Wax cutting, worm clamping and pulp digging all-in-one machine

Abstract

The utility model relates to the technical field of bee-keeping industry production machinery design, in particular to a wax cutting, worm clamping and pulp digging all-in-one machine which is characterized in that a royal jelly platform base strip frame is vertically erected on an all-in-one machine rack, a royal jelly platform base strip moving device is arranged below the royal jelly platform base strip frame, and a beewax cutting knife is arranged at the outward moving end of the royal jelly platform base strip moving device; the beewax cutter is arranged on the base bar, the blade of the beewax cutter faces inwards, the honeycomb imaging device is located on one side of the insect clamping mechanical arm, the insect clamping mechanical arm is a double-needle rotary insect clamping mechanical arm, the honeycomb imaging device and the double-needle rotary insect clamping mechanical arm face the royal jelly platform base bar, and the royal jelly platform base bar is transferred to the royal jelly digging device through the base bar overturning device to dig royal jelly and discharge royal jelly. The all-in-one machine can fully automatically complete the processes of wax cutting, worm clamping, transferring and royal jelly digging in the royal jelly production process, the whole production process can be fully automatically completed by equipment except for feeding, a large amount of labor force is saved, the royal jelly production efficiency is high, and the occupied area is small.

Description

Technical Field

[0001] The utility model relates to the technical field of beekeeping production machinery design, in particular to a wax cutter, worm pliers and pulp digger integrated machine. Background Art

[0002] China is a major producer, operator, consumer and exporter of royal jelly in the world. The annual output of royal jelly in China is close to 3,000 tons, accounting for about 90% of the world's total annual output, and it occupies a dominant position in the world's royal jelly industry. Royal jelly, also known as royal jelly, bee milk, and royal jelly, is the secretion of the pharyngeal glands of young worker bees that cultivate larvae in the beehive. It is the food for the larvae that will become queen bees, and it is also the lifelong food of the queen bee. It has high nutritional value.

[0003] The production of royal jelly is roughly divided into the steps of wax cutting, worm removal, and pulp digging. In the past, royal jelly was mostly produced manually. However, with the increasing labor costs in my country, manual wax cutting, manual worm removal, and manual pulp digging will seriously affect the production efficiency and production cost of royal jelly.

[0004] Mechanized production of royal jelly is the only way forward. At present, there have been many royal jelly production equipment, some of which are separate clamping worm equipment, and some of which are separate conveying devices. For example, patent CN2012101650008 discloses a mechanized royal jelly production clamping worm machine, patent CN2013203782834 discloses a clamping worm device for mechanized production of royal jelly, and patent CN2009201162135 discloses several conveying devices used in royal jelly excavators. There are also all-in-one machines, such as patent CN202021873339X discloses a full An automatic royal jelly wax cutting and pulp digging machine comprises a frame and a wax cutting mechanism on the frame, a three-station roller conveying mechanism, a larvae removing mechanism and a pulp digging mechanism; the wax cutting mechanism is installed on the side of the three-station roller conveying mechanism, the larvae removing mechanism is installed in the frame below the three-station roller conveying mechanism, and the pulp digging mechanism is installed on the frame on the side of the three-station roller conveying mechanism; the double-row royal jelly base strips enter the three-station roller conveying mechanism from the wax cutting mechanism, and then the three-station roller conveying mechanism drives the double-row royal jelly base strips to rotate, first the larvae are removed by the larvae removal mechanism, and then the pulp digging operation is carried out by the pulp digging mechanism. Although the equipment can complete the entire process of cutting wax, moving worms, and digging out royal jelly, it is not flexible enough and is prone to inaccurate worm clamping, which can cause the worm body to rupture and affect the quality of royal jelly. In addition, the device can only cut the beeswax on one side of the royal jelly base strip, and cannot achieve full-scale cutting of the royal jelly base strip. At the same time, it cannot remove the beeswax in the empty nest. In the worm moving step, there is no automatic recognition function to eliminate the empty nest. When moving the worms, the beeswax in the empty nest may be touched, which will contaminate the worm removal chuck. Utility Model Content

[0005] The utility model provides an all-in-one machine for cutting wax, clamping worms and digging pulp. The wax cutting knife is fixed, and the wax cutting of the royal jelly base strip is realized during the movement of the royal jelly base strip, and the whole wax cutting, clamping worms and digging pulp process is fully automatic. After the wax cutting, the clamping of the larvae is carried out immediately, and the clamping tool adopts a double-needle rotating worm clamping manipulator. The image of the larvae in the hive is captured by a honeycomb imaging device, and the clamping direction of the manipulator is further controlled to ensure that the two needles of the manipulator clamp the worms at the crescent of the larvae and move them out, which can effectively prevent the larvae from being clamped and broken. The device can also further remove the beeswax in the empty nest and reduce the influence of the beeswax on the subsequent digging pulp process. During the whole processing process, the royal jelly base strip is moved synchronously, and the clamping process, the reaming process and the digging pulp process are carried out synchronously, which further improves the processing speed. The royal jelly base strip moving device links these processes, and the whole all-in-one machine structure is more compact and occupies less area.

[0006] The utility model provides a technical solution as follows: a wax cutting, worm-cutter and pulp-digging integrated machine, comprising a royal jelly base bar frame, a wax cutting knife, a royal jelly base bar moving device, a worm-cutter device and a pulp-digging device, wherein the royal jelly base bar frame is vertically mounted on the integrated machine frame, a royal jelly base bar moving device is arranged below the royal jelly base bar frame, the wax cutting knife is arranged at one end of the royal jelly base bar moving device moving outward, the blade of the wax cutting knife is inward, the worm-cutter device comprises a honeycomb imaging device and a worm-cutter mechanical device The hand and the honeycomb imaging device are located on one side of the clamp worm manipulator, and the clamp worm manipulator adopts a double-needle rotary clamp worm manipulator, which is mounted on the all-in-one machine frame through a manipulator frame, and the honeycomb imaging device and the double-needle rotary clamp worm manipulator are arranged facing the royal jelly base bar, and the royal jelly base bar is transferred to the slurry digging device through the base bar turning device for slurry digging and material feeding, and a reaming device is also arranged under the clamp worm device, and the reaming device, the clamp worm device and the slurry digging device are fixed on the all-in-one machine frame.

[0007] Furthermore, the royal jelly base bar frame is composed of two parallel vertical rods, and U-shaped grooves are provided on opposite sides of the vertical rods. The royal jelly base bar is buckled in the U-shaped groove. The U-shaped groove of the vertical rod is provided with a notch and front and rear through holes at the mounting end of the integrated machine frame. A royal jelly base bar pushing device is provided on the back side of the mounting end of the integrated machine frame. The royal jelly base bar pushing device is installed on the first slide rail through the first slider at the bottom. The push rod of the pushing device is in the same position as the through hole. The royal jelly base bar pushing device is connected to a horizontal plate through a vertical plate. The horizontal plate is installed on the second slide rail at the bottom through a second slider. A movable rack is also provided at the bottom of the horizontal plate. The movable rack is meshed with the movable gear and is driven by a movable motor.

[0008] Furthermore, the royal jelly base bar moving device includes a first slide groove, a first rack located in the first slide groove, a first gear meshed with the first rack, and a first motor driving the first gear, which is used for moving the royal jelly base bar during the worm clamping process; it also includes a second slide groove, a second rack located in the second slide groove, a second gear meshed with the second rack, and a second motor driving the second gear, which is used for moving the royal jelly base bar during the hole reaming process; it also includes a third slide groove, a third rack located in the third slide groove, which is used for supporting and moving the royal jelly base bar during the pulp digging process; the first slide groove, the second slide groove, the third slide groove, the first motor, and the second motor are respectively fixed on the integrated machine frame, and the movement of the royal jelly base bar is carried out synchronously during the worm clamping process, the hole reaming process and the pulp digging process.

[0009] Furthermore, the royal jelly base bar moving device also includes a royal jelly base bar slot, a waiting position, and a vertical baffle. The royal jelly base bar slot is located opposite to the notch of the royal jelly base bar frame at its installation end. The bottom of the royal jelly base bar slot is provided with a fourth rack perpendicular to the royal jelly base bar frame. The fourth rack is driven by a fourth moving motor after engaging with the fourth gear. The waiting position is located below the royal jelly base bar slot. The royal jelly base bar is positioned on the waiting position backboard by a paddle at the waiting position. Two vertical baffles are arranged in parallel at the two end positions of the royal jelly base bar below the paddle. The waiting position backboard is installed in the first slide groove. The waiting position backboard is fixedly connected to the base bar flipping device, and the base bar flipping device is installed in the second slide groove.

[0010] Furthermore, the base bar flipping device includes a baffle, a sliding rod and a flipping member, the end of the baffle is chamfered, the sliding rod lifts the base bar at both ends of the royal jelly platform base bar and makes it slide to a horizontal position, the royal jelly platform base bar is provided with a clamping column plate at both ends of the sliding rod horizontal position, the clamping column plate is fixedly connected to the upper cross plate, the flipping member includes a mounting cross bar and a flipping action member located at both ends of the cross bar, the cross bar is installed in the middle part of the flipping action member, the flipping action member is in contact with and connected to the bottom surface of the clamping column plate, and the forward and backward movement of the clamping column plate drives the flipping action member to rotate.

[0011] Furthermore, the double-needle rotary insect clamp manipulator includes a double insect-removing needle, a large toothed disc, a small toothed disc and a rotating motor. A front large toothed disc and a front small toothed disc are provided at the front end of the double insect-removing needle, and a rear large toothed disc and a rear small toothed disc are provided at the rear end of the double insect-removing needle. The front small toothed disc is fixed on the outside of the double insect-removing needle, the large toothed disc and the small toothed disc are meshed with gears, and the large toothed disc is driven by a rotating motor.

[0012] Furthermore, the double worm-removing needle includes an A needle and a B needle, and the A needle and the B needle have a cross hinge in the middle part, and the cross hinge is fixed by a fixed shaft, and the two ends of the fixed shaft are fixed inside the front small tooth plate. The ends of the A needle and the B needle cross each other to form an X shape, and a first fixed column and a second fixed column are respectively provided before and after the X-shaped intersection, and the two ends of the first fixed column and the second fixed column are respectively fixed on the connecting tube, and the other end of the connecting tube is connected to the central axis of the rear pinion, and the central axis of the rear pinion is connected to the telescopic motor.

[0013] Furthermore, two sets of the double-needle rotary worm clamp manipulators are arranged side by side in the vertical direction, and the worm-removing double needles of the two sets of double-needle rotary worm clamp manipulators are close to each other, and the two sets of double-needle rotary worm clamp manipulators are independently controlled by motors.

[0014] Furthermore, the slurry digging device includes a front and rear sliding device and a slurry collecting device, the front and rear sliding device is assembled on the slurry digging device substrate, the slurry digging device substrate is provided with a third slide rail, a fifth gear, and a fifth rack, the fifth gear is meshed with the fifth rack and connected to a fifth transmission motor by a transmission shaft located at the center of the gear, the fifth transmission motor is located on the motor substrate, the slurry collecting device includes a slurry collecting pen, a gear bracket and a slurry collecting device frame, the slurry collecting pen is assembled by meshing the gear of the slurry collecting pen with the gear of the gear bracket, and is mounted in the slide groove of the slurry collecting device frame, the gear bracket is fixed on the gear On the wheel bracket substrate, the third slider and the fourth slider are respectively arranged at the bottom of the motor substrate and the gear bracket substrate, and the third slider and the fourth slider are slidably assembled with the third slide rail. The slurry digging device substrate is fixed to the slurry digging device bottom plate through four gear shafts, and the slurry digging device bottom plate is fixed to the integrated machine frame. The upper ends of the gear shafts are connected to the slurry taking device frame through transmission rollers, and small gears are respectively installed on the lower ends of the gear shafts. The small gears are respectively meshed with the center large gear, and another power gear is meshed with the center large gear. The transmission shaft of the power gear is connected to the sixth transmission motor.

[0015] Furthermore, the pulp digging device also includes a royal jelly collecting device. A pulp scraper is arranged directly below the pulp collecting pen, a funnel is arranged below the pulp scraper, and a royal jelly collecting bucket is arranged below the funnel.

[0016] Furthermore, the reaming device is arranged on a reaming device base plate which is laterally fixed on the integrated machine frame, a movable motor is arranged on the L-shaped support block of the reaming device, a fifth slider is arranged at the bottom in the horizontal direction, the fifth slider is assembled on the fifth slide rail on the reaming device base plate, a sixth slide rail is arranged inside the L-shaped support block in the vertical direction, the reaming motor is fixed on the reaming motor fixing block, and the reaming motor fixing block is assembled on the sixth slide rail through the sixth slider.

[0017] The beneficial effects brought by the technical solution of the utility model are as follows:

[0018] (1) Automatic wax cutting: the wax cutter is fixedly installed with the blade facing the direction of the royal jelly base strip moving forward. The wax cutting is automatically completed in the process of the royal jelly base strip moving device moving the royal jelly base strip. After the wax is cut, the royal jelly base strip returns to its original position and enters the worm clamping process. Subsequently, the wax cutting of the next base strip is carried out continuously. In addition to manual loading, the wax cutting device can realize full automatic operation.

[0019] (2) The insect clamp device uses a double-needle rotating insect clamp manipulator. The manipulator cooperates with the honeycomb imaging device. After analyzing the sleeping posture of the royal jelly worms in the honeycomb obtained by the honeycomb imaging device, the rotation of the insect clamp manipulator is controlled so that the double needles of the insect clamp manipulator just clamp the middle position of the crescent shape of the royal jelly worm. This can effectively prevent the double needles from breaking the worm body and affecting the quality of the royal jelly. For the double-row royal jelly base strips, two sets of insect clamp manipulators are designed side by side. The upper and lower sets of manipulators have different motor controls. The angles of the double needles for worm removal can be adjusted accordingly according to the different sleeping postures of the royal jelly worms in the honeycomb captured by the honeycomb imaging device, which is convenient for clamping the worm. After the worm body is clamped out, it is taken out and released, and falls into the collection container below through the gap between the two.

[0020] (3) A base bar flipping device, which flips the royal jelly base bar after clamping the worms and turns it upside down on the horizontal position of the slide rod. A reaming device is provided below it. During the movement of the royal jelly base bar, the reaming motor removes the beeswax in the empty nests of the royal jelly base bar to reduce the influence of the beeswax in the empty nests on the subsequent royal jelly extraction process. A supporting roller device is provided on the back of the royal jelly base bar above the reaming motor to maintain the stability of the royal jelly base bar during movement.

[0021] (4) A slurry digging device, wherein multiple slurry collecting pens are used to dig the slurry simultaneously. The slurry collecting pens are controlled by a forward and backward moving device to extract the royal jelly from the honeycomb. At the same time, the extracted royal jelly is scraped into a funnel through a slurry scraper and collected by a royal jelly collecting bucket placed under the funnel.

[0022] (5) The honeycomb imaging device collects electronic images of the honeycomb and provides a basis for the movement of the double needles of the clamp after analyzing the images. It can also provide position positioning data for the subsequent reaming motor to remove the beeswax from the empty nest in the royal jelly base strip, thereby ensuring the accuracy of the working position of the reaming motor. Each step in the device is interrelated and affects the overall processing effect and speed of the royal jelly base strip.

[0023] The all-in-one machine can automatically complete the wax cutting, worm clamping, moving, pulp digging and unloading processes in the royal jelly production process. The entire production process except loading can be completed automatically by the equipment, saving a lot of labor. The mechanical arm clamps the worms and the pulp taking pen automatically takes the pulp, which greatly improves the production efficiency of royal jelly. The device occupies a small area, has a novel design, scientific structure and strong applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 The overall structure of the slurry excavator is shown in FIG. Figure 1 ;

[0025] Figure 2 This is a front view of the overall structure of the slurry excavation integrated machine of the present invention;

[0026] Figure 3 It is a side view of the overall structure of the slurry excavation integrated machine of the present invention;

[0027] Figure 4 It is a bottom view of the overall structure of the slurry excavation integrated machine of the present invention;

[0028] Figure 5 The overall structure of the slurry excavator is shown in FIG. Figure 2 ;

[0029] Figure 6 A three-dimensional diagram of the clamp worm device of the slurry excavation machine of the present invention;

[0030] Figure 7 It is a side view of the clamp worm device of the slurry excavation machine of the present invention;

[0031] Figure 8 The schematic diagram of the installation structure of the double needles of the clamp worm device of the slurry excavation machine of the present invention is shown in FIG. Figure 1 ;

[0032] Fig. 9 The schematic diagram of the installation structure of the double needles of the clamp worm device of the slurry excavation machine of the present invention is shown in FIG. Figure 2 ;

[0033] Fig.10 It is a side view of the slurry digging device of the slurry digging integrated machine of the present invention;

[0034] Fig.11 It is a structural schematic diagram of a slurry taking pen of a slurry digging device of a slurry digging integrated machine of the present invention;

[0035] Fig.12 It is a schematic diagram of the bottom structure of the slurry digging device of the slurry digging integrated machine of the present invention;

[0036] Fig.13 It is a side view of the base bar turning device of the grouting integrated machine of the present invention;

[0037] Among them, 1. Royal jelly base bar frame; 101. Vertical rod; 102. U-shaped groove; 103. Notch; 104. Through hole; 105. First slider; 106. First slide rail; 107. Push rod; 108. Vertical plate; 109. Horizontal plate; 110. Second slider; 111. Second slide rail; 112. Moving rack; 113. Moving gear; 114. Moving motor; 2. Beeswax cutter; 3. Royal jelly base bar moving device; 301. First slide slot; 302. First rack; 303. First gear; 304. First motor; 305. Second slide slot; 306. Second rack; 307. Second gear; 308. First Second motor; 309, third slide; 310, third rack; 311, royal jelly base bar slot; 312, waiting position; 313, vertical baffle; 314, fourth rack; 315, fourth gear; 316, fourth moving motor; 317, paddle; 318, waiting position back plate; 4, insect clamp device; 41, honeycomb imaging device; 42, insect clamp manipulator; 43, insect removal double needle; 431, front large tooth plate; 432, front small tooth plate; 433, rear large tooth plate; 434, rear small tooth plate; 435, cross hinge; 436, fixed shaft; 437, first fixed column; 438, second fixed column; 439, connecting tube; 4 40. Telescopic motor; 44. Large toothed disc; 45. Small toothed disc; 46. Rotating motor; 5. Slurry digging device; 501. Slurry digging device base plate; 502. Third slide rail; 503. Fifth gear; 504. Fifth rack; 505. Fifth transmission motor; 506. Motor base plate; 507. Slurry collecting pen; 508. Gear bracket; 509. Slurry collecting device frame; 510. Slurry collecting pen gear; 511. Gear bracket base plate; 512. Third slider; 513. Fourth slider; 514. Gear shaft; 515. Slurry digging device bottom plate; 516. Transmission roller; 517. Pinion; 518. Center large gear; 519. Power gear; 520, the sixth transmission motor; 521, the scraper plate; 522, the funnel; 523, the royal jelly collecting barrel; 6, the all-in-one machine frame; 7, the royal jelly base strip; 8, the base strip flipping device; 801, the baffle plate; 802, the slide bar; 803, the flipping member; 804, the horizontal position of the slide bar; 805, the column plate; 806, the cross bar; 807, the flipping member; 9, the reaming device; 901, the bottom plate of the reaming device; 902, the L-shaped support block; 903, the moving motor; 904, the fifth slider; 905, the fifth slide rail; 906, the sixth slide rail; 907, the reaming motor; 908, the reaming motor fixing block; 909, the sixth slider. DETAILED DESCRIPTION

[0038] The following describes the embodiments of the present invention through specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0039] like Figures 1 to 13As shown, a wax cutting, worm clamping and pulp digging integrated machine comprises a royal jelly base strip frame 1, a wax cutting knife 2, a royal jelly base strip moving device 3, a worm clamping device 4 and a pulp digging device 5. The royal jelly base strip frame 1 is vertically mounted on the integrated machine frame 6, and the royal jelly base strip moving device 3 is arranged below the royal jelly base strip frame 1. The wax cutting knife 2 is arranged at the end of the royal jelly base strip moving device 3 that moves outward, and the blade of the wax cutting knife 2 faces inward. The worm clamping device 4 comprises a honeycomb imaging device 41 and a worm clamping manipulator 42. The honeycomb imaging device 41 is located on one side of the worm clamping manipulator 42, and is used to obtain the royal jelly worms in the honeycomb on the royal jelly base strip 7. Morphological image, the morphological image here is transmitted to the control center of the device, and the control center controls the movement of the clamp worm manipulator after system analysis. The clamp worm manipulator 42 adopts a double-needle rotary clamp worm manipulator, and the double-needle rotary clamp worm manipulator is mounted on the integrated machine frame 6 through a manipulator frame. The honeycomb imaging device 41 and the double-needle rotary clamp worm manipulator are arranged facing the royal jelly base bar 7. The royal jelly base bar 7 is transported to the slurry digging device 5 for slurry digging and material discharge through the base bar turning device 8. A reaming device 9 is also arranged under the clamp worm device 4, and the reaming device 9, the clamp worm device 4 and the slurry digging device 5 are fixed on the integrated machine frame.

[0040] The royal jelly base bar frame 1 is composed of two parallel vertical rods 101, and U-shaped grooves 102 are provided on opposite sides of the vertical rods 101. The royal jelly base bar 7 is snapped into the U-shaped groove 102. The vertical rod U-shaped groove 102 is provided with a notch 103 and front and rear through holes 104 at the mounting end of the integrated machine frame 6. A royal jelly base bar pushing device is provided on the back of the mounting end of the integrated machine frame 6. The royal jelly base bar pushing device is installed on the first slide rail 106 through the first slider 105 at the bottom. The push rod 107 of the pushing device is in the same position as the through hole 104. The royal jelly base bar pushing device is connected to a horizontal plate 109 through a vertical plate 108. The horizontal plate 109 is installed on the second slide rail 111 at the bottom through a second slider 110. A movable rack 112 is also provided at the bottom of the horizontal plate 109. The movable rack 112 is meshed with the movable gear 113 and driven by the movable motor 114.

[0041] The royal jelly base bar moving device 3 includes a first slide groove 301, a first rack 302 located in the first slide groove 301, a first gear 303 meshing with the first rack 302, and a first motor 304 driving the first gear 303, which is used for moving the royal jelly base bar during the clamping process; it also includes a second slide groove 305, a second rack 306 located in the second slide groove 305, a second gear 307 meshing with the second rack 306, and a second motor 308 driving the second gear 307, which is used for moving the royal jelly base bar during the drilling process; it also includes a third slide groove 309, a third rack 310 located in the third slide groove 309, which is used for supporting and moving the royal jelly base bar during the pulp digging process, and the back side of the third rack is slidably connected to the slide rail fixed on the integrated machine frame through a slider. The first slide groove 301, the second slide groove 305, the third slide groove 309, the first motor 304, and the second motor 308 are respectively fixed on the integrated machine frame 6, and the royal jelly base bar 7 moves synchronously during the worm clamping process, the hole reaming process, and the slurry digging process.

[0042] Baffles are provided at both ends of the royal jelly base strip slot, and the baffles at both ends abut against the two ends of the royal jelly base strip body, and the distance between the baffles and the vertical baffles is slightly greater than the thickness of the royal jelly base strip body. The width of the royal jelly base strip slot is completely consistent with the width of the royal jelly base strip, and the upper and lower sides of the ends of the upper and lower clamping plates of the royal jelly base strip slot have inclined surfaces, and the upper end of the vertical baffle located below the royal jelly base strip slot has an inclined surface, and the royal jelly base strip bottom plate recovery position is located on one side of the inclined surface.

[0043] The royal jelly base bar moving device 3 also includes a royal jelly base bar slot 311, a waiting position 312, and a vertical baffle 313. The royal jelly base bar slot 311 is located opposite to the notch of the installation end of the royal jelly base bar frame 1. A fourth rack 314 perpendicular to the royal jelly base bar frame 1 is provided at the bottom of the royal jelly base bar slot 311. The fourth rack 314 is driven by the fourth moving motor 316 after engaging with the fourth gear 315. The waiting position 312 is located below the royal jelly base bar slot 311. The royal jelly base bar 7 is positioned on the waiting position backboard 318 at the waiting position 312 by a paddle 317. Two vertical baffles 313 are arranged in parallel at the two end positions of the royal jelly base bar 7 below the paddle 317. The waiting position backboard 318 is installed in the first slide groove 301. The waiting position backboard 318 is fixedly connected to the base bar flipping device 8, and the base bar flipping device 8 is installed in the second slide groove 305.

[0044] The base bar flipping device 8 includes a baffle 801, a slide bar 802 and a flipping member 803. The end of the baffle 801 is chamfered. The slide bar 802 holds up the base bar at both ends of the royal jelly base bar 7 and slides it to the horizontal position 804 of the slide bar. The royal jelly base bar 7 is provided with a clamping column plate 805 at both ends of the slide bar horizontal position 804. The clamping column plate 805 is fixedly connected to the upper cross plate 109. The flipping member 803 includes a mounting cross bar 806 and a flipping member 807 located at both ends of the cross bar 806. The cross bar 806 is installed in the middle of the flipping member 807. The flipping member 807 is in contact with the bottom surface of the clamping column plate 805. The forward and backward movement of the clamping column plate 805 drives the flipping member 807 to rotate. A slide bar base is provided under the slide bar. The slide bar base is connected to the slide rail through a slider and is installed on the integrated machine frame.

[0045] The double-needle rotary insect clamp manipulator 42 includes a double insect-removing needle 43, a large toothed disc 44, a small toothed disc 45 and a rotating motor 46. A front large toothed disc 431 and a front small toothed disc 432 are provided at the front end of the double insect-removing needle 43, and a rear large toothed disc 433 and a rear small toothed disc 434 are provided at the rear end of the double insect-removing needle 43. The front small toothed disc 431 is fixed on the outside of the double insect-removing needle 43, and the large toothed disc 44 and the small toothed disc 45 are meshed with gears, and the large toothed disc 44 is driven by a rotating motor 46.

[0046] The double worm-removing needle 43 includes an A needle and a B needle. There is a cross hinge 435 in the middle of the A needle and the B needle. The cross hinge 435 is fixed by a fixed shaft 436. The two ends of the fixed shaft 436 are fixed inside the front small tooth plate 431. The ends of the A needle and the B needle are crossed to form an X shape. A first fixed column 437 and a second fixed column 438 are respectively provided before and after the X-shaped intersection. The two ends of the first fixed column 437 and the second fixed column 438 are respectively fixed on the connecting tube 439. The other end of the connecting tube 439 is connected to the central axis of the rear pinion 434. The central axis of the rear pinion 434 is connected to the telescopic motor 440.

[0047] Two sets of double-needle rotary worm clamp manipulators are arranged side by side in the vertical direction, and the double needles for worm removal of the two sets of double-needle rotary worm clamp manipulators are close to each other. The two sets of double-needle rotary worm clamp manipulators close to each other are independently controlled by rotating motors, and the rotation of the two sets of double needles for worm removal is independently controlled. The direction of the double needles for worm removal can be controlled and adjusted according to the morphological image of the royal jelly worms in the honeycomb on the royal jelly base bar obtained by the front honeycomb imaging device, so as to facilitate the clamping of the worm body. The two sets of double-needle rotary worm clamp manipulators are controlled by the telescopic motor to extend and retract synchronously.

[0048] A double row of slide rails is provided on the manipulator frame, and a double row of sliders is provided at the bottom of the mounting seat of the double-needle rotary worm clamp manipulator. The double row of sliders are assembled on the double row of slide rails. The mounting seat is connected to the sliding motor on the side. The sliding motor 18 controls the worm clamp device to slide back and forth on the double row of slide rails during the worm clamping process.

[0049] The slurry digging device 5 includes a front and rear sliding device and a slurry taking device. The front and rear sliding device is assembled on the slurry digging device base plate 501. The slurry digging device base plate 501 is provided with a third slide rail 502, a fifth gear 503, and a fifth rack 504. After the fifth gear 503 is meshed with the fifth rack 504, it is connected to the fifth transmission motor 505 by a transmission shaft located at the center of the gear. The fifth transmission motor 505 is located on the motor base plate 506. The slurry taking device includes a slurry taking pen 507, a gear bracket 508 and a slurry taking device frame 509. The slurry taking pen 507 is assembled by meshing the gears of the slurry taking pen gear 510 with the gear bracket 508, and is mounted in the slide groove of the slurry taking device frame 509. The gear bracket 508 is fixed on the gear bracket base plate 511. A third slider 512 and a fourth slider 513 are respectively provided at the bottom of the motor substrate 506 and the gear bracket substrate 511. The third slider 512 and the fourth slider 513 are slidably assembled with the third slide rail 502. The slurry digging device substrate 501 is fixed to the slurry digging device bottom plate 515 through four gear shafts 514. The slurry digging device bottom plate 515 is fixed to the integrated machine frame 6. The upper ends of the gear shafts 514 are connected to the slurry taking device frame 509 through transmission rollers 516. Pinions 517 are respectively installed at the lower ends of the gear shafts 514. The pinions 517 are respectively meshed with the center large gear 518. Another power gear 519 is meshed with the center large gear 518. The transmission shaft of the power gear 519 is connected to the sixth transmission motor 520.

[0050] The pulp digging device 5 also includes a royal jelly collecting device. A pulp scraping plate 521 is arranged directly below the pulp taking pen 507, a funnel 522 is arranged below the pulp scraping plate 521, and a royal jelly collecting bucket 523 is arranged below the funnel 522.

[0051] After the royal jelly base strip is completed by the digging device, it moves synchronously with the royal jelly base strip that is cutting wax. When the royal jelly base strip moves to the outside of the all-in-one machine frame, the servo at one end of the royal jelly base strip moves the royal jelly base strip to complete the unloading.

[0052] The reaming device 9 is arranged on a reaming device base plate 901 which is laterally fixed on the all-in-one machine frame 6, a moving motor 903 is arranged on the L-shaped support block 902 of the reaming device, a fifth slider 904 is arranged at the bottom in the horizontal direction, the fifth slider 904 is assembled on the fifth slide rail 905 on the reaming device base plate 901, a sixth slide rail 906 is arranged inside the L-shaped support block 902 in the vertical direction, a reaming motor 907 is fixed on the reaming motor fixing block 908, and the reaming motor fixing block 908 is assembled on the sixth slide rail 906 through the sixth slider 909.

[0053] The working process of the wax cutting, pliers, worms and pulp digging machine is as follows: after the assembled wax cutting, pliers, worms and pulp digging machine, the royal jelly base strip is manually placed on the royal jelly base strip frame, and the royal jelly base strip moves under the action of the royal jelly base strip moving device. During the movement, the beeswax cutter fixed on the integrated machine frame cuts the wax, and the cut beeswax can be collected under the beeswax cutter. The royal jelly base strip moves forward while cutting the wax until the wax cutting is completed, and then the royal jelly base strip moving device returns the royal jelly base strip to its position and moves it to the waiting position to prepare for the clamps worms behind.

[0054] During the clamping process, the honeycomb imaging device in the clamping device takes images of the royal jelly base strips to obtain the sleeping position of the royal jelly worms in the royal jelly base strips. Then the system controls the rotary motor to rotate the double needles of the double needle rotary clamping manipulator to the corresponding position for clamping the royal jelly worms, ensuring that the double needles are clamped at the crescent of the royal jelly worms. The double needles are then driven by the telescopic motor to remove the clamped royal jelly worms, and the double needles are released to make the royal jelly worms fall from the gap between the clamping device and the base strip flipping device and be collected. During the clamping process, the double needle rotary clamping manipulator is fixed in position. During the movement of the royal jelly base strips, the double needle rotary clamping manipulator completes the clamping of the worms.

[0055] After the worms are clamped, the royal jelly base strip enters the base strip flipping device. Under the action of the baffle and the sliding rod, the royal jelly base strip is flipped downward. A reaming device is provided on the integrated machine frame below the horizontal position of the sliding rod. The reaming motor can slide up and down on the slide rail of the supporting block. The reaming motor is used to clean the beeswax in the hollow honeycomb of the royal jelly base strip to reduce the influence of the beeswax in the empty nest on the subsequent royal jelly extraction process.

[0056] Under the action of the flipping part of the base bar flipping device, the royal jelly base bar turns straight again and faces the pulp digging device. During the pulp digging process, the pulp taking pen is fixed on the gear bracket. There are 3-4 pulp taking pens. After the pulp taking pen gear is meshed and assembled with the gear of the gear bracket, it is mounted in the slide groove of the pulp taking device frame. The sixth transmission motor provides power to the power gear, and the power gear drives the large gear, the large gear drives the small gear, and the small gear drives the pulp taking device frame to move back and forth, and then drives the pulp taking pen gear to move on the gear bracket. Due to the unique shape of the gear bracket, the pulp taking pen can dig pulp from top to bottom and complete the scraping action of the pulp taking pen and the scraper plate below. The pulp digging device is fixed, and in the process of the royal jelly base bar moving device driving the royal jelly base bar here to move, the entire pulp digging and collecting action is completed. Finally, under the action of the paddle controlled by the servo gear, the royal jelly base bar that has completed the digging is unloaded, that is, the entire process of cutting wax, clamping worms and digging pulp of the royal jelly base bar is completed.

[0057] The above display and description personnel should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the basic principles, main features and advantages of the present invention. The technology of this industry is to illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A wax cutting, worm cutting and pulp digging machine, characterized by: It includes a royal jelly base bar frame, a wax cutter, a royal jelly base bar moving device, a clamp device and a pulp digging device. The royal jelly base bar frame is vertically mounted on the integrated machine frame, and a royal jelly base bar moving device is arranged below the royal jelly base bar frame. The wax cutter is arranged at the end of the royal jelly base bar moving device that moves outward, and the blade of the wax cutter is inward. The clamp device includes a honeycomb imaging device and a clamp manipulator. The honeycomb imaging device is located on one side of the clamp manipulator. The clamp manipulator adopts a double-needle rotary clamp manipulator. The double-needle rotary clamp manipulator is mounted on the integrated machine frame through a manipulator frame. The honeycomb imaging device and the double-needle rotary clamp manipulator are arranged facing the royal jelly base bar. The royal jelly base bar is transferred to the pulp digging device through a base bar flipping device to dig pulp and unload materials.

2. The wax cutting, worm cutting and pulp digging integrated machine according to claim 1, characterized in that: The royal jelly base bar frame is composed of two parallel vertical rods, and U-shaped grooves are provided on opposite sides of the vertical rods. The royal jelly base bar is buckled in the U-shaped groove. The U-shaped groove of the vertical rod is provided with a notch and front and rear through holes at the mounting end of the integrated machine frame. A royal jelly base bar pushing device is provided on the back of the mounting end of the integrated machine frame. The royal jelly base bar pushing device is installed on the first slide rail through the first slider at the bottom. The push rod of the pushing device is in the same position as the through hole. The royal jelly base bar pushing device is connected to a horizontal plate through a vertical plate. The horizontal plate is installed on the second slide rail at the bottom through a second slider. A movable rack is also provided at the bottom of the horizontal plate. The movable rack is meshed with the movable gear and is driven by a movable motor.

3. The wax cutting, worm cutting and pulp digging integrated machine according to claim 2, characterized in that: The royal jelly base bar moving device includes a first slide groove, a first rack located in the first slide groove, a first gear meshed with the first rack, and a first motor driving the first gear, which is used for moving the royal jelly base bar during the worm clamping process; it also includes a second slide groove, a second rack located in the second slide groove, a second gear meshed with the second rack, and a second motor driving the second gear, which is used for moving the royal jelly base bar during the hole reaming process; it also includes a third slide groove, a third rack located in the third slide groove, which is used for supporting and moving the royal jelly base bar during the pulp digging process; the first slide groove, the second slide groove, the third slide groove, the first motor, and the second motor are respectively fixed on the integrated machine frame, and the movement of the royal jelly base bar is carried out synchronously during the worm clamping process, the hole reaming process and the pulp digging process.

4. The wax cutting, worm cutting and pulp digging integrated machine according to claim 3, characterized in that: The royal jelly base bar moving device also includes a royal jelly base bar slot, a waiting position, and a vertical baffle. The royal jelly base bar slot is located opposite to the notch of the installation end of the royal jelly base bar frame. The bottom of the royal jelly base bar slot is provided with a fourth rack perpendicular to the royal jelly base bar frame. The fourth rack is driven by a fourth moving motor after engaging with the fourth gear. The waiting position is located below the royal jelly base bar slot. The royal jelly base bar is positioned on the waiting position backboard by a paddle at the waiting position. Two vertical baffles are arranged in parallel at the two end positions of the royal jelly base bar below the paddle. The waiting position backboard is installed in the first slide groove. The waiting position backboard is fixedly connected to the base bar flipping device, and the base bar flipping device is installed in the second slide groove.

5. The wax cutting, worm cutting and pulp digging integrated machine according to claim 4, characterized in that: The base bar flipping device includes a baffle, a sliding rod and a flipping member. The end of the baffle is chamfered. The sliding rod lifts the base bar at both ends of the royal jelly platform base bar and makes it slide to a horizontal position. The royal jelly platform base bar is provided with a clamping column plate at both ends of the sliding rod horizontal position. The clamping column plate is fixedly connected to the upper cross plate. The flipping member includes a mounting cross bar and a flipping action member located at both ends of the cross bar. The cross bar is installed in the middle part of the flipping action member. The flipping action member is in contact with the bottom surface of the clamping column plate. The forward and backward movement of the clamping column plate drives the flipping action member to rotate.

6. The wax cutting, worm cutting and pulp digging integrated machine according to claim 1, characterized in that: The double-needle rotary insect clamp manipulator comprises a double insect-retrieving needle, a large toothed disc, a small toothed disc and a rotating motor. A front large toothed disc and a front small toothed disc are arranged at the front end of the double insect-retrieving needle, and a rear large toothed disc and a rear small toothed disc are arranged at the rear end of the double insect-retrieving needle. The front small toothed disc is fixed outside the double insect-retrieving needle, the large toothed disc is meshed with the small toothed disc through gears, and the large toothed disc is driven by the rotating motor.

7. The wax cutting, worm cutting and pulp digging integrated machine according to claim 6, characterized in that: The double worm-removing needles include an A needle and a B needle, and the A needle and the B needle have a cross hinge in the middle, and the cross hinge is fixed by a fixed shaft, and the two ends of the fixed shaft are fixed inside the front small tooth plate, and the ends of the A needle and the B needle cross each other to form an X shape, and a first fixed column and a second fixed column are respectively provided before and after the X-shaped intersection, and the two ends of the first fixed column and the second fixed column are respectively fixed on the connecting tube, and the other end of the connecting tube is connected to the central axis of the rear small gear, and the central axis of the rear small gear is connected to the telescopic motor.

8. The wax cutting, worm cutting and pulp digging integrated machine according to claim 7, characterized in that: Two sets of double-needle rotary worm clamping manipulators are arranged side by side in the vertical direction, and the worm-taking double needles of the two sets of double-needle rotary worm clamping manipulators are close to each other, and the two sets of double-needle rotary worm clamping manipulators are independently controlled by motors.

9. The wax cutting, worm cutting and pulp digging integrated machine according to claim 1, characterized in that: The slurry digging device includes a front and rear sliding device and a slurry taking device, the front and rear sliding device is assembled on the slurry digging device base plate, the slurry digging device base plate is provided with a third slide rail, a fifth gear, a fifth rack, the fifth gear is meshed with the fifth rack and connected to a fifth transmission motor by a transmission shaft located at the center of the gear, the fifth transmission motor is located on the motor base plate, the slurry taking device includes a slurry taking pen, a gear bracket and a slurry taking device frame, the slurry taking pen is assembled by meshing the gear of the slurry taking pen gear with the gear bracket, and is mounted in the slide groove of the slurry taking device frame, the gear bracket is fixed on the gear bracket On the frame base plate, the third slider and the fourth slider are respectively arranged at the bottom of the motor base plate and the gear bracket base plate, and the third slider and the fourth slider are slidably assembled with the third slide rail. The slurry digging device base plate is fixed to the slurry digging device bottom plate through four gear shafts, and the slurry digging device bottom plate is fixed on the integrated machine frame. The upper ends of the gear shafts are connected to the slurry taking device frame through transmission rollers, and small gears are respectively installed on the lower ends of the gear shafts, and the small gears are respectively meshed with the center large gear, and another power gear is meshed with the center large gear, and the transmission shaft of the power gear is connected to the sixth transmission motor.

10. The wax cutting, worm cutting and pulp digging integrated machine according to claim 8, characterized in that: The pulp digging device also includes a royal jelly collecting device. A pulp scraping plate is arranged just below the pulp taking pen, a funnel is arranged below the pulp scraping plate, and a royal jelly collecting bucket is arranged below the funnel.

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