Crab breeding robot

Abstract

The utility model discloses a crab breeding robot. The crab breeding robot comprises an industrial personal computer, a lifting device and a mechanical arm, the mechanical arm comprises a mechanical arm body and a tail end tool, the tail end tool comprises a water surface camera, a water bottom camera, a filter, a water quality sensor and a feed feeding device, and the industrial personal computer is used for controlling the mechanical arm to act and controlling the lifting device to drive the mechanical arm to move up and down. Crab information collected by the water surface camera above the water surface of the crab breeding box is obtained, crab information collected by the water bottom camera at the water bottom of the crab breeding box is obtained, and water quality information, collected by the water quality sensor, in the crab breeding box is obtained. The crab breeding robot solves the technical problems that a crab breeding robot in the prior art is single in function, limited in application scene and low in crab breeding management efficiency.

Description

Technical Field

[0001] The utility model relates to the field of robots, and in particular to a crab breeding robot. Background Art

[0002] The crab farming robots in the related technology mainly include feed feeding robots and robots for observing underwater crab farming conditions. However, the structures and functions of the above crab farming robots are relatively simple. Based on this type of crab farming robots, a large amount of manpower input is still required, the application scenarios are limited, and the crab farming management efficiency is low.

[0003] To address the above-mentioned problems, no effective solution has been proposed yet. Utility Model Content

[0004] The embodiment of the utility model provides a crab farming robot to at least solve the technical problems in the related art that the crab farming robot has single function, limited application scenarios, and low crab farming management efficiency.

[0005] According to one aspect of an embodiment of the utility model, a crab farming robot is provided, comprising: an industrial computer, a lifting device, and a mechanical arm, wherein the mechanical arm comprises a mechanical arm body and an end tool, and the end tool comprises a surface camera, an underwater camera, a filter, a water quality sensor, and a feed feeding device, wherein the industrial computer is connected to the mechanical arm body to control the movement of the mechanical arm; the industrial computer is connected to the lifting device to control the lifting device to drive the mechanical arm to move up and down; the industrial computer is connected to the surface camera to obtain crab information collected by the surface camera above the water surface of a crab farming box; the industrial computer is connected to the underwater camera to obtain crab information collected by the underwater camera at the bottom of the crab farming box; the industrial computer is connected to the water quality sensor to obtain water quality information in the crab farming box collected by the water quality sensor.

[0006] Furthermore, the lifting device includes a lifting frame and a lifting platform, one end of the robot arm body is connected to a predetermined position of the lifting platform, and the other end is connected to the end tool.

[0007] Furthermore, the lifting frame includes four screw rods, a base, a top seat, and the four screw rods are fixedly connected with the base through the top seat and the base, and the top seat, the base and the lifting platform are placed parallel to each other.

[0008] Furthermore, there are four robotic arms, which are dispersedly arranged on two edge sides of the lifting platform, wherein the two edge sides are parallel to each other.

[0009] Furthermore, the base includes a shell, a top cover, a reducer, and a motor, wherein the reducer and the motor are arranged inside the shell.

[0010] Furthermore, the shell includes a power supply, a metal protective cover is provided under the power supply, and the reducer and the motor are installed under the metal protective cover; wherein the power supply includes an industrial computer power supply and a robotic arm power supply.

[0011] Furthermore, the lifting frame is a movable lifting frame, and a positioning device is provided on the lifting device, and the positioning device is used to record the positioning information of the lifting device.

[0012] Furthermore, the filter includes a filtering component, a water inlet component, and a water outlet component. The water inlet component and the water outlet component are respectively connected to the filtering component. A filter screen or filter element is arranged inside the filtering component. The water quality sensor is arranged at the water outlet of the water outlet component.

[0013] Furthermore, the end tool also includes a fill light, which is arranged at a predetermined position of the surface camera.

[0014] Furthermore, a volume sensor is provided inside the feed feeding device, and the industrial computer is connected to the volume sensor for obtaining the remaining amount of feed in the feed feeding device.

[0015] In an embodiment of the utility model, an industrial computer, a lifting device, and a mechanical arm are arranged in the crab breeding robot, wherein the mechanical arm includes a mechanical arm body and an end tool, and the end tool includes a surface camera, an underwater camera, a filter, a water quality sensor, and a feed feeding device, wherein the industrial computer is connected to the mechanical arm body to control the movement of the mechanical arm; the industrial computer is connected to the lifting device to control the lifting device to drive the mechanical arm to move up and down; the industrial computer is connected to the surface camera to obtain the crab information collected by the surface camera above the water surface of the crab breeding box; the industrial computer is connected to the underwater camera to obtain the underwater camera in the crab breeding box. The industrial computer is connected to the water quality sensor to obtain the water quality information in the crab breeding box collected by the water quality sensor, thereby achieving the goal of setting up a breeding robot including a lifting device and a mechanical arm, and setting a surface camera, an underwater camera, a filter, a water quality sensor, and a feeding device at the end of the mechanical arm. The purpose of multifunctional breeding is achieved through a crab breeding robot, thereby achieving the technical effect of simplifying the crab breeding operation process and improving the crab breeding efficiency, and further solving the technical problems of the crab breeding robot in the related technology, such as single function, limited application scenarios, and low crab breeding management efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0017] Figure 1A schematic diagram of a crab farming robot provided according to an embodiment of the utility model is shown;

[0018] Figure 2 A schematic diagram of the structure of a lifting device provided according to an embodiment of the utility model is shown;

[0019] Figure 3 A schematic diagram of the structure of a mechanical arm provided according to an embodiment of the utility model is shown;

[0020] Figure 4 An exploded view of a base provided according to an embodiment of the utility model is shown;

[0021] Figure 5 A schematic diagram of the structure of a mechanical arm provided according to an embodiment of the utility model is shown;

[0022] The above drawings include the following reference numerals:

[0023] 1. Industrial computer;

[0024] 2. Lifting device; 21. Lifting frame; 22. Lifting platform; 211. Four screw rods; 212. Base; 2121. Shell; 2122. Top cover; 2123. Reducer; 2124. Motor; 2125. Power supply; 2126. Metal protective cover; 2127. Silicone strip; 213. Top seat;

[0025] 3. Robotic arm; 31. Robotic arm body; 32. End tool; 321. Surface camera; 322. Underwater camera; 323. Filter; 3231. Filter component; 3232. Water inlet component; 324. Water quality sensor; 325. Feeding device; 3251. Volume sensor; 326. Fill light. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the solution of the utility model, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is only a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the utility model.

[0027] like Figures 1 to 5 As shown, the embodiment of the utility model provides a crab farming robot, and the crab farming robot includes:

[0028] An industrial computer 1, a lifting device 2, and a mechanical arm 3, wherein the mechanical arm 3 includes a mechanical arm body 31 and an end tool 32, and the end tool 32 includes a surface camera 321, an underwater camera 322, a filter 323, a water quality sensor 324, and a feed feeding device 325, wherein the industrial computer 1 is connected to the mechanical arm body 31 to control the movement of the mechanical arm 3; the industrial computer 1 is connected to the lifting device 2 to control the lifting device 2 to drive the mechanical arm 3 to move up and down; the industrial computer 1 is connected to the surface camera 321 to obtain the crab information collected by the surface camera 321 above the water surface of the crab breeding box; the industrial computer 1 is connected to the underwater camera 322 to obtain the crab information collected by the underwater camera 322 at the bottom of the crab breeding box; the industrial computer 1 is connected to the water quality sensor 324 to obtain the water quality information in the crab breeding box collected by the water quality sensor 324.

[0029] The crab farming robot provided in this embodiment is applied, and the crab farming robot includes an industrial computer 1, a lifting device 2, and a mechanical arm 3. The industrial computer 1 is connected to the mechanical arm body 31 in the lifting device 2 to control the movement of the mechanical arm body 31, such as lifting, bending, etc.; the industrial computer 1 is connected to the end tool 32, and can control the movement mode of each end tool 32 respectively, and collect information collected by each end tool 32. Specifically, the surface camera 321 in the end tool 32 can be set above the water surface of the crab breeding box, and collect information about crabs in the crab breeding box from above the water surface of the crab breeding box by image acquisition; the underwater camera 322 is set at the bottom of the crab breeding box through a mechanical arm, and is used to collect information about crabs at the bottom of the crab breeding box by image acquisition; the filter 323 plays a role in the water quality of the crab breeding box; the water quality sensor 324 is used to detect the water quality in the crab breeding box, and upload the collected water quality information to the industrial computer 1; when the staff learns that the water quality information does not meet the predetermined water quality requirements, they can send instructions to the filter 323 through the industrial computer 1 to control the filter 323 to open for water quality filtering; the industrial computer 1 can control the opening and closing of the feed feeding device 325 to determine whether to feed the crabs in the crab breeding box. The crab farming robot obtained in the above manner integrates multiple functions such as surface crab information collection, underwater crab information collection, water quality filtration, water quality information collection, and feed feeding, and can achieve one-touch control of multiple functions through an industrial computer. Multifunctional farming can be achieved through a crab farming robot, simplifying the crab farming operation process and manpower investment, and improving crab farming efficiency.

[0030] Optionally, a timed task can be set by the industrial computer 1, and the opening and closing of the feed feeding device 325 can be controlled based on the timed task to realize the function of automatic timed feeding of crabs, without manually turning on the crab feeding function.

[0031] Optionally, the crab information collected by the surface camera 321 and the underwater camera 322 may include, but is not limited to: growth information of crabs in the crab breeding box, such as crab size, shape, soft-shell crabs, dead crabs, etc. The collected crab information and water quality information may be directly analyzed based on the industrial computer to further obtain the environmental information and crab growth conditions in the crab breeding box; the collected crab information, water quality information, etc. may also be uploaded to the Internet of Things platform, and the environmental information and crab growth conditions in the crab breeding box may be further analyzed through the Internet of Things platform.

[0032] like Figure 2 As shown, the lifting device 2 includes a lifting frame 21 and a lifting platform 22, one end of the robot body 31 is connected to a predetermined position of the lifting platform 22, and the other end is connected to the end tool 32. With the above structure, the lifting frame 21 is a fixed structure, which plays a supporting role, and the lifting platform 22 plays a lifting role. The lifting platform 22 is fixedly connected to one end of the robot body 31, and the lifting and lowering of the lifting platform 22 can be controlled by issuing corresponding instructions by the industrial computer 1, and then the lifting and lowering of the robot arm 3 can be driven by the lifting platform 22.

[0033] like Figure 2 As shown, the lifting frame 21 includes four screw rods 211, a base 212, a top seat 213, and the four screw rods 211 are fixedly connected through the top seat 213 and the base 212, and the top seat 213, the base 212 and the lifting platform 22 are placed parallel to each other. With the above structure, in the lifting frame 21, the four screw rods 211 are fixedly connected through two platforms, namely the base 212 and the top seat 213, so as to ensure the stability of the crab farming robot during operation, and the top seat 213, the base 212 and the lifting platform 22 are placed parallel to each other, which can ensure the lifting and lowering of the lifting platform 22 smoothly.

[0034] Optionally, the top seat 213, the base 212 and the lifting platform 22 can all be configured as rectangular structures, thereby improving the operational stability of the crab farming robot during operation and enabling the crab farming robot to have a higher weighing capacity.

[0035] Optionally, the lifting frame 21 also includes a connecting component for fixedly connecting four screw rods 211, and the four screw rods 211 are fixedly connected to the upper and lower platforms, two of which are connected to the top seat 213, and the other two screw rods are connected to the base 212. The connecting component includes a connecting nut and a connecting bolt, and the connecting nut is fixedly connected to the top seat 213 and the base 212. The connecting bolts pass through the connecting nut and the four screw rods respectively, and the four screw rods are fixedly connected to the connecting nut. The four screw rods are fixedly connected to the top seat 213 and the base 212, so as to achieve a stable and reliable connection.

[0036] like Figure 2 and Figure 3As shown, there are four mechanical arms 3, and the four mechanical arms 3 are dispersedly arranged on the two edge sides of the lifting platform 22, wherein the two edge sides are parallel to each other. Usually, there is an aisle between two adjacent crab breeding boxes, and the breeding robot can be arranged on the aisle, and the two edge sides of the lifting platform 22 are parallel to the edges of the crab breeding boxes, that is, the crab breeding robot is placed parallel to the edges of the crab breeding boxes. Through the mechanical arms 3 respectively arranged on the two edge sides of the crab breeding robot, the conditions in multiple crab breeding boxes can be monitored at the same time. For example, the four mechanical arms 3 can be arranged in four different crab breeding boxes, or the four mechanical arms 3 can be arranged in two breeding boxes, and two mechanical arms are arranged in each breeding box. That is, the above method can realize the monitoring of multiple crab breeding boxes by a crab breeding robot at the same time, thereby reducing the investment cost of the crab breeding robot.

[0037] Optionally, the robotic arm 3 is detachable, and the number of robotic arms 3 connected to the lifting platform 22 can be set according to actual scene requirements.

[0038] like Figure 4 As shown, the base 212 includes a housing 2121, a top cover 2122, a reducer 2123, and a motor 2124, wherein the reducer 2123 and the motor 2124 are arranged inside the housing 2121. With the above structure, the motor 2124 is used to control the lifting direction of the lifting platform 22, and the reducer 2123 is used to control the lifting speed of the lifting platform 22. The reducer 2123 and the motor 2124 are sealed in the base 212 through the detachable top cover 2122, so as to save the space occupied by the crab farming robot.

[0039] Optionally, the motor 2124 can be a brushless motor.

[0040] like Figure 4As shown, the shell 2121 includes a power supply 2125, a metal protective cover 2126 is provided at the lower layer of the power supply 2125, and the reducer 2123 and the motor 2124 are installed at the lower part of the metal protective cover 2126; wherein, the power supply 2125 includes an industrial computer power supply 21251 and a robotic arm power supply 21252. With the above structure, the shell 2121 also includes an industrial computer power supply 21251 and a robotic arm power supply 21252, and power is supplied to the industrial computer 1 and the robotic arm 3 respectively through two separate power supplies, and the shell 2121 also includes a metal protective cover 2126, the power supply 2125 is placed on the upper layer of the shell 2121, separated by the metal protective cover 2126, and the reducer 2123 and the motor 2124 are placed on the lower layer of the metal protective cover 2126; in the above manner, the power supply 2125, the reducer 2123 and the motor 2124 can be integrated in the base 212, on the one hand, the weight of the base 212 can be increased, so that the lifting device 2 has a stronger load-bearing capacity, and the crab farming robot is prevented from being unstable and easily collapsed due to too many end tools 32 carried by the robotic arm 3. At the same time, the power supply 2125 is separated from the reducer 2123 and the motor 2124 by the metal protective cover 2126 to prevent the power supply equipment from being crushed due to the excessive weight of the reducer 2123 and the motor 2124.

[0041] like Figure 2 It is shown that the lifting frame 21 is a movable lifting frame, and a positioning device is provided on the lifting device 2, and the positioning device is used to record the positioning information of the lifting device 2. With the above structure, the lifting frame 21 is set as a movable lifting frame so that the crab farming robot can move freely. The same crab farming robot can simultaneously inspect multiple crab farming boxes and perform operations such as crab feeding, thereby improving the utilization rate of the crab farming robot. In addition, by providing a positioning device on the lifting device 2, the positioning information of the lifting device can be observed in real time to determine the current position of the crab robot, so as to facilitate positioning control of the crab robot.

[0042] Optionally, the positioning device can be a hardware device, such as a GPS locator, or a software device based on QR code technology. By setting a QR code on the movable lifting frame, the current position of the crab farming robot can be accurately located through the QR code.

[0043] like Figure 5As shown, the filter 323 includes a filter component 3231, a water inlet component 3232, and a water outlet component 3233. The water inlet component 3232 and the water outlet component 3233 are respectively connected to the filter component 3231. A filter screen or a filter element is arranged inside the filter component 3231. The water quality sensor 324 is arranged at the water outlet of the water outlet component 3233. With the above structure, the filter 323 is used to filter impurities in the water in the crab breeding box. The filter 323 includes a filter component 3231, a water inlet component 3232, and a water outlet component 3233. When the filter 323 is activated, water flows in from the water inlet component 3232, flows through the filter component 3231, and then flows out from the water outlet component 3233, which is the water after the impurities are filtered out. The filter component 3231 can be a filter screen or a filter element, which can filter out impurities in the water. The water inlet component 3232 can be a water inlet or a water inlet pipe, and the water outlet component can be a water outlet or a water outlet pipe.

[0044] Optionally, the filter 323 can be manually controlled to be turned on and off by the industrial computer 1, that is, after the water quality information in the crab breeding box collected by the water quality sensor 324 is uploaded to the industrial computer 1, the relevant staff can determine whether the water quality information meets the preset water quality requirements. If it meets the requirements, the filter 323 is kept closed. If it does not meet the requirements, the water quality sensor 324 is controlled to be turned on manually. The working time of the water quality sensor 324 can also be timed so that the timed water quality sensor 324 can be automatically turned off after working for a period of time, simplifying the operation process. Corresponding timed tasks can also be set to regularly turn on and off the filter 323. The water quality sensor 324 and the filter 323 may also be linked. If the water quality information in the crab breeding box collected by the water quality sensor 324 is uploaded to the industrial computer 1, the industrial computer 1 automatically detects whether the water quality information meets the preset water quality requirements. If so, the filter 323 is kept closed; if not, the water quality sensor 324 is controlled to be turned on, and when it is re-detected that the water quality information in the crab breeding box meets the preset water quality requirements, the filter 323 is automatically controlled to be closed.

[0045] like Figure 5 As shown, the end tool 32 also includes a fill light 326, which is arranged at a predetermined position of the surface camera 321. With the above structure, the fill light 326 is arranged at a predetermined position of the surface camera 321, for example, above the camera head of the surface camera 321. The fill light 326 can be used to fill light in the case of insufficient light, so as to ensure that the surface camera 321 always obtains a clear image, and collects crab information more accurately and clearly.

[0046] Optionally, the working hours of the fill light 326 can be set through the industrial computer 1, for example, the off time of the fill light 326 can be set to 7:00 to 18:00, and the rest of the time can be set as the on time; a photoresistor sensor can also be set on the fill light, and a linkage effect can be set between the photoresistor sensor and the fill light 326. When the photoresistor sensor detects that the light is dim and is lower than a predetermined light intensity threshold, the fill light 326 is controlled to turn on. If the photoresistor sensor detects that the light is strong and is higher than a predetermined light intensity threshold, the fill light 326 is kept off.

[0047] like Figure 5 As shown, a volume sensor 3251 is provided inside the feed feeding device 325, and the industrial computer 1 is connected to the volume sensor 3251 to obtain the remaining amount of feed in the feed feeding device 325. With the above structure, a volume sensor 3251 is provided inside the feed feeding device 325, and the remaining amount of feed in the feed feeding device 325 can be detected in real time by the volume sensor 3251, and uploaded to the industrial computer 1 for display. The staff can determine whether to add feed to the feed feeding device 325 according to the remaining amount of feed displayed on the industrial computer 1, and there is no need to manually take the feed feeding device 325 out of the crab breeding box and then check the remaining amount of feed in the feed feeding device 325, thereby improving the crab feeding efficiency and reducing the labor input cost.

[0048] Optionally, a corresponding alarm prompt task can be set for the remaining amount of feed sent back by the volume sensor through the industrial computer. If the remaining amount of feed is less than the preset remaining amount, an alarm prompt is issued to remind the staff that there is insufficient feed remaining in the feed feeding device 325. The alarm prompt can be a text prompt or a voice prompt.

[0049] Optionally, the binding function between the mobile terminal and the industrial computer can be set. By logging into the relevant application on the mobile terminal, the crab farming related information in the crab farming box collected by the industrial computer can be synchronized to the mobile terminal, so that the staff can observe the crab farming situation in real time through the mobile terminal.

[0050] like Figure 5 As shown, a silicone strip 2127 is also provided on the base. The silicone strip 2127 provided on the base can not only reduce the collision and damage to the crab farming robot during the placement or movement process, thereby extending the service life of the crab farming robot; at the same time, it can reduce the noise generated when the equipment contacts the ground, thereby improving the use experience; and the silicone strip 2127 has a certain friction force, thereby preventing the crab farming robot from sliding on the ground, thereby increasing stability.

[0051] The crab farming robot provided by the embodiment has the following beneficial effects:

[0052] (1) The crab farming robot provided in this embodiment integrates multiple functions including surface crab information collection, bottom crab information collection, water quality filtration, water quality information collection, and feed feeding, and can realize one-touch control of multiple functions through an industrial computer. It can realize multifunctional farming through a crab farming robot, simplify the crab farming operation process and manpower investment, and improve the crab farming efficiency.

[0053] (2) The crab farming robot can be provided with four mechanical arms 3, and the four mechanical arms 3 are dispersedly arranged on the two edge sides of the lifting platform 22. One crab farming robot can monitor multiple crab farming boxes at the same time, thereby reducing the investment cost of the crab farming robot.

[0054] (3) The reducer 2123, the motor 2124 and the power supply 2125 are sealed in the base 212 through a detachable top cover 2122. On the one hand, it can save the space occupied by the crab farming robot, and at the same time, it can increase the weight of the base 212, so that the lifting device 2 has a stronger weighing capacity, thereby avoiding the problem of the crab farming robot being unstable and prone to collapse due to too many end tools 32 carried by the robotic arm 3.

[0055] (4) A volume sensor 3251 is provided inside the feed feeding device 325. The volume sensor 3251 can detect the remaining amount of feed in the feed feeding device 325 in real time and upload it to the industrial computer 1 for display. The staff can improve the crab feeding efficiency and reduce the labor input cost according to the remaining feed displayed on the industrial computer 1.

[0056] In addition, it is still necessary to explain that the optional or preferred implementation of this embodiment can refer to the relevant description in the embodiment, which will not be repeated here.

[0057] The above sequence of the embodiments of the present invention is for description only and does not represent the advantages or disadvantages of the embodiments.

[0058] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0059] The above are only preferred implementations of the present invention. It should be pointed out that ordinary technicians in this technical field can make several improvements and modifications without departing from the principles of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A crab farming robot, characterized in that: include: An industrial computer (1), a lifting device (2), and a mechanical arm (3), wherein the mechanical arm (3) comprises a mechanical arm body (31) and an end tool (32), and the end tool (32) comprises a surface camera (321), an underwater camera (322), a filter (323), a water quality sensor (324), and a feed feeding device (325), wherein: The industrial computer (1) is connected to the mechanical arm body (31) and is used to control the movement of the mechanical arm (3); The industrial computer (1) is connected to the lifting device (2) and is used to control the lifting device (2) to drive the mechanical arm (3) to move up and down; The industrial computer (1) is connected to the water surface camera (321) and is used to obtain crab information collected by the water surface camera (321) above the water surface of the crab breeding box; The industrial computer (1) is connected to the underwater camera (322) and is used to obtain crab information collected by the underwater camera (322) at the bottom of the crab breeding box; The industrial computer (1) is connected to the water quality sensor (324) and is used to obtain water quality information in the crab breeding box collected by the water quality sensor (324).

2. The crab farming robot according to claim 1, characterized in that: The lifting device (2) comprises a lifting frame (21) and a lifting platform (22); one end of the mechanical arm body (31) is connected to a predetermined position of the lifting platform (22), and the other end is connected to the end tool (32).

3. The crab farming robot according to claim 2, characterized in that: The lifting frame (21) comprises four screw rods (211), a base (212), and a top seat (213); the four screw rods (211) are fixedly connected via the top seat (213) and the base (212); the top seat (213), the base (212), and the lifting platform (22) are placed parallel to each other.

4. The crab farming robot according to claim 3, characterized in that: There are four mechanical arms (3), and the four mechanical arms (3) are dispersedly arranged on two edge sides of the lifting platform (22), wherein the two edge sides are parallel to each other.

5. The crab farming robot according to claim 3, characterized in that: The base (212) comprises a shell (2121), a top cover (2122), a reducer (2123), and a motor (2124), wherein the reducer (2123) and the motor (2124) are arranged inside the shell (2121).

6. The crab farming robot according to claim 5, characterized in that: The housing (2121) includes a power supply (2125), a metal protective cover (2126) is provided at the lower layer of the power supply (2125), and the reducer (2123) and the motor (2124) are installed at the lower layer of the metal protective cover (2126); wherein the power supply (2125) includes an industrial computer power supply (21251) and a robotic arm power supply (21252).

7. The crab farming robot according to claim 4, characterized in that: The lifting frame (21) is a movable lifting frame, and a positioning device is provided on the lifting device (2), and the positioning device is used to record the positioning information of the lifting device (2).

8. The crab farming robot according to claim 1, characterized in that: The filter (323) comprises a filtering component (3231), a water inlet component (3232), and a water outlet component (3233); the water inlet component (3232) and the water outlet component (3233) are respectively connected to the filtering component (3231); a filter screen or a filter element is arranged inside the filtering component (3231); and the water quality sensor (324) is arranged at the water outlet of the water outlet component (3233).

9. The crab farming robot according to claim 1, characterized in that: The end tool (32) further comprises a fill light (326), and the fill light (326) is arranged at a predetermined position of the surface camera (321).

10. The crab farming robot according to any one of claims 1 to 9, characterized in that: A volume sensor (3251) is provided inside the feed feeding device (325), and the industrial computer (1) is connected to the volume sensor (3251) for obtaining the remaining amount of feed in the feed feeding device (325).

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