阅读说明：本技术 一种鱼群防疫方法 (Fish swarm epidemic prevention method ) 是由 郭卫松 江波 夏军 朱大杰 王林昊 于 2019-11-13 设计创作，主要内容包括：本发明涉及一种鱼群防疫方法,依次包括如下步骤：⑴使鱼群防疫装置的壳体溜槽呈后高前低的倾角；⑵关闭壳体溜槽的前闸门,然后打开后闸门；⑶一条鱼体进入壳体溜槽后,关闭后闸门；⑷对鱼头部位进行喷雾麻醉；⑸利用称重传感器对鱼体进行称重；⑹根据鱼体重量计算药液重量；⑺夹鱼装置相向伸出将鱼体夹住；⑻通过图像识别传感器观察鱼体的注射部位；⑼移动夹鱼装置使鱼体的注射部位对准壳体溜槽下部的注射孔；⑽注药装置通过注射孔向鱼体注射适量的药液；⑾注药装置复位；⑿夹鱼装置松开鱼体；⒀打开前闸门使鱼体滑出；⒁回到步骤⑵进行下一条鱼的防疫,如此循环。该鱼群防疫方法可以将鱼夹持后进行药物注射,实现鱼病的防疫与治疗。(The invention relates to a fish swarm epidemic prevention method which sequentially comprises the following steps of ⑴ enabling a shell chute of a fish swarm epidemic prevention device to be in an inclination angle with a high back and a low front, ⑵ closing a front gate of the shell chute and then opening a back gate, ⑶ enabling a fish body to enter the shell chute and then closing the back gate, ⑷ carrying out spray anesthesia on the fish head part, ⑸ weighing the fish body by using a weighing sensor, ⑹ calculating the weight of liquid medicine according to the weight of the fish body, ⑺ clamping devices extending out oppositely to clamp the fish body, ⑻ observing the injection part of the fish body through an image recognition sensor, ⑼ moving the fish clamping devices to enable the injection part of the fish body to be aligned with an injection hole in the lower portion of the shell chute, ⑽ injecting the liquid medicine into the fish body through the injection hole, ⑵ 0 injecting the medicine device resetting, ⑵ 1 clamping devices loosening the fish body, ⑵ 2 opening the front gate to enable the fish body to slide out, ⑵ 3 returning to ⑵ 4 to carry out epidemic prevention of the next fish, and the circulation is realized.)

1. A method for preventing epidemic of fish includes such steps as ⑴ making the chute of fish pool become a higher angle, ⑵ closing the front gate and then opening the back gate, ⑶ making a fish body enter the chute, closing the back gate, ⑷ spray anaesthetizing the fish head, ⑸ weighing the fish body with weighing sensor, ⑹ calculating the weight of liquid medicine, ⑺ clamping the fish body, ⑻ observing the injection position of fish body with image recognition sensor, ⑼ moving the clamping device to make the injection position of fish body aim at the injection hole on the bottom of chute, ⑽ injecting proper amount of liquid medicine into fish body through injection hole, ⑵ 0 injecting medicine device resetting, ⑵ 1 clamping the fish body, ⑵ 2 opening the front gate to slide out the fish body, ⑵ 3 returning to ⑵ 4 for preventing epidemic of next fish, and repeating said steps.

2. The method of claim 1, wherein the fish clamping device in step ⑺ comprises opposing fish clamping support plates driven by fish clamping cylinders, wherein the inner end surfaces of the two fish clamping support plates are respectively provided with a fish clamping soft plate, the opposing end surfaces of the two fish clamping soft plates are respectively provided with a fish clamping cambered surface, the outer end surfaces of the fish clamping support plates are fixed with fish clamping micro-motion servo cylinders with pressure feedback, piston rods of the fish clamping micro-motion servo cylinders are connected with the outer end surfaces of the fish clamping soft plates, and the fish clamping operation comprises the following steps of ① extending piston rods of the fish clamping fast cylinders to push the fish clamping support plates to approach each other, and ② extending piston rods of the fish clamping micro-motion servo cylinders to enable the fish clamping cambered surfaces of the two fish clamping soft plates to clamp the fish from two sides.

3. The method of claim 1, wherein the step ⑽ comprises the steps of moving the piston rod of the servo cylinder to extend ① to insert the needle into the injection site of the fish, moving the servo cylinder to lift ② the injection piston to inject the liquid medicine in the syringe into the fish through the needle, and moving the servo cylinder to retract ③ the piston rod to release the needle from the fish.

4. The herd epidemic prevention method according to claim 3, wherein the pesticide injection device in step ⑽ comprises a pesticide injection top plate and a pesticide injection bottom plate which are parallel to each other, the pesticide injection top plate and the pesticide injection bottom plate are connected to each other through two pesticide injection guide columns which are parallel to each other, a pesticide injection floating plate which can slide up and down along the pesticide injection guide columns is arranged in the middle section of each of the two pesticide injection guide columns, the injection cylinder is fixed at one end of the pesticide injection floating plate, the injection needle is positioned at the top of the injection cylinder, the injection piston is inserted into the lower part of the injection cylinder, the lower end of the injection piston is connected with the driving end of the injection piston servo cylinder, the injection piston servo cylinder is fixedly connected with the pesticide injection floating plate through an injection piston servo cylinder bracket, the injection needle moving servo cylinder is fixed at the center of the bottom of the pesticide injection bottom plate, and the top of the piston rod of the injection needle moving servo cylinder.

5. The fish school epidemic prevention method according to claim 4, wherein one end of the drug injection top plate is hinged to the lower end of the output shaft of the rotary motor, and the top of the rotary motor is fixedly connected to the axis of the bottom plate of the rectangular shell; and a liquid medicine storage tank and an injection needle disinfection device are respectively fixed on the left side wall and the right side wall of the rectangular shell, the liquid medicine storage tank and the injection needle disinfection device are respectively provided with rubber bottoms for inserting an injection needle head, and the two rubber bottoms are respectively positioned on a rotation line of the injection needle head.

6. The herd epidemic prevention method of claim 2, wherein: the piston rods of the two fish clamping quick-acting cylinders are coaxial and are respectively connected to the centers of the outer end surfaces of the fish clamping support plates; the fish clamping guide sleeves are respectively inserted with fish clamping guide rods, and the inner end heads of the fish clamping guide rods are respectively fixedly connected with the outer end faces of the fish clamping support plates.

7. The fish herd epidemic prevention method of claim 6, wherein: the fish clamping guide rod and the fish clamping micro-motion servo cylinder on each side are respectively and symmetrically positioned on the front side and the rear side of the piston rod of the corresponding fish clamping quick-motion cylinder; the top of each of the two fish clamping soft plates is symmetrically hinged with two soft plate connecting rods, the two soft plate connecting rods are splayed, the outer end heads of the two soft plate connecting rods are hinged to a bearing plate pin shaft together, the bottoms of the bearing plate pin shafts are fixed on bearing plate support lugs respectively, and the bearing plate support lugs are fixedly connected to the centers of the tops of the outer end faces of the fish clamping bearing plates respectively.

8. The herd epidemic prevention method of claim 2, wherein: the left side and the right side of the middle section of the rectangular shell are symmetrically provided with shell kidney-shaped grooves extending along the front-back direction; the middle section of the rectangular shell is provided with a U-shaped bracket with a downward opening, two ends of the U-shaped bracket cover the left side and the right side of the rectangular shell, the lower parts of two ends of the U-shaped bracket are symmetrically provided with U-shaped bracket kidney-shaped grooves extending along the front-back direction, and the axial heights of the U-shaped bracket kidney-shaped grooves and the shell kidney-shaped grooves are consistent; the fish clamping quick-acting cylinder piston rod and the fish clamping guide rod on the same side respectively penetrate through the shell kidney-shaped groove and the U-shaped support kidney-shaped groove; the two fish clamping quick-acting cylinders are fixed on the outer side of the U-shaped bracket through quick-acting cylinder bracket plates respectively, and the two fish clamping guide sleeves are fixed at the kidney-shaped groove of the U-shaped bracket; the left side and the right side of the front section in the chute of the shell are symmetrically provided with fish clamping cavities for the fish clamping device to move back and forth.

9. The fish herd epidemic prevention method of claim 8, wherein: the left arm and the right arm of the U-shaped support are respectively provided with a U-shaped support guide hole, U-shaped support guide rods extending along the front-back direction are respectively inserted into the two U-shaped support guide holes, the front end and the back end of each U-shaped support guide rod are respectively fixed on a guide rod seat, and the guide rod seats are respectively fixed on the rectangular shell; and a front and rear adjusting cylinder is fixed at the top of the rectangular shell, and the front end of a piston rod of the front and rear adjusting cylinder is connected to the middle part of the upper end of the U-shaped support.

10. The fish herd epidemic prevention method of claim 1, wherein: the front flashboard is driven by a front flashboard driving cylinder, the rear flashboard is driven by a rear flashboard driving cylinder, and the flashboard driving cylinder and the rear flashboard driving cylinder are respectively fixed on the rectangular shell; the utility model discloses a portable electronic scale, including rectangle casing, articulated shaft before the casing, articulated shaft are articulated respectively before the casing, the rear end top of the rectangle casing left and right sides articulates respectively has inclination to adjust electric putter, and two inclination are adjusted electric putter's lower extreme and are articulated respectively on the articulated seat behind the casing, articulated seat and casing behind the articulated seat passes through respectively before the casing weighing sensor fixes on the base.

Technical Field

The invention relates to a device for immunizing animals by injecting medicaments, in particular to a fish swarm epidemic prevention method, and belongs to the technical field of fishery machinery.

Background

With the rapid development of the aquaculture industry at home and abroad, the breeding technology is improved, and the density of the fishery breeding is gradually improved. The incidence of fish diseases is on the rise due to the increase of the breeding density. In order to solve the problem, the epidemic prevention and treatment of the disease of the current aquaculture fishes are mainly realized by adding feed. Due to the fact that feed is dissolved in water and the feed intake of fishes is different, most of fishes cannot feed proper amount of feed, on one hand, water body pollution is caused, the fish drug consumption is large, the drug utilization rate is low, and economic benefits are low; on the other hand, the proper dosage can not be absorbed by all the fishes, which is not good for epidemic prevention and treatment of the fishes. In order to avoid excessive fish food, the dosage of the medicine is artificially reduced, so that most of the fishes are insufficient in medicine dosage and cannot be effectively prevented from diseases and treated. Aiming at the current situation, a more reasonable, efficient and economic fish drug injection device is found for fishery culture, and is one of the contents of the research of fishery culture industry.

Disclosure of Invention

The invention aims to overcome the problems in the prior art and provide a fish swarm epidemic prevention method, which can utilize the living characteristics of fish, introduce the fish into a device through a water channel, clamp each fish and inject a proper amount of medicine according to the weight of the fish, thereby realizing the epidemic prevention and treatment of fish diseases.

The fish swarm epidemic prevention method comprises the following steps of ⑴ enabling a shell chute of a fish swarm epidemic prevention device to be in an inclination angle with a high back and a low front, ⑵ closing a front gate of the shell chute and then opening a rear gate, ⑶ enabling a fish body to enter the shell chute and then closing the rear gate, ⑷ conducting spray anesthesia on the fish head portion, ⑸ weighing the fish body through a weighing sensor, ⑹ calculating the weight of liquid medicine according to the weight of the fish body, ⑺ clamping devices extending out oppositely to clamp the fish body, ⑻ observing the injection portion of the fish body through an image recognition sensor, ⑼ moving the fish clamping devices to enable the injection portion of the fish body to be aligned with an injection hole in the lower portion of the shell chute, ⑽ injecting proper amount of liquid medicine into the fish body through the injection hole, ⑵ 0 resetting the medicine injection devices, ⑵ 1 clamping devices loosening the fish body, ⑵ 2 opening the front gate to enable the fish body to slide out, and ⑵ 3 returning to ⑵ 4 to conduct epidemic prevention on the next fish, and the next fish is circulated in the mode.

Compared with the prior art, the invention has the following beneficial effects: the rear part of the casing chute is high and the front part of the casing chute is low, after the former fish slides out of the front flashboard, the front flashboard is closed, and after the latter fish enters the casing chute, the rear flashboard is closed to block the rear fish from entering; the atomizing anesthetic nozzle sprays anesthetic to the fish head part, so that the fish body is clamped and injected under an anesthetic state, the pain of the fish body is relieved, and the needle breakage caused by the swinging of the fish body is avoided; the part of the fish body for injection is only located in a small scale-free area between the two fins at the lower part of the fish body, so that an image recognition sensor is required to feed back an accurate injection part; the injected medicine does not pollute the water body, the dosage is not fed by the fish any more, and the medicine is injected in proper amount according to the weight specification of the fish, so that the scientificity of immunity is improved; after slipping out, the medicine-injected fish body enters a reviving pond after being cleaned and then enters another fish pond.

The improvement of the invention is that the fish clamping device in the step ⑺ comprises two opposite and vertical fish clamping support plates, the fish clamping support plates are driven by a fish clamping quick-acting cylinder, the inner end surfaces of the two fish clamping support plates are respectively provided with a fish clamping soft plate, the opposite end surfaces of the two fish clamping soft plates are respectively provided with a fish clamping cambered surface, the outer end surfaces of the fish clamping support plates are fixedly provided with a fish clamping micro-acting servo cylinder with pressure feedback, a piston rod of the fish clamping micro-acting servo cylinder is connected with the outer end surfaces of the fish clamping soft plates, the fish clamping action comprises the following steps that a piston rod of a ① fish clamping quick-acting cylinder extends out to push the fish clamping support plates to approach each other, a piston rod of a ② fish clamping micro-acting servo cylinder extends out to clamp the fish from the fish clamping cambered surfaces of the two fish clamping soft plates from two sides, the fish clamping by a hard object or high-speed fish clamping is easy to cause damage, the piston rod of the fish clamping quick-acting cylinder extends out quickly, the fish clamping support plates can enable the fish clamping support plates to approach the fish body quickly but not clamp the fish from the fish, and can avoid the fish clamping by the fish clamping micro-acting servo cylinder and the fish clamping force feedback.

As a further improvement of the invention, the medicine injection process in the step ⑽ comprises the following steps of extending a piston rod of a ① injection needle moving servo cylinder to enable the injection needle to be inserted into an injection part of a fish body, driving an injection piston to ascend by a ② injection piston servo cylinder to inject medicine liquid in an injection liquid cylinder into the fish body through the injection needle, retracting a piston rod of a ③ injection needle moving servo cylinder to enable the injection needle to be separated from the fish body downwards, carrying out the needle insertion quickly by using the injection needle moving servo cylinder, carrying out medicine pushing slowly by the injection piston servo cylinder to reduce pain of the fish body in the medicine injection process, and controlling the stroke of the injection piston pushed by the injection piston servo cylinder according to the weight of the fish to ensure individuation and accuracy of medicine amount.

As a further improvement of the invention, the medicine injection device in the step ⑽ comprises a medicine injection top plate and a medicine injection bottom plate which are parallel to each other, the medicine injection top plate and the medicine injection bottom plate are connected with each other through two medicine injection guide columns which are parallel to each other, the middle sections of the two medicine injection guide columns are provided with medicine injection floating plates which can slide up and down along the medicine injection guide columns, an injection cylinder is fixed at one end of the medicine injection floating plates, an injection needle is positioned at the top of the injection cylinder, an injection piston is inserted at the lower part of the injection cylinder, the lower end of the injection piston is connected with the driving end of an injection piston servo cylinder, the injection piston servo cylinder is fixedly connected with the medicine injection floating plates through injection piston servo cylinder supports, an injection needle moving servo cylinder is fixed at the center of the bottom of the medicine injection bottom plate, the top of a piston rod of the injection needle moving servo cylinder is fixedly connected with the medicine injection floating plates, a piston rod of the injection needle moving servo cylinder extends out to push the medicine injection floating plates to ascend along the medicine injection guide columns, the medicine injection floating plates, the injection cylinder rises, the injection cylinder, the injection needle moves to enable the injection needle to penetrate through an injection hole to penetrate into an injection position of a fish body, and then the fish body, and the fish body can be pulled to obtain a proper amount of the fish body, and the fish body can be automatically follow the fish body, and the fish body.

As a further improvement of the invention, one end of the medicine injection top plate is hinged at the lower end of an output shaft of a rotary motor, and the top of the rotary motor is fixedly connected to the axis of a bottom plate of the rectangular shell; and a liquid medicine storage tank and an injection needle disinfection device are respectively fixed on the left side wall and the right side wall of the rectangular shell, the liquid medicine storage tank and the injection needle disinfection device are respectively provided with rubber bottoms for inserting an injection needle head, and the two rubber bottoms are respectively positioned on a rotation line of the injection needle head. The injection cylinder is provided with four stations by taking the axis of the rotary motor as the center, and the injection needle is positioned at a working station below the injection hole, a needle replacing station, a medicine supplementing station and a sterilizing station which are positioned at the outer side of the rectangular shell; wherein the medicine supplementing station and the sterilizing station are symmetrically arranged at the left side and the right side of the rectangular shell and can be respectively arranged at the left position and the right position by 90 degrees. The output shaft of the rotary motor rotates, so that the medicine injection top plate can rotate around the axis of the rotary motor, the injection cylinder is rotated to the outer side of the rectangular shell, and the injection needle head is convenient to replace. When the liquid medicine needs to be supplemented in the injection cylinder, the output shaft of the rotary motor can drive the injection top plate to rotate by 90 degrees left, so that the injection needle reaches the lower part of the rubber bottom of the liquid medicine storage tank, then the piston rod of the injection needle moving servo cylinder extends out, the injection needle penetrates into the liquid medicine storage tank, then the injection piston servo cylinder drives the injection piston to move downwards, so that the liquid medicine is pumped into the injection cylinder, then the piston rod of the injection needle moving servo cylinder retracts, the injection needle leaves the liquid medicine storage tank, and the rotary motor drives the injection top plate to rotate to a working station. To the higher fish immunity of requirement, every prick needle all needs the disinfection, and the output shaft of rotary motor can drive the injection roof and turn 90 on the right side, makes the syringe needle reach syringe needle degassing unit's rubber bottom below, then the syringe needle removes the piston rod of servo cylinder and stretches out, and the syringe needle pricks into syringe needle degassing unit and disinfects, then the syringe needle removes the piston rod retraction of servo cylinder, extracts the syringe needle, gets back to the work station again.

As a further improvement of the invention, the piston rods of the two fish clamping quick-acting cylinders are coaxial and are respectively connected to the centers of the outer end surfaces of the fish clamping support plates; the fish clamping guide sleeves are respectively inserted with fish clamping guide rods, and the inner end heads of the fish clamping guide rods are respectively fixedly connected with the outer end faces of the fish clamping support plates. Piston rods of the two fish clamping quick-acting cylinders extend out in opposite directions, the fish clamping support plates are pushed to approach in opposite directions to perform fish clamping action, and the fish clamping guide rods slide along the fish clamping guide sleeves to ensure that the fish clamping support plates can accurately translate along the Y-direction axis.

As a further improvement of the invention, the fish clamping guide rod and the fish clamping micro-motion servo cylinder on each side are respectively and symmetrically positioned on the front side and the rear side of the piston rod of the corresponding fish clamping quick-motion cylinder; the top of each of the two fish clamping soft plates is symmetrically hinged with two soft plate connecting rods, the two soft plate connecting rods are splayed, the outer end heads of the two soft plate connecting rods are hinged to a bearing plate pin shaft together, the bottoms of the bearing plate pin shafts are fixed on bearing plate support lugs respectively, and the bearing plate support lugs are fixedly connected to the centers of the tops of the outer end faces of the fish clamping bearing plates respectively. The two parallel fish clamping guide rods which are positioned at the front side and the rear side of the piston rod of the fish clamping quick-acting cylinder can ensure that the translation direction of the fish clamping support plate is accurate; when the two fish clamping micro-motion servo cylinders drive the fish clamping soft plates to move horizontally, the two soft plate connecting rods symmetrically swing around the supporting plate pin shafts, so that synchronous translation of the front side and the rear side of the fish clamping soft plates can be ensured, and the accuracy of fish clamping action is further ensured.

As a further improvement of the invention, the left side and the right side of the middle section of the rectangular shell are symmetrically provided with shell kidney-shaped grooves extending along the front-back direction; the middle section of the rectangular shell is provided with a U-shaped bracket with a downward opening, two ends of the U-shaped bracket cover the left side and the right side of the rectangular shell, the lower parts of two ends of the U-shaped bracket are symmetrically provided with U-shaped bracket kidney-shaped grooves extending along the front-back direction, and the axial heights of the U-shaped bracket kidney-shaped grooves and the shell kidney-shaped grooves are consistent; the fish clamping quick-acting cylinder piston rod and the fish clamping guide rod on the same side respectively penetrate through the shell kidney-shaped groove and the U-shaped support kidney-shaped groove; the two fish clamping quick-acting cylinders are fixed on the outer side of the U-shaped bracket through quick-acting cylinder bracket plates respectively, and the two fish clamping guide sleeves are fixed at the kidney-shaped groove of the U-shaped bracket; the left side and the right side of the front section in the chute of the shell are symmetrically provided with fish clamping cavities for the fish clamping device to move back and forth. Because the length of the fish body of different specifications is different, need adjust the position in front and back direction after the centre gripping to the position that can supply of the fish body aims at the injection hole, will press from both sides the fish device and fix on the both arms of U-shaped support, can be synchronous along with the back-and-forth movement of U-shaped support, U-shaped support kidney slot provides installation space for pressing from both sides fish quick-action jar, pressing from both sides the fish guide bar and press from both sides fish fine motion servo cylinder, when the U-shaped support drives and presss from both sides the whole translation of fish device, presss from both sides fish chamber and casing kidney slot and provides the translation space for pressing from both sides the fish.

As a further improvement of the invention, the left arm and the right arm of the U-shaped bracket are respectively provided with a U-shaped bracket guide hole, U-shaped bracket guide rods extending along the front-back direction are respectively inserted into the two U-shaped bracket guide holes, the front end and the back end of each U-shaped bracket guide rod are respectively fixed on a guide rod seat, and the guide rod seats are respectively fixed on the rectangular shell; and a front and rear adjusting cylinder is fixed at the top of the rectangular shell, and the front end of a piston rod of the front and rear adjusting cylinder is connected to the middle part of the upper end of the U-shaped support. The piston rod of the front and back adjusting cylinder stretches out or retracts back, the U-shaped support can be pulled to drive the fish clamping devices on the two sides to synchronously move back and forth, the U-shaped support guide holes of the left arm and the right arm of the U-shaped support slide along the U-shaped support guide rod, and the accuracy of the moving direction of the U-shaped support can be ensured.

As a further improvement of the invention, the front gate plate is driven by a front gate plate driving cylinder, the rear gate plate is driven by a rear gate plate driving cylinder, and the gate plate driving cylinder and the rear gate plate driving cylinder are respectively fixed on the rectangular shell; the utility model discloses a portable electronic scale, including rectangle casing, articulated shaft before the casing, articulated shaft are articulated respectively before the casing, the rear end top of the rectangle casing left and right sides articulates respectively has inclination to adjust electric putter, and two inclination are adjusted electric putter's lower extreme and are articulated respectively on the articulated seat behind the casing, articulated seat and casing behind the articulated seat passes through respectively before the casing weighing sensor fixes on the base. The automatic opening and closing of preceding flashboard can be realized to preceding flashboard actuating cylinder, and the automatic opening and closing of back flashboard can be realized to back flashboard actuating cylinder. When the inclination angle is adjusted and the electric push rod is extended or shortened, the rear part of the rectangular shell is lifted to a proper height, the rectangular shell rotates around a front hinge shaft of the shell, the forward inclination angle of the rectangular shell can be adjusted, the fish body can conveniently and smoothly move forward along a shell chute, and the weight of the fish body is weighed by the weighing sensor, so that the control system can calculate the injection amount and accurately control the stroke of the injection piston servo cylinder.

Drawings

The invention will be described in further detail with reference to the following drawings and detailed description, which are provided for reference and illustration purposes only and are not intended to limit the invention.

Fig. 1 is a front view of a fish school epidemic prevention apparatus used in the present invention.

Fig. 2 is a left side view of fig. 1.

Fig. 3 is a top view of fig. 1.

Fig. 4 is a perspective view of fig. 1.

Fig. 5 is a cross-sectional view taken along a-a in fig. 2.

Fig. 6 is a cross-sectional view taken along line B-B of fig. 2.

Fig. 7 is an exploded view of fig. 4.

Fig. 8 is a front view of the fish clamping device.

Fig. 9 is a top view of fig. 8.

Fig. 10 is a left side view of fig. 8.

Fig. 11 is a perspective view of fig. 8.

FIG. 12 is a front view of the drug delivery device.

Fig. 13 is a top view of fig. 12.

Fig. 14 is a left side view of fig. 12.

Fig. 15 is a perspective view of fig. 12.

In the figure: 1. a rectangular housing; 1a, a casing chute; 1b, a housing kidney-shaped groove; 1c, hinging the front hinge shaft of the shell; 1d, adjusting an electric push rod by an inclination angle; 1e, a guide rod seat; 1f.U shape bracket guide bar; 1g, injection hole; 1h, clamping the fish cavity; 2. a front gate plate; 2a, driving a cylinder by a front flashboard; 3. a rear gate plate; 3a, driving a cylinder by a rear gate plate; 4, a U-shaped bracket; a 4a.U bracket kidney slot; 4b.U shaped bracket guide holes; 5. a front and rear adjusting cylinder; 6. a fish clamping device; 6a, clamping the fish supporting plate; 6a1. support plate support lug; 6a2. a bearing plate pin; 6b, clamping the fish and quickly moving the tank; 6b1. a quick-acting cylinder support plate; 6c, clamping the fish guide rod; 6d, clamping the fish guide sleeve; 6e, clamping the fish soft board; 6f, clamping the fish and slightly moving the servo cylinder; 6g, a flexible board connecting rod; 7. a drug injection device; 7a, a medicine injection top plate; 7b, injecting a floating plate; 7c, injecting the medicine into the bottom plate; 7d, injecting a medicine to the upright post; 7e. an injection cartridge; 7f, injecting needle; 7g. injection piston; 7h, injecting a piston servo cylinder; 7j. injection piston servo cylinder support; 7k, moving the servo cylinder by the injection needle; 7m. a rotary motor; 8. a base; 8a, a front hinge seat of the shell; 8b, hinging the rear seat of the shell; 9. a liquid medicine storage tank; 10. a needle sterilizing device; 11. a weighing sensor; 12. an image recognition sensor; 13. an atomizing anesthetic nozzle.

Detailed Description

As shown in figures 1 to 7, the fish swarm epidemic prevention method sequentially comprises the following steps of ⑴ enabling a shell chute of a fish swarm epidemic prevention device to be in an inclination angle with a high back and a low front, ⑵ closing a front gate of the shell chute and then opening a rear gate, ⑶ enabling a fish body to enter the shell chute and then closing the rear gate, ⑷ conducting spray anesthesia on the fish head portion, ⑸ weighing the fish body through a weighing sensor, ⑹ calculating the weight of liquid medicine according to the weight of the fish body, ⑺ clamping devices extending outwards to clamp the fish body, ⑻ observing the injection portion of the fish body through an image recognition sensor, ⑼ moving the fish clamping devices to enable the injection portion of the fish body to be aligned with an injection hole in the lower portion of the shell chute, ⑽ injecting the proper amount of liquid medicine into the fish body through the injection hole, ⑵ 0 resetting the medicine injection devices, ⑵ 1 clamping devices loosening the fish body, ⑵ 2 opening the front gate to enable the fish body to slide out, and ⑵ 3 returning to ⑵ 4 to conduct epidemic prevention on the next fish, and the circulation is conducted.

The fish swarm epidemic prevention device comprises a base 8, wherein a rectangular shell 1 is installed on the base 8, a shell chute 1a is arranged along the axis of the rectangular shell 1 in the length direction, a front flashboard 2 capable of sealing the front port of the shell chute 1a is arranged at the front part of the rectangular shell 1, a rear flashboard 3 capable of sealing the rear port of the shell chute 1a is arranged at the rear part of the rectangular shell 1, the front flashboard 2 is driven by a front flashboard driving cylinder 2a, the rear flashboard 3 is driven by a rear flashboard driving cylinder 3a, and the flashboard driving cylinder and the rear flashboard driving cylinder 3a are respectively fixed on the rectangular shell 1; the automatic opening and closing of the front flashboard 2 can be realized by the front flashboard driving cylinder 2a, and the automatic opening and closing of the rear flashboard 3 can be realized by the rear flashboard driving cylinder 3a. The left side and the right side of the front section in the casing chute 1a are symmetrically provided with fish clamping devices 6 capable of moving in opposite directions, an injection hole 1g is arranged below the middle section of the casing chute 1a, and a medicine injection device 7 capable of injecting medicine to the fish through the injection hole 1g is arranged below the rectangular casing 1.

Articulated shaft 1c before the casing that extends along the Y direction is equipped with respectively to the front end below of the left and right sides of rectangle casing 1, articulated shaft 1c articulates respectively before the casing on articulated seat 8a before the casing, articulated respectively in the rear end top of the left and right sides of rectangle casing 1 has inclination to adjust electric putter 1d, the lower extreme of two inclination to adjust electric putter 1d articulates respectively behind the casing on articulated seat 8b, articulated seat 8a before the casing and articulated seat 8b behind the casing are fixed on base 8 through weighing sensor 11 respectively.

When the inclination angle adjusting electric push rod 1d extends or shortens, the rear part of the rectangular shell 1 is lifted to a proper height, the rectangular shell 1 rotates around the front hinge shaft 1c of the shell, the forward inclination angle of the rectangular shell 1 can be adjusted, the fish body can conveniently and smoothly move forward along the shell chute 1a, and the weight of the fish body is weighed by the weighing sensor 11, so that the control system can calculate the injection amount and accurately control the stroke of the injection piston servo cylinder.

The rear part of the casing chute 1a is high, the front part of the casing chute is low, after the former fish slides out of the front gate plate 2, the front gate plate 2 is closed, and after the latter fish enters the casing chute 1a, the rear gate plate 3 is closed to block the later fish from entering; then the fish clamping device 6 extends out oppositely to clamp the fish body, the part of the fish body which can be injected is only positioned in a small scale-free area between the two fins at the lower part of the fish body, and the medicine injection device 7 injects medicines to the injectable part at the lower part of the fish body through the injection hole 1 g; then the front gate is opened, the fish body slides out to enter another fish pond, and then the medicine injection of the next fish body is carried out.

An image recognition sensor 12 is arranged in front of the injection hole 1g, and the image recognition sensor 12 can recognize whether the injection part of the fish body is aligned with the injection hole 1g or not, so that the control system can accurately adjust the front and back positions of the U-shaped support 4.

The front part of the top plate of the rectangular shell 1 is provided with an atomizing anesthetic nozzle 13, and the nozzle of the atomizing anesthetic nozzle 13 is positioned at the rear side of the front flashboard 2. Before the fish clamping device 6 clamps the fish, the atomizing anesthetic nozzle 13 sprays anesthetic to the fish head, so that the fish body is clamped and injected in an anesthetic state, the pain of the fish body is relieved, and the needle breakage caused by the swinging of the fish body is avoided.

As shown in fig. 8 to 11, the fish clamping device 6 comprises fish clamping support plates 6a which are opposite and vertical, fish clamping quick-acting cylinders 6b and fish clamping guide sleeves 6d are symmetrically arranged on the left side and the right side of the rectangular shell 1, and piston rods of the two fish clamping quick-acting cylinders 6b are coaxial and are respectively connected to the centers of the outer end surfaces of the fish clamping support plates 6 a; the fish clamping guide sleeves 6d are respectively inserted with fish clamping guide rods 6c, and the inner end heads of the fish clamping guide rods 6c are respectively fixedly connected with the outer end faces of the fish clamping support plates 6a. The inner end surfaces of the two fish clamping support plates 6a are respectively provided with a fish clamping soft plate 6e, and the opposite end surfaces of the two fish clamping soft plates 6e are respectively provided with a fish clamping cambered surface; the outer end face of the fish clamping support plate 6a is fixedly provided with a fish clamping micro-motion servo cylinder 6f with pressure feedback, and a piston rod of the fish clamping micro-motion servo cylinder 6f is connected with the outer end face of the fish clamping soft plate 6e.

The fish clamping action in the step ⑺ comprises the following steps that a piston rod of a ① fish clamping quick-acting cylinder 6b extends out to push a fish clamping supporting plate 6a to approach to each other to perform the fish clamping action, a fish clamping guide rod 6c slides along a fish clamping guide sleeve 6d to ensure that the fish clamping supporting plate 6a can accurately move horizontally along the Y-direction axis, a piston rod of a ② fish clamping micro-motion servo cylinder 6f extends out to enable fish clamping cambered surfaces of two fish clamping soft plates 6e to clamp the fish from two sides, and the fish clamping force is controlled by the fish clamping micro-motion servo cylinder 6f through pressure feedback, so that the fish clamping efficiency can be improved, and the fish can be prevented from being damaged by clamping.

The fish clamping guide rod 6c and the fish clamping micro-motion servo cylinder 6f on each side are respectively and symmetrically positioned on the front side and the rear side of the piston rod of the corresponding fish clamping quick-motion cylinder; the top of the two fish clamping soft plates 6e are symmetrically hinged with two soft plate connecting rods 6g respectively, the two soft plate connecting rods 6g are splayed, the outer end heads of the two soft plate connecting rods are hinged to the supporting plate pin shaft 6a2 together, the bottoms of the supporting plate pin shafts 6a2 are fixed on supporting plate support lugs 6a1 respectively, and the supporting plate support lugs 6a1 are fixedly connected to the top center of the outer end face of the fish clamping supporting plate 6a respectively. Two parallel fish clamping guide rods 6c positioned on the front side and the rear side of a piston rod of the fish clamping quick-acting cylinder can ensure the accuracy of the translation direction of the fish clamping support plate 6a, when the two fish clamping micro-motion servo cylinders 6f drive the fish clamping soft plate 6e to translate, the two soft plate connecting rods 6g symmetrically swing around a support plate pin shaft 6a2, the synchronous translation of the front side and the rear side of the fish clamping soft plate 6e can be ensured, and the accuracy of fish clamping action is ensured.

The left side and the right side of the middle section of the rectangular shell 1 are symmetrically provided with shell kidney-shaped grooves 1b extending along the front-back direction; the middle section of the rectangular shell 1 is provided with a U-shaped support 4 with a downward opening, two ends of the U-shaped support 4 cover the left side and the right side of the rectangular shell 1, the lower parts of two ends of the U-shaped support 4 are symmetrically provided with U-shaped support kidney-shaped grooves 4a extending along the front-back direction, and the axial heights of the U-shaped support kidney-shaped grooves 4a and the shell kidney-shaped grooves 1b are consistent; the piston rod of the fish clamping quick-acting cylinder and the fish clamping guide rod 6c on the same side respectively penetrate through the shell kidney-shaped groove 1b and the U-shaped bracket kidney-shaped groove 4 a; the tank bodies of the two fish clamping quick-acting cylinders 6b are respectively fixed on the outer side of the U-shaped bracket 4 through quick-acting cylinder bracket plates 6b1, and the two fish clamping guide sleeves 6d are fixed on the U-shaped bracket kidney-shaped groove 4 a; the left side and the right side of the front section in the chute 1a of the shell are symmetrically provided with fish clamping cavities 1h for the fish clamping device 6 to move back and forth. Because the length of the fish body of different specifications is different, need adjust the position in front and back direction after being centre gripping to the position that can supply of the fish body aligns injection hole 1g, will press from both sides fish device 6 and fix on the both arms of U-shaped support 4, can be synchronous along with the back-and-forth movement of U-shaped support 4, U-shaped support kidney slot 4a provides installation space for pressing from both sides fish quick-action cylinder 6b, pressing from both sides fish guide bar 6c and pressing from both sides fish fine motion servo cylinder 6f, when U-shaped support 4 drives and presss from both sides the whole translation of fish device 6, press from both sides fish chamber 1h and casing kidney slot 1b and provide the translation space for pressing from both sides fish device 6, avoid interfering.

The left arm and the right arm of the U-shaped support 4 are respectively provided with a U-shaped support guide hole 4b, U-shaped support guide rods 1f extending along the front-back direction are respectively inserted into the two U-shaped support guide holes 4b, the front end and the back end of each U-shaped support guide rod 1f are respectively fixed on a guide rod seat 1e, and the guide rod seats 1e are respectively fixed on the rectangular shell 1; the top of the rectangular shell 1 is fixed with a front and back adjusting cylinder 5, and the front end of a piston rod of the front and back adjusting cylinder 5 is connected to the middle part of the upper end of the U-shaped support 4. The piston rod of the front and back adjusting cylinder 5 extends out or retracts back, the U-shaped support 4 can be pulled to drive the fish clamping devices 6 on the two sides to synchronously move back and forth, the U-shaped support guide holes 4b of the left arm and the right arm of the U-shaped support 4 slide along the U-shaped support guide rod 1f, and the accuracy of the moving direction of the U-shaped support 4 can be ensured.

As shown in fig. 12 to 15, the drug injection device 7 includes a drug injection top plate 7a and a drug injection bottom plate 7c which are parallel to each other, the drug injection top plate 7a and the drug injection bottom plate 7c are connected to each other through two drug injection guide columns 7d which are parallel to each other, and a drug injection floating plate 7b which can slide up and down along the drug injection guide columns 7d is provided at the middle section of the two drug injection guide columns 7 d; an injection cylinder 7e is fixed at one end of the injection floating plate 7b, an injection needle 7f is installed at the top of the injection cylinder 7e, an injection piston 7g is inserted at the lower part of the injection cylinder 7e, the lower part of the injection piston 7g is driven by an injection piston servo cylinder 7h, and the injection piston servo cylinder 7h is fixedly connected with the injection floating plate 7b through an injection piston servo cylinder bracket 7 j; an injection needle moving servo cylinder 7k is fixed at the bottom center of the injection bottom plate 7c, and the top of a piston rod of the injection needle moving servo cylinder 7k is fixedly connected with the injection floating plate 7b.

The medicine injection process in the step ⑽ comprises the following steps of extending a piston rod of a ① injection needle moving servo cylinder 7k to push a medicine injection floating plate 7b to ascend along a medicine injection guide upright post 7d, raising an injection liquid cylinder 7e along with the medicine injection floating plate 7b to enable an injection needle 7f to penetrate through an injection hole 1g to be pricked into an injection part of a fish body, driving an injection piston 7g to ascend by a ② injection piston servo cylinder 7h to enable medicine liquid in the injection liquid cylinder 7e to be injected into the fish body through an injection needle 7f, retracting the piston rod of a ③ injection needle moving servo cylinder 7k to pull the medicine injection floating plate 7b to descend along the medicine injection guide upright post 7d, enabling the injection liquid cylinder 7e to descend along with the medicine injection floating plate 7b to enable the injection needle 7f to downwards separate from the fish body, and accordingly automatic medicine injection on the fish body can be completed, and each fish body is guaranteed to obtain a proper dosage.

One end of the medicine injection top plate 7a is hinged to the lower end of an output shaft of the rotary motor 7m, and the top of the rotary motor 7m is fixedly connected to the axis of the bottom plate of the rectangular shell 1; a liquid medicine storage tank 9 and an injection needle disinfection device 10 are respectively fixed on the left side wall and the right side wall of the rectangular shell 1, the liquid medicine storage tank 9 and the injection needle disinfection device 10 are respectively provided with a rubber bottom for the injection needle 7f to insert, and the two rubber bottoms are respectively positioned on the rotation line of the injection needle 7f.

The injection cylinder 7e is provided with four stations by taking the axis of a rotary motor 7m as the center, and the injection needle 7f is positioned at a working station below the injection hole 1g, a needle replacing station, a medicine supplementing station and a sterilizing station which are positioned at the outer side of the rectangular shell 1; wherein the medicine supplementing station and the sterilizing station are symmetrically arranged at the left side and the right side of the rectangular shell 1 and can be respectively arranged at the left position and the right position by 90 degrees. The output shaft of the rotary motor 7m rotates to rotate the drug injection top plate 7a around the axis of the rotary motor 7m, and the injection cylinder 7e is rotated to the outside of the rectangular housing 1, thereby facilitating replacement of the injection needle 7f.

When the liquid medicine needs to be supplemented in the injection cylinder 7e, the output shaft of the rotary motor 7m can drive the injection top plate 7a to rotate 90 degrees left, so that the injection needle 7f reaches the position below the rubber bottom of the liquid medicine storage tank 9, then the piston rod of the injection needle moving servo cylinder 7k extends out, the injection needle 7f is pricked into the liquid medicine storage tank 9, then the injection piston servo cylinder 7h drives the injection piston 7g to move downwards, so that the liquid medicine is pumped into the injection cylinder 7e, then the piston rod of the injection needle moving servo cylinder 7k retracts, so that the injection needle 7f leaves the liquid medicine storage tank 9, and the rotary motor 7m drives the injection top plate 7a to rotate to a working station.

For the higher fish immunity of requirement, every needle all needs to be disinfected, the output shaft of the rotary motor 7m can drive the medicine injection top plate 7a to rotate 90 degrees to the right, so that the injection needle 7f reaches the lower part of the rubber bottom of the injection needle disinfection device 10, then the piston rod of the injection needle moving servo cylinder 7k extends out, the injection needle 7f pricks into the injection needle disinfection device 10 for disinfection, then the piston rod of the injection needle moving servo cylinder 7k retracts, the injection needle 7f is pulled out, and then the work station is returned.

The above is only a preferred embodiment of the present invention, and the scope of the present invention is not limited thereby. In addition to the above embodiments, the present invention may have other embodiments, and any technical solutions formed by equivalent substitutions or equivalent transformations fall within the scope of the claims of the present invention. Technical features of the present invention which are not described may be implemented by or using the prior art, and will not be described herein.