Automatic binding machine for portunid crabs

Abstract

The application provides an automatic bundling machine for portunid crabs, which comprises a conveying mechanism, a leg collecting mechanism and a bundling mechanism. The conveying mechanism comprises a conveying table, a pushing groove and a grabbing assembly. The conveying table is used for conveying the portunid crabs into the pushing groove. The pushing groove is provided with a pushing plate. One side of the pushing groove is a grabbing position. The grabbing assembly is used for grabbing the portunid crabs from the grabbing position to a bundling position. The leg collecting mechanism comprises two groups of mechanical claws which are oppositely arranged along the bundling position. The two groups of mechanical claws can be closed to collect the legs of the portunid crabs. The bundling mechanism comprises a bundling table, a wire feeding assembly and a knotting assembly. The bundling table is provided with a bundling position. The wire feeding assembly is used for feeding the wire to the portunid crabs on the bundling position and winding the wire. The knotting assembly is used for knotting and cutting the wire wound on the portunid crabs. Compared with the prior art, the bundling steps of the portunid crabs are decomposed, the mechanical structure is automatically matched, the automatic bundling of the portunid crabs is realized, the bundling efficiency of the portunid crabs is greatly improved, and the bundling process of the portunid crabs is time-saving and labor-saving.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical equipment, and in particular relates to an automatic swimming crab binding machine. Background Art

[0002] Swimming crab is a seafood product gaining increasing popularity among consumers. Research institutions have conducted market data surveys and analysis to predict and analyze consumption trends and market prospects for swimming crab, providing a basis for companies to formulate development strategies. Research on swimming crab fishing techniques is relatively mature both domestically and internationally, including driftnets, crab pots, and single-tow fishing methods. These methods and environmental conditions can be used to increase the catch of swimming crab. Swimming crabs are tied up after capture to prevent fighting and death or disability.

[0003] The traditional method of tying swimming crabs is to manually bind their claws with rubber bands. This process is labor-intensive and costly. Traditional manual tying of swimming crabs relies entirely on manual labor, which is costly and inefficient. It is also very harmful to workers in high-temperature, high-intensity environments. After a certain period of time, workers become fatigued, and the crabs, when out of water, are at low or very low temperatures, which can quickly lead to their death. Existing semi-automatic swimming crab tying equipment on the market is inefficient and not well accepted by the market. Summary of the Invention

[0004] In view of the above-mentioned shortcomings of the prior art, the object of the present invention is to provide an automatic swimming crab tying machine to solve the problem of time-consuming and labor-intensive swimming crab tying in the prior art.

[0005] To achieve the above-mentioned and other related purposes, the technical solutions of the present invention are as follows:

[0006] An automatic bundling machine for swimming crabs, comprising:

[0007] The conveying mechanism includes a conveying platform, a pushing trough, and a grabbing assembly. The conveying platform is used to convey swimming crabs into the pushing trough. A pushing plate is provided in the pushing trough. One side of the pushing trough is a grabbing position. The pushing plate pushes the swimming crabs that slide down the inclined plate into the pushing trough to the grabbing position. The grabbing assembly is used to grab the swimming crabs from the grabbing position to the binding position.

[0008] A leg retracting mechanism, comprising two sets of mechanical claws arranged opposite to each other along the binding position, the mechanical claws comprising two sets of oppositely arranged and curved claw rods, the two sets of claw rods being able to retract the legs of the swimming crab when they are closed;

[0009] The binding mechanism includes a binding platform, a wire feeding assembly and a knotting assembly. The binding platform has a binding position. The wire feeding assembly is used to feed and wind the wire to the swimming crab on the binding position. The knotting assembly is used to knot and cut the wire wrapped around the swimming crab.

[0010] Optionally, it also includes a frame, and the conveying mechanism, the leg retracting mechanism and the binding mechanism are all arranged on the frame; the frame is provided with a guide rail, and the guide rail is provided with a slide, and the slide can slide along the guide rail, and the sliding direction is consistent with the pushing direction of the pushing groove, and the slide is provided with a grabbing arm, and the grabbing assembly is provided on the grabbing arm.

[0011] Optionally, the pushing trough includes a bottom plate, end plates are connected to both ends of the bottom plate, side plates are provided on both sides of the bottom plate in the length direction, the side plates, the end plates and the bottom plate form a groove shape with an opening on the top, and the side plates are perpendicular to the conveying direction of the conveying platform.

[0012] Optionally, an inclined plate is provided on the conveying platform, and the pushing groove is located below the inclined plate. The bottom of the inclined plate is aligned with one end of the side plate, and the other end of the side plate is at the grabbing position. The two side plates at the grabbing position have a downward depression.

[0013] Optionally, the grasping assembly includes a base and a clamping jaw, and the two clamping jaws are rotatably arranged on the base via two rotating shafts respectively, and the two rotating shafts are respectively connected to a first half gear, and the two first half gears are meshed with each other.

[0014] Optionally, a pressure sensor and an inductor are provided on the base, the inductor is used to detect the position, state and shape of the swimming crab, and the pressure sensor is used to sense the force of the claws clamping the swimming crab.

[0015] Optionally, the leg-retracting mechanism is in two groups, which are symmetrically arranged along the binding position. The leg-retracting mechanism also includes a mechanical arm, which can move the mechanical claw to bring the two leg-retracting mechanisms closer to each other.

[0016] Optionally, the bundling table has two wire leakage grooves, the wire feeding assembly includes two sets of wire pulling rods, the wire pulling rods are aligned with the wire leakage grooves, and the frame is provided with a swinging structure for swinging the wire pulling rods. The wire pulling rods swing along the bundling table to drive the wire to bundle the swimming crabs on the bundling position.

[0017] Optionally, the knotting assembly is located below the bundling table, and the knotting assembly includes two hawk's beak clamps aligned with the wire leakage groove, and the hawk's beak clamps are rotatably set on the circular table. The hawk's beak clamps can grasp and release the binding line and knot the line by rotating along the circular table. A tightening wire assembly and a knife holder are provided below the bundling table, and a knife holder is provided on the knife holder for cutting the line, and the tightening wire assembly is used to tension the line.

[0018] Optionally, a support rod is provided in the circular table, and the hawk's beak clamp includes an upper jaw and a lower jaw, the upper jaw is fixed on the support rod, and the lower jaw is hinged to the support rod; an elliptical track centered on the support rod is provided on the circular table, and the other end of the lower jaw is slidably connected in the elliptical track, and the support rod passes through the central lower end of the circular table and is connected to a drive assembly.

[0019] In the present invention, a swimming crab is placed in a transport trough, pushed to a grabbing position by a push plate, and then captured and transported by a grabbing assembly, which then places the crab in a bundling position. Once the crab is in the bundling position, two sets of claws are closed to retract the crab's legs. The bundling mechanism then begins operation, with the wire feed assembly gradually moving toward the crab and wrapping it around it. The knotting assembly then knots and cuts the wrapped wire, effectively bundling the crab. The entire bundling process is performed by the bundling machine in this scheme. Simply placing the crab in a designated workstation is sufficient, enabling fully automated bundling. This significantly reduces labor and money for fishermen and farmers, while also offering faster bundling speeds, saving time and increasing crab survival rates. Compared to existing technologies, this scheme decomposes the bundling steps and utilizes a fully automated mechanical structure to achieve automated bundling, significantly improving efficiency and making the process less time-consuming and labor-intensive. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic structural diagram of an exemplary automatic swimming crab bundling machine of the present invention;

[0021] Figure 2 This is another structural schematic diagram of an exemplary automatic swimming crab binding machine of the present invention;

[0022] Figure 3 This is another structural schematic diagram of an exemplary automatic swimming crab binding machine of the present invention;

[0023] Figure 4 This is another structural schematic diagram of an exemplary automatic swimming crab binding machine of the present invention;

[0024] Figure 5 This is another structural schematic diagram of an exemplary automatic swimming crab binding machine of the present invention;

[0025] Figure 6 This is a schematic structural diagram of a conveying mechanism in an exemplary automatic swimming crab bundling machine of the present invention;

[0026] Figure 7 This is a schematic structural diagram of a leg retracting mechanism in an exemplary swimming crab automatic binding machine of the present invention;

[0027] Figure 8 Schematic diagram of the structure of the bundling mechanism in an exemplary automatic bundling machine for swimming crabs of the present invention;

[0028] Figure 9 This is a schematic structural diagram of an exemplary hawkbill clamp in an automatic swimming crab binding machine of the present invention.

[0029] The description of the reference numerals in the embodiments includes:

[0030] Conveying platform 10, inclined plate 101, baffle 102, pushing groove 11, bottom plate 111, end plate 112, side plate 113, grabbing position 12, pushing plate 13, guide rail 14, slide 15, connecting rod 16, grabbing arm 17, base 18, clamping claw 19, rotating shaft 20, first half gear 21,

[0031] Leg retracting mechanism 30, mounting platform 31, screw rod 32, slider 33, mechanical arm 34, mounting base 35, mechanical claw 36, shaft 37, second half gear 38,

[0032] Bundling table 40, bundling position 401, leakage groove 402, rotating rod 41, swing structure 42, pulling rod 43, threading hole 431, pressing groove 432, knotting assembly 44, bevel gear set 45, round table 46, elliptical track 461, support rod 47, hawk beak clamp 48, upper jaw 481, lower jaw 482, connecting part 483, knife holder 49, knife 50, tightening assembly 51, tightening drum 52, tightening frame 53,

[0033] Rack 60. DETAILED DESCRIPTION

[0034] In the following description, numerous specific details are provided to provide a more thorough understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced without one or more of these details. In other instances, certain technical features well known in the art are not described to avoid confusion with the present invention.

[0035] It should be understood that the present invention can be implemented in different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided to make the disclosure thorough and complete and to fully convey the scope of the present invention to those skilled in the art. In the accompanying drawings, like reference numerals represent like components throughout.

[0036] The specific structure of the automatic tying machine for swimming crabs in the present invention is shown in FIG. Figures 1 to 9 , the swimming crab automatic bundling machine includes:

[0037] The conveying mechanism includes a conveying platform 10, a pushing trough 11 and a grabbing assembly. The conveying platform 10 is used to convey swimming crabs to the pushing trough 11. A pushing plate 13 is provided in the pushing trough 11. One side of the pushing trough 11 is a grabbing position 12. The pushing plate 13 pushes the swimming crabs that slide down the inclined plate 101 into the pushing trough 11 to the grabbing position 12. The grabbing assembly is used to grab the swimming crabs from the grabbing position 12 to the binding position 401.

[0038] The leg retracting mechanism 30 includes two sets of mechanical claws 36 arranged opposite to each other along the binding position 401. The mechanical claws 36 include two sets of oppositely arranged and curved claw rods. When the two sets of claw rods are closed, the legs of the swimming crab can be retracted.

[0039] The bundling mechanism includes a bundling platform 40, a wire feeding assembly and a knotting assembly 44. The bundling platform 40 has a bundling position 401. The wire feeding assembly is used to feed and wind the wire to the swimming crab on the bundling position 401. The knotting assembly 44 is used to knot and cut the wire wrapped around the swimming crab.

[0040] The claw rods are designed to resemble the shape of a swimming crab, forming a semicircular arc, allowing for free movement. The leg retraction mechanism 30 includes a mounting base 35, on which a rotating shaft 20 is rotatably mounted. A second half gear 38 is mounted on the rotating shaft 20. The two second half gears 38 mesh with each other. When one shaft 37 is rotated, the other shaft 37 rotates relative to the second half gear 38, causing the mechanical claws 36 to close and separate, thereby tightening the crab's legs. The two sets of mechanical claws 36 simultaneously retract the crab's legs.

[0041] In the actual implementation process, the swimming crab is placed in the push slot 11 and pushed to the grabbing position 12 by the pushing plate 13. The crab is grabbed and transferred by the grabbing assembly and placed in the binding position 401. For the swimming crab on the binding position 401, the legs of the two sides of the crab are retracted by closing the two sets of claws. Then the binding mechanism

[0042] When the operation starts, the wire feeding assembly gradually moves toward the swimming crab and wraps around the swimming crab. The knotting assembly 44 knots and cuts the wrapped wire to bundle the swimming crab.

[0043] In some embodiments, a frame 60 is further included, and the conveying mechanism, the leg retracting mechanism 30 and the binding mechanism are all arranged on the frame 60; a guide rail 14 is provided on the frame 60, and a slide 15 is provided on the guide rail 14. The slide 15 can slide along the guide rail 14, and the sliding direction is consistent with the pushing direction of the pushing groove 11. A grabbing arm 17 is provided on the slide 15, and the grabbing assembly is provided on the grabbing arm 17.

[0044] Specifically, such as Figures 1 to 5 As shown, a first driving member is provided on the frame 60 for driving the slide 15 to slide along the guide rail 14, a connecting rod 16 is provided on the slide 15, and the end of the grabbing arm 17 is provided on the connecting rod 16. The connecting rod 16 can be connected to a second driving member to drive the connecting rod 16 to rotate, and the grabbing assembly is located at the end of the grabbing arm 17 away from the connecting rod 16; under the control of the second driving member, the grabbing arm 17 can rotate along the connecting rod 16 to swing the grabbing assembly, so that the grabbing assembly swings from the grabbing position 12 to the binding position 401. Under the action of the first driving member, the grabbing arm 17 can move along the connecting rod 16 to facilitate the grabbing assembly to align with the position of the swimming crab.

[0045] In some embodiments, the push trough 11 includes a bottom plate 111, with end plates 112 connected to both ends of the bottom plate 111, and side plates 113 are provided on both sides of the bottom plate 111 in the longitudinal direction. The side plates 113, the end plates 112, and the bottom plate 111 form a groove shape with an opening at the top, and the side plates 113 are perpendicular to the conveying direction of the conveying platform 10. For example, Figure 6 As shown, the pushing trough 11 is enclosed by a bottom plate 111 , an end plate 112 , and a side plate 113 , and the conveying platform 10 can convey swimming crabs into the pushing trough 11 .

[0046] In some embodiments, an inclined plate 101 is provided on the conveying platform 10, and the pushing groove 11 is located below the inclined plate 101. The bottom of the inclined plate 101 is aligned with one end of the side plate 113, and the other end of the side plate 113 is at the grabbing position 12. The two side plates 113 at the grabbing position 12 have a recess downward.

[0047] Specifically, such as Figures 1 to 5As shown, baffles 102 are provided on both sides of the inclined plate 101. The inclined plate 101 and the baffles 102 form an inclined slide. After the swimming crab is placed from the top of the inclined slide, it will slide down into the push groove 11 under its own weight. The push plate 13 is slidably connected to the push groove 11. The push plate 13 is connected to a screw motor, and the screw motor is used to control the push plate 13 to slide in the push groove 11. Specifically, a sliding component is provided on the outside of the push groove 11, and the sliding component is connected to a screw motor. The sliding component is driven by the screw motor to slide, which can drive the push plate 13 to slide back and forth in the push groove 11. After the swimming crab enters the push groove 11, the push plate 13 can be used to push the swimming crab to the grabbing position 12 to facilitate the next step.

[0048] In addition, when setting the inclination angle of the inclined plate 101, it is taken into consideration that in order to make the object slide down, that is, the force of gravity on the object along the slide direction must be greater than the friction caused by the pressure on the bearing caused by gravity. Since the swimming crab needs to slide down, the friction during the sliding process must be minimized. Assuming that the slide is inclined and the average gravity of a swimming crab is 300g, then the gravity of the swimming crab is divided into two forces, one for the pressure on the slide and the other for the force along the slide. If the object is to slide down, the corresponding formula is 60sinx>0.02*60cosx, where x is the inclination angle of the slide, and the inclination angle is 40°. After calculation, the sliding formula is satisfied, so the angle of the inclined plate 101 can be set to 40°. Of course, it can also be set to 50° or 30°. The angle of the inclined plate 101 can be set within a range of valid values.

[0049] In some embodiments, the gripping assembly includes a base 18 and a clamping jaw 19, wherein the two clamping jaws 19 are rotatably mounted on the base 18 via two rotating shafts 20, and the two rotating shafts 20 are respectively connected to a first half gear 21, and the two first half gears 21 are meshed with each other. For example, Figures 1 to 5 As shown, the base 18 is hung on the end of the grabbing arm 17, and two rotating shafts 20 are provided on the base 18, one of which is connected to a third driving member. The two rotating shafts 20 rotate relative to each other through the action of the first half gear 21, and the clamping jaws 19 are provided on the two rotating shafts 20. Under the control of the third driving member, the clamping jaws 19 can be relatively close to and relatively far away from each other. When the clamping jaws 19 are relatively close, the space is reduced and the swimming crab can be grabbed. When the clamping jaws 19 are relatively far away, the swimming crab can be released.

[0050] In some embodiments, the base 18 is provided with a pressure sensor and an inductor. The sensor is used to detect the position, state, and shape of the swimming crab, and the pressure sensor is used to sense the force applied by the gripper 19 to grip the swimming crab. Specifically, the pressure sensor and the gripper 19 can detect the position, state, and shape of the swimming crab when gripping the swimming crab. The pressure sensor is used to sense the force applied by the gripper 19 to grip the swimming crab, thereby facilitating timely adjustment of the position of the gripper 19 to grip the swimming crab and controlling the gripping force.

[0051] In some embodiments, the leg retracting mechanism 30 is divided into two groups and symmetrically arranged along the binding position 401. The leg retracting mechanism 30 further includes a mechanical arm 34, which can move the mechanical claw 36 to bring the two leg retracting mechanisms 30 closer together. For example, Figures 1 to 5 、 Figure 7 As shown, a binding platform 40 is provided on a frame 60, and a leg retracting mechanism 30 is arranged on the binding platform 40. The leg retracting mechanism 30 includes a mounting platform 31, a screw rod 32 is provided in the mounting platform 31, a slider 33 is slidably connected to the screw rod 32, and a fourth driving member is provided on the screw rod 32 for driving the screw rod 32 to rotate. A mechanical arm 34 is fixed to the slider 33 and can move along the slider 33. The movement of the mechanical arm 34 can bring the two mechanical claws 36 closer together, so that the binding machine can bind swimming crabs of different sizes.

[0052] In some embodiments, the bundling platform 40 has two wire leakage grooves 402, the wire feeding assembly includes two sets of wire pulling rods 43, the wire pulling rods 43 are aligned with the wire leakage grooves 402, and the frame 60 is provided with a swinging structure 42 for swinging the wire pulling rods 43. The wire pulling rods 43 swing along the bundling platform 40 to drive the wire to bundle the swimming crabs on the bundling position 401.

[0053] Specifically, such as Figures 1 to 5 As shown, the swing structure 42 can adopt a crank rocker mechanism. A rotating rod 41 is supported above the binding platform 40, and a wire pulling rod 43 is fixed to the rotating rod 41. The swing structure 42 can drive the wire pulling rod 43 to swing back and forth. The swing displacement of the wire pulling rod 43 is determined by fixing the swing angle of the crank rocker mechanism. The end of the wire pulling rod 43 has an arcuate end, which is provided with a threading hole 431. The threading hole 431 is provided with a wire pressing groove 432. The wire can be passed through the threading hole 431. The wire pulling rod 43 is set according to actual conditions. When the arcuate end swings, it swings from above the binding position 401 to below the binding position 401. The wire can be pulled from the leakage groove 402 to below the binding position 401 to bind the swimming crab. At the same time, the wire pulling rod 43 has the function of continuing the wire to the wire reel after the blade cuts the wire. The swing structure 42 is relatively simple and low in cost.

[0054] In some embodiments, the knotting assembly 44 is located below the bundling table 40, and the knotting assembly 44 includes two hawkbill clamps 48 aligned with the leakage groove 402, and the hawkbill clamps 48 are rotatably set on the round table 46. The hawkbill clamps 48 rotate along the round table 46 to grasp and release the binding line and knot the line. A tightening wire assembly 51 and a knife holder 49 are provided below the bundling table 40, and the knife holder 49 is provided with a knife 50 for cutting the line, and the tightening wire assembly 51 is used to tension the line.

[0055] Specifically, such as Figures 1 to 5 ,as well as Figure 8 As shown, after being pulled to the bottom of the binding position 401 through the wire leakage groove 402, the hawk's beak clamp 48 clamps and grasps the wire, and the wire tightening component 51 tensions the wire in this process. The hawk's beak clamp 48 can complete the knotting of the wire during the rotation of the round table 46. After the knot is tied, the knife holder 49 can be swung and the knife 50 can be used to cut the wire.

[0056] In some embodiments, a support rod 47 is provided in the truncated cone 46, and the hawkbill clamp 48 includes an upper jaw 481 and a lower jaw 482, the upper jaw 481 is fixed on the support rod 47, and the lower jaw 482 is hinged to the support rod 47; an elliptical track 461 centered on the support rod 47 is provided on the truncated cone 46, and the other end of the lower jaw 482 is slidably connected in the elliptical track 461, and the support rod 47 passes through the central lower end of the truncated cone 46 and is connected to a drive assembly.

[0057] Specifically, such as Figures 1 to 5 ,as well as Figure 8 、 Figure 9 As shown, the lower jaw 482 is pivotally connected to the support rod 47 via a pin, allowing for flexible opening and closing. When opened, the thread enters the beak between the upper jaw 481 and the lower jaw 482. When closed, the thread is clamped and simultaneously rotated, wrapping the thread around the beak clamp 48. The opening and closing of the beak clamp 48 requires the use of the circular table 46. The lower end of the lower jaw 482 is the connecting portion 483, which slides within the elliptical track 461. The design of the beak clamp 48 requires precise calculations. The support rod 47 is positioned at a distance from the center of the elliptical track 461. The distance from the center of the elliptical track 461 determines the opening and closing of the beak. The connecting portion 483 cooperates with the elliptical track 461. When the connecting portion 483 slides to the near point of the elliptical track 461, the beak clamp 48 closes; conversely, when the connecting portion 483 rotates to the far point of the elliptical track 461, the beak opens.

[0058] In addition, the rotation of the support rod 47 is driven by a driving assembly, and a bevel gear set 45 is used for transmission in the driving assembly. The transmission of the bevel gear set 45 reduces the tooth top height of the small end of the gear tooth, thereby reducing the possibility of the tooth top being too sharp; and the tooth root fillet radius is large, which is conducive to improving the load-bearing capacity of the gear tooth. At the same time, the transmission of the bevel gear also reduces the space, and the transmission of the bevel gear is used to make the eagle beak clamp 48 rotate regularly.

[0059] The tensioning assembly 51 is composed of a tensioning disc 52, a tensioning frame 53, and a spring. The tensioning disc 52 and the tensioning frame 53 cooperate with each other and are connected to the spring in the middle. When the spring contracts, the tensioning disc 52 and the tensioning frame 53 separate, and the wire is in a relaxed state. When the spring extends, the tensioning disc 52 and the tensioning frame 53 close together, and the wire is in a taut state. The tensioning disc 52 has an upward opening, which corresponds to the wire pressing groove 432 on the wire pulling rod 43. When the wire pulling rod 43 swings to the bundling position 401 and is lowered, the wire can be pressed into the opening through the wire pressing groove 432. At this time, the tensioning disc 52 rotates to tighten the wire.

[0060] As for the tool holder 49, the entire tool holder 49 is composed of a tool holder 49 rod and two tool holders 49 pieces. The tool holder 49 rod is equipped with a screw motor drive to realize the left and right movement of the entire tool holder 49. The tool holders 49 pieces cooperate with two blades respectively, and the blades are driven to move by the tool holder 49 rod to realize the tangent function.

[0061] To automatically bundle swimming crabs, this tying machine features a control system. This system is the "brain" of the tying machine, responsible for controlling the movements of its various components. The control system, comprised of sensors, inputs command codes and data for the robotic arm 34 and gripper 36 into a computer. The sensors translate these commands into movements for the robotic arm 34 and gripper 36, completing the series of actions involved in grabbing, placing, and bundling the crabs.

[0062] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

Claims

1. An automatic bundling machine for swimming crabs, characterized in that: include: The conveying mechanism includes a conveying platform, a pushing trough, and a grabbing assembly. The conveying platform is used to convey swimming crabs into the pushing trough. A pushing plate is provided in the pushing trough. One side of the pushing trough is a grabbing position. The pushing plate pushes the swimming crabs that slide down the inclined plate into the pushing trough to the grabbing position. The grabbing assembly is used to grab the swimming crabs from the grabbing position to the binding position. A leg retracting mechanism, comprising two sets of mechanical claws arranged opposite to each other along the binding position, the mechanical claws comprising two sets of oppositely arranged and curved claw rods, the two sets of claw rods being able to retract the legs of the swimming crab when they are closed; The binding mechanism includes a binding platform, a wire feeding assembly, and a knotting assembly. The binding platform has a binding position. The wire feeding assembly is used to feed and wind the wire to the swimming crab on the binding position. The knotting assembly is used to knot and cut the wire wound around the swimming crab. The bundling table is provided with two wire leakage grooves, the wire feeding assembly includes two groups of wire pulling rods, the wire pulling rods are aligned with the wire leakage grooves, and a swinging structure for swinging the wire pulling rods is provided on the frame. The wire pulling rods swing along the bundling table to drive the wire to bundle the swimming crabs on the bundling position; the knotting assembly is located below the bundling table, and the knotting assembly includes two hawk beak clamps aligned with the wire leakage grooves, the hawk beak clamps are rotatably set on a circular table, and the hawk beak clamps rotate along the circular table to grasp and release the binding line and knot the line. A tightening wire assembly and a knife holder are provided below the bundling table, and the knife holder is provided with a knife for cutting the line, and the tightening wire assembly is used to tension the line.

2. The automatic tying machine for swimming crabs according to claim 1 is characterized in that: It also includes a frame, and the conveying mechanism, the leg retracting mechanism and the binding mechanism are all arranged on the frame; the frame is provided with a guide rail, and the guide rail is provided with a slide, and the slide can slide along the guide rail, and the sliding direction is consistent with the pushing direction of the pushing groove, and a grabbing arm is provided on the slide, and the grabbing assembly is provided on the grabbing arm.

3. The automatic tying machine for swimming crabs according to claim 2 is characterized in that: The pushing trough includes a bottom plate, both ends of the bottom plate are connected to end plates, and side plates are provided on both sides of the bottom plate in the length direction. The side plates, the end plates and the bottom plate form a groove shape with an opening on the top, and the side plates are perpendicular to the conveying direction of the conveying platform.

4. The automatic tying machine for swimming crabs according to claim 3 is characterized in that: An inclined plate is provided on the conveying platform, and a pushing groove is located below the inclined plate. The lower side of the inclined plate is aligned with one end of the side plate, and the grabbing position is located at the other end of the side plate. At the grabbing position, the two side plates are recessed downward.

5. The automatic tying machine for swimming crabs according to claim 2 is characterized in that: The grabbing assembly includes a base and a clamping jaw, wherein the two clamping jaws are rotatably arranged on the base via two rotating shafts, and the two rotating shafts are respectively connected to a first half gear, and the two first half gears are meshed with each other.

6. The automatic tying machine for swimming crabs according to claim 5, characterized in that: The base is provided with a pressure sensor and an inductor, the inductor is used to detect the position, state and shape of the swimming crab, and the pressure sensor is used to sense the force of the clamping claws clamping the swimming crab.

7. The automatic tying machine for swimming crabs according to claim 2, characterized in that: The leg-collecting mechanism is divided into two groups and is symmetrically arranged along the binding position. The leg-collecting mechanism also includes a mechanical arm, which can move the mechanical claw to bring the two leg-collecting mechanisms closer to each other.

8. The automatic tying machine for swimming crabs according to claim 7, characterized in that: A support rod is provided in the circular table, and the hawk's beak clamp includes an upper jaw and a lower jaw, the upper jaw is fixed on the support rod, and the lower jaw is hinged to the support rod; an elliptical track centered on the support rod is provided on the circular table, and the other end of the lower jaw is slidably connected in the elliptical track, and the support rod passes through the central lower end of the circular table and is connected to a drive assembly.

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