Wax cutting and insect clamping 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 and insect clamping 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; a cutting edge of the beewax cutting knife 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 type insect clamping mechanical arm, and the honeycomb imaging device and the double-needle rotary type insect clamping mechanical arm face the royal jelly platform base strip. According to the all-in-one machine, the wax cutting and insect clamping procedures can be completed in a full-automatic mode, besides manual feeding is needed in the production process, wax cutting and insect clamping can be completed in a full-automatic mode, labor is saved, and production efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of beekeeping production machinery design, in particular to a wax cutter, pliers and worm all-in-one 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 are already many automatic beehive production devices, such as CN2018213746589, a worm transfer machine, which identifies the bees and worms in the honeycomb spleen by controlling the manipulator, and moves the bee and worm eggs into the worm transfer needle of the manipulator, and then moves the Tai Chi to the bottom of the manipulator through the base strip pushing mechanism, so that the manipulator can perform layout; this scheme uses a worm transfer needle, specifically a worm transfer elastic sheet, which will not cause the problem of bee and worm rupture; such as CN2022205088413, a desktop worm transfer machine, which realizes high-precision long-distance movement of each mechanism on the worm transfer machine by setting up dual X-axes, three Y-axes, Z-axis AZ, and several Z1-axes AZ1, and the structure is integrated into one, and the main problem solved is to monitor whether there are holes of suitable size in the honeycomb larvae, and can realize secondary replenishment of empty royal jelly bowls without larvae; in addition to single-unit worm moving equipment, there is also a wax cutting and worm clamping machine, such as patent CN202021873339X discloses a fully automatic royal jelly cutting, wax cutting and pulp digging machine, including a frame and a wax cutting mechanism on the frame, a three-station roller conveying mechanism, a larvae removal mechanism and a pulp digging mechanism; a wax cutting mechanism is installed on the side of the three-station roller conveying mechanism, a larvae removal mechanism is installed in the frame below the three-station roller conveying mechanism, and a 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 mechanism is used to perform the pulp digging operation. Although the equipment can complete the entire process of cutting wax, moving worms, and digging pulp, it is not flexible enough. For the worm moving process, its larvae removal mechanism uses old worm removal chucks to remove worms, including a horizontal plate and two groups of chuck groups installed in the upper and lower positions of the horizontal plate. Each group has multiple chucks arranged at intervals between the water skins, and the chucks of the two groups of chucks are clamped or released by a shearing clamp. This worm removal device cannot adjust the direction of the chuck according to the sleeping position of the royal jelly worms in the hive, which can easily lead to inaccurate clamping of the worms due to inconsistent clamping positions, and the force cannot be adaptively adjusted, which may cause the worm body to be broken, resulting in quality problems with the royal jelly. Utility Model Content

[0005] The utility model provides an all-in-one machine for cutting wax and clamping worms. The wax cutting knife is fixed, and the wax cutting of the royal jelly base strip is achieved during the movement of the royal jelly base strip. The whole wax cutting and worm clamping process is fully automatic. The larvae clamping work is carried out immediately after the wax cutting. The worm clamping tool adopts a double-needle rotary worm clamping manipulator. The image of the larvae in the hive is captured by a honeycomb imaging device, and the worm clamping direction of the manipulator is further controlled to ensure that the two needles of the manipulator clamp the worm at the crescent bend of the larvae and move it out, which can effectively prevent the larvae from being clamped and broken.

[0006] A technical solution provided by the utility model is as follows: a wax cutting and worm clamping integrated machine, comprising a royal jelly base bar frame, a wax cutting knife, an integrated frame, and a worm clamping device, wherein the royal jelly base bar frame is vertically mounted on the integrated machine frame, a royal jelly base bar moving device is provided below the royal jelly base bar frame, the wax cutting knife is arranged at the end of the royal jelly base bar moving device moving outward, and the blade of the wax cutting knife is fixed inwardly on the integrated frame, the worm clamping device comprises a honeycomb imaging device and a worm clamping manipulator, the honeycomb imaging device is located on one side of the worm clamping manipulator and is close to the wax cutting knife, the worm clamping manipulator adopts a double-needle rotary worm clamping manipulator, the double-needle rotary worm clamping manipulator is mounted on the integrated machine frame through a manipulator frame, the honeycomb imaging device and the double-needle rotary worm clamping manipulator are arranged facing the royal jelly base bar, and a royal jelly base bar bottom plate removal device is provided on the royal jelly base bar moving device.

[0007] 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.

[0008] 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 small tooth plate, and the central axis of the rear small tooth plate is connected to the telescopic motor.

[0009] 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.

[0010] Furthermore, the royal jelly base 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 strip is buckled in the U-shaped grooves, and the U-shaped grooves of the vertical rods are provided with a notch and front and rear through holes at the mounting end of the integrated machine frame.

[0011] Furthermore, the royal jelly base bar frame is provided with a royal jelly base bar pushing device on the back side of the integrated machine frame mounting end, the royal jelly base bar pushing device is installed on the first slide rail through the bottom first slider, the push rod of the pushing device is consistent with the position of the through hole, the royal jelly base bar pushing device is connected with a horizontal plate through a vertical plate, the horizontal plate is installed on the second slide rail through the second slider at the bottom, and 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.

[0012] Furthermore, the royal jelly base bar moving device includes a royal jelly base bar slot, which is located opposite to the notch of the installation end of the royal jelly base bar frame. A first rack perpendicular to the royal jelly base bar frame is provided at the bottom of the royal jelly base bar slot, and the first rack is driven by the first moving motor after being meshed with the first gear.

[0013] Furthermore, the royal jelly base bar moving device also includes a waiting position and a vertical baffle, the waiting position is located below the royal jelly base bar slot, the royal jelly base bar is positioned on the waiting position back plate by a paddle at the waiting position, two vertical baffles are arranged in parallel at the two ends of the royal jelly base bar below the paddle, the waiting position back plate is fixed on the second rack, the second rack is installed in the slide groove, the second rack is meshed with the second gear, and the second gear is driven by the second motor.

[0014] Furthermore, baffles are provided at both ends of the royal jelly base strip slot, the baffles at both ends abut against both 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.

[0015] Furthermore, the royal jelly base bar bottom plate removal device includes a royal jelly base bar slot and a royal jelly base bar bottom plate recovery position, the width of the royal jelly base bar slot is completely consistent with the width of the royal jelly base bar, and the upper and lower sides of the ends of the upper and lower plates of the royal jelly base bar slot have inclined surfaces, the upper end of the vertical baffle located below the royal jelly base bar slot has an inclined surface, and the royal jelly base bar bottom plate recovery position is located on one side of the inclined surface.

[0016] The beneficial effects brought by the technical solution of the utility model are as follows:

[0017] (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.

[0018] (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.

[0019] (3) A honeycomb imaging device collects electronic images of the honeycomb and provides a basis for the movement of the two needles of the insect clamp after analyzing the images.

[0020] The all-in-one machine can automatically complete the wax cutting and worm clamping processes in the royal jelly production process. Except for manual loading, the entire production process can be completed automatically by the equipment, saving a lot of labor. The robot analyzes the morphology of the royal jelly worms according to the images obtained by the honeycomb imaging device and adjusts the movements of the two branches of the worm clamping to ensure the integrity of the royal jelly worms during the clamping process, greatly improving the production efficiency and quality of royal jelly. The device occupies a small area, has a novel design, scientific structure and strong applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 The overall structure of the integrated machine of the utility model is three-dimensional Figure 1 ;

[0022] Figure 2 The overall structure of the integrated machine of the utility model is three-dimensional Figure 2 ;

[0023] Figure 3 The overall structure of the integrated machine of the utility model is three-dimensional Figure 3 ;

[0024] Figure 4 This is a side view of the overall structure of the integrated machine of the utility model;

[0025] Figure 5 This is the overall structure diagram of the clamp worm manipulator of the integrated machine of the utility model;

[0026] Figure 6 This is the front view of the clamp worm manipulator of the integrated machine of the utility model;

[0027] Figure 7 The utility model is a double-needle installation structure of the clamp insect of the integrated machine Figure 1 ;

[0028] Figure 8The utility model is a double-needle installation structure of the clamp insect of the integrated machine Figure 2 ;

[0029] Among them, 1. Royal jelly base strip frame; 101. Vertical rod; 102. U-shaped groove; 103. Notch; 104. Through hole; 2. Beeswax cutter; 3. All-in-one machine frame; 4. Insect clamp device; 41. Honeycomb imaging device; 42. Insect clamp manipulator; 421. Insect removal double needle; 422. Large toothed disc; 422a. Front large toothed disc; 422b. Rear large toothed disc; 423. Small toothed disc; 423a. Front small toothed disc; 423b. Rear small toothed disc; 424. Rotating motor; 425. Fixed shaft; 426. First fixed column; 427. Second fixed column; 428. Connecting tube; 429. Central shaft; 430. Telescopic motor; 43. Manipulator frame; 431. Double-row slide rail; 432. Mounting seat; 433. Double-row slider; 434. Sliding motor; 5. Royal jelly base strip moving device; 501 , royal jelly base strip slot; 502, first rack; 503, first gear; 504, first moving motor; 505, waiting position; 506, vertical baffle; 507, waiting position back plate; 508, second rack; 509, slide; 510, second gear; 511, second motor; 512, baffle; 513, royal jelly base strip body; 6, royal jelly base strip; 7, royal jelly base strip bottom plate removal device; 701, royal jelly base strip bottom plate recovery position; 702a, 702b, inclined plane; 8, royal jelly base strip pushing device; 801, first slider; 802, first slide rail; 803, push rod; 804, vertical plate; 805, horizontal plate; 806, second slider; 807, second slide rail; 808, moving rack; 809, moving gear; 810, moving motor. DETAILED DESCRIPTION

[0030] The following describes the implementation 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.

[0031] like Figures 1 to 8As shown, a wax cutting and worm clamping machine comprises a royal jelly base bar frame 1, a wax cutting knife 2, an integrated machine frame 3, and a worm clamping device 4. The royal jelly base bar frame 1 is vertically mounted on the integrated machine frame 3, a royal jelly base bar moving device 5 is provided below the royal jelly base bar frame 1, the wax cutting knife 2 is arranged at an end of the royal jelly base bar moving device moving outward, and the blade of the wax cutting knife 2 is fixed inwardly on the integrated machine frame 3. The worm clamping device 4 comprises a honeycomb imaging device 4 1 and a clamp worm manipulator 42, the honeycomb imaging device 41 is located on one side of the clamp worm manipulator 42 and is close to the beeswax cutter 2, 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 all-in-one machine frame 3 through a manipulator frame 43, the honeycomb imaging device 41 and the double-needle rotary clamp worm manipulator are arranged facing the royal jelly base bar 6, and the royal jelly base bar moving device 5 is provided with a royal jelly base bar bottom plate removing device 7.

[0032] 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 6 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 3.

[0033] The royal jelly base bar frame 1 is provided with a royal jelly base bar pushing device 8 on the back side of the mounting end of the integrated machine frame 3. The royal jelly base bar pushing device 8 is installed on the first slide rail 802 through the first slider 801 at the bottom. The push rod 803 of the pushing device is in the same position as the through hole 104. The royal jelly base bar pushing device 8 is connected with a horizontal plate 805 through a vertical plate 804. The horizontal plate 805 is installed on the second slide rail 807 at the bottom through a second slider 806. A movable rack 808 is also provided at the bottom of the horizontal plate 805. The movable rack 808 is meshed with the movable gear 809 and is driven by a movable motor 810.

[0034] The royal jelly base bar moving device 5 includes a royal jelly base bar slot 501, which is located opposite to the notch 103 of the mounting end of the royal jelly base bar frame 1. A first rack 502 perpendicular to the royal jelly base bar frame 1 is provided at the bottom of the royal jelly base bar slot 501. The first rack 502 is driven by the first moving motor 504 after being engaged with the first gear 503.

[0035] The royal jelly base bar moving device 5 also includes a waiting position 505 and a vertical baffle 506. The waiting position 505 is located below the royal jelly base bar slot 501. The royal jelly base bar 6 is positioned on the waiting position back plate 507 by a paddle at the waiting position 505. Two vertical baffles 506 are arranged in parallel at the two end positions of the royal jelly base bar 6 below the paddle. The waiting position back plate 507 is fixed on the second rack 508. The second rack 508 is installed in the slide groove 509. The second rack 508 is meshed with the second gear 510. The second gear 510 is driven by the second motor 511.

[0036] Baffles 512 are provided at both ends of the royal jelly base strip slot 501 , and the baffles 512 at both ends abut against both ends of the royal jelly base strip body 513 . The distance between the baffles 512 and the vertical baffles 506 is slightly greater than the thickness of the royal jelly base strip body 513 .

[0037] The royal jelly base strip bottom plate removal device 7 includes a royal jelly base strip slot 501 and a royal jelly base strip bottom plate recovery position 701. The width of the royal jelly base strip slot 501 is completely consistent with the width of the royal jelly base strip 6, and the upper and lower sides of the ends of the upper and lower plates of the royal jelly base strip slot 501 have inclined surfaces 702a. The upper end of the vertical baffle 506 located below the royal jelly base strip slot 501 has an inclined surface 702b, and the royal jelly base strip bottom plate recovery position 701 is located on one side of the inclined surface 702b.

[0038] The double-needle rotary insect clamp manipulator 42 includes an insect-removing double needle 421, a large toothed disc 422, a small toothed disc 423 and a rotating motor 424. A front large toothed disc 422a and a front small toothed disc 423a are provided at the front end of the insect-removing double needle, and a rear large toothed disc 422b and a rear small toothed disc 423b are provided at the rear end of the insect-removing double needle. The front small toothed disc 422a is fixed on the outside of the insect-removing double needle 421, and the large toothed disc 422 and the small toothed disc 423 are meshed with gears, and the large toothed disc 422 is driven by a rotating motor 424.

[0039] The double worm-removing needle 421 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 425. The two ends of the fixed shaft 425 are fixed inside the front small tooth plate 423a, and the ends of the A needle and the B needle are crossed to form an X shape. A first fixed column 426 and a second fixed column 427 are respectively provided before and after the X-shaped intersection, and the two ends of the first fixed column 426 and the second fixed column 427 are respectively fixed on the connecting tube 428, and the other end of the connecting tube 428 is connected to the central axis 429 of the rear small tooth plate 423b, and the central axis 429 of the rear small tooth plate 423b is connected to the telescopic motor 430.

[0040] 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.

[0041] A double row of slide rails 431 are provided on the manipulator frame 43, and a double row of sliders 433 are provided at the bottom of the mounting seat 432 of the double-needle rotary worm clamp manipulator. The double row of sliders 433 are assembled on the double row of slide rails 431, and the mounting seat 432 is connected to the sliding motor 434 at the side. The sliding motor 434 controls the worm clamping device to slide back and forth on the double row of slide rails 431 during the worm clamping process.

[0042] The working process of the wax cutting and worm clamping machine is as follows: after the assembled wax cutting and worm clamping machine is assembled, 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 following clamping worms.

[0043] 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.

[0044] The above display and description personnel should understand that the utility model is not limited to the above embodiments. The above embodiments and the description only describe the basic principles, main features and advantages of the utility model. The technology of this industry is to explain the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model will have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection claimed by the utility model is defined by the attached claims and their equivalents.

Claims

1. A wax cutting and worm clamping machine, characterized in that: It includes a royal jelly base bar frame, a beeswax cutter, an integrated frame, and a worm clamp device. The royal jelly base bar frame is vertically mounted on the integrated frame, a royal jelly base bar moving device is provided below the royal jelly base bar frame, the beeswax cutter is arranged at the end of the royal jelly base bar moving device that moves outward, and the blade of the beeswax cutter is fixed inwardly on the integrated frame. The worm clamp device includes a honeycomb imaging device and a worm clamp manipulator. The honeycomb imaging device is located on one side of the worm clamp manipulator and is close to the beeswax cutter. The worm clamp manipulator adopts a double-needle rotary worm clamp manipulator, which is mounted on the integrated frame through a manipulator frame, and the honeycomb imaging device and the double-needle rotary worm clamp manipulator are arranged facing the royal jelly base bar.

2. The wax cutter and worm pliers 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.

3. The wax cutter and worm pliers integrated machine according to claim 2, 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 tooth plate, and the central axis of the rear small tooth plate is connected to the telescopic motor.

4. The wax cutter and worm pliers integrated machine according to claim 3, 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.

5. The wax cutter and worm pliers 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.

6. The wax cutter and worm pliers integrated machine according to claim 1, characterized in that: The royal jelly base bar frame is provided with a royal jelly base bar pushing device on the back side of the integrated machine frame mounting end, 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 consistent with the position of the through hole, the royal jelly base bar pushing device is connected with a horizontal plate through a vertical plate, the horizontal plate is installed on the second slide rail at the bottom through a second slider, and 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.

7. The wax cutter and worm pliers integrated machine according to claim 1, characterized in that: The royal jelly base bar moving device includes a royal jelly base bar slot, which is located opposite to the notch of the installation end of the royal jelly base bar frame. A first rack perpendicular to the royal jelly base bar frame is provided at the bottom of the royal jelly base bar slot, and the first rack is driven by the first moving motor after being meshed with the first gear.

8. The wax cutter and worm pliers integrated machine according to claim 7, characterized in that: The royal jelly base bar moving device also includes a waiting position and a vertical baffle. The waiting position is located below the royal jelly base bar slot. The royal jelly base bar is positioned on the waiting position back plate by a paddle at the waiting position. Two vertical baffles are arranged in parallel at the two ends of the royal jelly base bar below the paddle. The waiting position back plate is fixed on the second rack, the second rack is installed in the slide groove, the second rack is meshed with the second gear, and the second gear is driven by the second motor.

9. The wax cutter and worm pliers integrated machine according to claim 7, characterized in that: 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.

Images