A feed feeding device based on a mechanical arm

Abstract

This application discloses a feed feeding device based on a robotic arm, comprising: a support base; a main joint, the bottom of which is rotatably mounted on the support base, and a corner connector rotatably mounted on the top of which; a movable joint, one end of which is connected to the corner connector; a rotation drive, which is drivenly connected to the corner connector; and a feed conveying mechanism, which has a feeding hose, the outlet of which is connected to the other end of the movable joint. This application is applicable to aquaculture farms of different sizes for automatic feed feeding. Furthermore, during feed feeding, the robotic arm can perform multi-angle and multi-posture movements, increasing the feeding distance, widening the feed coverage area, and ensuring more uniform feeding. It also effectively reduces feed breakage and guarantees feed quality.

Description

Technical Field

[0001] This application relates to the technical field of feed feeding devices, and more specifically, to a feed feeding device based on a robotic arm. Background Technology

[0002] As aquaculture develops towards large-scale operations, centralized feeding has become the main method of aquaculture.

[0003] Currently, most aquaculture farms rely on manual feeding by throwing feed, but this method is inefficient and has high labor costs. A small number of aquaculture farms use modern automatic feeding equipment, which can be divided into two categories: fixed-point and mobile. Among them, fixed-point automatic feeding equipment mainly includes feed blowing with a fan and rigid pipe and centrifugal throwing feeder. However, the feed blowing distance of the feed blowing method with a fan and rigid pipe is often limited and the feeding angle is also relatively simple. It is easy to cause uneven feeding and incomplete coverage of feed. It is only suitable for small aquaculture farms. The centrifugal throwing feeder uses a high-speed rotating disc to throw the feed, which will cause violent impact on the pellet feed, resulting in a high feed breakage rate and reducing the quality of feed feeding. Summary of the Invention

[0004] The purpose of this application is to provide a feed feeding device based on a robotic arm, which can be applied to aquaculture farms of different sizes for automatic feed feeding. During feed feeding, the robotic arm can perform multi-angle and multi-posture movements, which can increase the feeding distance, make the feed feeding coverage area wider, make the feeding more uniform, and effectively reduce the feed breakage rate, thus ensuring the quality of feed feeding.

[0005] To achieve the above objectives, this application provides a feed feeding device based on a robotic arm, comprising: Support base; The main joint has its bottom rotatably mounted on the bearing base, and its top is rotatably provided with a corner connector; A movable joint, one end of which is connected to the corner connector; A rotation drive component, wherein the rotation drive component is driven to the corner connector; A feed conveying mechanism having a feed hose, the outlet of which is connected to the other end of the movable joint.

[0006] In a preferred embodiment of this application, the bearing base includes a base plate, a plurality of first hydraulic cylinders, and a bearing frame. Multiple first hydraulic cylinders are regularly distributed, one end of each first hydraulic cylinder is rotatably connected to the base plate, and the other end of each first hydraulic cylinder is connected to the bearing frame through a universal ball joint; The bottom of the main joint is rotatably mounted on the support frame.

[0007] In a preferred embodiment of this application, a first gear is provided on the bearing base, and the bottom of the main joint is disposed on the first gear; A rotary drive component is provided on the outer periphery of the bottom of the main joint, and a second gear is connected to the output end of the rotary drive component. The second gear meshes with the first gear.

[0008] In a preferred embodiment of this application, the main joint includes a rod assembly, which includes a plurality of parallel rods; The bottom of the rod assembly is provided with a lower mounting frame, the lower mounting frame is disposed on the first gear, and the rotary drive component is disposed on the outer periphery of the lower mounting frame; The top of the rod assembly is provided with an upper mounting frame, and one end of the corner connector is rotatably connected to the upper mounting frame; One end of the movable joint is connected to the other end of the corner connector.

[0009] In a preferred embodiment of this application, the rotation drive is a second hydraulic cylinder, one end of which is connected to the rod assembly, and the other end of which is connected to the other end of the corner connector.

[0010] In a preferred embodiment of this application, the movable joint includes a plurality of movable sub-joints connected in sequence. The first movable sub-joint is rotatably connected to the corner connector; adjacent movable sub-joints can be rotatably connected at multiple angles.

[0011] In a preferred embodiment of this application, the movable sub-joint includes a connecting seat and a hydraulic cylinder assembly, the hydraulic cylinder assembly including a plurality of regularly distributed third hydraulic cylinders; The connecting seat of the first movable sub-joint is connected to the corner connector, one end of each of the plurality of third hydraulic cylinders of the first movable sub-joint is rotatably connected to the connecting seat of the first movable sub-joint, and the other end of each of the plurality of third hydraulic cylinders of the first movable sub-joint is connected to the connecting seat of the second movable sub-joint via a universal ball joint. Adjacent movable sub-joints can be rotatably connected at multiple angles, and the other ends of multiple third hydraulic cylinders of one movable sub-joint are connected to the connecting seat of another movable sub-joint through universal ball joints; The other end of each of the third hydraulic cylinders of the last movable sub-joint is connected to a mounting base via a ball joint.

[0012] In a preferred embodiment of this application, the feed conveying mechanism includes a feed bin, the feed hose, and a blower. The feed inlet of the feeding hose is connected to the feed box, and the blower is connected to the feeding hose through a connecting pipe.

[0013] In a preferred embodiment of this application, the feed conveying mechanism further includes a discharge valve, a discharge pipe, and a drive motor. The unloading valve is connected to the feed box and the discharge pipe; The two ends of the discharge pipe are respectively connected to the inlet of the feeding hose and the connecting pipe; The drive motor is connected to the unloading valve.

[0014] In a preferred embodiment of this application, the outlet of the feeding hose passes sequentially through the bearing base, the main joint, the corner connector, the movable joint, and finally to the other end of the movable joint.

[0015] This application discloses a feed feeding device based on a robotic arm, which, compared with the prior art, has at least the following advantages: The robotic arm-based feed dispensing device of this application is applicable to aquaculture farms of different sizes for automatic feed dispensing, and can also be applied to non-aquaculture farms (e.g., chicken and duck farms). The robotic arm of this device adopts a flexible structure, with its main joints being rotatable and its movable joints being able to move under the drive of the corner connectors. This allows the robotic arm to perform multi-angle and multi-posture movements. When dispensing feed, the feeding distance can be increased by adjusting the feeding posture, and the feeding angle can be greatly increased, resulting in a wider feed coverage area and more uniform feeding. Furthermore, the feed conveying mechanism uses a feeding hose to transport the feed, which can effectively reduce the feed breakage rate and ensure the quality of feed dispensing. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a first three-dimensional structural schematic diagram of a feed feeding device based on a robotic arm provided in an embodiment of this application; Figure 2 This is a second three-dimensional structural schematic diagram of a feed feeding device based on a robotic arm provided in an embodiment of this application; Figure 3 This is a third three-dimensional structural diagram of a feed feeding device based on a robotic arm provided in an embodiment of this application.

[0018] Reference numerals: 11. Supporting base; 111. Base plate; 112. First hydraulic cylinder; 113. Supporting frame; 114. First gear; 115. Rotary drive component; 116. Second gear; 117. Connecting bracket; 12. Main joint; 121. Rod assembly; 122. Lower mounting frame; 123. Upper mounting frame; 13. Corner connector; 14. Movable joint; 141. Movable sub-joint; 1411. Connecting seat; 1412. Third hydraulic cylinder; 1413. Mounting seat; 15. Rotary drive component; 16. Feed conveying mechanism; 161. Feed box; 162. Feeding hose; 163. Fan; 164. Connecting pipe; 165. Discharge valve; 166. Drop pipe; 167. Drive motor; 17. Hydraulic station; 18. Camera. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0020] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0021] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0022] Furthermore, the terms "installation," "setup," "equipped with," "connection," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or a point connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0023] Furthermore, the terms "first," "second," etc., are primarily used to distinguish different devices, components, or parts (which may be the same or different in specific type and construction), and are not intended to indicate or imply the relative importance or quantity of the indicated devices, components, or parts. Unless otherwise stated, "a plurality of" means two or more.

[0024] See Figures 1 to 3 , Figures 1 to 3 This is a three-dimensional structural diagram of a feed feeding device based on a robotic arm provided in an embodiment of this application, viewed from different angles.

[0025] An embodiment of this application provides a feed feeding device based on a robotic arm, comprising: Support base 11; The main joint 12 is rotatably mounted on the support base 11 at its bottom and is rotatably mounted on the top of the main joint 12 with a corner connector 13. Movable joint 14, one end of which is connected to corner connector 13; Rotation drive component 15 is driven to connect with corner connector 13; Feed conveying mechanism 16 has a feed hose 162, the outlet of which is connected to the other end of movable joint 14.

[0026] This application provides a robotic arm-based feed dispensing device that can be applied to different types of farms and farms of different sizes, especially aquaculture farms. When used in small aquaculture farms, the robotic arm-based feed dispensing device can be directly installed on the ground; when used in large aquaculture farms, the robotic arm-based feed dispensing device can be installed on a rail-mounted feeding vehicle or a feeding boat to form a mobile automatic feeding system.

[0027] In this embodiment, the robotic arm includes a main joint 12 and a movable joint 14. The bottom of the main joint 12 is rotatably mounted on the support base 11, that is, the main joint 12 can rotate relative to the support base 11. The top of the main joint 12 is rotatably provided with a corner connector 13, that is, the corner connector 13 can rotate relative to the top of the main joint 12; one end of the movable joint 14 is connected to the corner connector 13, and the movable joint 14 can rotate under the drive of the corner connector 13.

[0028] In this embodiment, the rotation drive 15 is driven to connect with the corner connector 13. The rotation drive 15 can be used to drive the corner connector 13 to rotate relative to the top of the main joint 12, thereby driving the movable joint 14 to rotate.

[0029] In this embodiment, the feed conveying mechanism 16 is used to convey feed to the farm. The feed conveyed by the feed conveying mechanism 16 is conveyed through the feed hose 162 and fed out through the outlet of the feed hose 162. It can be understood that the outlet of the feed hose 162 is located at the other end of the movable joint 14, that is, the outlet of the feed hose 162 is located at the end of the movable joint 14. The feed conveying mechanism 16 uses a feed hose 162, which makes it easy to bend the feed hose 162, thus facilitating the installation of the feed hose 162. Furthermore, the feed hose 162 is a flexible tube, which makes it less likely for the feed to be broken during the conveying process.

[0030] This application discloses a robotic arm-based feed dispensing device, which is applicable to aquaculture farms of different sizes for automatic feed dispensing, and is also applicable to non-aquaculture farms (e.g., chicken and duck farms). The robotic arm of this device has a flexible structure, with its main joint 12 being rotatable and its movable joint 14 being able to move under the drive of the corner connector 13. This allows the robotic arm to perform multi-angle and multi-posture movements. When dispensing feed, the feeding distance can be increased by adjusting the feeding posture, and the feeding angle can be greatly increased, resulting in a wider feed coverage area and more uniform feeding. Furthermore, the feed conveying mechanism 16 uses a feeding hose 162 to convey feed, which can effectively reduce the feed breakage rate and ensure the quality of feed dispensing.

[0031] Preferably, in this embodiment, the support base 11 includes a base plate 111, a plurality of first hydraulic cylinders 112, and a support frame 113. Multiple first hydraulic cylinders 112 are regularly distributed, one end of each first hydraulic cylinder 112 is rotatably connected to the base plate 111, and the other end of each first hydraulic cylinder 112 is connected to the support frame 113 through a universal ball joint. The bottom of the main joint 12 is rotatably mounted on the support frame 113.

[0032] Specifically, there are three first hydraulic cylinders 112. Understandably, in other embodiments, there may be four or five first hydraulic cylinders 112. One end of each of the three first hydraulic cylinders 112 is rotatably connected to the base plate 111 via a connecting lug, and the other end of each of the three first hydraulic cylinders 112 is connected to the support frame 113 via a universal ball joint. Therefore, the support frame 113 can tilt under the action of the universal ball joint and the first hydraulic cylinders 112.

[0033] In the above structure, the structural design of the support base 11 can provide good support for the robotic arm and also play a shock absorption role, maintaining stability even when affected by vibration or waves, making the position and angle of the feed hose 162's outlet less susceptible to change; in addition, the support frame 113 can be adjusted to different tilt angles by adjusting the first hydraulic cylinder 112; this structural design of the support base 11 makes the robotic arm-based feed feeding device more adaptable to different terrains and different scenarios (land, water, etc.).

[0034] Preferably, in this embodiment, a first gear 114 is provided on the support base 11, and the bottom of the main joint 12 is provided on the first gear 114; A rotary drive 115 is provided on the outer periphery of the bottom of the main joint 12. The output end of the rotary drive 115 is connected to a second gear 116, which meshes with the first gear 114.

[0035] Specifically, the first gear 114 is horizontally mounted on the support frame 113 of the support base 11; the rotary drive component 115 is a rotary drive motor used to drive the second gear 116 to rotate, thereby driving the first gear 114 to rotate, so that the main joint 12 rotates. This structure makes it easier to achieve the rotation of the main joint 12, and the structural cost is low.

[0036] Furthermore, in this embodiment, the main joint 12 includes a rod assembly 121, which includes a plurality of parallel rods; The bottom of the rod assembly 121 is provided with a lower mounting frame 122, which is mounted on the first gear 114, and the rotation drive component 115 is mounted on the outer periphery of the lower mounting frame 122. The top of the rod assembly 121 is provided with an upper mounting frame 123, and one end of the corner connector 13 is rotatably connected to the upper mounting frame 123; One end of the movable joint 14 is connected to the other end of the corner connector 13.

[0037] Specifically, the rod assembly 121 includes four parallel rods; the bottom of the rod assembly 121 is provided with a lower mounting frame 122 and the top of the rod assembly 121 is provided with an upper mounting frame 123, which is a square mounting frame structure. A connecting bracket 117 is provided on the outer periphery of the lower mounting frame 122, and the rotation drive component 115 is mounted on the connecting bracket 117.

[0038] In the above structure, the structural configuration of the main joint 12 can greatly reduce the structural cost of the robotic arm. Furthermore, it facilitates the placement of the main joint 12 on the first gear 114, the placement of the rotation drive 115, and the connection between the main joint 12 and the corner connector 13, thereby facilitating the installation and setup of the robotic arm and the realization of the multi-angle rotation function of the robotic arm.

[0039] Preferably, in this embodiment, the rotation drive 15 is a second hydraulic cylinder, one end of which is connected to the rod assembly 121, and the other end of which is connected to the other end of the corner connector 13.

[0040] Specifically, a connecting piece is provided on two adjacent rods of the rod assembly 121, and a connecting lug is provided on the connecting piece. One end of the second hydraulic cylinder is connected to the connecting piece on the rod assembly 121. A connecting lug is provided on the other end of the corner connector 13, and the other end of the second hydraulic cylinder is connected to the other end of the corner connector 13 through the connecting lug.

[0041] Preferably, in this embodiment, the movable joint 14 includes a plurality of movable sub-joints 141 connected in sequence. The first movable sub-joint 141 is rotatably connected to the corner connector 13; adjacent movable sub-joints 141 can be rotatably connected at multiple angles.

[0042] Specifically, in this embodiment, the movable joint 14 includes three sequentially connected movable sub-joints 141. It can be understood that in other embodiments, the movable joint 14 may also include two sequentially connected movable sub-joints 141, or the movable joint 14 may also include four sequentially connected movable sub-joints 141, and so on.

[0043] In the above structure, the movable joint 14 has multiple movable sub-joints 141 connected in sequence, and adjacent movable sub-joints 141 can be rotatably connected at multiple angles. That is, each movable sub-joint 141 can be movable. The first movable sub-joint 141 moves under the drive of the corner connector 13. In this way, the posture adjustment of the movable joint 14 can be more varied and rich, and more angles and postures can be performed. When feeding, the feeding distance can be increased by adjusting the feeding posture more, and the feeding angle is varied and rich, making the feeding coverage area wider. This makes the feed feeding device based on the robotic arm more practical.

[0044] Furthermore, in this embodiment, the movable sub-joint 141 includes a connecting seat 1411 and a hydraulic cylinder assembly, the hydraulic cylinder assembly including a plurality of regularly distributed third hydraulic cylinders 1412; The connecting seat 1411 of the first movable sub-joint 141 is connected to the corner connector 13. One end of each of the plurality of third hydraulic cylinders 1412 of the first movable sub-joint 141 is rotatably connected to the connecting seat 1411 of the first movable sub-joint 141. The other end of each of the plurality of third hydraulic cylinders 1412 of the first movable sub-joint 141 is connected to the connecting seat 1411 of the second movable sub-joint 141 through a universal ball joint. Adjacent movable sub-joints 141 can be rotatably connected at multiple angles, and the other ends of multiple third hydraulic cylinders 1412 of one movable sub-joint 141 are all connected to the connecting seat 1411 of another movable sub-joint 141 through universal ball joints. The other ends of the multiple third hydraulic cylinders 1412 of the last movable sub-joint 141 are all connected to a mounting base 1413 via a universal ball joint.

[0045] Specifically, in this embodiment, the hydraulic cylinder assembly of each movable sub-joint 141 includes three regularly distributed third hydraulic cylinders 1412; the connecting seat 1411 is provided with connecting ears, and one end of the plurality of third hydraulic cylinders 1412 of the movable sub-joint 141 is connected to the connecting seat 1411 through the connecting ears. The last movable sub-joint 141 is the third movable sub-joint 141. The other ends of the multiple third hydraulic cylinders 1412 of the third movable sub-joint 141 are all connected to a mounting base 1413 through a universal ball joint. In this embodiment, the outlet of the feeding hose 162 is connected to the mounting base 1413 at the other end of the third movable sub-joint 141.

[0046] In this embodiment, a camera 18 is provided on the mounting base 1413. The camera 18 can take pictures of the farm before or during feeding. The pictures can be used to control the feeding process of the robotic arm-based feeding device, thereby enabling better use of the robotic arm-based feeding device to feed and improve the quality of feeding.

[0047] In the above structure, the structural configuration of the movable sub-joint 141 can greatly reduce the structural cost of the movable joint 14 and improve the practicality of the robotic arm-based feed feeding device.

[0048] It should be noted that in other embodiments, the movable joint 14 may also have only one movable sub-joint 141. When the movable joint 14 has only one movable sub-joint 141, the movable sub-joint 141 may also adopt the same structure as each movable sub-joint 141 in this embodiment. The mounting base 1413 is connected to the other end of the plurality of third hydraulic cylinders 1412 of the movable sub-joint 141 through a universal ball joint.

[0049] Preferably, in this embodiment, the feed conveying mechanism 16 includes a feed bin 161, a feed hose 162, and a blower 163. The feed inlet of the feeding hose 162 is connected to the feed box 161, and the blower 163 is connected to the feeding hose 162 through the connecting pipe 164.

[0050] Specifically, the feed box 161 is provided with a lid, through which feed can be added to the feed box 161; the feed box 161 is also provided with multiple mounting feet, through which the feed box 161 is installed and supported; in this embodiment, the feed box 161 is a funnel-shaped feed box 161. The blower 163 is connected to the feeding hose 162 via the connecting pipe 164. In this embodiment, the blower 163 provides power and force for the conveying of feed in the feeding hose 162.

[0051] Furthermore, in this embodiment, the feed conveying mechanism 16 also includes a discharge valve 165, a discharge pipe 166, and a drive motor 167. The discharge valve 165 is connected to the feed box 161 and the discharge pipe 166; The two ends of the discharge pipe 166 are respectively connected to the inlet of the feeding hose 162 and the connecting pipe 164; The drive motor 167 is connected to the unloading valve 165.

[0052] Specifically, the drive motor 167 is connected to the discharge valve 165 to control the opening and closing of the discharge valve 165 and the degree of opening. When the feed conveying mechanism 16 is in working state and in feed conveying state, the feed is sequentially delivered from the feed box 161, the discharge valve 165, the discharge pipe 166, and then to the feed hose 162.

[0053] Before use, the feed conveying mechanism 16 can be tested to convey feed. The unloading valve 165 can be tested to see if it can open or close normally by driving the motor 167. Feeding can only be carried out after the feed conveying mechanism 16 can be tested to convey feed normally.

[0054] In the above structure, the arrangement of the discharge valve 165, the discharge pipe 166, and the drive motor 167 can better control the feed conveying process of the feed conveying mechanism 16 and improve the quality of feed feeding. For example, the feed discharge rate during the feed conveying process can be controlled by adjusting the opening size of the discharge valve 165; and the feed feeding can be stopped in time by closing the discharge valve 165 when the feeding is completed or about to be completed, thus avoiding feed waste.

[0055] Preferably, in this embodiment, the outlet of the feeding hose 162 passes sequentially through the bearing base 11, the main joint 12, the corner connector 13, the movable joint 14, and finally to the other end of the movable joint 14.

[0056] Specifically, in this embodiment, the corresponding structures on the support base 11, the main joint 12, the corner connector 13, and the movable joint 14 are provided with channels for the feeding hose 162 to pass through, so that the outlet of the feeding hose 162 can pass through the support base 11, the main joint 12, the corner connector 13, and the movable joint 14 in sequence, until the other end of the movable joint 14.

[0057] In the above structure, the arrangement of the feed hose 162 can effectively limit the feed hose 162, ensure the feed conveying effect of the feed hose 162, and also prevent the feed hose 162 from being suspended in the air.

[0058] Preferably, in this embodiment, a hydraulic station 17 is also provided on one side of the main joint 12. Specifically, the hydraulic station 17 is provided on one side of the rod assembly 121 of the main joint 12. The provision of the hydraulic station 17 can facilitate the use of the feed feeding device based on the robotic arm.

[0059] In all the above embodiments, "large" and "small" are relative terms, "more" and "less" are relative terms, and "upper" and "lower" are relative terms. The embodiments of this application will not elaborate further on the expression of such relative terms.

[0060] It should be understood that phrases such as "in one embodiment," "in this embodiment," "in this application embodiment," or "as an optional implementation" throughout the specification mean that a specific feature, structure, or characteristic related to an embodiment is included in at least one embodiment of this application. Therefore, phrases such as "in one embodiment," "in this embodiment," "in this application embodiment," or "as an optional implementation" appearing throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this application.

[0061] In the various embodiments of this application, it should be understood that the sequence number of each process does not necessarily imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0062] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of protection of the claims.

Claims

1. A feed feeding device based on a robotic arm, characterized in that, include: Support base; The main joint has its bottom rotatably mounted on the bearing base, and its top is rotatably provided with a corner connector; A movable joint, one end of which is connected to the corner connector; A rotation drive component, wherein the rotation drive component is driven to the corner connector; A feed conveying mechanism having a feed hose, the outlet of which is connected to the other end of the movable joint.

2. The feed feeding device based on a robotic arm according to claim 1, characterized in that, The support base includes a base plate, multiple first hydraulic cylinders, and a support frame. Multiple first hydraulic cylinders are regularly distributed, one end of each first hydraulic cylinder is rotatably connected to the base plate, and the other end of each first hydraulic cylinder is connected to the bearing frame through a universal ball joint; The bottom of the main joint is rotatably mounted on the support frame.

3. The feed feeding device based on a robotic arm according to claim 1, characterized in that, The bearing base is provided with a first gear, and the bottom of the main joint is provided on the first gear; A rotary drive component is provided on the outer periphery of the bottom of the main joint, and a second gear is connected to the output end of the rotary drive component. The second gear meshes with the first gear.

4. The feed feeding device based on a robotic arm according to claim 3, characterized in that, The main joint includes a rod assembly, which includes multiple parallel rods; The bottom of the rod assembly is provided with a lower mounting frame, the lower mounting frame is disposed on the first gear, and the rotary drive component is disposed on the outer periphery of the lower mounting frame; The top of the rod assembly is provided with an upper mounting frame, and one end of the corner connector is rotatably connected to the upper mounting frame; One end of the movable joint is connected to the other end of the corner connector.

5. A feed feeding device based on a robotic arm according to claim 4, characterized in that, The rotation drive component is a second hydraulic cylinder, one end of which is connected to the rod assembly, and the other end of which is connected to the other end of the corner connector.

6. A feed feeding device based on a robotic arm according to claim 1, characterized in that, The movable joint includes multiple movable sub-joints connected in sequence. The first movable sub-joint is rotatably connected to the corner connector; adjacent movable sub-joints can be rotatably connected at multiple angles.

7. A feed feeding device based on a robotic arm according to claim 6, characterized in that, The movable sub-joint includes a connecting seat and a hydraulic cylinder assembly, the hydraulic cylinder assembly including a plurality of regularly distributed third hydraulic cylinders; The connecting seat of the first movable sub-joint is connected to the corner connector, one end of each of the plurality of third hydraulic cylinders of the first movable sub-joint is rotatably connected to the connecting seat of the first movable sub-joint, and the other end of each of the plurality of third hydraulic cylinders of the first movable sub-joint is connected to the connecting seat of the second movable sub-joint via a universal ball joint. Adjacent movable sub-joints can be rotatably connected at multiple angles, and the other ends of multiple third hydraulic cylinders of one movable sub-joint are connected to the connecting seat of another movable sub-joint through universal ball joints; The other end of each of the third hydraulic cylinders of the last movable sub-joint is connected to a mounting base via a ball joint.

8. A feed feeding device based on a robotic arm according to claim 1, characterized in that, The feed conveying mechanism includes a feed bin, the feed hose, and a blower. The feed inlet of the feeding hose is connected to the feed box, and the blower is connected to the feeding hose through a connecting pipe.

9. A feed feeding device based on a robotic arm according to claim 8, characterized in that, The feed conveying mechanism also includes a discharge valve, a discharge pipe, and a drive motor. The unloading valve is connected to the feed box and the discharge pipe; The two ends of the discharge pipe are respectively connected to the inlet of the feeding hose and the connecting pipe; The drive motor is connected to the unloading valve.

10. A feed feeding device based on a robotic arm according to claim 1, 8, or 9, characterized in that, The discharge port of the feeding hose passes sequentially through the bearing base, the main joint, the corner connector, the movable joint, and finally to the other end of the movable joint.

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