Development, analysis, and verification of an intelligent auxiliary beekeeping device mounted on a crawler transporter

Abstract

The transportation of beehives poses a significant challenge in the beekeeping industry. To address the manual handling practices prevalent in the beekeeping industry and enhance the automation level, this study attempts the design and development of a mobile auxiliary beekeeping device mounted on a caterpillar vehicle for beehive transportation. Specifically, the design of the auxiliary device was completed in SolidWorks with the notion of the cylindrical mechanical arm. Subsequently, a dynamic model of the simulated environment is constructed using RecurDyn, facilitating the determination of the torque requirements for each joint based on the dynamic model. Furthermore, the multi-flexible body dynamics analysis is utilized to conduct a flexible analysis of the auxiliary beekeeping device’s three principal components and the maximum beehive weight, which can be safely transported, is estimated through simulation analysis. Particularly, field experiments involve the use of strain gauges to measure the stress exerted on the components of the auxiliary beekeeping device during actual beehive transportation. Additionally, it incorporates the errors and precision associated with each joint, and the planar positioning accuracy result. Meanwhile, the maximum torque required for the joints, which is about 5 N·m was determined by simulation results, affirming that the selected drive motors can meet the operational requirements. Through simulation, it is determined that the auxiliary device can handle a maximum beehive weight of 126 kg, approximately three times the weight of the standard beehives (40 kg) utilized in beekeeping farms. This ensured that the auxiliary device poses no risk of overturning during the beehive transportation. In addition, the stress levels at crucial locations are ascertained through on-site strain experiments. Interestingly, the auxiliary support part (57.68 MPa) and the spindle connection (58.8 MPa) experienced the highest stress levels; and the stress levels in the telescopic rod and lower support part remained below 5 MPa. In particular, these stress levels fall within the permissible range of the materials employed (200 MPa), which ensures the auxiliary device’s safe utilization. An evaluation of each joint’s operational accuracy showed that the planar positioning accuracy result of joint 1 and joint 2 is 9.65 mm for 50% CEP and 23.55 mm for 95% CEP, respectively. Furthermore, the highest final error was exhibited by the vertical extension joint (11.48 mm), indicating that the auxiliary device can successfully accomplish the beehive transportation tasks within beekeeping farms. Overall, this research provides a solid foundation for the subsequent development of automated beehive handling devices.