH-A2 + 3 milligrams of DOM + 1000 units of HCG, and the injection dose for male fish was halved. After injection, the male and female broodstock were placed separately in small net cages in the spawning induction tank. The female fish were stimulated to spawn by flowing water, and the effect lasted for 16 to 17 hours.

[0065] After the effect time has arrived, anesthetize the parent fish with a 30-50 mg / L eugenol solution. After anesthesia, remove the parent fish and dry their bodies with a towel. First, gently press the sides of the female fish's abdomen to squeeze the eggs into a clean stainless steel basin. Then, gently press the sides of the male fish's abdomen to drip the sperm onto the eggs. Add a small amount of physiological saline to rinse away any remaining sperm. Gently shake the egg basin and stir with a feather for 1-2 minutes to mix the sperm and eggs thoroughly. Then, add water and stir gently for 1-2 minutes, let stand for 1-2 minutes, and then wash the eggs 2-3 times with water to obtain uniformly fertilized eggs.

[0066] In the initial state, the automatic conveying component drives the lead screw 6 to rotate via the servo motor 5, which moves the placement plate 7 along the chute 4 to the working position above the spawning pool 101. The electro-controlled robotic arm 11 grabs a clean insert substrate 203 via the automatic robotic arm 111.

[0067] At this point, the fertilized eggs that have undergone artificial insemination are evenly sprinkled or lightly smeared on the surface of the insert-type substrate 203. The grooves 205 and filter holes 206 on the surface of the substrate make the eggs adhere and distribute more evenly. Then, the automatic robot 111 aligns the insert-type substrate 203 carrying the fertilized eggs with the corresponding height of the clamping plate 204 and inserts it horizontally. The clamping plates 204 are respectively inserted into both sides of the insert-type substrate 203. The limiting plate 208 provides elastic clamping force under the action of the spring 210, and the substrate is firmly fixed between the two side walls of the spawning pool 101. The above grabbing, egg placement and insertion actions are repeated to load multiple sets of insert-type substrates 203 layer by layer from bottom to top to form a multi-layer three-dimensional spawning bed carrying eggs.

[0068] The spawning pool 101 maintains a suitable incubation water flow environment. The weight sensor 209 located in the sensing groove 207 at the bottom of each clamping plate 204 monitors the weight data of the fertilized eggs on the surface of each insert substrate 203 in real time and sends the data to the control system of the control device 10. The system continuously judges the development and attachment status of each substrate according to the preset threshold range of 1 gram to 1.5 grams.

[0069] When the control system determines that the weight of a fertilized egg on a certain insert substrate 203 reaches a preset threshold (more than 1 gram but not more than 1.5 grams), the collection program is automatically started. If the weight is less than 1 gram, it indicates that the fertilized egg is still in the stable period of development and adhesion, and the substrate is kept in place for continued monitoring. If the weight exceeds 1.5 grams, the collection action will also be triggered to prevent the risk of hypoxia caused by excessive local accumulation.

[0070] The automatic conveying component drives the placement plate 7 to move along the slide 4 to the corresponding substrate position. After the electric control robotic arm 11 adjusts the angle, the automatic robotic arm 111 precisely clamps the end of the insert substrate 203 and applies a pulling force outward, so that the substrate overcomes the elastic clamping force of the clamping plate 204 and is pulled out smoothly.

[0071] During the extraction process, the intelligent water spraying component 12 is activated simultaneously: the electro-hydraulic rod drives the water spraying plate 122 to move to the clamping area of ​​the automatic manipulator 111, and the water spraying gun 123 obtains water from the automatic water supply device 9 through the telescopic delivery pipe 8 and the auxiliary delivery pipe, spraying precisely controlled low-pressure water onto the surface of the insert-type substrate 203 that is being extracted. The water pressure only causes the bottom of the fertilized egg to float slightly to weaken the adhesion force, achieving a flexible separation effect of "loosening but not falling off", ensuring that the fertilized egg is completely attached to the substrate;

[0072] After the insert substrate 203 is completely removed, the automatic conveying component drives the electrically controlled robotic arm 11 and the egg-carrying substrate held therein to move along the chute 4 to the hatching pool 3 area at the other end of the integrated pool structure 1, and smoothly place the substrate into the hatching pool for subsequent hatching and cultivation.

[0073] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A substrate for attaching fertilized eggs of the Chinese sturgeon to a collection mechanism, comprising an integrated pool structure (1), characterized in that, One end of the integrated pool structure (1) is provided with a spawning pool (101), the inner wall of the spawning pool (101) is equipped with a modular monitoring and bearing assembly (2), and the top of the integrated pool structure (1) is provided with an automatic conveying assembly. An electric control robotic arm (11) is installed on the upper surface of the automatic conveying component. An automatic robotic hand (111) is installed at one end of the electric control robotic arm (11). An intelligent water spraying component (12) is provided on the side of one end of the electric control robotic arm (11). A control device (10) is installed in front of the integrated pool structure (1). A control system is provided inside the control device (10). The modular monitoring support component (2) includes two sets of bases (202), which are respectively installed on the inner walls of both sides of the spawning pool (101). Each set of bases (202) has a support plate (201) installed on its upper surface. Multiple sets of clamping plates (204) are installed sequentially on the opposite sides of the two sets of support plates (201). Each pair of corresponding clamping plates (204) are at the same height. The same insert substrate (203) is sleeved on the inner wall of the corresponding position of the two sets of clamping plates (204). A weight sensor (209) is provided between the clamping plate (204) and the insert substrate (203) to monitor the weight data of the fertilized eggs on the surface of the insert substrate (203) and transmit it to the control system to determine whether the weight of the fertilized eggs on the surface of the insert substrate (203) has reached a preset threshold. The hatching pool (3) starts the control of the electric control robotic arm (11) and the automatic robotic arm (111) to move to the corresponding insert substrate (203) position. When the control system determines that the weight of the fertilized egg reaches the preset threshold, it controls the automatic robotic arm (111) to clamp the insert substrate (203) and release the clamping plate (204). During this process, the intelligent water spray component (12) sprays low-pressure water to gently rinse the surface of the insert substrate (203), so that the fertilized egg is loose but does not fall off.

2. The substrate for attaching fertilized eggs of the Chinese sturgeon, as described in claim 1, is laid in a collection mechanism, characterized in that: The upper surface of the insert substrate (203) has a number of grooves (205) arranged at equal intervals, and the insert substrate (203) has filter holes (206) on the inner wall near each groove (205). The automatic conveying assembly includes a lead screw (6) and a placement plate (7).

3. The substrate for attaching fertilized eggs of the Chinese sturgeon, as described in claim 2, is laid in a collection mechanism, characterized in that: The inner walls on both sides of the top of the hatching pool (3) are provided with grooves (4) that are adapted to the two sides of the placement plate (7). There are two sets of grooves (4). The two sides of the placement plate (7) are sequentially fitted into the interior of each set of grooves (4). The inner walls on both sides of the placement plate (7) are fitted with screws (6). A servo motor (5) is installed at one end of each set of screws (6). Each set of servo motors (5) is installed on the outer wall of one end of the integrated pool structure (1).

4. The substrate for attaching fertilized eggs of the Chinese sturgeon, as described in claim 3, is laid in a collection mechanism, characterized in that: The intelligent water spray assembly (12) includes a frame (121) which is installed on the outer side of the electro-hydraulic arm (11). The frame (121) is installed close to the automatic manipulator (111). A water spray plate (122) is movably sleeved on the inner wall of the frame (121). An electro-hydraulic rod is installed on the side of the water spray plate (122) near the frame (121) to drive the water spray plate (122) to move towards the clamping area of ​​the automatic manipulator (111). An automatic water supply device (9) is installed in the middle area in front of the integrated pool structure (1), wherein a telescopic conveying pipe (8) is installed inside the automatic water supply device (9). The back of the integrated pool structure (1) is equipped with a power supply device (13), which is electrically connected to the automatic conveying component, the electric control robotic arm (11), the intelligent water spray component (12), the control device (10) and the weight sensor (209) respectively, and is used to provide working power to each electrical component.

5. The substrate for attaching fertilized eggs of the Chinese sturgeon, as described in claim 4, is laid in a collection mechanism, characterized in that: The outer side of the telescopic conveying pipe (8) at the position away from the automatic water supply device (9) passes through the interior of the placement plate (7), and an auxiliary conveying pipe is installed at one end of the telescopic conveying pipe (8). The end of the auxiliary conveying pipe away from the telescopic conveying pipe (8) passes through the interior of the electric control robotic arm (11), the frame (121) and the water spray plate (122) in sequence, and is fixedly connected to the water spray gun (123). The inner surfaces at both ends of the clamping plate (204) are provided with sensing grooves (207).

6. The substrate for attaching fertilized eggs of the Chinese sturgeon, as described in claim 5, is laid in a collection mechanism, characterized in that: The opposing surfaces of the two sets of sensing slots (207) are fitted with limit plates (208), and the same spring (210) is installed perpendicularly to the opposing surfaces of the corresponding set of sensing slots (207) and limit plates (208).

7. The substrate for attaching fertilized eggs of the Chinese sturgeon, as described in claim 6, is laid in a collection mechanism, characterized in that: A weight sensor (209) is installed in the middle area of ​​the inner wall of a set of sensing slots (207) located at the bottom of the clamping plate (204).

8. An automatic hatching tank, used in a collection mechanism for attaching fertilized eggs of the Chinese sturgeon as described in any one of claims 1-7, characterized in that: Includes an incubation pool (3), wherein the incubation pool (3) is located in the incubation area of ​​the integrated pool structure (1), and a temperature sensor is installed inside the incubation pool (3) to collect water temperature data inside the incubation pool (3) and transmit it to the control device (10). The control device (10) adjusts the temperature inside the incubation pool (3) in real time according to the received water temperature data so that the water temperature is maintained within the set range suitable for the incubation of fertilized eggs.

9. A method for using a substrate for attaching fertilized eggs of the Chinese sturgeon to a collection mechanism, applicable to the method of using the substrate for attaching fertilized eggs of the Chinese sturgeon as described in any one of claims 1-7 to a collection mechanism, characterized in that, Includes the following steps: S1. The insert substrate (203) is transported to the spawning pool (101) by the automatic conveying component. The insert substrate (203) is inserted layer by layer into the clamping plates (204) at the corresponding height by the electric control robotic arm (11) and the automatic robotic arm (111) to form a multi-layer three-dimensional spawning bed. S2. The artificially inseminated fertilized eggs of the chub are evenly distributed on the surface of each layer of insert-type substrate (203). The weight sensor (209) monitors the weight data of the fertilized eggs in each insert-type substrate (203) in real time and sends it to the control system. S3. When the control system determines that the weight of the fertilized egg in a certain insert substrate (203) reaches the preset threshold, it controls the automatic robotic arm (111) to clamp the insert substrate (203) and pull it outward. At the same time, the intelligent water spraying component (12) is activated to spray low-pressure water onto the substrate surface, so that the fertilized egg is flexibly loosened but does not fall off.

10. A method of using an automated incubator, applied to the automated incubator of claim 8, characterized in that, Includes the following steps: S4. Using the automatic conveying assembly as described in claim 1, the insert substrate (203) with loose fertilized eggs attached is conveyed from above the spawning pool (101) to the hatching pool (3) for subsequent hatching. The hatching pool (3) is equipped with a temperature sensor and the water temperature is regulated by the control device (10) as described in claim 1.

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