Crab farming inspection, feeding and catching device

Abstract

The crab farming inspection, feeding and grasping device disclosed in the present invention includes an AGV trolley, a manipulator for crab grasping installed on the AGV trolley, a feeding silo structure and a rotary crab cabinet. The manipulator consists of an electric telescopic push rod and a negative pressure suction cup. The feeding silo structure consists of two large and small silos that supply feeding material to each other, which prevents the AGV trolley from tipping over during operation and realizes automatic crab grasping, reducing labor costs and labor intensity.

Description

Technical Field

[0001] The invention relates to the technical field of automatic feeding of crab farming, in particular to a silo structure of a crab farming inspection, feeding and grabbing device. Background Art

[0002] "Crab apartment" farming is a new type of factory-based three-dimensional intensive farming model that has just emerged in recent years. Compared with the traditional pond polyculture model, it utilizes a three-dimensional farming space, with one crab in one box to prevent them from killing each other and infecting each other with diseases, thereby improving the survival rate and farming efficiency, and promoting the development of the blue crab farming industry. For example, the patent publication number is CN115024264A - a swimming crab farming inspection and feeding system. However, this type of feeding only uses a single feed silo for feeding, resulting in a heavy weight of the overall lifting platform equipment, making the front and rear center of gravity of the overall inspection and feeding system unstable, and the overall equipment is prone to tipping over during the inspection and movement process. At the same time, the above-mentioned existing technology only has feeding and inspection functions, and the mature crabs farmed are generally caught manually, resulting in a large workload. Since there are many crab boxes, more people are required to catch them together, which leads to increased labor costs and high labor intensity. In addition, there are risks in manual grabbing, such as fingers being pinched by crabs. Summary of the Invention

[0003] The purpose of the present invention is to solve the deficiencies of the above-mentioned technology and to design a crab farming inspection, feeding and grasping device, and the specific method is as follows.

[0004] The crab farming inspection, feeding and grabbing device designed by the present invention includes an AGV trolley and a rotary crab cabinet;

[0005] The AGV is equipped with a lifting device and a feeding silo, which are distributed front and back on the AGV and located on one side of the carousel crab cabinet.

[0006] A lifting platform is installed on the lifting part of the lifting device, a lateral translation device is installed on the lifting platform, a rotating device is installed on the slider of the lateral translation device, a base is installed on the rotating part of the rotating device, an electric telescopic push rod and an air pump are installed on the base, a mounting plate is installed on the telescopic rod of the electric telescopic push rod, a negative pressure suction pipe is slidably installed on the mounting plate, a negative pressure suction cup is provided at the lower end of the negative pressure suction pipe, and the negative pressure suction pipe is connected to the suction port of the air pump through the suction pipe; a lifter is installed on the mounting plate, and the telescopic part of the lifter is connected to the negative pressure suction pipe; a camera is provided on the cylinder body of the electric telescopic push rod The feeding assembly is installed on the telescopic rod of the electric telescopic push rod, and the feeding assembly is installed on the discharge port of the feeding silo to transport the feeding material in the feeding silo to the feeding assembly; the feeding assembly is located below the feeding silo, and the feeding assembly includes a feeding silo and a screw extrusion device. The feeding silo is provided with a vertically arranged feeding channel, a feeding port located at the upper part and connected to the feeding channel, and a feeding port located at the lower part and connected to the feeding channel. The screw extrusion device is vertically installed in the feeding channel, and the discharge port of the feeding assembly is connected to the feeding port through a conveying pipe and is connected to each other.

[0007] The rotary crab cabinet includes a cabinet frame, the front of the cabinet frame is movably equipped with a drive motor and seven crab boxes arranged around the drive motor and arranged in a matrix, there is a gap between two adjacent crab boxes in the seven crab boxes, the back of the cabinet frame is provided with a rotating wheel, four linkage rods, four rotating shafts arranged in a ring array around the rotating wheel, a linear guide rail arranged in a ring array around the rotating wheel, and four first elongated through holes arranged in a ring array around the rotating wheel, the center position of the rotating wheel is installed on the rotating shaft of the drive motor, the rotating wheel is provided with an eccentric shaft, one end of each linkage rod is provided with a notch and is pin-hinged on the four rotating shafts respectively, the other end of each linkage rod is provided with a second elongated through hole, and the slider of each linear guide rail is provided with a shaft body , each shaft body is inserted into the four second elongated through holes respectively, the eccentric shaft is inserted into the notch of any linkage rod, the two opposite first elongated through holes are in a vertical state, and the other two opposite first elongated through holes are in a horizontal state, and each linear guide rail is arranged parallel to the four linear guide rails respectively, and two electromagnetic locks are installed on the slider of each linear guide rail, and the lock shafts of the two electromagnetic locks correspond to the positions of the first elongated through holes. Two longitudinally arranged crab box groups among the seven crab boxes correspond to the positions of the two first elongated through holes in a vertical state respectively, and the other two horizontally arranged crab box groups correspond to the positions of the two first elongated through holes in a horizontal state respectively. The upper end of each crab box has a delivery port, and the side of each crab box facing the cabinet frame is provided with a jack for inserting the lock shaft of the electromagnetic lock.

[0008] Preferably, a cover is fixed on the top of the cabinet frame, the cover fits with the crab box delivery port at the top position, and an opening is provided on the cover near the lifting platform side, the opening corresponds to the position of the crab box delivery port.

[0009] Preferably, the screw extrusion device includes a feeding screw and a feeding motor. The feeding screw is placed vertically in the feeding channel. The feeding motor is installed on the feeding bin at the upper end of the feeding channel. The rotating shaft of the feeding motor is fixedly connected to the upper end of the feeding screw. The volume of the feeding bin is smaller than that of the feed bin.

[0010] Preferably, the feeding bin includes a frame and a discharge block installed in the frame, the discharge block is provided with a feeding trough, a feeding port and a feeding channel, the feeding trough is located at the position of the feeding port, the discharge end of the conveying pipe is installed in the feeding trough, the motor is installed in the upper part of the frame, and the lower part of the frame is provided with a through hole, which corresponds to the position of the lower port of the feeding channel to form a feeding port.

[0011] Preferably, the feeding assembly includes a first feeding tube body, a second feeding tube body, a feeding screw and a feeding motor, the two ends of the first feeding tube body are respectively connected to the discharge port of the feeding hopper and the feed port in the middle of the second feeding tube body, the feeding motor is installed at one end of the second feeding tube body, the feeding screw is located in the second feeding tube body, one end of the feeding screw is fixedly connected to the rotating shaft of the feeding motor, the end of the feeding screw close to the feeding motor is located below the feed port in the middle of the second feeding tube body, and the other end side of the second feeding tube body is provided with a feeding port; a bearing is installed at the other end of the second feeding tube body, the other end of the feeding screw is connected to the inner ring of the bearing, a feeding tube body is provided on the feeding port, and one end of the conveying pipeline is connected to the feeding tube body.

[0012] Preferably, the camera is tilted with its lens facing downward.

[0013] Preferably, a mounting bracket is installed on the cylinder body of the electric telescopic push rod, the camera is installed on the mounting bracket, a positioning plate is provided on the mounting bracket, a positioning hole is provided on the positioning plate, and the suction pipe is positioned in the positioning hole.

[0014] Preferably, a feeding assembly is installed on the telescopic rod of the electric telescopic push rod, and the feeding assembly includes a feeding channel, a feeding trough connected to the feeding channel and a screw extrusion mechanism located in the feeding channel, and the feeding port of the feeding channel is located at the lower part.

[0015] Preferably, a through hole is provided on the mounting plate, the negative pressure suction pipe is passed through the through hole, and a gap exists between the inner wall of the through hole and the outer wall of the negative pressure suction pipe.

[0016] Preferably, a lifting rod is fixed to the telescopic portion of the lifter, and the negative pressure suction pipe is passed through the connecting hole of the lifting rod and the two are fixedly connected.

[0017] The crab farming inspection, feeding and grabbing device designed by the present invention has the following effective effects:

[0018] 1. When catching crabs, the telescopic rod of the electric telescopic push rod can be extended to place the negative pressure suction cup in the breeding box, and then the lifting device drives the manipulator structure to descend, and the lifter drives the negative pressure suction cup to descend, so that the negative pressure suction cup is in close contact with the surface of the crab shell. At this time, the air pump is started to achieve the adsorption of the negative pressure suction cup, thereby completing the catching of the crab, so as to improve the efficiency of crab catching and prevent finger injuries when catching crabs. At the same time, during the catching process, the camera is used to identify whether the crabs in the breeding box meet the standards for catching.

[0019] 2. After the crab is caught, the lifting platform rises, and the caught crab is lifted to a position above the rotary crab cabinet. At the same time, the rotary device rotates the negative pressure suction cup to above the opening and the delivery port of the rotary crab cabinet. The air pump then stops working to release the caught crab, and it falls into the crab box under its own gravity, thus completing the purpose of automatic catching and reducing the labor intensity and labor cost of manual crab catching. At the same time, the rotary crab cabinet adopts a rotary structure design with multiple independent crab boxes. When the crabs are caught and stored in the rotary crab cabinet, they are truly one crab per cabinet, avoiding cannibalism and cross-infection of diseases. This device is particularly suitable for use in the breeding of soft-shell crabs, whose shells are soft and easily damaged.

[0020] 3. The feeding silo and lifting device are distributed front and back and are installed on the AGV trolley to achieve a balanced center of gravity above the AGV trolley and prevent the AGV trolley from tipping over during movement.

[0021] 4. The volume of the feeding silo is smaller than that of the supply silo. When the material in the feeding silo is insufficient, the feeding component supplies the feeding material in the supply silo to the feeding silo to meet the feeding demand.

[0022] 5. The feeding is carried out by screw, which makes the feeding amount accurate and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall system structure (I);

[0024] Figure 2 is the overall system structure diagram (II);

[0025] Figure 3 It is the overall system structure diagram (III);

[0026] Figure 4 It is the overall system structure diagram (IV);

[0027] Figure 5 This is an enlarged view of point A;

[0028] Figure 6 This is an enlarged view of point B;

[0029] Figure 7 This is an enlarged view of point C;

[0030] Figure 8 It is a cross-sectional view of the feeding assembly;

[0031] Figure 9 This is the exploded view of the feeding assembly (I);

[0032] Figure 10 This is the exploded view of the feeding assembly (II);

[0033] Figure 11 This is a schematic diagram of the rotary crab cabinet structure (I);

[0034] Figure 12 This is a schematic diagram of the structure of a revolving crab cabinet (2).

[0035] In the figure: AGV trolley 100, fixed frame 101, lifting device 102, lifting platform 103, vertical support frame 105, vertical screw 106, vertical linear guide 107, lifting motor 108, sliding block 109, horizontal screw 110, horizontal linear guide 111, rotating device 112;

[0036] Base 200, electric telescopic push rod 201, air pump 202, suction pipe 203, mounting plate 204, through hole 205, lifter 206, lifting rod 207, connecting hole 208, negative pressure suction pipe 209, negative pressure suction cup 210, mounting frame 211, fixing sleeve 212, camera connecting frame 213, positioning plate 214, positioning hole 215, camera 216;

[0037] Feeding silo 300, feeding assembly 301, feeding assembly 302, feeding silo 303, feeding port 304, feeding trough 305, feeding motor 306, feeding screw 307, frame 308, discharging block 309, feeding channel 310, through hole 311, first feeding tube 312, second feeding tube 313, feeding motor 314, feeding screw 315, feeding port 316, feeding tube 317, bearing 318;

[0038] Rotating crab cabinet 400, cabinet frame 401, drive motor 402, crab box 403, missing part 404, cover plate 405, rotating wheel 406, eccentric shaft 407, linkage rod 408, first elongated through hole 409, opening 410, linear guide rail 411, shaft body 412, second elongated through hole 413, electromagnetic lock 414, notch 415, and plug hole 416. DETAILED DESCRIPTION

[0039] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention are within the scope of protection of the present invention. Example

[0040] like Figure 1-Figure 7 As shown, the crab farming inspection, feeding and grasping device described in this embodiment realizes the functions of automatic feeding, automatic inspection, and automatic grasping of mature crabs during crab farming, thereby reducing labor costs and labor intensity in the crab apartment farming mode, and achieving the technical effect of high crab farming survival rate.

[0041] The crab farming inspection, feeding and grasping device includes an AGV trolley 100 and a rotary crab cabinet 400; the AGV trolley 100 is provided with a lifting device 102 and a feeding silo 300, the lifting device 102 is installed on the front side of the AGV trolley, and the feeding silo 300 is installed on the rear side of the AGV trolley 100 through a fixing frame 101, so that the front and rear center of gravity of the AGV trolley 100 are balanced, and the lifting device 102 and the feeding silo 300 are distributed front and back on the AGV trolley 100 and are located on one side of the rotary crab cabinet 400, so that the grasped crabs are easily grasped. The crabs are placed in the crab box 403 of the rotary crab cabinet 400. The lifting device 102 includes a vertical support frame 105, a vertical screw 106 installed on the vertical support frame 105, a vertical linear guide 107 and a lifting motor 108. The vertical linear guide is arranged parallel to the vertical screw. The lifting motor is fixed to the lower end of the vertical support frame. The two ends of the vertical screw are respectively fixed to the vertical support frame through bearing seats. The lifting platform 103 is respectively fixedly connected to the ball slider of the vertical screw and the slider of the vertical linear guide. The rotating shaft of the lifting motor is connected to the lower end of the vertical screw.

[0042] A transverse translation device is fixed on the lifting platform 103, and the transverse translation device includes a transverse translation motor, a sliding block 109, a transverse screw 110 and a transverse linear guide 111 parallel to the transverse screw 110. The sliding block is fixed on the slider of the transverse linear guide and the ball slider of the transverse screw. A rotating device 112 is installed on the sliding block. The rotating device 112 can be a combination of a dividing plate and a motor, that is, the rotating shaft of the motor is connected to the input shaft of the dividing plate, and the output shaft of the dividing plate is connected to the base.

[0043] An electric telescopic push rod 201 and an air pump 202 are installed on the base 200. A mounting plate 204 is installed on the telescopic rod of the electric telescopic push rod 201. The mounting plate and the telescopic rod of the electric telescopic push rod 201 can be welded or bolted. A negative pressure suction pipe 209 is slidably installed on the mounting plate 204, that is, a through-hole 205 is provided on the mounting plate 204, and the negative pressure suction pipe 209 is passed through the through-hole 205. There is a gap between the inner wall of the through-hole 205 and the outer wall of the negative pressure suction pipe 209. A negative pressure suction cup 210 is provided at the lower end of the negative pressure suction pipe 209, and the negative pressure suction pipe 209 is connected to the suction port of the air pump 202 through the suction pipe 203; a lifter 206 is installed on the mounting plate 204, and the telescopic part of the lifter 206 is connected to the negative pressure suction pipe 209; the lifter 206 can be a miniature electric push rod.

[0044] A camera 216 is provided on the cylinder body of the electric telescopic push rod 201. In order to see the crabs in the breeding box, the camera 216 is tilted with the lens facing downward. Since the cover plate 405 at the mouth of the breeding box is transparent, the camera can clearly see the condition of the crabs in the breeding box, whether there are any waste shells, and the feeding status.

[0045] The telescopic part of the lifter 206 is fixed with a lifting rod 207, and the negative pressure suction pipe 209 is passed through the connecting hole 208 of the lifting rod 207 and the two are fixedly connected. The negative pressure suction pipe 209 and the lifting rod 207 can be fixed by tightly fitting, welding or gluing to each other.

[0046] Specifically, the camera is installed on the cylinder body of the electric telescopic push rod 201 through the mounting bracket 211, wherein the mounting bracket 211 includes a fixing sleeve 212 and an inclined camera connecting bracket 213, the fixing sleeve 212 is sleeved on the cylinder body of the electric telescopic push rod 201, and the two can be tightly fitted or fixed by set screws, and the camera 216 can be fixed to the camera connecting bracket 213 by bolts, so that the lens of the camera 216 is set downward.

[0047] Furthermore, the fixing sleeve 212 extends upward to form a positioning plate 214, and a positioning hole 215 is provided on the positioning plate 214, and the suction pipe 203 is positioned in the positioning hole 215. The arrangement method can position the suction pipe 203, wherein the suction pipe 203 and the negative pressure suction pipe 209 are combined with each other into an integrated structure, which can be integrally injection molded. The negative pressure suction cup 210 is generally made of flexible silicone material.

[0048] An input component 301 is installed on the telescopic rod of the electric telescopic push rod 201. The feeding port of the feeding channel is located at the lower part. Specifically, the input component 301 includes a feeding bin 303, a feeding screw 307 and a feeding motor 306. A vertically arranged feeding channel 310 is provided on the feeding bin 303, a feeding port 304 located at the upper part and communicating with the feeding channel 310, and a feeding port located at the lower part and communicating with the feeding channel 310. The feeding screw 307 is vertically placed in the feeding channel 310. The feeding motor 306 is installed at the upper port of the feeding channel 310 on the feeding bin 303. The rotating shaft of the feeding motor 306 is fixedly connected to the upper end of the feeding screw 307. During feeding, the feeding motor 306 is powered on and started to drive the feeding screw 307 to rotate, so as to convey the feeding material entering the feeding channel 310 at the feeding port 304 to the feeding port and drop it into the crab breeding box, so as to achieve the purpose of automatic feeding. At the same time, screw feeding makes the feeding accurate.

[0049] The feeding bin 303 includes a frame 308 and a discharge block 309 installed in the frame 308. The cross-section of the frame 308 is in a C-shaped structure. Stopping blocks are formed at the front and rear ports of the C-shaped frame 308 to position the discharge block 309. The frame 308 and the discharge block 309 can be fixedly welded. The feeding channel 310 is arranged on the discharge block 309. The motor is installed on the upper part of the frame 308. A through hole 311 is provided at the lower part of the frame 308. The through hole 311 corresponds to the lower port position of the feeding channel 310 to form a feeding port. The feeding groove 305 is integrally formed or welded on the feeding port 304 of the discharge block 309. And the frame 308 and the discharge block 309 are separately arranged, which is convenient for the installation of the feeding motor 306 and the forming of the feeding groove 305. The frame is fixed on the telescopic rod of the electric telescopic push rod 201 by bolts.

[0050] The discharge port of the feeding silo 300 is equipped with a feeding assembly 302 to transport the feed material in the feeding silo 300 to the feeding assembly 301. The feeding assembly 302 is located below the feeding silo 300. The feeding assembly 302 includes a first feeding tube body 312, a second feeding tube body 313, a feeding screw 315 and a feeding motor 314. The second feeding tube body 313 is fixed in the fixing hole of the fixing frame 101, and the feeding motor 314 is fixed to the fixing plate of the fixing frame 101 by bolts. The two ends of the first feeding tube body 312 are respectively connected to the discharge port of the feeding bin 300 and the feed port in the middle of the second feeding tube body 313. The feeding motor 314 is installed at one end of the second feeding tube body 313. The feeding screw 315 is located in the second feeding tube body 313. One end of the feeding screw 315 is fixedly connected to the rotating shaft of the feeding motor 314. The other end side of the second feeding tube body is provided with a feeding port 316. The feeding screw 315 is close to the feeding motor One end of 314 is located below the feed port in the middle of the second feeding tube body; a bearing 318 is installed at the other end of the second feeding tube body 313, and the other end of the feeding screw 315 is connected to the inner ring of the bearing 318. During specific transportation, the feeding hopper 300 enters the second feeding tube through its discharge port and the first feeding tube under the action of gravity of the feeding material, and then the feeding motor 314 is powered on and started so that the power supply motor drives the feeding screw 315 to rotate. The discharge port of the feeding component 302 is connected to the feed port 304 of the feeding component 301 through the conveying pipe and communicates with each other, thereby transporting the feeding material in the feeding hopper 300 to the feeding component 301, so that the feeding component 301 can feed the crab breeding box, and the use of screw feeding makes the feeding accurate.

[0051] The discharge end of the conveying pipe is installed in the feeding trough 305 to receive the feeding material conveyed by the feeding assembly 302 and prevent the feeding material from overflowing due to the excessive amount of feeding material conveyed at one time.

[0052] Furthermore, a feed pipe body 317 is provided on the feed port 316, and the conveying pipeline can be threadedly connected or sleeved tightly to the feed pipe body 317, and the feed pipe body 317 and the second conveying pipe body are combined into an integrated structure, and the other end of the conveying pipeline is connected to the feed pipe body 317.

[0053] The rotary crab cabinet 400 includes a cabinet frame 401. A drive motor 402 is movably mounted on the front of the cabinet frame 401, and seven crab boxes 403 are arranged around the drive motor 402 and arranged in a matrix. There is a gap 404 between two adjacent crab boxes 403 in the seven crab boxes 403. The back of the cabinet frame 401 is provided with a rotating wheel 406, four linkage rods 408, four rotating shafts arranged in a ring array around the rotating wheel 406, a linear guide rail 411 arranged in a ring array around the rotating wheel 406, and a rotating wheel 406. 406 and four first elongated through holes 409 arranged in a circular array, the center of the rotating wheel 406 is mounted on the rotating shaft of the driving motor 402, the rotating wheel 406 is provided with an eccentric shaft 407, one end of each linkage rod 408 is provided with a notch 415 and is respectively pin-hinged on the four rotating shafts, the other end of each linkage rod 408 is provided with a second elongated through hole 413, and the slider of each linear guide 411 is provided with a shaft body 412, each shaft body 412 is respectively inserted into the four second elongated through holes 413, and the eccentric shaft 407 is inserted into In the notch 415 of any linkage rod 408, two opposite first elongated through holes 409 are in a vertical state, and the other two opposite first elongated through holes 409 are in a horizontal state, and each linear guide is arranged parallel to the four linear guides, and two electromagnetic locks 414 are installed on the slider of each linear guide, and the lock shafts of the two electromagnetic locks 414 correspond to the positions of the first elongated through holes 409. Two of the seven crab boxes 403 arranged longitudinally have two first elongated through holes 409 in a vertical state. The other two groups of crab boxes 403 arranged horizontally correspond to the positions of the two first elongated through holes 409 in a horizontal state. Each crab box 403 has a delivery port at the upper end. Each crab box 403 is provided with a socket 416 for inserting the lock shaft of the electromagnetic lock 414 on the side facing the cabinet frame 401. A cover plate 405 is fixed to the top of the cabinet frame 401. The cover plate 405 is in contact with the delivery port of the crab box 403 at the top position, and an opening 410 is provided on the side of the cover plate 405 close to the lifting platform, and the opening 410 corresponds to the delivery port of the crab box 403.

[0054] Since the above-mentioned crab farming inspection, feeding and grasping devices are respectively equipped with PLC controllers, the PLC controllers are implanted with control programs for inspection, feeding or crab grasping. Therefore, the camera, air pump, motor of the feeding assembly, motor of the feeding assembly, motor of the rotating device, motor of the lifting device, motor of the lateral translation device, stepper motor of the rotary crab cabinet 400, electromagnetic lock 414, and electric telescopic push rod are respectively connected to and controlled by the PLC controller.

[0055] During inspection, the AGV trolley 100 can be used to automatically move in front of the crab breeding box. During the movement, the camera is in the activated state, so that the camera lens can pass through the transparent cover 405 of the breeding box to capture the situation of the breeding box, and transmit the real-time captured image to the PLC controller, which then transmits it to the host computer to determine whether feeding is needed, whether the finished crabs are out of the cage, and whether the trash can fixed on the cabinet 401 is full.

[0056] When it is determined that feeding is needed, the feeding motor 306 is powered on and started to drive the feeding screw 307 to rotate, so as to transport the feeding material entering the feeding channel 310 at the feeding port 304 to the feeding port and drop it into the crab farming area, thereby achieving the purpose of automatic feeding. When the feeding material in the feeding channel 310 is insufficient, the feeding hopper 300 enters the second feeding pipe after passing through its discharge port and the first feeding pipe under the action of gravity. Then the feeding motor 314 is powered on and started so that the power supply motor drives the feeding screw 315 to rotate. The discharge port of the feeding component 302 is connected to the feeding port 304 of the feeding component 301 through the conveying pipe and communicates with each other, thereby transporting the feeding material in the feeding hopper 300 to the feeding channel 310 of the feeding component 301. The feeding process is detected by the camera in real time to detect the feeding situation and feeding amount. When the feeding amount is reached, the feeding motor stops working.

[0057] When catching crabs, the camera 216 is used to take photos of the crabs in the box, and then the photos taken are transmitted to the host computer through the PLC control. The host computer compares the crab photos taken with the stored standard mature crab photos based on the built-in recognition program, catching program and real-time monitoring program to know whether the crab is mature and can be caught. When it is recognized that it can be caught, the host computer gives a catching instruction to control the telescopic rod of the electric telescopic push rod 201 to extend. The camera 216 monitors in real time whether the negative pressure suction cup 210 reaches above the crab and transmits the real-time picture back to the central controller. When the negative pressure suction cup 210 reaches above the crab in the returned picture, the central controller controls the electric telescopic push rod 201 to stop working, and then controls the lifting The telescopic rod of the device 206 descends, so that the negative pressure suction cup 210 is in close contact with the surface of the crab shell, and then the air pump 202 is started to suck air to catch the crab. At this time, the telescopic rod of the electric telescopic push rod 201 and the telescopic rod of the lifter 206 can be controlled to retract. During the retraction process, the central controller controls the servo slide to control the lifting platform 103 to rise to the height of the opening 410 of the breeding box, so that the crab is caught out of the breeding box. Then the lifting device lifts the lifting platform so that the caught crab is higher than the rotary crab cabinet 400. At this time, the rotating device is started and drives the base to rotate 90°, so that the caught crab is located above the opening 410 of the cover plate 405. Then the air pump stops working and the crab is dropped into the crab box 403, thereby completing the automatic catching.

[0058] After the crabs are placed, a row of crab boxes 403 needs to be displaced toward the vacant position 404, so that the lock shaft of the electromagnetic lock 414 corresponding to the row of crab boxes 403 is inserted into the insertion hole 416, and then the motor 402 is driven to work and its rotating shaft rotates clockwise, driving the eccentric shaft 407 to insert into the notch 415 of the linkage rod 408 corresponding to the row of crab boxes 403, and then the linkage rod 408 is driven to rotate during the continuous clockwise rotation of the rotating wheel 406, causing the slider of the linear guide rail to move toward the vacant position 404, thereby temporarily closing the crab box 403. The crab boxes 403 near the vacant space 404 are moved to the vacant space 404. After the displacement of a row of crab boxes 403 is completed, the lock shafts of the electromagnetic locks 414 in that row are separated from the sockets 416 of the crab boxes 403, and the lock shafts of the electromagnetic locks 414 are inserted into the sockets 416 of the crab boxes 403 in the next row to be displaced. In this way, as the rotating wheel 406 continues to rotate clockwise, each row of crab boxes 403 is automatically replaced, so that after each crab is automatically caught, the empty crab box 403 is automatically moved to the opening 410 of the cover plate 405 and lowered.

[0059] The present invention is not limited to the above-mentioned optimal implementation mode. Anyone can derive other forms of products under the inspiration of the present invention. However, no matter what changes are made in the shape or structure, any product with the same or similar technical solutions as the present application will fall within the scope of protection of the present invention.

Claims

1. A crab farming inspection, feeding and grabbing device, characterized in that: Including AGV trolley and rotary crab cabinet (400); The AGV trolley is provided with a lifting device and a feeding silo (300), and the lifting device and the feeding silo (300) are distributed front and back on the AGV trolley and are located on one side of the rotary crab cabinet (400); A lifting platform is installed on the lifting part of the lifting device, a lateral translation device is installed on the lifting platform, a rotating device is installed on the slider of the lateral translation device, a base (200) is installed on the rotating part of the rotating device, an electric telescopic push rod (201) and an air pump (202) are installed on the base (200), a mounting plate (204) is installed on the telescopic rod of the electric telescopic push rod (201), a negative pressure suction pipe (209) is slidably installed on the mounting plate (204), a negative pressure suction cup (210) is provided at the lower end of the negative pressure suction pipe (209), and the negative pressure suction pipe (209) is connected to the suction port of the air pump (202) through the suction pipe (203); a lifter (206) is installed on the mounting plate (204), and the telescopic part of the lifter (206) is connected to the negative pressure suction pipe (209); a cylinder body of the electric telescopic push rod (201) is provided A camera (216) is provided, a feeding assembly is installed on the telescopic rod of the electric telescopic push rod (201), and a feeding assembly (302) is installed on the discharge port of the feeding silo (300) to transport the feeding material in the feeding silo (300) to the feeding assembly (301); the feeding assembly (302) is located below the feeding silo (300), and the feeding assembly (301) includes a feeding silo (303) and a screw extrusion device. The feeding silo (303) is provided with a vertically arranged feeding channel (310), a feeding port (304) located at the upper part and connected to the feeding channel (310), and a feeding port located at the lower part and connected to the feeding channel (310). The screw extrusion device is vertically installed in the feeding channel, and the discharge port of the feeding assembly (302) is connected to the feeding port (304) through a conveying pipe and is in communication with each other. The rotary crab cabinet (400) includes a cabinet frame (401), a driving motor (402) and seven crab boxes (403) arranged around the driving motor (402) and arranged in a matrix, wherein a gap (404) exists between two adjacent crab boxes (403) in the seven crab boxes (403), and a rotating wheel (406), four linkage rods (408), four rotating shafts arranged in a ring array around the rotating wheel (406), and a rotating shaft arranged in a ring array around the rotating wheel (406) are arranged on the back of the cabinet frame (401). 406) and a linear guide rail arranged in an annular array, and four first elongated through holes (409) arranged in an annular array around the rotating wheel (406), the center of the rotating wheel (406) is installed on the rotating shaft of the driving motor (402), an eccentric shaft (407) is provided on the rotating wheel (406), one end of each linkage rod (408) is provided with a notch (415) and is respectively pin-hinged on the four rotating shafts, the other end of each linkage rod (408) is provided with a second elongated through hole (413), and the slider of each linear guide rail A shaft body (412) is provided on each of the four linear guide rails. Each shaft body (412) is inserted into the four second elongated through holes (413). The eccentric shaft (407) is inserted into the notch (415) of any linkage rod (408). The two opposite first elongated through holes (409) are in a vertical state. The other two opposite first elongated through holes (409) are in a horizontal state. Each linear guide rail is arranged parallel to the four linear guide rails. Two electromagnetic locks (414) are installed on the slider of each linear guide rail. The locks of the two electromagnetic locks (414) are The axis corresponds to the position of the first elongated through hole (409), two of the seven crab boxes (403) arranged longitudinally correspond to the positions of the two first elongated through holes (409) in a vertical state, and the other two crab boxes (403) arranged transversely correspond to the positions of the two first elongated through holes (409) in a transverse state, respectively. The upper end of each crab box (403) has a delivery port, and a jack (416) for inserting a lock axis of the electromagnetic lock (414) is provided on the side of each crab box (403) facing the cabinet frame (401).

2. The crab farming inspection, feeding and grabbing device according to claim 1, characterized in that: A cover plate (405) is fixed on the top of the cabinet frame (401), and the cover plate (405) is in contact with the delivery opening of the crab box (403) at the top position, and an opening (410) is provided on the cover plate (405) near the lifting platform, and the opening (410) corresponds to the delivery opening of the crab box (403).

3. The crab farming inspection, feeding and grabbing device according to claim 1, characterized in that: The screw extruder comprises a feeding screw (307) and a feeding motor (306), wherein the feeding screw (307) is vertically arranged in a feeding channel (310), and the feeding motor (306) is installed on the feeding bin (303) at the upper end of the feeding channel (310), and the rotating shaft of the feeding motor (306) is fixedly connected to the upper end of the feeding screw (307), and the volume of the feeding bin (303) is smaller than the volume of the feeding bin (300).

4. The crab farming inspection, feeding and grabbing device according to claim 1, characterized in that: The feeding bin (303) includes a frame (308) and a discharge block (309) installed in the frame (308). The discharge block (309) is provided with a feeding trough (305), a feeding port (304) and a feeding channel (310). The feeding trough (305) is located at the position of the feeding port (304). The discharge end of the conveying pipe is installed in the feeding trough (305). The motor is installed at the upper part of the frame (308). The lower part of the frame (308) is provided with a through hole (311). The through hole (311) corresponds to the position of the lower end of the feeding channel (310) to form a feeding port.

5. The crab farming inspection, feeding and grabbing device according to claim 1, characterized in that: The feeding assembly (302) includes a first feeding tube (312), a second feeding tube (313), a feeding screw (315) and a feeding motor (314). The two ends of the first feeding tube (312) are respectively connected to the discharge port of the feeding bin (300) and the feed port in the middle of the second feeding tube (313). The feeding motor (314) is installed at one end of the second feeding tube (313). The feeding screw (315) is located in the second feeding tube (313). One end of the feeding screw (315) is connected to the feeding motor (314). The rotating shaft of the feeding motor (314) is fixedly connected, and one end of the feeding screw (315) close to the feeding motor (314) is located below the feeding port in the middle of the second feeding tube body (313), and a feeding port (316) is provided on the side of the other end of the second feeding tube body (313); a bearing is installed at the other end of the second feeding tube body (313), and the other end of the feeding screw (315) is connected to the inner ring of the bearing. A feeding tube body (317) is provided on the feeding port (316), and one end of the conveying pipeline is connected to the feeding tube body.

6. The crab farming inspection, feeding and grabbing device according to claim 1, characterized in that: The camera (216) is arranged in an inclined manner, with its lens facing downward.

7. The crab farming inspection, feeding and grabbing device according to claim 6, characterized in that: A mounting frame (211) is mounted on the cylinder body of the electric telescopic push rod (201), a camera (216) is mounted on the mounting frame (211), a positioning plate (214) is provided on the mounting frame (211), a positioning hole (215) is provided on the positioning plate (214), and the suction pipe (203) is positioned in the positioning hole (215).

8. The crab farming inspection, feeding and grabbing device according to claim 1, characterized in that: A feeding assembly (301) is mounted on the telescopic rod of the electric telescopic push rod (201). The feeding assembly (301) comprises a feeding channel, a feeding trough (305) connected to the feeding channel, and a screw extrusion mechanism located in the feeding channel. The feeding port of the feeding channel is located at the lower part.

9. The crab farming inspection, feeding and grabbing device according to claim 1, characterized in that: The mounting plate (204) is provided with a through hole (205), and the negative pressure suction pipe (209) is passed through the through hole (205). There is a gap between the inner wall of the through hole (205) and the outer wall of the negative pressure suction pipe (209).

10. The crab farming inspection, feeding and grabbing device according to claim 1, characterized in that: A lifting rod (207) is fixed to the telescopic portion of the lifter (206), and the negative pressure suction pipe (209) is inserted into the connecting hole (208) of the lifting rod (207) and the two are fixedly connected.

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