Seedling clamping device for clamping and twisting seedling ropes in whole row and control method thereof

Abstract

The present application provides a seedling clamping device for clamping a whole row of segmented twisted seedling ropes and a control method thereof, wherein the clamps include clamping jaws and twisting jaws and are jointly arranged on the same group of clamp bases, and all clamp bases are provided with independent twisting drivers; a transverse slide rail and a gathering driver are provided on the frame, and a plurality of (one more than the set total number of seedlings to be planted) clamp bases are arranged in series and equidistantly along the slide rails; a transverse telescopic parent-child slide buckle is provided between the clamp bases for the transverse gathering and expansion of the clamp bases and for limiting their transverse spacing. Different from the stepping mode of the existing scheme of "pulling and twisting once, clamping a seedling", the present application clamps all the clamps in a row uniformly, and when transplanting seedlings, each section of the seedling rope is twisted independently in sequence, and the seedlings can be continuously transplanted at one time without a rope opener, which greatly improves the working efficiency and reduces the labor intensity; in addition, there is no transverse movement between the seedling rope and the clamps, which will not damage the kelp seedlings, and the density and clamping force are accurate and consistent, which can improve the quality of the clamped seedlings.

Description

Technical Field

[0001] The present application relates to mechanized seaweed cultivation equipment, and more particularly to a seedling clamping device for clamping seaweed into a plurality of seedling ropes during seaweed cultivation, and a control method thereof. The seaweed includes but is not limited to artificially cultivated marine aquatic plants such as kelp and gracilaria planted on the seedling ropes. Background Art

[0002] Seaweed seedling clamping involves clamping the roots of young seaweed seedlings onto a long, typically three-strand, twisted plastic rope. To do this, the root clamp is twisted in the opposite direction of the twist using either two hands or a single hand using pliers. Simultaneously, the two hands are brought together to create a hole between the strands of the rope. The root of the seaweed seedling is then inserted into the hole. The process is short, labor-intensive, and labor-intensive. Manual clamping is inefficient, increasing the cost of seaweed cultivation and increasing the risk of occupational injuries. Furthermore, with my country's aging population, labor shortages have severely hampered the sustainable and healthy development of the seaweed farming industry.

[0003] Previously, someone has developed a "step-by-step pulling and twisting" kelp seedling clamping machine. The idea is to completely imitate manual work: one pull and twist will clamp one seedling, but the process of manually twisting and pulling the seedling rope is handed over to the machine. It mainly solves the problem of reducing labor intensity. The operation process is usually as follows (taking pulling the rope from left to right as an example): After inserting a seedling, 1. Twist the left clamp back, screw the hole between the seedling rope strands back to its original state, and clamp the kelp seedling, 2. Loosen the right clamp, 3. Move the right clamp horizontally to the left by one seedling spacing (this process is easy to damage a seedling just clamped between the two clamps), 4. Clamp the right clamp, 5. Loosen the left clamp, 6. Pull the seedling rope to the right by one seedling spacing, 7. Clamp the left clamp, 8. Twist the left clamp, 9. Push the right clamp back slightly to the left to form a hole between the seedling rope strands, 10. Insert the next seaweed seedling. The above actions are numerous and the cumulative time exceeds that of manual work. Instead of improving efficiency, they are likely to damage the seaweed seedlings and have not been recognized by the market.

[0004] Utility model patent application number CN201320084190.0 discloses an "automatic seaweed planting machine." While its efficiency is twice as fast as manual seedling clamping and requires less effort, the device can only use bundles of new rope, increasing the cost of the ropes. Furthermore, the device is limited to clamping kelp seedlings and cannot meet the needs of clamping kelp seedlings.

[0005] The "Device for vertically clamping kelp seedlings in rows" (application number: CN202011180552.7) developed by the Institute of Fishery Machinery and Instruments of the Chinese Academy of Fishery Sciences breaks through the aforementioned inefficient mode of "pulling and twisting once to clamp one seedling". All seedling ropes are unfolded as a whole at one time and clamped and gathered in a whole row. Then, rows of tubular rope openers are inserted between the strands of the seedling ropes, and then the roots of the kelp seedlings are clamped with the help of clamps built into the inner cavity of the rope openers, and pulled back into the openings in the seedling ropes. There are three problems: first, the rope openers can easily damage the seedling ropes, reducing the life of the seedling ropes; second, workers are required to place the kelp seedlings in the seedling boxes in advance, and the overall efficiency is not high; the third and most critical problem is that it can easily damage the roots of the kelp seedlings, causing the seedlings to fall off and reduce yields, which has also not been recognized by the market.

[0006] Therefore, how to provide an efficient and reliable seaweed seedling clamping device that does not require a rope breaker, improve the efficiency of seaweed seedling clamping, save labor, and reduce labor intensity has become a problem that needs to be solved urgently by those skilled in the art. Summary of the Invention

[0007] In view of the deficiencies of the prior art described above, the purpose of this application is to provide a seedling clamping device for a whole row of clamped segmented twisted seedling ropes and a control method thereof, which not only reduces labor intensity and improves efficiency, but also helps to improve the quality of clamping seedlings.

[0008] To achieve the above-mentioned purpose, the present application provides a seedling clamping device for clamping a whole row of segmented and twisted seedling ropes, including a frame, a clamp and a driver, and is characterized in that the clamp includes a clamping jaw and a twisting jaw and are jointly arranged on the same group of clamp bases, and the clamp base is also provided with a clamping driver and a twisting driver; a transverse moving pair is also provided on the tail end and / or all other clamp bases, and multiple clamp bases are arranged in series laterally on the frame through the transverse moving pair, and the frame is also provided with a gathering drive for driving the clamp base to gather or expand laterally. During the operation, firstly, the seedling rope is straightened horizontally and placed on multiple pairs of clamps arranged at equal intervals in the horizontal direction and tightened uniformly in the whole row, and then gathered horizontally (the distance between each pair of clamps is reduced to facilitate the horizontal gathering of the seedling ropes). After the seedling clamping is started, the first twisting jaw loosens the first section of the seedling rope, and the operator inserts the first seaweed seedling; then the second twisting jaw loosens the second section of the seedling rope while twisting the first section back (at this time, the two ends of the first section of the seedling rope are twisted at the same angle, so "twisting back" is not equal to "resetting"); after the operator (i.e. the seedling clamper) inserts the second seedling, the third twisting jaw loosens the third section of the seedling rope while twisting the second section back; The same process can be carried out until the last seedling of a single group (or a whole seedling rope) is clamped, the last section of the seedling rope is twisted back by the tail end twisting jaw, and finally the gathering driver is driven in reverse to unfold all the clamping bases, and then the clamping jaw is driven in reverse to loosen the seedling rope to complete the single group operation; the tail end twisting jaw can also be not equipped with a twisting driver. After completing the last seedling clamping, all the previous twisting jaws are driven in reverse to reset synchronously to twist back the last loose section of the seedling rope; or after the seedlings of a single group of seedling ropes are clamped and unfolded, all the seedling ropes are stretched in reverse and loosened, and the last loose section of the seedling rope is automatically twisted back by relying on the torsional force of the multi-strand ropes themselves. Different from the traditional "step-by-step pulling and twisting seedling clamping machine" in which the seedling rope passes through the clamps in multiple sections (low efficiency and easy to damage the seedlings), the present application draws on the "A device for vertically clamping kelp seedlings in rows" in which multiple pairs of clamps uniformly clamp and gather the seedling ropes in an entire row, and then adopts the method of independently twisting the seedling rope in sections to replace the rope opener (high cost and easy to damage the rope), which effectively solves the problem of sequential hole opening in the seedling rope. The seedlings can be planted continuously in sequence after one rope is laid. The number of mechanical movement steps is reduced from 9 times in the "step-by-step pulling and twisting seedling clamping machine" to 1 time, and there is no need to place the seedlings in the seedling box in advance. The seedling clamping efficiency is 3 to 4 times higher than that of manual seedling clamping, which greatly improves the working efficiency and reduces the labor intensity. In addition, there is no lateral movement between the seedling rope and the clamp, which will not damage the seaweed seedlings, and the planting density and clamping force are precise and consistent, which improves the quality of seedling clamping.

[0009] The terms "or", "alternatively" and "and / or" used in this document are to be interpreted as inclusive, or mean any one or any combination, therefore, "A, B or C", "A, B or C" and "A, B and / or C" mean "any one of the following: A; B; C; A and B; A and C; B and C; A, B and C". For example, "a transverse moving pair is provided on the tail end and / or all other clamp bases" includes multiple situations such as "a transverse moving pair is provided on all other clamp bases except the tail end" and "a transverse moving pair is provided on the tail end and all other clamp bases"; for example, "a transverse telescopic limit stop and / or a transverse telescopic spring is provided between the clamp bases" includes multiple situations such as "only a transverse telescopic stop is provided", "only a transverse telescopic spring is provided" and "both a transverse telescopic limit stop and a transverse telescopic spring are provided" between the clamp bases.

[0010] The terms "including" and "provided with" used in this article are to be interpreted as non-exclusive. For example, the description "including a frame, a clamp and a drive" does not exclude that it also includes automation devices such as controllers and sensors; for example, the description "the clamp base is also provided with a clamping drive and a torsion drive" does not exclude that the clamp base is also provided with longitudinal guide rails and vertical guide rails; the reverse is also true, for example, "the clamp base is also provided with a clamping drive and a torsion drive" does not mean that all clamp bases are provided with clamping drives and torsion drives, and does not exclude that the head or tail clamp base is not provided with a torsion drive.

[0011] The X-axis is defined as the axial direction of the seedling rope after it is straightened, also called the horizontal direction, and the horizontal dimension is called the length; the Y-axis is the normal direction of the contact point between the seedling rope and the clamping jaws, also called the longitudinal direction, and the longitudinal dimension is called the width; the Z-axis is the tangent direction of the contact point between the seedling rope and the torsion jaws, also called the vertical direction, and the vertical dimension is called the height.

[0012] Regardless of whether the X-axis is in the horizontal plane, the Y-axis and Z-axis always remain perpendicular to the X-axis. For example, when the seedling rope is vertically erected (still called the horizontal direction), the Y-axis (still called the longitudinal direction) and the Z-axis (still called the vertical direction) are both in the horizontal plane.

[0013] When the X axis is horizontal and horizontal, the Y axis is usually horizontal and vertical; however, the Y axis is allowed to deviate from the horizontal direction, and the maximum deviation angle does not exceed 90 degrees (that is, the Y axis is converted to the vertical direction).

[0014] The Z axis is usually perpendicular to the Y axis, but the Z axis and the Y axis are allowed to be non-perpendicular. Generally, the angle between the Z axis and the Y axis is greater than 60 degrees and less than 120 degrees.

[0015] To facilitate processing, assembly, and operation, the X-axis is typically defined as the horizontal left-right axis, the Y-axis as the vertical front-back axis, and the Z-axis as the vertical top-bottom axis. These axes are perpendicular to each other, forming a three-dimensional Cartesian coordinate relationship. Unless otherwise specified, the following descriptions use a three-dimensional Cartesian coordinate relationship. Positions are defined based on the operator's visual orientation, with the operator's left and right hands corresponding to the left and right ends, and the head and feet corresponding to the top and bottom ends. The end closest to the operator is considered the proximal end, or front end, and the end away from the operator is considered the distal end, or back end.

[0016] Typically, the "clamping drive" is provided on the clamping jaws, and the clamping jaws are provided with only the clamping drive, and the "torsion drive" is provided on the torsion jaws, and the torsion jaws are also provided with only the torsion drive. However, this application also includes the following two special designs:

[0017] One is that the clamping jaws are equipped with a clamping drive and a twisting drive at the same time, and the corresponding twisting jaws are also equipped with a twisting drive. The advantage of the dual twisting drive is that the seedling rope can be twisted in place without vertical displacement. The disadvantage is that the cost is too high and the practicality is low. It can be used as a fully automatic high-end equipment configuration.

[0018] The second is that the torsion jaws are provided with both a clamping drive and a torsion drive, while the corresponding clamping jaws are not provided with any drive. Although this design has no practical significance in improving equipment performance and only increases equipment costs, it is still within the scope of protection of this application.

[0019] The clamping jaws include but are not limited to longitudinal translation jaws and rotating jaws (hinged or shaft-driven); the torsional jaws include but are not limited to vertical translation jaws (vertical washboards) and rotating jaws (wash wheels); the translation jaws include but are not limited to parallel jaws and non-parallel jaws, and the inner surfaces of the jaws include but are not limited to flat surfaces and curved surfaces.

[0020] When vertically parallel jaws are used (good process and low cost), the lower end of the torsion jaws needs to be lower than the seedling rope. Before the jaws are clamped, a rope supporting structure needs to be added to the lower end of the jaws to support the seedling rope horizontally. Preferably, an extended longitudinal slide rail is provided at the lower end of the clamping jaws. The distance from the front end of the slide rail to the inner surface of the torsion jaws is smaller than the diameter of the seedling rope, which can prevent the clamping jaws from deflecting and also serve as a support rod. The one-piece injection molding cost is low and the rigidity of the clamp base can be enhanced.

[0021] When the clamping jaws are rotating jaws, the contact point with the seedling rope changes during the displacement of the jaws, so the Y-axis direction also changes accordingly; when the torsional jaws are rotating jaws, the Z-axis direction will change with the displacement of the jaws; when the Y-axis and / or Z-axis directions change, it is preferred that the clamping jaws are longitudinally translating jaws, the torsional jaws are vertically translating jaws, and the inner surfaces of the two are parallel planes to each other, and at this time the Z-axis is perpendicular to the Y-axis.

[0022] The clamp base that is fixed on the frame or locked on the lateral moving pair and does not "move horizontally" among all the clamp bases is defined as the tail end clamp base, the clamp on it is called the tail end clamp, and the other end relative to the tail end is called the head end; usually the tail end is located at the right end, in which case the left end is the head end, and the gathering drive is connected to the left end clamp base (or end plate); it is not ruled out that the tail end is located in the middle and both the left and right ends are the head ends, in which case the two gathering drives are respectively located at the left and right ends.

[0023] Since plastic three-strand twisted ropes are typically left-handed (meaning the rope is laid in a left-hand direction and the strands are laid in a right-hand direction), the vertical twisting jaws are usually positioned at the rear for ease of operation. In practice, during segmented twisting, the right end is clamped and the left end twisted, allowing for a hole to be opened between the strands in the same direction of rotation. Therefore, the right end is typically designated as the tail end. In this case, the right tail end jaw is allowed to remain untwisted, while the left head end jaw is required to be twisted. If the center clamp base is designated as the tail end, both ends become the head end. In this case, the right head end jaw remains untwisted, while the left head end jaw and the center tail end jaw are required to be twisted.

[0024] The clamp base fixed laterally at the tail end theoretically does not need to be installed on the transverse moving pair (for example, on the tail end frame). Preferably, all clamp bases including the tail end clamp base are arranged on the transverse moving pair, which is convenient for slide rail installation and overall equipment layout; it is also beneficial to maintain the structural consistency of the clamp base and facilitate batch production (such as injection molding).

[0025] The "driver" includes but is not limited to linear or rotary drivers such as cylinders, springs, electromagnets and motors. Preferably, a cylinder is used as a clamping, twisting and gathering driver, and a motor is used as a unloading driver.

[0026] The lateral moving pair includes, but is not limited to, linear slides, optical axes, and slideways. If only one lateral moving pair is provided, it should be a non-circular structure (such as a linear slide or rectangular slideway) to prevent rotation of the clamp base. Preferably, two optical axes serve as slideways, which offer the advantages of low cost and high rigidity. In particular, when the lateral telescopic limit stop provides a lateral guide, a segmented lateral moving pair is formed. While a full-length slideway is not provided in this case, it still falls within the scope of protection of this application.

[0027] The "multiple pairs of clamps" refers to no less than 3 pairs of clamps. Under normal circumstances, the number of clamps is one more than the total number of seedlings set for the entire seedling rope. For example, if the length of the seedling rope is 2.33 meters (seven feet) and the total number of seedlings set is 32, the seedling clamping machine is equipped with 33 pairs of clamps. When the seedling rope is too long, it is allowed to be divided into two or more groups to complete the seedling clamping (during which the seedling rope needs to be moved horizontally). For example, a 4.51-meter-long seedling rope (13 and a half feet) has a total of 64 seedlings set. When the seedlings are clamped in 2 groups, the number of seedlings set in a single group of seedling ropes is 32, and the seedling rope is moved horizontally once to complete all the seedlings clamped. When the seedlings are clamped in 4 groups, the number of seedlings set in a single group of seedling ropes is 16, and the seedling rope is moved horizontally 3 times to complete all the seedlings clamped. The advantage of grouping seedling clamping is that it can reduce the cost of equipment and reduce the equipment footprint. The disadvantage is that it will reduce work efficiency.

[0028] The "lateral spacing of the clamp base" refers to the center distance of the clamps on the base, also known as the "lateral spacing of the clamps". The lateral spacing of the clamps before gathering (i.e. after unfolding) is equal to the set seedling spacing.

[0029] In view of the fact that the loosening process of the seedling rope is superimposed in sections along the horizontal direction, for the clamps with corresponding drivers respectively (the torsion jaws are only provided with a torsion driver, and the clamping jaws are only provided with a clamping driver), if all the seedling ropes are loosened synchronously, the angle of the loosening of the Nth section of the seedling rope and the vertical movement distance of the seedling rope will be equal to N times the corresponding size of the first section of the seedling rope, and the corresponding effective jaw size will also increase by N times (the "effective jaw size" refers to the vertical size of the jaws that contact the seedling rope successively during the clamping and torsion process); when N is large, it will cause the tail end clamp size to be oversized, and the corresponding torsion driver size to be oversized, making the equipment difficult to layout and debug. In addition, it will also hinder the rope laying operation. For example, the first section of the seedling rope is twisted 90 degrees, and the seedling rope is displaced 10 mm vertically. According to the calculation of planting 32 seedlings in a single group of seedling ropes, the loosening angle of the last section of the seedling rope is 2880 degrees, and the vertical displacement distance of the seedling rope is 320 mm, and the drive size of each section is different.

[0030] In order to improve the problem of overlapping twisting sizes of seedling ropes, the present application adopts a control method of loosening the twisting sections one by one and then twisting them back one by one, so that the twisting size of each section is consistent and equal to the twisting size of the first section, which is convenient for equipment layout and debugging and reduces costs. In addition, the operation process of twisting back in time after transplanting the seedlings can also ensure that the seaweed seedlings transplanted previously will not fall off.

[0031] It is too expensive to set up an independent gathering drive between each pair of clamps. When a gathering drive is only set at one or both ends, it is difficult to ensure uniform gathering between the clamp bases relying solely on the elastic force of the seedling rope itself. Preferably, an auxiliary driving and traction component or mechanism is set between the clamp bases to assist the gathering drive at the end to complete the gathering and expansion of all the clamp bases.

[0032] In certain embodiments of the present application, transverse telescopic limit stops and / or transverse telescopic springs are provided between the clamp bases to drive the lateral convergence and expansion of the clamp bases and limit their transverse spacing. This can reduce the number of drivers while ensuring uniform spacing between the clamp bases.

[0033] A transverse power drive is provided at one or both ends, and springs with the same stiffness are provided between each clamp (belonging to a non-power drive), which can simultaneously gather or expand all clamp bases. In view of the fact that the spacing of the spring gathering will produce errors, a limit screw can be set inside the spring or a limit sleeve can be set outside the spring to improve the consistency of the gathering size. The limit screw or limit sleeve mentioned here are both transverse telescopic limit stops.

[0034] There are many structural forms of transverse telescopic limit stops, such as a limit screw plus a soft chain structure, where the screw is responsible for gathering and limiting, and the soft chain is responsible for expanding and traction; another example is a double-convex screw combined with a gourd hole structure, where the distal convex section passes through the gourd hole and is responsible for expanding and traction, and the proximal convex section is responsible for gathering and limiting, etc.

[0035] In certain embodiments of the present application, the transverse telescopic limit stop is a parent-child sliding buckle structure, comprising a child buckle and a mother buckle, the child buckle and mother buckle being respectively disposed on the left and right sides of the clamp base and integrally injection-molded with the clamp base. The child buckle is provided with a radial protrusion, and the mother buckle is provided with a radial groove, the protrusion being located within the groove, and the difference in transverse dimensions between the groove and the protrusion being greater than or equal to the transverse convergence dimension of the clamp. The transverse telescopic limit stop in the form of a parent-child sliding buckle structure is easy to mold, not only low in cost, but also with good dimensional consistency in both directions (convergence and expansion).

[0036] The "radial protrusions and radial grooves" refer to protrusions and grooves perpendicular to the transverse direction, including but not limited to longitudinal and vertical protrusions and grooves. Preferably, vertical protrusions and grooves are selected to facilitate injection mold manufacturing.

[0037] The "gathering size" refers to the difference in the lateral spacing between the clamps before and after gathering. Preferably, the gathering size is limited by the spacing between the female buckle and the adjacent clamp base, and the protrusions and grooves are only used to limit the expanded size of the clamp base.

[0038] The seedling rope can be unfolded by directly pulling it, but it is easy to damage the roots of the seaweed seedlings. Adding an unfolding traction mechanism (including but not limited to a mother-and-child slide buckle, a soft chain and a spring, etc.) can prevent the seedling rope from being subjected to excessive force and damaging the seedling roots.

[0039] In certain embodiments of the present application, the transverse translation pair includes an optical axis, the snap fastener is annular or arcuate, and the snap fastener is coaxially disposed with the optical axis, with its inner surface loosely engaged with the outer surface of the optical axis. Preferably, the snap fastener and arcuate snap fastener are positioned outside the optical axis, leveraging the optical axis to constrain the snap fastener to a tight fit, preventing disengagement and providing enhanced rigidity.

[0040] In certain embodiments of the present application, an end plate is further included. An opening is provided on the upper side of the end plate at the position corresponding to the jaws. The width of the opening is greater than or equal to the diameter of the seedling rope and smaller than the outline size of the knots at both ends of the seedling rope. The two end plates are respectively located outside the clamp bases at the left and right ends and are spaced apart from each other and connected to the clamp bases at the left and right ends. The end plate at the head end is connected to the gathering drive. When the tail end is at the right end, the tail end plate is fixed to the frame or locked to the slide rail. Usually, the end plate is fixedly connected to the clamp bases at both ends. The end plate not only facilitates the installation of the gathering drive, but also provides a fixed space for adding an automatic unloading fork.

[0041] In certain embodiments of the present application, a rotary unloading fork is also included. When the clamp base is unfolded, the lateral position of the unloading fork is in the gap between the end plate and the left and right clamp bases, and a rotary drive and a stop position sensor are provided. The unloading fork shaft is located above and behind the clamp, and a longitudinal extension pick-up rod is provided at the lower end of the unloading fork. The longitudinal dimension of the extension pick-up rod is greater than 2 times the diameter of the seedling rope. The rotary unloading fork has a simple structure and low cost, but it can only generate an upward driving force (rotational outer circle tangent) when its shaft is located behind the seedling rope. However, at this time, the unloading fork will interfere with the lateral moving pair at the bottom of the clamp base. For this reason, the unloading fork shaft is generally set above and behind the seedling rope. When the unloading fork flips to the bottom of the seedling rope and hooks the seedling rope, its running trajectory is front and top. If the unloading fork is not provided with longitudinal redundant space, when the unloading fork rotates forward and upward, the seedling rope will interfere with the upper part of the clamping jaws, and normal unloading cannot be achieved. For this reason, it is necessary to Redundant space is added to the rear part of the lower lifting rod of the unloading fork. When the front end of the extended lifting rod contacts the lower edge of the seedling rope, the longitudinal dimension of the extended lifting rod is greater than 2 times the diameter of the seedling rope. At this time, there is still enough longitudinal redundant space at the rear part of the extended lifting rod in the longitudinal horizontal position. When the forward movement of the seedling rope is hindered by the upper part of the clamping jaws, the extended lifting rod slides with the lower edge of the seedling rope and continues to lift the seedling rope until the seedling rope is separated from the upper edge of the jaws. This design is not only simple in structure and low in cost, but also can lay the rope in advance without waiting for the unloading fork to return to its position, thereby improving work efficiency.

[0042] Since the seedling rope is long, the operator in the fixed seat cannot reach both ends of the seedling rope. Therefore, the clamp and its driver assembly can be placed as a whole on the bottom slide rail, and a transverse driver can be provided to drive the seedling rope to move left and right for operation. The problem is that this solution not only increases the equipment cost, but also increases the equipment footprint exponentially.

[0043] In certain embodiments of the present application, a laterally sliding seat is provided with a transversely movable pair below the sliding seat. A foot control switch is also secured to the sliding seat. The operator can use their foot to move the seat laterally, which is a low-cost and space-saving addition. The foot switch located below the seat moves laterally with the seat, allowing for immediate operation when needed.

[0044] Although purely mechanical control mechanisms (including pneumatic switches) can achieve functions such as clamping, gathering, and sequential segmented torsion, they are inevitably costly and inefficient.

[0045] In certain embodiments of the present application, a program controller and / or a sensor are further included, and the driver and sensor are electrically connected to the controller. The controller includes, but is not limited to, a control switch and a PLC (programmable logic controller), and the control switch includes, but is not limited to, a manual button, a foot switch, a touch switch, and a sensor switch. Preferably, the PLC is used to set the delayed execution of the relevant action sequence. In addition to the start and end buttons, a foot switch is used to control the pause and resume operation in the event of an unexpected situation. The foot switch can free up hands and improve work efficiency.

[0046] The present application also provides a control method for a seedling clamping device for clamping and twisting a seedling rope in a whole row, comprising the following steps:

[0047] If necessary, press the restore button and set the seedling clipping rhythm first. Usually this step can be omitted.

[0048] 1) After laying the rope, trigger switch A: drive all jaws to clamp the seedling rope, and then drive all jaws to gather together horizontally;

[0049] 2) Trigger switch B or delay to automatically drive the first twisting jaw at the head end to loosen the first section of seedling rope;

[0050] 3) After the first seaweed seedling is inserted into the first section of the seedling rope, the switch C is triggered or the time delay is automatically driven to drive the second twisting jaw to loosen the second section of the seedling rope; after the second seaweed seedling is inserted into the second section of the seedling rope, the switch C is triggered or the time delay is automatically driven to drive the third twisting jaw to loosen the second section of the seedling rope; and so on, until all the seedlings in a single group or the entire seedling rope are clamped;

[0051] 4) If a special situation that requires a pause is encountered, switch B is triggered to pause the operation and drive the twisting process to retreat one step; after handling the special situation, switch B is triggered again to end the pause and resume the operation before the pause; if a pause is not required, proceed to the next step;

[0052] 5) Trigger switch D to cause all jaws to extend horizontally and reset, then cause all clamps to release, and finally cause all twisted jaws to reset;

[0053] 6) If there is a next group, manually remove the group of seedling ropes that have completed the seedling clamping, and pull the next group of seedling ropes horizontally to the tail end to the seedling clamping position, and repeat step 1); if there is no next group, proceed to the next step;

[0054] 7) The rotary unloading fork automatically picks up the entire seedling rope and lifts it to the upper back of the seedling clamp; after removing the finished seedling rope from the unloading fork, switch E is triggered;

[0055] 8) Repeat step 1).

[0056] The "trigger switch" includes but is not limited to pressing a button, stepping on a foot switch, a touch-sensitive switch, triggering a photoelectric switch, etc. Preferably, switch A is the start button at the head end, switch D is the end button at the tail end, and switch E is the material-retrieving button. In particular, switch C is N torsion-driven sensing switches: C1, C2...CN, where N is the total number of seedlings clamped in a single group or single seedling rope. Preferably, the delayed start of the torsion drive is replaced by the PLC control. After the switch B is triggered for the first time or the delay automatically starts the seedling clamping process, the delayed sequence turns on the torsion drive. During the seedling clamping process, a single triggering of switch B pauses, a double triggering of switch B resumes the pause, and so on. Preferably, switch B is a foot switch, which does not delay the operation of both hands and improves efficiency. Generally, another operator (quality inspector) takes away the finished seedling rope and presses the material-retrieving button (it can also be pressed by the seedling clamping worker).

[0057] In summary, the present application provides a seedling clamping device for clamping and twisting a whole row of segmented seedling ropes, wherein a plurality of pairs of clamps are arranged equidistantly along the axis of the seedling rope, the number of the clamps is one more than the number of seedlings set for a single group of seedling ropes, and the initial spacing of the clamps is equal to the seedling spacing; the clamps include clamping jaws and twisting jaws, and each twisting jaw is provided with an independent twisting drive; the bases of all clamps are provided on a transverse slide rail and a gathering drive is provided, and transverse telescopic parent-child slide buckles are also provided between the clamp bases, which are used for transverse gathering and unfolding of the clamp bases and limiting their transverse spacing. All clamps are clamped in a row uniformly, and each section of the seedling rope is twisted independently during transplanting, and the ropes can be laid and the seedlings can be transplanted continuously at one time without a rope opener.

[0058] The beneficial effects of the present application are: the seedling clamping efficiency is 3 to 4 times higher than manual seedling clamping and the labor intensity is reduced; in addition, there is no lateral movement between the seedling rope and the clamp, which will not damage the seaweed seedlings, and the planting density and clamping force are accurate and consistent, thereby improving the quality of seedling clamping. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 This is a schematic diagram of the first embodiment of the seedling clamping device for clamping a whole row of segmented twisted seedling ropes of the present application.

[0060] Figure 2 yes Figure 1 AA cross-sectional view.

[0061] Figure 3 yes Figure 2 A partial enlarged view of .

[0062] Figure 4 This is a partial schematic diagram of the second embodiment of the seedling clamping device for clamping a whole row of segmented twisted seedling ropes of the present application.

[0063] Figure 5 This is a partial schematic diagram of the third embodiment of the seedling clamping device for clamping a whole row of segmented twisted seedling ropes of the present application.

[0064] Figure 6 yes Figure 5 BB cross-section diagram.

[0065] Figure 7 This is a schematic diagram of the fourth embodiment of the seedling clamping device for clamping a whole row of segmented twisted seedling ropes of the present application.

[0066] Figure 8 yes Figure 7 CC cross-sectional view.

[0067] Figure 9 yes Figure 8 A partial enlarged schematic diagram of the middle clamp base.

[0068] Figure 10 yes Figure 9 Top view of .

[0069] Figure 11 yes Figure 8 A partial enlarged schematic diagram of the middle unloading fork in the unloading position.

[0070] Figure 12 This is a flow chart of the control method of a seedling clamping device for clamping a whole row of segmented twisted seedling ropes in a certain embodiment of the present application.

[0071] In the figure, 1. frame, 2. clamp base, 3. unloading fork, 4. sliding bench, 5. controller, 6. seedling rope, 7. kelp seedling;

[0072] 11. Horizontal slide rail, 12. Gathering cylinder, 13. Spring, 14. End plate, 15. Limit screw;

[0073] 21. Clamping jaws, 22. Clamping cylinder, 23. Twisting jaws, 24. Twisting cylinder, 25. Support rod, 26. Female buckle, 27. Male buckle, 28. Groove, 29. Protrusion;

[0074] 31. Unloading motor, 32. Rotating shaft, 33. Extended lifting rod;

[0075] 41. Linear bearing; 51. Foot switch. DETAILED DESCRIPTION

[0076] The following describes the implementation methods of the present application by means of specific specific embodiments. People familiar with this technology can easily understand other advantages and functions of the present application from the contents disclosed in this specification. In the following description, reference is made to the accompanying drawings, which describe several embodiments of the present application. It should be understood that other embodiments may also be used, and mechanical composition, structural, electrical and operational changes may be made without departing from the spirit and scope of the present disclosure. The following detailed description should not be considered restrictive, and the scope of the embodiments of the present application is limited only by the claims of the published patents. The terms used here are only for describing specific embodiments and are not intended to limit the present application.

[0077] Figure 1 This is a schematic diagram of a first embodiment of a seedling clamping device for clamping and twisting a seedling rope in a whole row according to the present application; Figure 2 yes Figure 1 AA section view; Figure 3 yes Figure 2As shown in the figure, the clamp includes a front longitudinal clamping jaw 21 and a rear vertical twisting jaw 23, which are arranged together on the same clamp base 2 (the jaws are in the clamping operation state after clamping, gathering and twisting). The lower part of the clamping jaw is provided with an extended lower guide column to form a supporting rod 25. The distance between its distal end and the inner surface of the rear twisting jaw is less than the diameter of the seedling rope 6, which is used to flatten the seedling rope during the initial rope laying. All clamp bases are equipped with independent clamping cylinders 22. Except for the right head end, all other clamp bases are equipped with An independent torsion cylinder 24 is provided on each of them, and the tail end clamp base is located in the middle position. The clamp base is not provided with a lateral moving pair and is fixed to the frame; two lateral slide rails 11 are provided on the frame 1, and 16 clamp bases on the left and right are arranged in series and equidistantly on the frame through the lateral slide rails. The frame is also provided with a gathering cylinder 12, and a lateral telescopic spring 13 is provided between the clamp bases. The gathering cylinders at both ends are respectively connected to the clamp bases at both ends, and are used to drive the clamp bases on the left and right sides to gather or expand laterally toward the middle. When the tongs are pulled together, the two operators press the left and right buttons respectively, and the tongs at both ends of the tongs are pulled together, and the tongs at both ends of the tongs are pulled together, and the tongs at both ends of the tongs are pulled together. The second section of the seedling rope moves upward, and after loosening the second section of the seedling rope, operator A inserts the second kelp seedling and triggers the induction switch at the second section of the seedling rope; and so on, a total of 16 kelp seedlings are clamped on the left half of the seedling rope; similarly, the operator on the right presses the seedling clamping start button, and the second torsion cylinder on the right head end vertically drives the second torsion jaw upward. After loosening the first section of the seedling rope, operator B inserts the first kelp seedling and triggers the induction switch at the first section of the seedling rope; the third torsion cylinder vertically drives the third torsion jaw upward. After loosening the second section of the seedling rope, operator B inserts the second kelp seedling and triggers the induction switch at the second section of the seedling rope; and so on, a total of 16 kelp seedlings are clamped on the right half of the seedling rope; after A and B press the end button in succession, the gathering cylinders at both ends drive in reverse to unfold all sections of the seedling rope, and then all the clamping cylinders drive in reverse to loosen the seedling rope. A and B grab the left and right ends of the seedling rope and take it out of the clamping mouth, thus completing the seedling clamping work of one seedling rope.The efficiency of clamping seedlings is approximately double that of manual clamping, improving both efficiency and labor intensity. Furthermore, there is no lateral movement between the seedling rope and the clamp, preventing damage to the kelp seedlings. The planting density and clamping force are precisely consistent, improving the quality of the clamping. The advantage of this embodiment is the low equipment investment. However, the disadvantages are the numerous auxiliary actions, the low degree of automation, and the limited overall efficiency improvement. Furthermore, the coordination of two people is required for efficient operation.

[0078] Figure 4 This is a partial schematic diagram of the second embodiment of the seedling clamping device for clamping a whole row of segmented twisted seedling ropes in this application. As shown in the figure, unlike the first embodiment, the front clamping jaws 21 are hinged structures (the figure shows the state before clamping). When the longitudinal spacing between the lower end of the clamping jaws and the twisting jaws 23 is less than the diameter of the seedling rope, this structure can omit the supporting rod. In addition, this embodiment tilts the vertical twisting jaws forward to facilitate the operator's seedling planting operation. At this time, the movement direction (Z axis) of the twisting jaws is tilted from the vertical direction, but its movement direction is still called vertical. The clamping jaws rotate around the hinge axis, and the Y axis is not in the horizontal plane and is in a changing state, but its movement direction is still called longitudinal. The rest of the structure and operation process are consistent with the first embodiment.

[0079] Figure 5 This is a partial schematic diagram of the third embodiment of the seedling clamping device for clamping and twisting the seedling rope in a whole row of the present application; Figure 6 yes Figure 5 BB cross-sectional view. As shown in the figure, unlike the first embodiment, a single anti-rotation linear slide 11 on the bottom edge replaces the two optical axis slides, the rear-mounted torsion jaw 23 is a rotary rubbing wheel structure (shown in the figure after clamping and before torsion), and the limit screw 15 and the gourd hole form a transverse telescopic limit stop (shown in the figure before convergence). Compared with the spring, the control of the convergence size is more precise and reliable. The remaining structure and operation process are consistent with the first embodiment.

[0080] In the aforementioned second and third embodiments, since the clamping jaws are not parallel to the torsion jaws, when the torsion jaws move vertically, the clamping jaws need to follow the movement to maintain the clamping state. In addition, the corresponding driving cylinder structure is complex and difficult to install. Therefore, the rotary torsion jaws and the articulated clamping jaws are not preferred structures, but still fall within the protection scope of this application.

[0081] Figure 7 This is a schematic diagram of a fourth embodiment of a seedling clamping device for clamping and twisting a seedling rope in a whole row according to the present application; Figure 8 yes Figure 7 CC cross-sectional view; Figure 9 yes Figure 8 A partial enlarged schematic diagram of the middle clamp base; Figure 10 yes Figure 9As shown in the figure, the clamp includes a front longitudinal clamping jaw 21 and a rear vertical twisting jaw 23, which are arranged together on the same clamp base 2 (the figure shows the state before unloading). The longitudinal guide rails of the clamping jaws and the vertical guide rails of the twisting jaws are integrally injection-molded with the clamp base, wherein the longitudinal guide rails are extended to form a supporting rod 25, the distance between the distal end and the front surface of the rear twisting jaws is less than the diameter of the seedling rope 6, which is used to flatten the seedling rope during the initial rope laying; all clamp bases are equipped with independent clamping cylinders 22 and independent twisting cylinders 24; the frame 1 is provided with two optical axis lateral slide rails 11 and a gathering cylinder 12, and 33 clamp bases are provided with a lateral moving pair (i.e., the circular hole of the injection molded clamp base) and are arranged in series and equidistantly on the frame through the lateral slide rails; end plates 14 are also provided at the left and right ends of the lateral slide rail, and an opening is provided on the upper side of the end plate corresponding to the jaw position. The width of the opening is greater than or equal to the diameter of the seedling rope and smaller than the outline size of the knots at both ends of the seedling rope, which is used to clamp the knot. The end plates at both ends are fixedly connected to the clamp bases at both ends laterally, and the end plate at the right end (tail end) is fixed on the lateral slide rail or the frame , the end plate at the left end (head end) is connected to the gathering cylinder, and a mother-and-child slide buckle is provided between the clamp bases to drive the lateral gathering and expansion of the clamp base and limit its lateral spacing; the mother-and-child slide buckle includes a circular ring-shaped mother buckle 26 and an arc-shaped child buckle 27, wherein the mother buckle is provided with a vertical groove 28, and the child buckle is provided with a vertical protrusion 29. The child buckle and the mother buckle are respectively located on the left and right sides of the clamp base and are integrally injection molded with the clamp base; the distance between the outer end of the mother buckle and the side surface of the adjacent clamp base is equal to the gathering size (10mm). When gathering, relying on The outer end of the mother buckle presses against the adjacent clamp base to ensure that the gathering size is consistent. The sub-buckle protrusion is located in the mother buckle groove. The lateral size difference between the mother buckle groove and the sub-buckle protrusion is greater than the gathering size (the protrusion is not under force when gathering). When unfolded, the sub-buckle protrusion and the mother buckle groove pull each other to pull all the clamp bases apart at equal distances. The mother-and-child slide buckle is coaxially arranged with the optical axis, and its inner surface is gap-matched with the outer surface of the optical axis. The annular mother buckle radially locks the arc-shaped sub-buckle on the outer surface of the transverse optical axis, which can ensure that the mother-and-child slide buckle will not be disengaged and increase the rigidity of the mother-and-child slide buckle. In addition, the seedling clamping device also includes a laterally sliding bench 4 and a controller 5, and a linear bearing 41 and a foot switch 51 are provided at the lower part of the sliding bench; usually the seedling rope is longer than 2 meters, and the operator cannot reach it if he sits still. For this reason, the bench can easily move laterally along the linear bearing below it, which is conducive to planting seedlings nearby, and the foot switch also moves synchronously with the bench so that it can be operated at any time; the foot switch, work button, sensor and driver are all electrically connected to the controller so that the seedling clamping operation can be completed in sequence according to the set program.During operation, the operator first clamps the right end of the seedling rope in the upper opening of the right end plate, then straightens the seedling rope horizontally and clamps the left end of the seedling rope in the upper opening of the left end plate, and then presses the start button. The controller drives all 33 clamping cylinders to drive the clamping jaws to move longitudinally backward in the entire row to tighten the seedling rope uniformly, and then the gathering cylinder on the left end pushes all the clamp bases to gather to the right horizontally. After the operator steps on the foot switch, the first torsional cylinder at the left end drives the first torsional jaw to move upward vertically. After loosening the first section of seedling rope, the operator inserts the first kelp seedling 7, and the controller delays triggering the second torsional cylinder. The cylinder drives the second twisting jaw upward vertically. After loosening the second section of the seedling rope, the operator inserts the second kelp seedling. The controller delays triggering the third twisting cylinder to drive the third twisting jaw upward vertically, and so on, completing the clamping of a total of 32 kelp seedlings on the entire seedling rope. If an unexpected situation occurs during this process (such as the seedling clamping operation is not successfully completed within the automatic delay window period), you can step on the foot switch that moves horizontally with the bench to pause the operation, return one step (twist the previous section of the twisting jaw back to reset), and then step on the foot switch again to complete the subsequent operation process. It should be noted that the time for the aforementioned delayed start of the segmented twisting of the seedling rope can be adjusted accordingly according to the proficiency of the operator to ensure the highest operating efficiency; after pressing the end button, the gathering cylinder drives in reverse to unfold all sections of the seedling rope, and then all the clamping cylinders drive in reverse to loosen the seedling rope, and all the twisting jaws are also reset. Finally, the unloading fork automatically inserts the entire seedling rope and rotates it to the upper back of the equipment, which is convenient for the quality inspection worker to visually inspect and convenient for picking up. The operator does not need to wait for the quality inspection worker to check and take away the previous seedling rope before continuing to clamp the next seedling rope. The seedling clamping efficiency of this embodiment is 3 to 4 times higher than that of manual seedling clamping, which greatly improves the operating efficiency and reduces the labor intensity; in addition, there is no lateral movement between the seedling rope and the clamp, which will not damage the kelp seedlings, and the density and clamping force are accurate and consistent, which improves the quality of the clamped seedlings. If the length of the seedling rope exceeds the length of the seedling clamping device, the seedlings can be clamped in groups. For example, when 64 kelp seedlings need to be clamped on a 4.51-meter seedling rope, the 32 seedlings clamping operation can be completed on the right half of the seedling rope first, and then the right half of the seedling rope with the seedlings clamped can be taken out and placed on the right side of the device. The left half of the seedling rope can then be placed on the seedling clamping device, and the above operation can be repeated to complete the 32 seedlings clamping operation on the left half of the seedling rope.

[0082] Figure 11 yes Figure 8A partial enlarged schematic diagram of the middle unloading fork in the unloading position. When all the clamp bases are deployed, the horizontal position of the rotary unloading fork 3 on the upper part of the frame is in the gap between the end plate and the left and right clamp bases. The unloading fork is coaxially driven by the unloading motor 31 and is equipped with a stop position sensor. The unloading fork rotating shaft 32 is located above and behind the clamp, and the lower end of the unloading fork is equipped with a longitudinal extension rod 33. The longitudinal dimension of the extension rod is greater than twice the diameter of the seedling rope. When the front end of the extension rod contacts the bottom of the seedling rope, the rear end of the extension rod in the longitudinal horizontal position still has sufficient longitudinal redundant space. When the forward movement of the seedling rope is hindered by the upper part of the clamping jaws, the extension rod slides with the bottom of the seedling rope and continues to lift the seedling rope until the seedling rope is free from the upper edge of the jaws. This design is not only simple in structure and low in cost, but also allows rope to be laid in advance without waiting for the unloading fork to return to its position, which can improve work efficiency.

[0083] Figure 12 This is a flow chart of the control method of a certain embodiment of the seedling clamping device for clamping a row of segmented twisted seedling ropes in this application. As shown in the figure, in combination with the fourth embodiment, when starting work every day, first turn on the power supply and air source switch, S0 presses the recovery button to set the working rhythm (can be omitted, and the original parameters at the last shutdown are used); S1 presses the start button A at the left head end after laying the rope: drives all the jaws to clamp the seedling rope, and then drives all the jaws to gather horizontally with each other; S2 steps on the foot switch B to drive the first twisting jaw at the head end to loosen the first section of the seedling rope; S3 inserts the first kelp seedling into the opening between the strands of the loosened first section of the seedling rope, and automatically drives the second twisting jaw to loosen the second section of the seedling rope after a delay; inserts the second kelp seedling into the opening between the strands of the loosened second section of the seedling rope, and automatically drives the third twisting jaw to loosen the second section of the seedling rope after a delay; and so on, until the single group or the entire seedling rope is clamped; S4 If a special situation requires a pause, step on the foot switch Switch B pauses the operation and drives the twisting process back one step; after handling the special situation, step on the foot switch B again to end the pause and resume the operation before the pause; and continue the S3 operation until the entire seedling rope is clamped; if no pause is required, execute the next step; S5 press the tail end button D to drive all jaws to extend horizontally and reset, then drive all clamps to loosen, and finally drive all twisting jaws to reset; S6 If there is a next group, manually remove the group of seedling ropes that have completed the seedling clamping, and pull the next group of seedling ropes horizontally to the tail end to the seedling clamping position, and repeat step 1); if there is no next group, execute the next step; S7 The rotary unloading fork automatically inserts the entire seedling rope and lifts it to the upper back of the seedling clamping machine; the quality inspector removes the finished seedling rope on the unloading fork and presses the material removal button E; S8 Repeat the S1 operation.

[0084] In summary, the present application provides a seedling clamping device for clamping and twisting a seedling rope in a whole row and a control method thereof. A transverse slide rail is provided on the frame, and a plurality of clamp bases are arranged in series and equidistantly along the slide rail. The number of clamps is one more than the number of seedlings set for a single seedling rope; a transverse telescopic parent-child slide buckle is provided between the clamp bases, which is used for gathering and limiting the transverse spacing of the clamp base and for unfolding and pulling; all clamp bases are provided with clamping jaws and independent clamping drivers, and all clamp bases are provided with twisting jaws and independent twisting drivers. Different from the stepping mode of the existing scheme of "pulling and twisting once, clamping a seedling", the present application clamps all the clamps in a row uniformly, and when transplanting seedlings, each section of the seedling rope is twisted independently in sequence. The seedlings can be transplanted continuously by laying the rope once, which greatly improves the working efficiency and reduces the labor intensity; in addition, there is no transverse movement between the seedling rope and the clamp, which will not damage the kelp seedlings, and the density and clamping force are accurate and consistent, which improves the quality of the clamped seedlings.

Claims

1. A seedling clamping device for clamping and twisting a seedling rope in a row, comprising a frame, a clamp and a driver, characterized in that: The clamp includes a clamping jaw and a twisting jaw, which are arranged together on the same clamp base. The clamp base is also provided with a clamping drive and a twisting drive. The tail end and / or all other clamp bases are also provided with a transverse moving pair. The multiple clamp bases are arranged in series on the frame transversely via the transverse moving pair. The frame is also provided with a gathering drive for driving the clamp bases to gather or expand transversely. A transverse telescopic limit stop and / or a transverse telescopic spring are provided between the clamp bases for driving the clamp bases to converge and expand laterally and limit the transverse spacing thereof; The lateral telescopic limit stop is a parent-child sliding buckle structure, including a child buckle and a mother buckle, which are respectively arranged on the left and right sides of the clamp base and are integrally injection-molded with the clamp base. The child buckle is provided with a radial protrusion, and the mother buckle is provided with a radial groove. The protrusion is located in the groove, and the difference in the lateral dimensions of the groove and the protrusion is greater than or equal to the lateral gathering dimension of the clamp; The transverse moving pair includes an optical axis, the mother-and-child slider is annular or arc-shaped, the mother-and-child slider is coaxially arranged with the optical axis, and the inner surface of the mother-and-child slider is in clearance fit with the outer surface of the optical axis; It also includes an end plate, an opening is provided on the upper side of the end plate corresponding to the position of the jaws, the width of the opening is greater than or equal to the diameter of the seedling rope and smaller than the outline size of the knots at both ends of the seedling rope, the two end plates are respectively located on the outside of the clamp bases at the left and right ends and are spaced apart and connected to the clamp bases at the left and right ends, wherein the end plate at the head end is connected to the gathering driver; It also includes a transverse sliding seat, wherein a transverse moving pair is provided under the sliding seat; and a foot control switch is fixed on the sliding seat; It also includes a program controller and / or a sensor, and the driver and the sensor are electrically connected to the controller.

2. The seedling clamping device for clamping and twisting the seedling rope in a row according to claim 1 is characterized in that: It also includes a rotary unloading fork. When all the clamp bases are unfolded, the horizontal position of the unloading fork is in the gap between the end plate and the left and right clamp bases, and is provided with a rotary drive and a stop position sensor; the unloading fork shaft is located above and behind the clamp, and the lower end of the unloading fork is provided with a longitudinally extended lifting rod, and the longitudinal dimension of the extended lifting rod is greater than 2 times the diameter of the seedling rope.

3. A control method for a seedling clamping device for clamping and twisting a seedling rope in a row, characterized in that: The seedling clamping device using the whole row of clamped segmented twisted seedling ropes as claimed in claim 2 comprises the following steps: 1) After laying the rope, trigger switch A: drive all jaws to clamp the seedling rope, and then drive all jaws to gather together horizontally; 2) Trigger switch B or delay to automatically drive the first twisting jaw at the head end to loosen the first section of seedling rope; 3) After the first seaweed seedling is inserted into the opening between the strands of the first seedling rope, the switch C is triggered or the time delay is automatically driven to drive the second twisting jaw to loosen the second seedling rope; after the second seaweed seedling is inserted into the opening between the strands of the second seedling rope, the switch C is triggered or the time delay is automatically driven to drive the third twisting jaw to loosen the second seedling rope; And so on, until all the seedlings are clamped in a single group or the entire seedling rope; 4) If a special situation requires a pause, trigger switch B to pause the operation and drive the twisting process back one step; after handling the special situation, trigger switch B again to end the pause and resume the operation before the pause; If no pause is required, proceed to the next step; 5) Trigger switch D to cause all jaws to extend horizontally and reset, then cause all clamps to release, and finally cause all twisted jaws to reset; 6) If there is a next group, manually remove the group of seedling ropes that have completed the seedling clamping, and pull the next group of seedling ropes horizontally to the tail end to the seedling clamping position, and repeat step 1); if there is no next group, proceed to the next step; 7) The rotary unloading fork automatically picks up the entire seedling rope and lifts it to the upper back of the seedling clamp; after removing the finished seedling rope from the unloading fork, switch E is triggered; 8) Repeat step 1).

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