Automatic silkworm breeding equipment

Abstract

The utility model discloses automatic silkworm breeding equipment which comprises an AGV trolley, a conveying device, a silkworm foil taking and placing device and a breeding device, the breeding device is installed on the conveying device, a silkworm foil releasing station is arranged at the end of the conveying device and located on one side of the breeding device, a first stacking station is located on one side of the silkworm foil releasing station, and a second stacking station is located on the other side of the silkworm foil releasing station. The silkworm foil taking and placing device is located on one side of the silkworm foil releasing station and comprises a rotating mechanism and a lifting mechanism, the lifting mechanism is installed on the rotating mechanism and can ascend and descend relative to the rotating mechanism, a cantilever beam is installed on the lifting mechanism, and a silkworm foil clamping assembly is installed on the cantilever beam. The automatic silkworm rearing system has the advantages that the silkworm rearing foil taking and placing device is adopted for taking and placing silkworm rearing foil, the AGV trolley moves back and forth between the stacking station and the silkworm house, manual silkworm rearing foil transferring is replaced, the rearing device is arranged on the conveying device, rearing operation is completed in the silkworm rearing foil moving process, and then automatic silkworm rearing is achieved.

Description

Technical Field

[0001] The utility model relates to an automatic silkworm breeding technology, in particular to an automatic silkworm breeding equipment. Background Art

[0002] my country has a long history of silk culture and silkworm breeding. At present, silkworm breeding is still mainly operated by manual operation, supplemented by mechanical operation, which is difficult to adapt to the development of modern agriculture. It is urgent to improve the mechanization and automation level of silkworm breeding. At the same time, silkworm breeding is showing a trend of large-scale operation, which requires equipment with a higher degree of mechanization and automation, changing the labor-intensive production mode, reducing labor intensity, improving production and management efficiency, realizing industrial transformation and upgrading, and promoting high-quality development of the industry.

[0003] A fully automatic silkworm raising robot system for mulberry feeding CN2023118298372 and a fully automatic silkworm raising machine CN2021223431549 use a six-axis manipulator to stack silkworm foil. The six-axis manipulator has six degrees of freedom, but the silkworm foil stacking operation does not require so many degrees of freedom, so a two-degree-of-freedom special stacking device is more suitable for silkworm raising and stacking silkworm foil; at the same time, the stacked silkworm foil needs to be manually transferred, specifically, the piles of silkworm foil to be raised need to be manually transferred to the equipment station, and the piles of silkworm foil that have been raised need to be manually transferred from the equipment station to the silkworm room; in addition, both patents are for mulberry leaf silkworm raising, and do not involve feed silkworm raising.

[0004] Silkworm feeding and transmission platform CN2019201033689, this patent is an early application of the inventor, which proposes horizontal conveying of silkworm foil and silkworm feeding operation during the movement of silkworm foil. This equipment requires manual silkworm foil stacking operation, and the degree of automation is low. Utility Model Content

[0005] The purpose of the utility model is to overcome the shortcomings of the prior art and provide an automated silkworm breeding device.

[0006] The purpose of the utility model is achieved through the following technical solutions: an automated silkworm breeding equipment, including an AGV trolley, a conveying device and a feeding device for conveying silkworm foil to a first stacking station, the feeding device is installed on the conveying device, and the end of the conveying device is provided with a silkworm foil releasing station, the silkworm foil releasing station is located on one side of the feeding device, and the first stacking station is located on one side of the silkworm foil releasing station, characterized in that it also includes a silkworm foil picking and placing device for transferring the silkworm foil on the first stacking station to the silkworm foil releasing station, the silkworm foil picking and placing device is located on one side of the silkworm foil releasing station, the silkworm foil picking and placing device includes a rotating mechanism and a lifting mechanism, the lifting mechanism is installed on the rotating mechanism, and the lifting mechanism can be lifted and lowered relative to the rotating mechanism, a cantilever beam is installed on the lifting mechanism, and a silkworm foil clamping assembly is installed on the cantilever beam.

[0007] Optionally, the silkworm foil clamping assembly includes a mounting frame and a clamping unit, the mounting frame is installed on the cantilever beam, and two clamping units are slidably installed on the left and right ends of the mounting frame, and the two clamping units are arranged at an interval. The mounting frame is also equipped with a driving mechanism for driving the two clamping units to move toward or away from each other. The clamping unit has a support arm, and a linear guide mechanism is installed at one end of the support arm away from the mounting frame. The execution end of the linear guide mechanism is connected to a lifting arm, and the execution end of the linear guide mechanism is in a downstroke under the action of gravity of the lifting arm, and a clamping mechanism for clamping the silkworm foil is installed on the lifting arm.

[0008] Optionally, the clamping mechanism includes a guide plate and a lifting plate, both of which are installed on the lifting arm, the guide plate is located above the lifting plate, and a clamping groove is formed between the guide plate and the lifting plate, and an upwardly inclined first guide slope is provided at one end of the guide plate away from the lifting arm, and a downwardly inclined second guide slope is provided at one end of the lifting plate away from the lifting arm, and the first guide slope and the second guide slope form a bell mouth.

[0009] Optionally, the linear guide mechanism includes a linear bearing and a guide rod, the linear bearing is installed on the support arm, the guide rod is slidably installed in the linear bearing, and a limiting cap is provided on the top of the guide rod to prevent the guide rod from falling out of the linear bearing, and the bottom of the guide rod is connected to the lifting arm.

[0010] Optionally, the driving mechanism includes a driving motor, a support shaft and a synchronous belt, the support shaft is mounted on the mounting frame through a bearing seat, the driving motor is mounted on the mounting frame, and the power output end of the driving motor is connected to the support shaft, at least two driving pulleys are mounted on the support shaft, and driven pulleys corresponding to the driving pulleys are also mounted at both ends of the mounting frame, a synchronous belt is wrapped around the driving pulley and the driven pulley, the clamping unit also includes a sliding plate, one end of the support arm close to the mounting frame is connected to the sliding plate, and the sliding plate is slidably mounted on the bottom of the mounting frame through a linear moving pair, a pressure block is installed on the sliding plate, the pressure block includes a pressure plate and a fixed seat, the fixed seat is mounted on the mounting frame, the pressure plate is mounted on the fixed seat, and the pressure plate and the fixed seat clamp the corresponding synchronous belt.

[0011] Optionally, two driving pulleys are installed on the support shaft, one of which is installed with a first synchronous belt, and the other is installed with a second synchronous belt, and the pressing block clamps the process belt body of the corresponding synchronous belt.

[0012] Optionally, the rotating mechanism includes a fixed positioning seat, a bearing assembly and a rotating seat, the bearing assembly includes a bearing outer gear ring and a bearing inner ring, the bearing outer gear ring is mounted on the bearing inner ring, and the bearing outer gear ring is installed on the positioning seat, the bearing inner ring is connected to the rotating seat, the rotating seat is located above the positioning seat, the bearing inner ring can rotate relative to the bearing outer gear ring, a rotating motor is installed on the rotating seat, a driving gear is installed on the power output end of the rotating motor, the outer side of the bearing outer gear ring is an external gear, the driving gear and the external gear are meshed, a column is installed on the rotating seat, and the lifting mechanism is installed on the column.

[0013] Optionally, a first travel switch and a second travel switch for detecting the position of the rotating disk are installed on the positioning seat, and the first travel switch and the second travel switch are arranged at intervals on the same circumference.

[0014] Optionally, a positioning ring is provided at the bottom of the outer gear ring of the bearing, and a positioning step is provided on the positioning seat. The positioning ring is mounted on the positioning step, and the external gear of the outer gear ring of the bearing is located on the positioning seat. The top of the inner ring of the bearing protrudes from the outer gear ring of the bearing. A positioning step is also provided at the bottom of the rotating seat, and the top of the inner ring of the bearing is mounted in the positioning step of the rotating seat.

[0015] Optionally, the lifting mechanism includes a sliding seat, a linear guide assembly and a lifting motor, the lifting motor is mounted on the sliding seat, the linear guide assembly is vertically mounted on the column, the sliding seat is slidably mounted on the linear guide assembly, a spur rack is also vertically mounted on the column, a lifting gear is mounted on the power output end of the lifting motor, the lifting gear is meshed with the spur rack, a cantilever beam is mounted on the sliding seat, and the cantilever beam is located on one side of the lifting motor.

[0016] The utility model has the following advantages:

[0017] 1. The automatic silkworm breeding equipment of the utility model adopts a two-degree-of-freedom silkworm foil picking and placing device to perform silkworm foil picking and placing operations, and adopts an AGV trolley to travel back and forth between the stacking station and the silkworm room to replace the manual transportation of silkworm foil. In addition, a feeding device is arranged on the conveying device to complete the feeding operation during the movement of the silkworm foil, thereby realizing automatic silkworm breeding;

[0018] 2. The automated silkworm rearing equipment of the utility model is provided with a linear guide mechanism, and a clamping groove and a bell mouth are provided on the clamping mechanism, so as to facilitate the entry of the silkworm foil into the clamping groove. In the process of the silkworm foil entering the clamping groove, if the silkworm foil interferes with the clamping mechanism, the linear guide mechanism will move axially, and then adjust the height of the clamping groove, so as to adapt to the silkworm foil and compensate for the position deviation caused by the accuracy problem of the lifting mechanism, thereby facilitating the clamping of the silkworm foil. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The structure diagram of the silkworm foil taking and placing device Figure 1 ;

[0020] Figure 2 The structure diagram of the silkworm foil taking and placing device Figure 2 ;

[0021] Figure 3 It is the installation diagram of the rotating seat, bearing assembly and positioning seat;

[0022] Figure 4 is a structural schematic diagram of a bearing assembly;

[0023] Figure 5 Schematic diagram of the structure of the silkworm foil clamping assembly Figure 1 ;

[0024] Figure 6 Schematic diagram of the structure of the silkworm foil clamping assembly Figure 2 ;

[0025] Figure 7 This is a schematic diagram of the installation of the pressing block and the synchronous belt;

[0026] Figure 8 It is a structural schematic diagram of a fixed seat;

[0027] Fig. 9 is a structural schematic diagram of a clamping unit;

[0028] Fig.10 It is a structural schematic diagram of the automated silkworm breeding equipment;

[0029] In the figure, 1-AGV trolley, 2-first stacking station, 3-silkworm foil picking and placing device, 4-feeding device, 5-conveying device, 6-second stacking station, 100-clamping unit, 101-sliding plate, 102-support arm, 103-lifting arm, 104-linear bearing, 105-guide rod, 106-connecting rod, 107-lifting sheet, 108-guide sheet, 109-first guide slope, 110-second guide slope, 111-support platform, 112-limiting cap, 121-mounting frame, 122-drive motor, 123-support shaft, 124-first synchronous belt, 125-second synchronous belt, 126-pressing block, 127-linear slide rail, 128-slider, 129-position sensor, 131-pressure Plate, 132-fixed seat, 133-process belt body, 134-return belt body, 135-convex ridge teeth, 200-silkworm foil clamping assembly, 201-base, 202-positioning seat, 203-bearing outer gear ring, 204-first stroke switch, 205-positioning column, 206-first buffer, 207-rotating seat, 208-rotating motor, 209-spur rack, 210-column, 211-sliding seat, 212-lifting motor, 213-mounting bracket, 214-cantilever beam, 215-top plate, 216-second buffer, 217-second stroke switch, 218-support plate, 219-linear guide assembly, 220-driving gear, 221-bearing inner ring, 222-lifting gear, 223-positioning ring. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. The components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0031] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present invention.

[0032] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features thereof may be combined with each other.

[0033] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0034] In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the utility model product is usually placed when in use, or the positions or positional relationships commonly understood by those skilled in the art, which are only for the convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0035] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] like Fig.10The present invention shows an automated silkworm rearing equipment, comprising an AGV trolley 1 for conveying silkworm foil to a first stacking station 2, a conveying device 5 and a feeding device 4. The AGV trolley 1 is a commercially available product, and the action performed by the AGV trolley 1 is mainly to convey the silkworm foil stacked in the silkworm room to the first stacking station 2. Therefore, the control system of the AGV trolley is also a prior art. Therefore, how the AGV trolley 1 conveys the silkworm foil is not described in detail. The conveying device 5 is also a current technology and can be obtained commercially. Preferably, the conveying device 5 adopts a belt conveyor, and the feeding device 4 is also a prior art. The invention patent can be referred to as a feed silkworm feeding device (publication number CN118404633A). The feeding device 4 is installed on the conveying On the device 5, optionally, the feeding device 4 can be straddled on the conveying device 5, or the frame of the feeding device 4 can be directly installed on the frame of the conveying device 5, the feeding device 4 cuts the feed, and the cut feed directly falls onto the silkworm foil, thereby realizing the feeding of the silkworms, the end of the conveying device 5 is provided with a silkworm foil releasing station, the silkworm foil releasing station is located on one side of the feeding device 4, the first stacking station 2 is located on one side of the silkworm foil releasing station, and also includes a silkworm foil picking and placing device 3 for transferring the silkworm foil on the first stacking station 2 to the silkworm foil releasing station, the silkworm foil picking and placing device 3 is located on one side of the silkworm foil releasing station, the silkworm foil picking and placing device 3 includes a rotating mechanism and a lifting mechanism, the lifting mechanism is installed on the rotating mechanism, and the lifting mechanism can be lifted and lowered relative to the rotating mechanism, the lifting mechanism A cantilever beam 214 is installed on the structure, and a silkworm foil clamping assembly 200 is installed on the cantilever beam 214. In this embodiment, the rotating mechanism is located on the left side of the silkworm foil releasing station, and the first stacking station 2 is located directly in front of the rotating mechanism. Therefore, the connection line between the silkworm foil releasing station and the rotating mechanism and the connection line between the rotating mechanism and the first stacking station 2 are 90°. When the AGV trolley 1 transports the stacked silkworm foil to the first stacking station 2, the silkworm foil picking and placing device 3 transports the silkworm foil from the first stacking station 2 to the silkworm foil releasing station, and then the silkworm foil is transported to the feeding device 4 under the action of the conveying device 5. After the feeding device 4 feeds the feed into the silkworm foil, the silkworm foil is sent out of the feeding device 4 under the action of the conveying device 5. Furthermore, in this embodiment, the conveying device 5 A silkworm foil picking and placing device 3 is also provided at the discharge end. In the present embodiment, a silkworm foil releasing station is provided at the right end of the conveying device 5, and a silkworm foil grabbing station is installed at the left end of the conveying device 5. When the silkworm foil after being fed enters the silkworm foil grabbing station, the silkworm foil picking and placing device 3 grabs the silkworm foil and places it on the second stacking station 6. Similarly, the second stacking station 6 is located directly in front of the silkworm foil picking and placing device 3. That is to say, the line connecting the silkworm foil grabbing station and the rotating mechanism is 90° to the line connecting the rotating mechanism and the second stacking station 6. There is another AGV trolley 1 at the second stacking station 6. After the silkworm foil is stacked at the second stacking station 6, the AGV trolley 1 transports the stacked silkworm foil to the designated position of the silkworm room, thereby realizing automated silkworm breeding.

[0037] In this embodiment, the silkworm foil picking and placing device 3 has a stacking station and a releasing station. When the rotating mechanism is working, the cantilever beam 214 drives the silkworm foil clamping assembly 200 to switch between the stacking station and the releasing station, so that the silkworm foil clamping assembly 200 switches between the first stacking station 2 and the silkworm foil releasing station, or switches between the second stacking station 6 and the silkworm foil grabbing station, and the lifting mechanism realizes the lifting and lowering of the silkworm foil clamping assembly 200, so as to facilitate the stacking and release of the silkworm foil. Specifically, when the silkworm foil needs to be fed, the rotating mechanism drives the cantilever beam 214 to rotate, so that the silkworm foil clamping assembly 200 is located above the stacking station, and then the lifting mechanism moves downward, so that the silkworm foil clamping assembly 200 reaches the clamping station, and then the silkworm foil clamping assembly 200 clamps the silkworm foil, and then the lifting mechanism moves upward, so that the silkworm foil is separated from the first stacking station. 2. The rotating mechanism rotates in the opposite direction again, so that the silkworm foil clamping assembly 200 rotates and reaches the silkworm foil releasing station, and then the lifting mechanism moves downward again. After reaching the designated position, the silkworm foil clamping assembly 200 releases the silkworm foil, so that the silkworm foil enters the silkworm foil releasing station, and then repeats the above action to realize the next silkworm foil transfer. Similarly, when the silkworm foil after feeding reaches the silkworm foil grabbing station, the lifting mechanism moves downward, so that the silkworm foil clamping assembly 200 moves downward. After reaching the designated position, the silkworm foil clamping assembly 200 clamps the silkworm foil, and then the lifting mechanism moves upward, so that the silkworm foil is separated from the grabbing station, and then the rotating mechanism rotates, so as to drive the silkworm foil clamping assembly 200 to be located on the second stacking station 6, and then the lifting mechanism moves downward, so that the silkworm foil clamping assembly 200 moves downward. When the silkworm foil clamping assembly 200 reaches the designated position, the silkworm foil clamping assembly 200 releases the silkworm foil, and then places the silkworm foil on the second stacking station 6.

[0038] In this embodiment, if Figure 5 and Figure 6 As shown, the silkworm foil clamping assembly 200 includes a mounting frame 121 and a clamping unit 100, and two clamping units 100 are slidably mounted on both ends of the mounting frame 121. Preferably, the mounting frame 121 is a flat plate, and screw holes are provided on the mounting frame 121 to facilitate the installation of the mounting frame 121 and the manipulator. The manipulator is a prior art, and a multi-axis manipulator can be selected according to needs. In this embodiment, the two clamping units 100 are arranged at intervals. In the initial state of the clamping units 100, the spacing between the two clamping units 100 is greater than the width of the silkworm foil, so as to facilitate the clamping of the silkworm foil. Furthermore, a driving mechanism for driving the two clamping units 100 to move toward or away from each other is also installed on the mounting frame 121. When the driving mechanism is working, it drives the two clamping units 100 to move toward or away from each other, so that the two clamping units 100 clamp the silkworm foil or release the silkworm foil.

[0039] In this embodiment, if Fig. 9As shown, the clamping unit 100 includes a support arm 102, on which a linear guide mechanism is installed. The execution end of the linear guide mechanism is connected to a lifting arm 103, and the execution end of the linear guide mechanism is in a downstroke under the action of the gravity of the lifting arm 103. Both ends of the lifting arm 103 are installed with clamping mechanisms, and the clamping mechanism has a clamping groove, and the entrance of the clamping groove is a bell mouth. Through the bell mouth, the clamping mechanism can use silk foils of different sizes, especially after the silk foil has been used for a period of time and is deformed, it can still enter the clamping groove through the bell mouth and be clamped by the clamping mechanism.

[0040] After the silkworm foil has been used for a period of time, although the silkworm foil is deformed, the structural strength of the four corners of the silkworm foil is relatively high. Under normal circumstances, the four corners of the silkworm foil will not be deformed too much, while the middle area of ​​the silkworm foil will have a more obvious arch or downward bend. In the process of clamping the silkworm foil, the middle sides of the side of the silkworm foil are mainly clamped, and the arched or downward-bent silkworm foil will affect the clamping of the silkworm foil by the clamping mechanism. In addition, in order to save costs, the lifting mechanism is not a high-precision lifting mechanism. Therefore, when the lifting mechanism drives the silkworm foil clamping assembly 200 to lift, there will be a certain position deviation, which will also affect the clamping of the silkworm foil. In this embodiment, if Fig. 9As shown, the clamping mechanism includes a guide piece 108 and a lifting piece 107, and the lifting piece 107 and the guide piece 108 are both installed on the lifting arm 103, the guide piece 108 is located above the lifting piece 107, and a clamping groove is formed between the guide piece 108 and the lifting piece 107, and an upwardly inclined first guide slope 109 is arranged at one end of the guide piece 108 away from the lifting arm 103, and a downwardly inclined second guide slope 110 is arranged at one end of the lifting piece 107 away from the lifting arm 103, and the first guide slope 109 and the second guide slope 110 form a bell mouth. When the clamping mechanism clamps the silkworm foil, when the second guide slope 110 is inserted into the bottom of the silkworm foil, the silkworm foil enters the clamping groove under the guidance of the second guide slope 110, and is then clamped by the clamping groove. When the clamping mechanism clamps the silkworm foil, the silkworm foil is deformed, resulting in irregular After adjustment, if the first guide slope 109 contacts the silkworm foil, as the clamping mechanisms of the two clamping units 100 gradually move closer to the silkworm foil, the silkworm foil applies an upward thrust to the lifting arm 103 through the first guide slope 109, thereby causing the linear guide mechanism to move upward, thereby causing the clamping mechanism to move upward, thereby causing the clamping groove to be aligned with the silkworm foil, and finally clamping the silkworm foil. Therefore, a trumpet mouth is formed by the first guide slope 109 and the second guide slope 110, and the deformed silkworm foil can still enter the clamping groove, and the trumpet mouth can also compensate for the position deviation of the clamping unit 100 caused by the accuracy problem of the lifting mechanism, thereby ensuring that the silkworm foil can enter the clamping groove, and through the linear guide mechanism, the horizontal height of the clamping groove can be adjusted according to the actual situation of the silkworm foil, thereby ensuring the reliability of the silkworm foil clamping.

[0041] In this embodiment, if Fig. 9 As shown, there are two support arms 102, and the ends of the two support arms 102 close to the linear guide mechanism are connected by a connecting rod 106, and the ends of the two support arms 102 away from the linear guide mechanism are connected by a mounting plate. The support arms 102 are cantilevers. After the two support arms 102 are connected by the connecting rod 106 and the mounting plate, the structural strength of the support arms 102 can be increased, thereby increasing the carrying capacity of the silkworm foil clamping unit 100.

[0042] In this embodiment, if Fig. 9As shown, the lifting piece 107 includes an installation section, a vertical section and a horizontal support platform 111. The installation section, the vertical section and the support platform 111 are distributed in a Z shape, and the second guide slope 110 is connected to the support platform 111. To facilitate the processing and installation of the clamping mechanism, the lifting piece 107 is located on one side of the guide piece 108, and the lifting piece 107 and the guide piece 108 are both connected to the support arm 102 through locking screws. Therefore, the lifting piece 107 and the guide piece 108 can be made separately. When the lifting piece 107 and the guide piece 108 are both installed on the support arm 102, on the axial projection plane, a clamping groove is formed between the straight end of the guide piece 108 and the support platform 111, and a bell mouth is formed between the first guide slope 109 and the second guide slope 110.

[0043] In this embodiment, if Fig. 9 The linear guide mechanism includes a linear bearing 104 and a guide rod 105. The linear bearing 104 is installed on the support arm 102, and the guide rod 105 is slidably installed in the linear bearing 104. A limiting cap 112 is provided on the top of the guide rod 105 to prevent the guide rod 105 from falling out of the linear bearing 104. The bottom of the guide rod 105 is connected to the lifting arm 103. Furthermore, the limiting cap 112 is a sheet-mounted structure, and the limiting cap 112 is installed on the top of the guide rod 105 by a locking screw. In the initial state, the guide rod 105 is in a downstroke under the gravity of the lifting arm 103, that is, the limiting cap 112 abuts against the top of the linear bearing 104, and when the guide rod 105 is subjected to an axial upward force, the guide rod 105 moves upward along the linear bearing 104.

[0044] In this embodiment, if Fig. 9 As shown, the guide rod 105 and the lifting arm 103 are detachably connected via a locking screw. Furthermore, a stepped through hole is provided on the lifting arm 103, and the bottom of the guide rod 105 is fitted and installed in the large hole of the stepped through hole. A threaded hole is provided at the bottom of the guide rod 105, and the guide rod 105 and the lifting arm 103 are connected and locked by the locking screw. Therefore, the guide rod 105 and the lifting arm 103 can be quickly disassembled and assembled, which is convenient for the assembly of the silkworm foil clamping unit 100.

[0045] In this embodiment, if Figure 5 and Fig. 9As shown, the clamping unit 100 also includes a sliding plate 101, one end of the support arm 102 close to the mounting frame 121 is connected to the sliding plate 101, and the sliding plate 101 is slidably mounted on the bottom of the mounting frame 121 through a linear motion pair, the linear motion pair belongs to the prior art, and optionally, as shown in the figure, the linear motion pair includes a linear slide rail 127 and a slider 128, the slider 128 is mounted on the sliding plate 101, the linear slide rail 127 is mounted on the mounting frame 121, and the linear slide rail 127 is arranged along the telescopic direction of the clamping unit 100, the slide rail is mounted on the mounting frame 121, and a slide groove is installed on the slider 128, and the slider 128 is provided with a slide groove. 8 is installed on the clamping unit 100, and the slide groove is slidably matched on the linear slide rail 127. In this embodiment, after the silkworm foil is grabbed, it is necessary to move the silkworm foil to a specified position, so the silkworm foil is usually located at the bottom. Therefore, in order to ensure the reliability of the connection between the slider 128 and the linear slide rail 127, the slide groove is optionally a dovetail groove. Of course, the structure of the linear slide rail 127 must also be adapted according to the dovetail groove, thereby ensuring the sliding fit between the linear slide rail 127 and the dovetail groove. Furthermore, in this embodiment, there are two groups of linear moving pairs, which are arranged at intervals. Through the two groups of linear moving pairs, the straightness of the movement of the clamping unit 100 is further guaranteed.

[0046] In this embodiment, if Figure 6 As shown, the driving mechanism includes a driving motor 122, a support shaft 123 and a synchronous belt. The support shaft 123 is installed on the mounting frame 121 through a bearing seat. The driving motor 122 is installed on the mounting frame 121, and the power output end of the driving motor 122 is connected to the support shaft 123. At least two driving pulleys are installed on the support shaft 123. Driven pulleys corresponding to the driving pulleys are also installed at both ends of the mounting frame 121. A synchronous belt is wrapped around the driving pulley and the driven pulley. The synchronous belt is connected to the corresponding clamping unit 100. The driving motor 122 works, thereby driving the support shaft 123 to rotate, thereby causing the driving pulley to rotate. After the driving pulley rotates, it drives the synchronous belt to move. When the synchronous belt moves, it drives the clamping unit 100 to move.

[0047] In this embodiment, if Figure 5 and Figure 6As shown, a pressing block 126 is installed on the sliding plate 101, and the synchronous belt is connected to the corresponding pressing block 126. Further, the pressing block 126 includes a pressing plate 131 and a fixing seat 132. The fixing seat 132 is installed on the mounting frame 121, and the pressing plate 131 is installed on the fixing seat 132. The pressing plate 131 and the fixing seat 132 clamp the belt body of the corresponding synchronous belt. During installation, the fixing seat 132 is detachably installed on the mounting frame 121 by a locking screw, and then the synchronous belt is placed on the fixing seat 132, and then the fixing seat 132 and the pressing plate 131 are locked by screws. Through the clamping of the pressing plate 131 and the fixing seat 132, the synchronous belt and the sliding plate 101 move synchronously. In this embodiment, in order to ensure the reliability of the synchronous belt being clamped by the pressing plate 131 and the fixing seat 132, as shown in FIG. Figure 8 As shown, an anti-slip structure is provided on the clamping surface of the fixed seat 132. Optionally, the anti-slip structure is a plurality of convex teeth 135 arranged at intervals. The convex teeth 135 of the fixed seat 132 are engaged with the convex teeth on the synchronous belt, and the synchronous belt is tightened and cannot slip, thereby ensuring the synchronous movement between the synchronous belt and the sliding plate 101.

[0048] In this embodiment, if Figure 6 and Figure 7As shown, two driving pulleys are installed on the support shaft 123, one of which is equipped with a first synchronous belt 124, and the other is equipped with a second synchronous belt 125, and the pressing block 126 clamps the process belt body 133 of the corresponding synchronous belt. In this embodiment, when the mounting frame 121 is placed horizontally, the driving motor 122 is installed on the bottom of the mounting frame 121 through a motor bracket, and the bearing seat is also installed at the bottom of the mounting frame 121, wherein the first synchronous belt 124 is located on the left side of the mounting frame 121, and the second synchronous belt 125 is located on the right side of the mounting frame 121, the belt body on the upper side of the first synchronous belt 124 is the process belt body 133, the belt body on the lower side of the first synchronous belt 124 is the return belt body 134, and the belt body on the lower side of the second synchronous belt 125 is the process belt body 133, and the belt body on the upper side of the second synchronous belt 125 is the return belt body 134, that is, the belt body on the upper side of the first synchronous belt 124 is connected to the pressing block 126, and the second The belt body on the lower side of the synchronous belt 125 is connected to the pressure block 126. When in use, when the driving motor 122 rotates forward, the driving support shaft 123 rotates. At this time, the two pressure blocks 126 move toward each other, thereby driving the two clamping units 100 to move toward each other, thereby shortening the distance between the two clamping units 100, and then clamping the silkworm foil. When the silkworm foil needs to be released, the driving motor 122 rotates in the opposite direction, thereby causing the two clamping units 100 to move back to back, thereby increasing the distance between the two clamping units 100, thereby releasing the silkworm foil. In this embodiment, a position sensor 129 for detecting the position of the sliding plate 101 is installed on the top of the mounting frame 121, and in order to facilitate the position sensor 129 to detect the sliding plate 101, a through hole is opened on the mounting frame 121. During the silkworm foil release process, when the position sensor 129 detects the sliding plate 101, it indicates that the sliding plate 101 has returned to the initial position and the silkworm foil release is completed.

[0049] In this embodiment, if Figure 1 , Figure 2 and Figure 3As shown, the rotating mechanism includes a fixed positioning seat 202, a bearing assembly and a rotating seat 207. In this embodiment, the positioning seat 202 is installed on the ground. Optionally, a base 201 is installed on the ground by pre-buried bolts, and then at least three positioning columns 205 are installed on the base 201. Preferably, the positioning columns 205 are evenly distributed on the same circumference, and the positioning columns 205 are step columns. Then, a through hole matching the small column of the step column is opened on the positioning seat 202, so the positioning seat 202 is placed on the step column. The positioning seat 202 is fixed relative to the base 201 in the circumferential direction, and can be disassembled in the up and down direction, so as to facilitate the assembly of the positioning seat 202. In this embodiment, the bearing assembly includes a bearing outer gear ring 203 and a bearing inner ring 221. The bearing outer gear ring 203 is sleeved on the bearing inner ring 221, and the bearing outer gear ring 203 is installed on the positioning seat 202. The bearing inner ring 221 is connected to the rotating seat 207. The rotating seat 207 is located above the positioning seat 202, and the bearing inner ring 221 can rotate relative to the bearing outer gear ring 203. , a rotating motor 208 is installed on the rotating seat 207, a driving gear 220 is installed at the power output end of the rotating motor 208, the outer side of the bearing outer gear ring 203 is an external gear, the driving gear 220 is meshed with the external gear, a column 210 is installed on the rotating seat 207, and the lifting mechanism is installed on the column 210. In this embodiment, the rotating seat 207, the column 210, and the bearing assembly are all coaxially arranged, so under the action of gravity, the positioning seat 202 can be stably installed on the positioning column 205, and when the rotating motor 208 is working, The driving gear 220 rotates, and since the bearing outer gear ring 203 is stationary, the rotating seat 207 rotates relative to the bearing outer gear ring 203, thereby rotating the column 210, and then driving the silkworm foil clamping assembly 200 to rotate. Furthermore, the teeth on the driving gear 220 and the outer gear are helical teeth, so the driving gear 220 and the outer gear rotate through the helical gears, so that the rotating seat 207 has better balance during the rotation process, and the meshing process of the helical gears is rolling meshing, so the noise is lower and the service life is longer.

[0050] In this embodiment, if Figure 1 , Figure 2 and Figure 3As shown, the first stroke switch 204 and the second stroke switch 217 for detecting the position of the rotating disk are installed on the positioning seat 202, and the first stroke switch 204 and the second stroke switch 217 are arranged at intervals on the same circumference, and the first stroke switch 204 and the second stroke switch 217 are used to control the rotation angle of the rotating seat 207. Further, a support plate 218 is provided on the rotating seat 207, and the support plate 218 is arranged along the radial direction of the rotating seat 207. The rotating motor 208 is installed on the support plate 218, and the support plate 218 is provided with a through hole for the main shaft of the rotating motor 208 to pass through, and the distance between the outer side of the support plate 218 and the center of the rotating seat 207 is greater than the distance between the first stroke switch 204 and the center of the rotating seat 207. When the first stroke switch 204 detects that the support plate 218 , the rotating motor 208 stops working. Similarly, when the second stroke switch 217 detects the support plate 218, the rotating motor 208 also stops working. Therefore, when in use, after a start command is given to the rotating motor 208, the rotating motor 208 works. When the first stroke switch 204 or the second stroke switch 217 detects the support plate 218, the rotating motor 208 stops working. In the specific implementation process, preferably, the stacking station is located on the front side of the column 210, and the release station is located on the left or right side of the column 210. Therefore, the angle between the stacking station and the release station is 90°, and the initial position of the rotating seat 207 is the position where the second stroke switch 217 just detects the support plate 218. At this time, the clamping unit 100 is located directly above the stacking station.

[0051] In this embodiment, if Figure 3 and Figure 4 As shown, a positioning ring 223 is provided at the bottom of the outer gear ring 203 of the bearing, a positioning step is provided on the positioning seat 202, and the positioning ring 223 is installed on the positioning step, and the outer gear of the outer gear ring 203 of the bearing is located on the positioning seat 202, and the top of the inner ring 221 of the bearing protrudes from the outer gear ring 203 of the bearing. A positioning step is also provided at the bottom of the rotating seat 207, and the top of the inner ring 221 of the bearing is installed in the positioning step of the rotating seat 207, thereby ensuring the stability of the installation of the outer gear ring 203 and the rotating seat 207. Preferably, the outer gear ring 203 of the bearing, the rotating seat 207 and the column 210 are all coaxially arranged, so under the action of gravity, the reliability of the installation of the bearing assembly and the rotating seat 207 can be ensured. In this embodiment, its purpose is to take and place silkworm foil, and the weight of the silkworm foil is relatively light and will not affect the stability of the installation of the column 210. In addition, in the actual process, a counterweight block can be placed on the top of the rotating seat 207 to further prevent the column 210 from tipping over.

[0052] In this embodiment, if Figure 1 , Figure 2 and Figure 3As shown, the lifting mechanism includes a sliding seat 211, a linear guide assembly 219 and a lifting motor 212. The lifting motor 212 is installed on the sliding seat 211. The linear guide assembly 219 is vertically installed on the column 210. The sliding seat 211 is slidably installed on the linear guide assembly 219. A spur rack 209 is also vertically installed on the column 210. A lifting gear 222 is installed at the power output end of the lifting motor 212. The lifting gear 222 is meshed with the spur rack 209. The cantilever beam 214 is installed on the sliding seat 211, and the cantilever beam 214 is located at the lifting position. On one side of the motor 212, the lifting motor 212 works, thereby driving the lifting gear 222 to roll along the spur rack 209, so that the sliding seat 211 moves along the linear guide assembly 219. The linear guide assembly 219 belongs to the prior art and will not be described in detail. Optionally, the linear guide assembly 219 includes two guide rails arranged at intervals, and the spur rack 209 is located between the two guide rails. A groove that cooperates with the guide rail is opened on the sliding seat 211. Of course, in order to prevent the groove from derailing the guide rail, the groove is set as a dovetail groove, and the guide rail is adapted to the dovetail groove.

[0053] In this embodiment, if Figure 1 and Figure 2 As shown, three mounting brackets 213 are provided on the sliding seat 211 , the mounting bracket 213 is an L-shaped plate, the cantilever beam 214 is a rectangular structure, and the three L-shaped plates are connected to the cantilever beam 214 by screws, thereby ensuring the connection performance between the cantilever beam 214 and the sliding seat 211 .

[0054] In this embodiment, if Figure 1 , Figure 2 and Figure 3 As shown, a first buffer 206 is installed on the rotating seat 207, and the first buffer 206 is located below the sliding seat 211. A top plate 215 is provided on the top of the column 210, and a second buffer 216 is provided on the top plate 215. The second buffer 216 is located above the sliding seat 211. The buffer ends of the buffers are rubber parts, and the connecting ends thereof are screw rods. During the movement of the sliding seat 211, the buffer can prevent the sliding seat 211 from derailing and limit the sliding seat 211. Of course, in actual use, the sliding seat 211 will not contact the buffer, and the buffer mainly plays a role of preventing fooling.

[0055] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An automated silkworm breeding equipment, comprising an AGV trolley for conveying silkworm foil to a first stacking station, a conveying device and a feeding device, wherein the feeding device is installed on the conveying device, and an end of the conveying device is provided with a silkworm foil releasing station, wherein the silkworm foil releasing station is located on one side of the feeding device, and the first stacking station is located on one side of the silkworm foil releasing station, wherein: It also includes a foil picking and placing device for transferring the foil on the first stacking station to the foil releasing station, the foil picking and placing device is located on one side of the foil releasing station, the foil picking and placing device includes a rotating mechanism and a lifting mechanism, the lifting mechanism is installed on the rotating mechanism, and the lifting mechanism can be lifted and lowered relative to the rotating mechanism, the lifting mechanism is installed with a cantilever beam, and the cantilever beam is installed with a foil clamping assembly.

2. The automated silkworm breeding equipment according to claim 1, characterized in that: The silkworm foil clamping assembly includes a mounting frame and a clamping unit, the mounting frame is mounted on the cantilever beam, and two clamping units are slidably mounted on both left and right ends of the mounting frame, and the two clamping units are arranged at an interval. The mounting frame is also equipped with a driving mechanism for driving the two clamping units to move toward or away from each other, and the clamping unit has a support arm, and a linear guide mechanism is installed on the end of the support arm away from the mounting frame, and the execution end of the linear guide mechanism is connected to a lifting arm, and the execution end of the linear guide mechanism is in a downstroke under the action of gravity of the lifting arm, and the lifting arm is equipped with a clamping mechanism for clamping the silkworm foil.

3. The automated silkworm breeding equipment according to claim 2, characterized in that: The clamping mechanism includes a guide plate and a lifting plate, both of which are installed on the lifting arm, the guide plate is located above the lifting plate, and a clamping groove is formed between the guide plate and the lifting plate, an end of the guide plate away from the lifting arm is provided with a first guide slope inclined upward, and an end of the lifting plate away from the lifting arm is provided with a second guide slope inclined downward, and the first guide slope and the second guide slope form a bell mouth.

4. The automated silkworm breeding equipment according to claim 2, characterized in that: The linear guide mechanism includes a linear bearing and a guide rod, the linear bearing is installed on the support arm, the guide rod is slidably installed in the linear bearing, and a limiting cap is provided on the top of the guide rod to prevent the guide rod from falling out of the linear bearing, and the bottom of the guide rod is connected to the lifting arm.

5. The automated silkworm breeding equipment according to claim 2, characterized in that: The driving mechanism comprises a driving motor, a supporting shaft and a synchronous belt, the supporting shaft is mounted on the mounting frame through a bearing seat, the driving motor is mounted on the mounting frame, and a power output end of the driving motor is connected to the supporting shaft, at least two driving pulleys are mounted on the supporting shaft, and driven pulleys corresponding to the driving pulleys are also mounted at both ends of the mounting frame, the synchronous belt is surrounded by the driving pulley and the driven pulley, the clamping unit also comprises a sliding plate, one end of the supporting arm close to the mounting frame is connected to the sliding plate, and the sliding plate is slidably mounted on the bottom of the mounting frame through a linear moving pair, a pressing block is mounted on the sliding plate, the pressing block comprises a pressing plate and a fixing seat, the fixing seat is mounted on the mounting frame, the pressing plate is mounted on the fixing seat, and the pressing plate and the fixing seat clamp the corresponding synchronous belt.

6. The automated silkworm breeding equipment according to claim 5, characterized in that: Two driving pulleys are installed on the support shaft, one of which is installed with a first synchronous belt, and the other is installed with a second synchronous belt. The pressing block clamps the process belt body corresponding to the synchronous belt.

7. The automated silkworm breeding equipment according to any one of claims 1 to 6, characterized in that: The rotating mechanism includes a fixed positioning seat, a bearing assembly and a rotating seat, the bearing assembly includes a bearing outer gear ring and a bearing inner ring, the bearing outer gear ring is sleeved on the bearing inner ring, and the bearing outer gear ring is installed on the positioning seat, the bearing inner ring is connected to the rotating seat, the rotating seat is located above the positioning seat, the bearing inner ring can rotate relative to the bearing outer gear ring, a rotating motor is installed on the rotating seat, a driving gear is installed on the power output end of the rotating motor, the outer side of the bearing outer gear ring is an external gear, the driving gear is meshed with the external gear, a column is installed on the rotating seat, and the lifting mechanism is installed on the column.

8. The automated silkworm breeding equipment according to claim 7, characterized in that: The positioning seat is provided with a first travel switch and a second travel switch for detecting the position of the rotating disk, and the first travel switch and the second travel switch are arranged at intervals on the same circumference.

9. The automated silkworm breeding equipment according to claim 7, characterized in that: A positioning ring is provided at the bottom of the outer gear ring of the bearing, a positioning step is provided on the positioning seat, the positioning ring is mounted on the positioning step, and the external gear of the outer gear ring of the bearing is located on the positioning seat, the top of the inner ring of the bearing protrudes from the outer gear ring of the bearing, a positioning step is also provided at the bottom of the rotating seat, and the top of the inner ring of the bearing is mounted in the positioning step of the rotating seat.

10. The automated silkworm breeding equipment according to claim 7, characterized in that: The lifting mechanism includes a sliding seat, a linear guide assembly and a lifting motor, the lifting motor is installed on the sliding seat, the linear guide assembly is vertically installed on the column, the sliding seat is slidably installed on the linear guide assembly, a spur rack is also vertically installed on the column, a lifting gear is installed at the power output end of the lifting motor, the lifting gear is meshed with the spur rack, the cantilever beam is installed on the sliding seat, and the cantilever beam is located on one side of the lifting motor.

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