A larvae grafting device, comprising a supporting point structure for supporting a support point (201) on a larvae grafting needle (20), and a motion module structure for driving a movable point (202) on the larvae grafting needle (20) to move, wherein the support point (201) on the larvae grafting needle (20) can rotate around the supporting point structure, such that the larvae grafting needle can obliquely enter a cell, thereby preventing bee larvae from being grafted straight up and down in order to improve the larvae grafting success rate. A larvae grafting method uses the larvae grafting device, comprising the supporting point structure for supporting the support point (201) on the larvae grafting needle (20), the movable point (202) on the larvae grafting needle (20) moves to drive the support point (201) to move around the supporting point structure, such that the larvae grafting needle can obliquely enter a honeycomb, and a larvae grafting element is bent forwards during movement, which can effectively graft larvae and prevent the failure of larvae grafting due to the backward bending of the larvae grafting element when same comed into contact with the inner wall of the honeycomb.
A larva grafting machine, comprising a larva grafting manipulator, a honeycomb stepper mechanism, and a queen cup bar feeder. The grafting manipulator comprises a larva grafting mechanism (1b) and a detection device. The larva grafting mechanism comprises a larva grafting needle and an installation block. The larva grafting machine performs automatic feeding of a honeycomb by means of the honeycomb stepper mechanism (3d), thereby facilitating bee larva pickup over the entire honeycomb, and increasing the level of automation. Further provided is a method for identifying and grafting a bee larva, wherein the detection device of the larva grafting machine detects whether there is a bee larva in a cell of a honeycomb, and the larva grafting mechanism (1b) of the larva grafting machine performs grafting on a detected bee larva. The color of a cell of a honeycomb is used to determine the presence of a bee larva in the cell, thereby improving the accuracy of grafting.
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