CN106984558A - Full-automatic male and female silkworm chrysalis separator - Google Patents

Abstract

The invention discloses a fully automatic sorting machine for male and female silkworm chrysalis, which comprises: feeding mechanism: making the silkworm chrysalis to be sorted one by one fall on the corresponding stations of the conveying mechanism; Undertake the silkworm chrysalis to be sorted when feeding, and transmit the silkworm chrysalis to be sorted; detection module: located on the upper part of the darkroom, the darkroom is on the transmission path of the transmission mechanism, and the transmission mechanism will fall into the When the silkworm chrysalis to be sorted at the station are transferred to the darkroom one by one, the detection module located at the upper part of the darkroom detects the sex of the silkworm chrysalis to be sorted to confirm the gender of the silkworm chrysalis to be sorted; the sorting mechanism: according to the silkworm chrysalis to be sorted As a result of gender detection and identification, the silkworm chrysalis is sorted so that the female chrysalis enters the female chrysalis recycling bin, and the male pupa enters the female pupa recycling bin. The invention has the advantages of high efficiency and high accuracy.

Description

Automatic male and female silkworm chrysalis sorting machine

technical field

The invention relates to the technical field of silkworm chrysalis sorting, in particular to a fully automatic sorting machine for male and female silkworm chrysalis.

Background technique

Male and female silkworm chrysalis need to be paired one by one to lay eggs, otherwise it will cause waste, and pairing of male and female means the need for sorting. At present, male and female identification in the silkworm egg production process is mainly through manual cutting of cocoons and identification of pupae, which is labor-intensive and low in production efficiency. The identification of male and female cocoons must be completed within 5 to 10 days, and silkworm egg companies have to recruit a large number of short-term labor. For example, Shandong Guangtong Group, the largest silkworm egg production enterprise in the country, needs to temporarily hire 1,000 people when identifying pupae. There are fewer and fewer workers. The labor cost of male and female identification of silkworm chrysalis increases year by year, with the production cost of each silkworm egg being 30 yuan, the cost of temporary workers is 7 to 8 yuan (accounting for about 25% of production cost), and the labor cost of identifying the sex of silkworm chrysalis is 1 to 2 yuan (accounting for temporary workers). about 20% of the cost). Identifying pupae requires not only good eyesight, but also certain skills to distinguish males and females, which requires high proficiency in operations. The identification of males and females in silkworm pupae requires a lot of work, time constraints, and lack of technical personnel have become problems faced by silkworm egg production enterprises. main problem. At the same time, the accuracy of male and female identification of silkworm chrysalis is directly related to the quality of silkworm eggs and the purity of the species. According to the average hybridization rate of silkworm eggs of 80-100 batches per year in the province from 2005 to 2016 provided by the Silkworm Egg Quality Quarantine and Inspection Station of Zhejiang Province Survey data, there is a clear downward trend, from the highest 99.66% to the lowest 98.65%. The decline in the hybridization rate of silkworm eggs will directly affect the quality of silkworm eggs, the yield of silkworm chrysalis and the quality of cocoon silk.

It can be seen that, in the prior art, whether it is manual sorting based on experience, or machine sorting according to the weight and size of silkworm chrysalis, there are technical problems of slow speed and low accuracy. There is a huge demand for breeding eggs every year in our country, and high-speed and high-precision sex separation must be performed on the pupae, but the existing technology cannot meet such requirements. Due to the use of genetic technology and gene editing technology, female silkworm chrysalis can express orange fluorescence throughout its life cycle, so using this feature can help solve the above technical problems. Aiming at the main technical problems of silkworm chrysalis male and female identification faced by silkworm egg production enterprises, it is necessary to cultivate silkworm varieties that are easy to identify male and female and have high silkworm egg production efficiency, so as to reduce the production cost of silkworm eggs, improve the quality of silkworm eggs and the production efficiency of enterprises. Therefore, how to make use of the differences in sex chromosome composition between male and female silkworms to establish a fast, efficient, and universal system for identifying males and females is a goal pursued by people.

Contents of the invention

In view of this, the object of the present invention is to provide a fully automatic male and female silkworm chrysalis sorting machine with high efficiency and high accuracy, so as to solve the technical problems of consuming a large amount of labor and low accuracy in the prior art.

The technical solution of the present invention is to provide a kind of automatic male and female silkworm chrysalis sorting machine of following structure, comprising:

Feeding mechanism: Make the silkworm chrysalis to be sorted fall one by one on the corresponding station of the conveying mechanism;

Conveyor mechanism: multiple stations are set up for the feeding mechanism to accept the silkworm chrysalis to be sorted and transport the silkworm chrysalis to be sorted;

Detection module: located on the upper part of the darkroom, the darkroom is on the transmission path of the transmission mechanism, when the transmission mechanism transports the silkworm chrysalis to be sorted into the darkroom one by one, the detection module located on the upper part of the darkroom treats Sorting silkworm chrysalis for detection and identification of male and female, to confirm the gender of the silkworm chrysalis to be sorted;

Sorting mechanism: sort silkworm chrysalis according to the detection and identification results of the sex of the silkworm chrysalis to be sorted, so that the female chrysalis enters the female chrysalis recycling box, and the male chrysalis enters the female chrysalis recycling box.

Optionally, the feeding mechanism includes a vibrating plate, the silkworm chrysalis to be sorted are placed on the vibrating plate, and the silkworm chrysalis to be sorted fall one by one on the corresponding stations of the transmission mechanism through the vibration of the vibrating plate .

Optionally, the transmission mechanism includes a conveyor belt and a pneumatic device, the conveyor belt is provided with a receiving hole as a station, the conveyor belt is located below the feeding mechanism, and the pneumatic device corresponds to the feeding mechanism and is set Below the conveyor belt.

Optionally, the detection module is a CCD camera with a fluorescence detection function, and the CCD camera recognizes silkworm chrysalis through machine vision, and the silkworm chrysalis that appears orange is female, and the silkworm chrysalis that does not appear orange is male, and the recognition result is sent to Sorting mechanism, sorting and recycling by the sorting mechanism.

Optionally, the sorting mechanism includes a female pupa recovery box, a female pupa recovery box and a drive mechanism, and the output end of the drive mechanism is axially connected to the female pupa recovery box and the female pupa recovery box; , then the driving mechanism drives the female chrysalis recovery box to undertake, and when the silkworm chrysalis that is about to fall is a male, the driving mechanism drives the male chrysalis recovery box to undertake.

Optionally, the CCD camera is provided with a light source. During fluorescence detection, after the silkworm chrysalis is irradiated by light with a wavelength of 554NM, the bioluminescent substance in the female body will emit light with a wavelength of 586NM, and the CCD camera passes through the loading center. A narrow bandwidth cut-off fluorescence filter with a wavelength of 586NM was used to capture bioluminescence. The optical path design of this mechanism is: use CREE CXA2530 high-power LED lamp loaded with 554NM narrow-band cut-off fluorescent filter as the light source, and the 554NM narrow-band filter ensures the purity of the light source. The light source is irradiated on the dichroic image mirror, and then reflected to the silkworm chrysalis by the beam splitter. Then the 586NM camera passes through the dichroic mirror to detect the silkworm chrysalis.

Optionally, use a CCD camera to collect images of silkworm chrysalis on the conveyor belt, and then process the images through algorithm programming to determine whether the silkworm chrysalis is male or female, then use MYSQL to create a data table, and finally use a single-chip microcomputer to control the sorting mechanism to sort the male and female silkworm chrysalis.

Optionally, a conical cup, an elastic pad and a plug seat are provided at the receiving hole, the elastic pad is located at the bottom of the conical cup, and a gap is left between the elastic pad and the conveyor belt to form an airflow The plug seat is located under the elastic pad, and air is blown into the airflow channel through the air tube and the flow channel on the plug seat. Through the specially designed air holes on the conveyor belt, a conical airflow is formed above the conveyor belt. The conical airflow can make the silkworm chrysalis fall into the designated position accurately, and ensure that the silkworm chrysalis are surrounded by the airflow to avoid physical and mechanical damage.

Compared with the prior art, the structure of the present invention has the following advantages: since the biological fluorescent protein is implanted in the female silkworm chrysalis, the present invention combines the biological fluorescent protein technology with the machine vision technology, and adds specific wavelengths to the camera and light source. The optical filter eliminates the interference of non-exciting light wavelength light, and realizes the precise and high-speed identification of male and female silkworm chrysalis; a circular oblique hole and a conical cup are designed on the conveyor belt to form a conical airflow feeding device, which avoids the need for male and female silkworm chrysalis in the past. Mechanical physical damage caused during the sorting process. The invention has the advantages of high efficiency and high accuracy.

Description of drawings

Fig. 1 is the structural representation of automatic male and female silkworm chrysalis sorting machine of the present invention;

Fig. 2 is the structural representation of station in Fig. 1;

Figure 3 is a schematic diagram of the structure of the detection module.

As shown in the figure, 1. Feeding mechanism; 2. Silkworm chrysalis; 3. Conical cup; 4. Conveyor belt; 4-1. Plug hole; 4-2. Conveyor belt airflow channel; 5. Detection module; Lamp bead; 5-2, green fluorescence filter; 5-3, beam splitter; 5-4, orange fluorescence filter; 5-5, fluorescence detection camera; 6, cylinder; 7-1, collection of female silkworm chrysalis Box; 7-2, male silkworm chrysalis collection box; 8, synchronous pulley; 9, plug seat; 9-1, plug seat air flow channel; 9-2, sensor; 9-3, trachea; 9-4: cone ring plug ; 10, the elastic pad; 10-1: the through hole of the elastic pad.

detailed description

Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, but the present invention is not limited to these embodiments. The present invention covers any alternatives, modifications, equivalent methods and schemes made within the spirit and scope of the present invention.

In order to provide the public with a thorough understanding of the present invention, specific details are set forth in the following preferred embodiments of the present invention, but those skilled in the art can fully understand the present invention without the description of these details.

In the following paragraphs the invention is described more specifically by way of example with reference to the accompanying drawings. It should be noted that all the drawings are in simplified form and use inaccurate scales, which are only used to facilitate and clearly assist the purpose of illustrating the embodiments of the present invention.

With reference to shown in Fig. 1, have schematically illustrated the structure of automatic male and female silkworm chrysalis sorting machine of the present invention, comprise:

Feeding mechanism 1: make the silkworm chrysalis 2 to be sorted fall one by one on the corresponding station of the conveying mechanism;

Conveyor mechanism: multiple stations are set, for the feeding mechanism to undertake the silkworm chrysalis 2 to be sorted when blanking, and transmit the silkworm chrysalis to be sorted;

Detection module 5: located on the upper part of the darkroom, the darkroom is on the transmission path of the transmission mechanism, when the transmission mechanism transports the silkworm chrysalis to be sorted into the darkroom one by one, the detection module located on the upper part of the darkroom Carry out male and female detection and identification of the silkworm chrysalis to be sorted to confirm the sex of the silkworm chrysalis to be sorted;

Sorting mechanism: sort silkworm chrysalis according to the detection and identification results of the sex of the silkworm chrysalis to be sorted, so that the female chrysalis enters the female chrysalis recycling box, and the male chrysalis enters the female chrysalis recycling box.

The feeding mechanism includes a vibrating plate 1, and the silkworm chrysalis to be sorted 2 are placed on the vibrating plate, and the silkworm chrysalis to be sorted 2 fall one by one on the corresponding positions of the conveyor belt 4 of the transmission mechanism through the vibration of the vibrating plate 1. at the work station. The transmission mechanism includes a conveyor belt 4 and a pneumatic device. The conveyor belt 4 is provided with a receiving hole as a station. The conveyor belt is located below the feeding mechanism. The pneumatic device corresponds to the feeding mechanism and is arranged on the conveyor belt. 4 below.

The detection module 5 is a CCD camera with a fluorescence detection function, and the CCD camera recognizes the silkworm chrysalis through machine vision, the silkworm chrysalis that presents orange color is female, and the silkworm chrysalis that does not present orange color is male, and the identification result is sent to the sorting agency , sorted and recovered by the sorting agency.

Described sorting mechanism comprises female pupa recovery box 7-1, male pupa recovery box 7-2 and drive mechanism (cylinder 6 is as its a kind of realization), and the output end of described drive mechanism is axially connected female pupa recovery box 7 -1. Male chrysalis recovery box 7-2; when the silkworm chrysalis that is about to fall is female, the driving mechanism drives the female chrysalis recovery box to accept it; when the silkworm chrysalis that is about to fall is male, the driving mechanism drives the male chrysalis recovery box to accept .

The vibration plate 1 vibrates, and the silkworm chrysalis 2 to be sorted fall into the conical cup 3 of the receiving hole one by one. The vibration speed of the vibration plate 1 is consistent with the speed of the conveyor belt 4, that is, the vibration frequency of the vibration plate and the transmission speed of the conveyor belt are set so that One silkworm chrysalis falls into the conical cup each time. Since the feeding speed of the silkworm chrysalis can be precisely controlled by adjusting the vibration frequency and amplitude of the vibrating plate, it can be ensured that each silkworm chrysalis falls into the conical cup 3 precisely as long as the precision of the belt transmission is controlled.

After the silkworm chrysalis 2 enters the conical cup 3, the fluorescent detection system as the detection module 5 detects the silkworm chrysalis and obtains the sex of the silkworm chrysalis, and at the same time transmits the result of the sex of the silkworm chrysalis to the control end to control the action of the cylinder 6 so that the male and female silkworm chrysalis fall into the female chrysalis. Silkworm chrysalis collection box 7-1; male silkworm chrysalis falls into male silkworm chrysalis collection box 7-2.

The conveyor belt 4 is provided with a plurality of conical cups 3, and the bottom of the conical cups 3 is provided with an elastic pad 10, which has elasticity to prevent mechanical and physical damage to the silkworm chrysalis. The elastic pad 10 is circular, with a through hole in the center, and no less than 12 elastic pad through holes 10-1 evenly distributed around the periphery. The diameter of the elastic pad 10 is consistent with the length of the silkworm chrysalis.

The timing belt is provided with a conveyor belt airflow channel 4-2 around the elastic pad 10, and the airflow can form a conical airflow along the inner wall of the conical cup 3. Functions: first, prevent silkworm chrysalis from falling and touching the inner wall of the conical cup to receive physical and mechanical damage Second, the airflow can make the silkworm chrysalis horizontally placed on the elastic pad 10, which is convenient for detection by the fluorescence detection system.

The plug seat 9 is provided with a plug seat air flow channel 9-1, when the plug seat 9 can be inserted into the plug hole 4-1, a conical air flow is formed. The plug seat 9 is provided with a sensor 9-2, and the sensor 9-2 can judge whether there are silkworm chrysalis on the elastic pad 8.

As shown in Figure 3, which schematically illustrates the structure of the detection module, female silkworm chrysalis can express orange fluorescence throughout the life cycle. The light emitted by the LED lamp bead 5-1 passes through the green fluorescent filter 5-2 to produce green light with a bandwidth of 554nm and a bandwidth of 30nm. The green light passes through the spectroscope 5-3 and irradiates the silkworm chrysalis 2-1, and the silkworm chrysalis 2- 2 Under the irradiation of green light, if it is a female silkworm chrysalis, it will excite orange fluorescence at 586nm. The orange fluorescence filter 5-4 is a filter with a center wavelength of 586nm and a bandwidth of 20nm, which can eliminate the interference of light of other wavelengths and can only pass orange light with a wavelength of 586nm and a bandwidth of 20nm. The fluorescence detection camera 5-5 determines that the silkworm chrysalis is a female silkworm chrysalis by identifying the 586mn orange light wave, otherwise it is a male silkworm chrysalis. Therefore, the high-speed identification of male and female silkworm chrysalis can be realized through the combination of machine vision recognition technology and devices such as lighting filters.

A CCD camera is used to collect images of silkworm chrysalis on the conveyor belt, and then the image is processed through algorithm programming to determine whether the silkworm chrysalis is male or female, and then MYSQL is used to create a data table, and finally the single-chip microcomputer is used to control the sorting mechanism to sort the male and female silkworm chrysalis.

Although the above embodiments are described and illustrated separately, some common technologies are involved, and in the eyes of those of ordinary skill in the art, the embodiments can be replaced and integrated, and the content that is not clearly recorded in one of the embodiments can be Reference is made to another example documented.

The implementation methods described above do not limit the protection scope of the technical solution. Any modifications, equivalent replacements and improvements made within the spirit and principles of the above implementation methods shall be included in the protection scope of the technical solution.

Claims (8)

1. a kind of full-automatic male and female silkworm chrysalis separator, including：

Feed mechanism：Silkworm chrysalis to be sorted is set to fall one by one on the corresponding station of transport mechanism；

Transport mechanism：Multiple stations are set, the silkworm chrysalis to be sorted is accepted during for feed mechanism blanking, and to the silkworm to be sorted Pupa is transmitted；

Detection module：Top positioned at darkroom, the darkroom is in the transmission path of the transport mechanism, in the transport mechanism By fall into station wait sort silkworm chrysalis transmit one by one to darkroom when, the detection module positioned at darkroom top treat sorting silkworm chrysalis enter The detection identification of row male and female, to confirm the sex of silkworm chrysalis to be sorted；

Sorting mechanism：According to the detection recognition result of the silkworm chrysalis sex to be sorted, silkworm chrysalis is sorted so that female pupa enters Female pupa collection box, male pupa enters female pupa collection box.

2. full-automatic male and female silkworm chrysalis separator according to claim 1, it is characterised in that：The feed mechanism includes vibration Disk, the silkworm chrysalis to be sorted is placed on vibrating disk, the silkworm chrysalis to be sorted is fallen one by one described by the vibration disc vibration On the corresponding station of transport mechanism.

3. full-automatic male and female silkworm chrysalis separator according to claim 2, it is characterised in that：The transport mechanism includes transmission Receiving hole is provided with band and pneumatic means, described conveyer belt as station, the conveyer belt is located at the lower section of feed mechanism, The pneumatic means is corresponding with the feed mechanism and is arranged on the lower section of conveyer belt.

4. full-automatic male and female silkworm chrysalis separator according to claim 3, it is characterised in that：Described detection module be with Silkworm chrysalis is identified by machine vision for the CCD camera of fluorescence detection function, the CCD camera, and orange silkworm is presented Pupa is female, and it is male that orange silkworm chrysalis is not presented, and recognition result is sent into sorting mechanism, sorted back by sorting mechanism Receive.

5. full-automatic male and female silkworm chrysalis separator according to claim 1, it is characterised in that：The sorting mechanism includes female pupa Collection box, female pupa collection box and drive mechanism, axially the female pupa collection box of connection, female pupa are reclaimed the output end of the drive mechanism Case；When the silkworm chrysalis that will be fallen is female, then the drive mechanism driving female pupa collection box is accepted, when the silkworm chrysalis that will be fallen is Male, then the drive mechanism driving male pupa collection box undertaking.

6. full-automatic male and female silkworm chrysalis separator according to claim 4, it is characterised in that：The CCD camera is provided with Light source, in fluoroscopic examination, after the light irradiation that silkworm chrysalis is 554NM by wavelength, the internal bioluminescence material of female can send ripple A length of 586NM transmitting light, the CCD camera is filtered by loading the cut-off fluorescence for the small bandwidth that centre wavelength is 586NM Piece captures bioluminescence.The light path design of mechanism is：It is narrow using CREE CXA2530 high-powered LED lamps loading 554NM Band cut-off fluorescent optical filter is light source, and 554NM narrow band pass filter ensures the pure property of light source.Light source is radiated at two colour mirrors On, then by dichroic mirror to silkworm chrysalis.Two colour microscopies are all crossed by 586NM camera again and survey silkworm chrysalis.

7. full-automatic male and female silkworm chrysalis separator according to claim 6, it is characterised in that：Gathered and transmitted with CCD camera The image of silkworm chrysalis is taken, then image is handled by arithmetic programming, the silkworm chrysalis male and female are judged, then data are set up with MYSQL Table, is finally sorted using single-chip microcomputer control sorting mechanism to male and female silkworm chrysalis.

8. full-automatic male and female silkworm chrysalis separator according to claim 7, it is characterised in that：Provided with cone at described receiving hole Shape cup, cushion and obturating plug, the cushion are located at the bottom of the beaker flask, left between the cushion and conveyer belt Hole simultaneously forms gas channel, and described obturating plug is located at below the cushion, by the tracheae and runner on obturating plug to described Blown in gas channel.