KR102854425B1 - Insect feeding fork device of insect feeding system - Google Patents

Abstract

The present invention relates to an insect breeding fork device of an insect breeding system, comprising: a breeding box loading means for loading one or more breeding boxes; a receiving means for positioning breeding boxes to be loaded into the breeding box loading means; a retrieving means for positioning breeding boxes released from the breeding box loading means; an insect breeding robot means for automatically moving to perform a receiving and retrieving process when the breeding boxes are loaded into or removed from the breeding box loading means; and a robot transfer means mounted on the breeding box loading means so that the insect breeding robot means can be reciprocally transferred from the breeding box loading means. The insect breeding robot means loads breeding boxes from the receiving means through the insect breeding fork means, moves the breeding boxes to the breeding box loading means through the transfer means, and loads the breeding boxes at a specific position. The insect breeding robot means takes out a breeding box at a specific position of the breeding box loading means through the insect breeding fork means, moves the breeding box through the transfer means, and retracts and places the breeding box on the retrieving means.

Description

Insect feeding fork device of insect feeding system

The present invention relates to an insect breeding fork device of an insect breeding system, and more particularly, to an insect breeding fork device of an insect breeding system that enables a plurality of breeding boxes for insect breeding to be easily loaded and unloaded through an insect breeding robot, thereby automatically managing the insect breeding process, and that identifies the location of the breeding boxes during the loading and unloading process and transmits a sensor signal to enable a smooth loading and unloading process of the breeding boxes.

Recently, insects have been attracting attention not only for their use as food, but also as pharmaceutical ingredients, for the industrial use of their bioactive substances, and for applications in composting and environmental purification. Generally, larvae refer to the stage of an insect's life from egg hatching until adulthood. These insect larvae are being utilized as ingredients in medicines, health supplements, and other industrial applications, generating high added value.

Due to the utility of these larvae, various methods for rearing them have been proposed. Previously, greenhouses or dedicated buildings were used for mass rearing of insect larvae, but container-based methods are being developed more recently.

In the case of container-based breeding, the space is narrow due to the nature of the container, making it difficult and complicated to secure work space for exchanging feeding medium for larval breeding and transporting the larvae for shipment after breeding, which is pointed out as a problem with container-based breeding facilities.

In addition, although an insect breeding system based on IoT technology has been developed, there is a problem that many workers are required to manage the insects in the breeding boxes depending on the breeding status of the insects, resulting in high labor costs and expenses. Therefore, an appropriate device is required to solve this problem.

[Prior Art Literature]

Republic of Korea Patent Publication No. 10-2021-0075787 (published on June 23, 2021) (Title of invention: IoT-based insect breeding system)

The purpose of the present invention is to solve the problems of the above-mentioned prior art, and to provide an insect breeding fork device of an insect breeding system that enables the automatic management of the insect breeding process by allowing a plurality of breeding boxes for insect breeding to be easily loaded and unloaded through an insect breeding robot, and that identifies the location during the loading and unloading process of the breeding boxes and transmits a sensor signal so that the loading and unloading process of the breeding boxes can be performed smoothly.

According to a preferred embodiment of the present invention to achieve the above-mentioned purpose,

A breeding box loading means for loading one or more breeding boxes,

A receiving means for positioning a breeding box to be received in the above breeding box loading means,

A means for positioning a breeding box that has been released from the breeding box loading means;

An insect breeding robot means that automatically moves to perform the loading and unloading process when the breeding box is loaded into or unloaded from the breeding box loading means, and

A robot transport means is included so that the insect breeding robot means can be reciprocally transported on the breeding box loading means by being mounted on the breeding box loading means.

The above insect breeding robot means

By loading the breeding boxes from the above-mentioned receiving means through the insect breeding fork means, moving them to the breeding box loading means through the transport means, and loading the breeding boxes at a specific location,

The above insect breeding robot means

It is characterized by taking out a breeding box at a specific location of the breeding box loading means through an insect breeding fork means, moving it through a transport means, and then placing the breeding box on the delivery means.
A structure in which an insect breeding fork unit is installed, further including a vertical device of an insect breeding system,
The vertical device of the above insect breeding system is characterized in that it is provided with a facing vertical plate maintaining a rectangular box shape, a control box installed on one side of the vertical plate, a floor plate, and a ceiling plate, an upper limit sensor device is installed on the vertical plate, a home position sensor device and a lower limit sensor device are installed on the lower part of the vertical plate, and an emergency stop switch is installed on the middle part of the front and rear of the facing vertical plates, respectively.
The above fork unit has a pair of fork tooth block devices extending to the right from the bottom surface of the base plate,
An insect breeding fork device of an insect breeding system is provided, characterized in that one fork tooth block device has an indicator device in a hole formed in an end portion, and another fork tooth block device has an RFID reader in a hole formed in an end portion, and reads various data through an RFID mounted on a breeding box and transmits a signal to a control box through a wired or wireless communication means, thereby enabling data in the breeding box to be read.

In addition, it is characterized by further including a curtain means installed between the above-mentioned receiving and shipping means and the loading means.

In addition, the insect breeding robot means is located at a maintenance position adjacent to the initial breeding box loading means, and the breeding box loading means and the maintenance position are characterized in that they are isolated by a partition curtain means.

In addition, the above-mentioned diaphragm curtain means is characterized by being a non-interruptible folding curtain.

In addition, the growth status of insects inside a breeding box mounted on the breeding box loading means is automatically checked, and the weight measurement, hatching date, growth period, or feeding date is checked.

In addition, the insect breeding fork means includes a gripper means for holding a breeding box,

The first base plate,

Second base plate, and

The third base plates are connected to each other so that they can slide,

It is a structure in which a second base plate is transported by a timing belt on a first base plate, a third base plate is transported on the second base plate, and the breeding box is characterized in that it can be positioned by rotating from 0 degrees to 180 degrees by an insect breeding fork means.

In addition, the growth status of insects inside a breeding box mounted on the breeding box loading means is automatically checked by reading the RFID of the breeding box, and the weight measurement, hatching date, growth period, or feeding date is checked.

According to the insect breeding fork device of the insect breeding system according to the present invention described above, it is possible to automatically manage the insect breeding process by making it easy to receive and retrieve breeding boxes through a plurality of insect breeding robots for insect breeding, and it has the effect of being able to perform a smooth loading and unloading process by identifying the location and transmitting a sensor signal during the loading and unloading process of the breeding boxes.

Figure 1 is a schematic perspective view of an insect breeding system according to the present invention, and is a perspective view showing a livestock breeding robot moving along the X-axis.
Fig. 2 is a perspective view similar to Fig. 1, showing an insect breeding robot moving along the X-axis to a position for maintenance.
Figure 3 is a perspective view showing the insect breeding robot fork device of the insect breeding system according to the present invention positioned at the lowest end of the Z-axis.
Figure 4 is a perspective view showing the insect breeding robot fork device of the insect breeding system according to the present invention positioned at the top of the Z-axis.
Figure 5 is a side view showing an enlarged view of the lowermost part of an insect breeding robot of an insect breeding system according to the present invention.
Figure 6 is a side view showing an enlarged portion of the top part of an insect breeding robot of an insect breeding system according to the present invention.
Figure 7 is an enlarged view showing part A of Figure 6.
Figure 8 is a perspective view schematically showing an insect breeding robot fork of an insect breeding system according to the present invention.
Fig. 9 is a perspective view schematically showing an insect breeding robot fork of an insect breeding system according to the present invention, and is a drawing showing a state in which a breeding box is moved.
Fig. 10 is a perspective view schematically showing an insect breeding robot fork of an insect breeding system according to the present invention, and is a drawing showing a state in which the breeding box is rotated 180 degrees.
Fig. 11 is a perspective view schematically showing an insect breeding robot fork of an insect breeding system according to the present invention, and is a drawing showing a state in which a breeding box is moved.
Fig. 12 is a schematic perspective view of an insect breeding system according to the present invention, showing an insect breeding robot installed with a plurality of breeding boxes loaded.
Figure 13 is a schematic diagram illustrating the transport process of the breeding box in the insect breeding system of Figure 12.
Fig. 14 is a schematic diagram illustrating the operation of an insect breeding robot in the insect breeding system of Fig. 12.
Figure 15 is a schematic diagram illustrating the loading process of an insect breeding robot in the insect breeding system of Figure 12.
Figure 16 is a schematic diagram illustrating the vertical movement process of an insect breeding robot in the insect breeding system of Figure 12.
Figure 17 is a schematic diagram illustrating the shelf loading process of the insect breeding robot in the insect breeding system of Figure 12.
Figure 18 is a schematic diagram illustrating the rotation process of an insect breeding robot in the insect breeding system of Figure 12.
Fig. 19 is a perspective view schematically showing an insect breeding robot in the insect breeding system of Fig. 12.
Fig. 20 is a perspective view schematically showing the base unit of the insect breeding robot in the insect breeding system of Fig. 12.
Fig. 21 is a perspective view schematically showing the vertical unit of the insect breeding robot in the insect breeding system of Fig. 12.
Fig. 22 is a perspective view schematically showing the fork unit of the insect breeding robot in the insect breeding system of Fig. 12.
Fig. 23 is a perspective view schematically showing the fork unit of the insect breeding robot in the insect breeding system of Fig. 12, and is a drawing similar to Fig. 22.
Fig. 24 is a perspective view schematically showing the fork unit of the insect breeding robot in the insect breeding system of Fig. 12, and is a drawing similar to Fig. 23.
Fig. 25 is a partial perspective view schematically showing the inlet and outlet means in the insect breeding system of Fig. 12.
Fig. 26 is a schematic enlarged perspective view of the switch box portion of the insect breeding system of Fig. 12.
Fig. 27 is a perspective view schematically showing a conveyor device of an inlet means or an outlet means in the insect breeding system of Fig. 12.
Fig. 28 is a plan view schematically showing the conveyor device of the inlet means and the outlet means in the insect breeding system of Fig. 12.
Fig. 29 is a perspective view schematically showing the sensor portion of the shelf in the insect breeding system of Fig. 12.

The present invention can be modified in various ways and has many embodiments, and specific embodiments are illustrated in the drawings and described in detail.

However, this is not intended to limit the present invention to a specific embodiment, but should be understood to include all modifications, equivalents, or substitutes included in the spirit and technical scope of the present invention.

The terminology used in this application is only used to describe specific embodiments and is not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, it should be understood that the terms "comprise" or "have" indicate the presence of a feature, number, step, operation, component, part, or combination thereof described in the specification, but do not exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and will not be interpreted in an idealized or overly formal sense unless explicitly defined herein.

Hereinafter, with reference to the attached drawings, preferred embodiments of the present invention will be described in more detail. In order to facilitate an overall understanding in describing the present invention, identical reference numerals will be used for identical components in the drawings, and redundant descriptions of identical components will be omitted.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings.

FIG. 1 is a schematic perspective view of an insect breeding system according to the present invention, and is a perspective view showing an insect breeding robot moving along the X-axis, FIG. 2 is a perspective view similar to FIG. 1, showing an insect breeding robot moving along the X-axis to a position for maintenance, FIG. 3 is a perspective view showing a state in which an insect breeding robot fork device of an insect breeding system according to the present invention is positioned at the lowest end of the Z-axis, FIG. 4 is a perspective view showing a state in which an insect breeding robot fork device of an insect breeding system according to the present invention is positioned at the highest end of the Z-axis, FIG. 5 is a side view showing an enlarged portion of the lowest end of an insect breeding robot of an insect breeding system according to the present invention, FIG. 6 is a side view showing an enlarged portion of a part of the highest end of an insect breeding robot of an insect breeding system according to the present invention, FIG. 7 is an enlarged view showing a portion A of FIG. 6, FIG. 8 is a perspective view schematically showing an insect breeding robot fork of an insect breeding system according to the present invention, and FIG. 9 is a schematic view showing an insect breeding robot fork of an insect breeding system according to the present invention. As a perspective view, it is a drawing showing a state in which a breeding box is moved, FIG. 10 is a perspective view schematically showing an insect breeding robot fork of an insect breeding system according to the present invention, and is a drawing showing a state in which the breeding box is rotated 180 degrees, FIG. 11 is a perspective view schematically showing an insect breeding robot fork of an insect breeding system according to the present invention, and is a drawing showing a state in which the breeding box is moved, FIG. 12 is a perspective view schematically showing an insect breeding system according to the present invention, and is a drawing showing a state in which an insect breeding robot is installed in a state in which a plurality of breeding boxes are loaded, FIG. 13 is an explanatory drawing schematically showing a process of transporting breeding boxes in the insect breeding system of FIG. 12, FIG. 14 is an explanatory drawing schematically showing a process of driving an insect breeding robot in the insect breeding system of FIG. 12, FIG. 15 is an explanatory drawing schematically showing a process of loading an insect breeding robot in the insect breeding system of FIG. 12, and FIG. 16 is an explanatory drawing schematically showing a process of moving an insect breeding robot up and down in the insect breeding system of FIG. 12, and FIG. 17 is a schematic diagram illustrating the shelf loading process of the insect breeding robot in the insect breeding system of FIG. 12, and FIG. 18 is a schematic diagram illustrating the rotation process of the insect breeding robot in the insect breeding system of FIG. 12.

Referring to FIGS. 1 to 18, the insect breeding system (100) includes a breeding box loading means (40) for loading one or more breeding boxes (300), a receiving means (70) for loading breeding boxes (300) to be loaded into the breeding box loading means (40), a receiving means (80) for positioning breeding boxes (300) loaded from the breeding box loading means (40), an insect breeding robot means (200) for automatically moving to perform the loading and unloading process when loading the breeding boxes (300) into the breeding box loading means (40) or when loading the breeding boxes (300) from the breeding box loading means (40), and a robot transfer means mounted on the breeding box loading means (40) so that the insect breeding robot means (200) can be reciprocally transferred from the breeding box loading means (40).

Referring to Fig. 1, the insect breeding system (100) is divided into a breeding box loading means (40), an entry means (70), and an exit means (80) by a partition curtain means (30), and the maintenance switch is divided by two partition curtain means (10, 20). Fig. 1 shows a schematic view of an insect breeding system (100) installed, and the external wall is omitted, and insects are bred in the insect breeding system (100) configured as in Fig. 1. In Fig. 1, an insect breeding robot means (200) is located within the breeding box loading means (40).

Referring to FIG. 2, the insect breeding robot means (200) in the insect breeding system (100) is shown in a state where it is positioned at a maintenance position. In the maintenance position, the insect breeding robot means (200) is maintained regularly or irregularly. The inside of the breeding box loading means (40) is each blocked from the outside by a partition curtain means (20, 30) and is maintained clean through a regular or irregular washing process, and the temperature and humidity are always maintained at a state suitable for breeding insects.

The above insect breeding robot means (200) is located at the maintenance position, and the breeding box loading means (40) and the maintenance position are isolated by a partition curtain means (20). The partition curtain means (20) is characterized by being an uninterruptible folding curtain.

The above insect breeding robot means (200) loads a breeding box (300) from the receiving means through the insect breeding fork means, moves it to the breeding box loading means (40) through the transport means (90), and loads the breeding box (300) at a specific position of the breeding box loading means (40).

In addition, the insect breeding robot means (200) takes out a breeding box (300) located at a specific position of the breeding box loading means (40) through the insect breeding fork means, moves it through the transport means (90), and places the breeding box (300) on the delivery means (80).

The growth status of insects inside the breeding box (300) mounted on the breeding box loading means (40) is automatically checked, and the weight measurement, hatching date, growth period, or feeding date is checked.

Referring to FIGS. 3 and 4, the insect breeding robot means (200) includes a rectangular base plate (212), parallel walls (262, 264) installed facing upward on the base plate (212), a control box (252) attached to the wall (262), four X-direction wheels (242) installed on the base plate (212), and a guide roller (210) installed on the bottom surface of the base plate (212) so as to correspond to the wheels (242) in a 90-degree direction. Reference numeral 220 denotes a forward/backward movement guide means of the guide roller (210) installed on the lower side of the base plate (212). The insect breeding fork means of the insect breeding robot means (200) moves back and forth from the lowermost to the uppermost side. Reference numeral 232 denotes a wheel installed on the lower side of the base plate (212).

Referring to FIG. 5, the drawing shows the lowermost part of an insect breeding robot means (200), which includes an insect breeding robot wheel (242), an insect breeding robot guide roller (210), a guide rail for an insect breeding robot guide roller (220), and a rail for an insect breeding robot wheel (244).

Referring to FIGS. 6 and 7, the drawings show the uppermost part of the insect breeding robot means (200), and in the part where part A is shown in detail, the guide rail (220) and the guide roller (210) for the guide roller of the insect breeding robot means (200) are shown. The insect breeding robot means (200) is connected to and moves the breeding box loading means (40) through the guide roller (210).

Referring to FIGS. 8 to 11, an insect breeding fork means mounted on an insect breeding robot means is shown, in which a breeding box (300) is held by a gripper means (430, 440), and a first base plate (410), a second base plate (420), and a third base plate (430) are slidably connected to each other.

The structure is such that the second base plate (420) is transported on the first base plate (410) by a timing belt. The third base plate (430) is transported on the second base plate (420). The breeding box (300) can be rotated from 0 to 180 degrees by an insect breeding fork means.

Referring to FIG. 12, an insect breeding system (100) according to one embodiment of the present invention has a plurality of breeding boxes (300) loaded onto a breeding box loading means (40) configured in a rectangular grid shape.

Referring to Fig. 13, initially, the cylinder of the loading means (70) is raised and moves upward, and a breeding box (300) is placed on the shuttle of the loading means (70) and inserted into the loading means (70) (loading stage of the loading means).

The received breeding box (300) is moved via a transport means, and the moved breeding box (300) is placed on a specific port (loading port) of the loading means (40). Thereafter, the empty shuttle is returned to the receiving means.

Referring to FIG. 14, in the insect breeding system (100) according to the present invention, the insect breeding robot means (200) travels along a travel section along a transport means (90) located in the middle of the breeding box loading means (40). The insect breeding robot means (200) can move to a breeding box (300) loading position while traveling along the travel section. Reference symbol (B) is a planar reduced drawing of the insect breeding system (100) indicating a loading position of the breeding box (300).

Referring to FIG. 15, the process of loading a breeding box (300) by the insect breeding robot means (200) transferred to the loading position in FIG. 14 is shown. Initially, the breeding box (300) is mounted on a specific port (loading port) of the loading means. Thereafter, the fork portion of the insect breeding fork means of the insect breeding robot means (200) moves forward and is positioned on the bottom surface of the breeding box (300). Thereafter, the insect breeding robot means (200) rises and is attached to the fork portion on the bottom surface of the breeding box (300), and thereafter, the breeding box (300) is held by the gripper means (430, 440), and then, as the fork portion of the fork means moves backward, the breeding box (300) is settled on the insect breeding fork means.

Referring to Fig. 16, the insect breeding robot means (200) is mounted in the breeding box loading means (40:41, 42) and moves up and down from the lower loading position to the upper unloading position of the breeding box loading means. In the reference symbol (B), Shelf indicates the shelf area, and Rack Master indicates the insect breeding robot means (2000) that moves along the transport means (90).

Referring to Fig. 17, the process of loading the insect breeding robot means (200) into the shelf area is illustrated. That is, the insect breeding fork means of the insect breeding robot means moves forward with the gripper released, and then descends, and the breeding box (300) is positioned at a specific position (port) on the breeding box loading means, and then the insect breeding fork means moves backward, completing the operation.

Referring to Fig. 18, the state in which the fork means of the insect breeding robot means (200) rotates is shown. That is, the insect breeding robot means (200) can insert or discharge a breeding box (300) into or from the shelves on both sides by rotating the fork 90 degrees initially and then rotating 90 degrees again, thus rotating a total of 180 degrees from the initial position.

Referring to the above drawings 1 to 18, the insect breeding robot operation will be briefly described again below.

First, we will explain the scope of work of insect breeding robots.

The worker area is the area where the worker acts as the subject of the work.

The shelf area is the area where the insect breeding robot operates as the main body of work.

The maintenance area is where the insect breeding robot operates as the main body of work and is located when maintenance is required.

First, the worker checks the condition of the breeding box (breeding box check process).

Hereafter, the process of storing the breeding box (300) will be explained. First, the worker places the breeding box on the shuttle of the receiving means (70).

Afterwards, the shuttle of the loading means (70) is the working subject, and the shuttle loading process is performed, that is, the breeding box (300) is placed in the shuttle loading port of the shelf area.

Afterwards, the insect breeding robot is the working subject and moves to the place where the breeding box (300) is located (i.e., shuttle loading port) (x-axis movement).

Afterwards, the insect breeding fork means of the insect breeding robot means, as the working subject, moves (z-axis movement) to the place where the breeding box is located (i.e., the shuttle loading port).

Afterwards, the fork means of the insect breeding robot means, as the main body of the work, performs the breeding box loading process, and the breeding box loading is performed through the process of (θ-axis)-(y-axis)-(z-axis)-movement and then gripper grip-(-y-axis)-(θ-axis).

Afterwards, the insect breeding robot, as the work subject, moves the breeding box to the shelf port where it will be stored (movement along the x-axis).

Afterwards, the fork means of the insect breeding robot means moves the breeding box to the shelf port where it is to be stored (θ-axis movement) as the working subject.

Afterwards, the fork means of the insect breeding robot means, as the working subject, moves the breeding box to the shelf port for storing it (z-axis movement).

Afterwards, the fork means of the insect breeding robot means, as the main body of the work, performs the breeding box unloading process, and the breeding box storage (stock) is carried out through the process of z-axis-y-axis-movement, then gripper release-(-z-axis)-(-y-axis)-(-θ-axis).

Meanwhile, the process of taking out the breeding box is explained.

First, the insect breeding robot, as the working subject, moves to the port from which the breeding box is taken out (movement along the x-axis).

Afterwards, the fork means of the insect breeding robot means moves to the port to take out the breeding box as the working subject (movement along the y-axis).

Afterwards, the fork means of the insect breeding robot means, as the main body of the work, performs the breeding box loading process, and the breeding box loading is performed through the process of θ-axis-y-axis-z-axis-movement and then gripper grip-(-y-axis)-(-θ-axis).

Afterwards, the insect breeding robot acts as the operator and moves the breeding box to the unloading port (movement along the x-axis).

Afterwards, the fork means of the insect breeding robot means acts as the working subject, and the breeding box is moved to the unloading port (z-axis movement).

Afterwards, the fork means of the insect breeding robot means acts as the working subject, and the breeding box is moved to the unloading port (θ-axis movement).

Afterwards, the fork means of the insect breeding robot means, as the main body of the work, performs the breeding box unloading process, and the breeding box loading process is performed through the process of z-axis-y-axis-movement, then gripper release-(-z-axis)-(-y-axis)-(-θ-axis).

Afterwards, the shuttle of the delivery means (80) acts as the work subject and the shuttle unloading process is performed, that is, the shuttle takes out the breeding box from the unloading port of the shelf area.

Afterwards, the worker removes the breeding box from the shuttle.

Meanwhile, during maintenance, the breeding robot acts as the main body of work and moves along the x-axis to the maintenance area, where the breeding robot performs maintenance, and the loading means (40) performs cleaning work.

Meanwhile, in the shelf area, the fork mechanism of the breeding robot serves to load the breeding box, and automatically checks the growth status of the insects inside the breeding box. At this time, the weight measurement, hatching date, growth period, and feeding date can be checked.

The above insect breeding robot means (200) moves along the central passage of the breeding box loading means.

Additionally, a partition curtain is installed on the left side of the insect breeding system curtain.

The partition curtain serves to separate the insect breeding robot from the shelf area when the insect breeding robot moves from the shelf area to the maintenance area. It is composed of an uninterruptible folding curtain.

When performing maintenance on an insect breeding robot, it protects the breeding insects within the shelf area by preventing the inflow of surrounding noise and dust caused by the work, mold, harmful bacteria, and natural enemies (adults, eggs, larvae) that may leak from the worker's body.

When performing maintenance on the shelf area, the insect breeding robot is separated from the cleaning solution used to clean the shelf area, thereby preventing the cleaning solution from splashing on the wiring and body, thereby protecting the insect breeding robot.

FIG. 19 is a perspective view schematically showing an insect breeding robot in the insect breeding system of FIG. 12, FIG. 20 is a perspective view schematically showing a base unit of an insect breeding robot in the insect breeding system of FIG. 12, FIG. 21 is a perspective view schematically showing a vertical unit of an insect breeding robot in the insect breeding system of FIG. 12, FIG. 22 is a perspective view schematically showing a fork unit of an insect breeding robot in the insect breeding system of FIG. 12, FIG. 23 is a perspective view schematically showing a fork unit of an insect breeding robot in the insect breeding system of FIG. 12, and is a drawing similar to FIG. 22, FIG. 24 is a perspective view schematically showing a fork unit of an insect breeding robot in the insect breeding system of FIG. 12, and is a drawing similar to FIG. 23, FIG. 25 is a partial perspective view schematically showing an inlet means and an outlet means in the insect breeding system of FIG. 12, and FIG. 26 is a switch box in the insect breeding system of FIG. 12 A perspective view schematically showing an enlarged portion of a part, FIG. 27 is a perspective view schematically showing a conveyor device of an inlet means or an outlet means in the insect breeding system of FIG. 12, FIG. 28 is a plan view schematically showing a conveyor device of an inlet means or an outlet means in the insect breeding system of FIG. 12, and FIG. 29 is a perspective view schematically showing a sensor part of a shelf in the insect breeding system of FIG. 12.

Referring to FIGS. 19 to 29, the insect breeding robot means (200) of the insect breeding system according to one embodiment of the present invention is similar to that described in FIG. 12. Therefore, description of the same parts will be omitted.

Referring to Fig. 20, the base plate (420) of the insect breeding system has multiple holes (422) formed therein, and four wheels (242) are installed to be rotatable by two motors (272). A guide roller (210) arranged at a 90-degree angle to the four wheels (242) is provided on the bottom.

Sensor devices are respectively installed near the front and rear wheels of the above base plate (420), and upper and lower limit sensor devices (282) and home position sensor devices (284) are installed.

Referring to Fig. 21, the vertical device of the insect breeding system is a structure in which an insect breeding fork unit is installed, and is provided with an opposing vertical plate having a rectangular box shape, a control box (252) installed on one side of the vertical plate, a floor plate, and a ceiling plate (222). An upper limit sensor device (282-2) is installed on the vertical plate, and a home position sensor device (284) and a lower limit sensor device (282-1) are installed on the lower part of the vertical plate. An emergency stop switch (264) is installed on the middle portions of the front and rear of the opposing vertical plates, respectively.

Reference numeral 292 represents a motor device (for vertical movement).

Referring to FIGS. 22 to 24, drawings showing a fork unit illustrate a pair of fork tooth block devices (472, 474) that extend to the right from the bottom surface of a base plate (410). One fork tooth block device (472) has an indicator device (471) formed in a hole formed at an end thereof, and another fork tooth block device (474) has an RFID reader (473) formed in a hole formed at an end thereof, so that various data can be read through an RFID mounted on a breeding box (300) and a signal can be transmitted to a control box (252) through a wired or wireless communication means, thereby reading data within the breeding box (300).

Upper limit and lower limit sensor devices are installed at the end of the base plate (410), and a home position sensor device is installed near the middle.

Referring to Figures 25 and 26, the state in which the breeding box (300) is positioned in the receiving means (70) and the exporting means (80) is shown, respectively. A switch device (320) is provided to operate the insect breeding system.

The above switch device (320) is equipped with a buzzer unit (322), an emergency stop switch (324), and a switch button (326).

Referring to FIGS. 27 and 28, the receiving means (70) (or the delivery means (80) are also the same, so a duplicate description of the same parts will be omitted) is equipped with a pneumatic control unit (490), a sensor device (442), and a solenoid device (446). The shuttle device (710) (810) can be moved up or down for loading and unloading the breeding box (300) in the future.

When viewed from the plan view of the above-mentioned loading means (70), a sensor device is provided on the shuttle device (710)(810), and when viewed from the bottom view, a home position sensor device (78)(88), a lower limit device (76)(86), an upper limit device (74)(84), and an operating position sensor device (72)(82) are provided on the base plate (720)(820) to enable the position of the breeding box (300) to be identified.

Referring to Fig. 29, a breeding box (300) mounted at a specific position in the operating shelf area, i.e., the breeding box loading means (40), is illustrated, and a sensor device (448) for checking the presence or absence of a breeding box is attached to the side of the breeding box loading means.

According to the insect breeding fork device of the insect breeding system according to the present invention, a plurality of breeding boxes for insect breeding can be easily loaded and unloaded through an insect breeding robot means, thereby automatically managing the insect breeding process, and the location can be identified during the loading and unloading process of the breeding boxes and a sensor signal can be transmitted to perform a smooth loading and unloading process of the breeding boxes.

As described above, the best embodiments have been disclosed in the drawings and specifications. While specific terminology has been used herein, it is solely for the purpose of describing the present invention and is not intended to limit the scope of the invention as defined in the claims. Therefore, those skilled in the art will understand that various modifications and equivalent embodiments are possible. Accordingly, the true technical protection scope of the present invention should be determined by the technical spirit of the appended claims.

100: Insect Breeding System
200: Insect breeding robot
70: Means of entry
80: Means of delivery
300: Breeding Box
320: Switch device
710(810): Shuttle device

Claims (7)

A breeding box loading means for loading one or more breeding boxes,
A receiving means for positioning a breeding box to be received in the above breeding box loading means,
A means for positioning a breeding box that has been released from the breeding box loading means;
An insect breeding robot means that automatically moves to perform the loading and unloading process when the breeding box is loaded into or unloaded from the breeding box loading means, and
A robot transport means is included so that the insect breeding robot means can be reciprocally transported on the breeding box loading means by being mounted on the breeding box loading means.
The above insect breeding robot means
By loading the breeding boxes from the above-mentioned receiving means through the insect breeding fork means, moving them to the breeding box loading means through the transport means, and loading the breeding boxes at a specific location,
The above insect breeding robot means
It is characterized by taking out a breeding box at a specific location of the breeding box loading means through an insect breeding fork means, moving it through a transport means, and then placing the breeding box on the delivery means.
A structure in which an insect breeding fork unit is installed, further including a vertical device of an insect breeding system,
The vertical device of the above insect breeding system is characterized in that it is provided with a facing vertical plate maintaining a rectangular box shape, a control box installed on one side of the vertical plate, a floor plate, and a ceiling plate, an upper limit sensor device is installed on the vertical plate, a home position sensor device and a lower limit sensor device are installed on the lower part of the vertical plate, and an emergency stop switch is installed on the middle part of the front and rear of the facing vertical plates, respectively.
The above fork unit has a pair of fork tooth block devices extending to the right from the bottom surface of the base plate,
An insect breeding fork device of an insect breeding system characterized in that one fork tooth block device has an indicator device in a hole formed in an end portion, and another fork tooth block device has an RFID reader in a hole formed in an end portion, and reads various data through an RFID mounted on a breeding box and transmits a signal to a control box through a wired or wireless communication means, thereby enabling data within the breeding box to be read.
In the first paragraph,
An insect breeding fork device of an insect breeding system, characterized in that it further includes a curtain means installed between the above-mentioned receiving and retrieving means and the loading means.
In the first paragraph,
An insect breeding fork device of an insect breeding system, characterized in that the insect breeding robot means is initially located at a maintenance position adjacent to the breeding box loading means, and the breeding box loading means and the maintenance position are isolated by a partition curtain means.
In the third paragraph,
An insect breeding fork device of an insect breeding system, characterized in that the above-mentioned diaphragm curtain means is a non-interruptible folding curtain.
In the first paragraph,
An insect breeding fork device of an insect breeding system, characterized in that it automatically checks the growth status of insects inside a breeding box mounted on the breeding box loading means, and checks weight measurement, hatching date, growth period, or feeding date.
In the first paragraph,
The above insect breeding fork means
A gripper means for holding the breeding box,
The first base plate,
Second base plate, and
The third base plates are connected to each other so that they can slide,
An insect breeding fork device of an insect breeding system characterized in that a second base plate is transported on a first base plate by a timing belt, a third base plate is transported on the second base plate, and the breeding box can be positioned by rotating from 0 degrees to 180 degrees by an insect breeding fork means.
In the first paragraph,
An insect breeding fork device of an insect breeding system, characterized in that it automatically checks the growth status of insects inside a breeding box mounted on the breeding box loading means by reading the RFID of the breeding box, and checks the weight measurement, hatching date, growth period, or feeding date.