Kelp seedling rope passing device and kelp seedling rope swing suppression method

Abstract

The present invention discloses a kelp seedling rope passing device and a method for suppressing kelp seedling rope swing. The device includes a rope lifting mechanism and a rope vibration suppression mechanism. The rope lifting mechanism is used to provide support for the transverse suspended section of the kelp seedling rope. The rope vibration suppression mechanism includes a rope vibration monitoring sensor, a vibration suppression plate, and a suppression plate driving mechanism. The suppression plate driving mechanism and the rope vibration monitoring sensor are both connected to a controller. The controller is configured to: when the vibration amplitude of the kelp seedling rope is greater than a threshold, control the suppression plate driving mechanism to drive the vibration suppression plate to flip and contact the kelp seedling rope to suppress the vibration of the kelp seedling rope. The spacing between the lifting rollers of the kelp seedling passing device can be automatically adjusted according to the diameter of the kelp seedling rope, and can adapt to kelp seedling ropes of different diameters. The kelp anti-vibration device can quickly eliminate vibration and improve rope clamping efficiency.

Description

Technical Field

[0001] The present invention relates to the field of aquatic equipment, and in particular to a kelp seedling rope passing device and a kelp seedling rope swing suppression method. Background Art

[0002] In the kelp farming industry, automated equipment is widely used to automatically clamp seedlings and automatically retract and extend seedling ropes. For example, Chinese patent CN112205289A discloses "A device and method for vertically clamping kelp seedlings in rows." In this method, a seedling clamp can be smoothly inserted vertically into the gaps between three interwoven seedling ropes, clamping the root stalks of the kelp seedlings lying flat in the seedling box below the ropes. The clamp then returns through the gaps and opens, leaving the root stalks in the ropes, completing the entire clamping process without damaging the kelp seedling roots. The document also discloses technical solutions such as the seedling clamp insertion mechanism, the seedling clamp opening and closing mechanism, and the untwisting device, as well as the working method for vertically clamping kelp seedlings in rows.

[0003] Figure 3 The figure shows the above-mentioned kelp seedling clamping device, which includes a winch 1 for winding a kelp seedling rope. The kelp seedling rope supplied by the winch 1 passes through the kelp seedling clamping device 2 in a row and is then wound and stored by the seedling rope continuous storage device 4. The kelp seedling clamping device 2 in a row includes a seedling delivery device 3 and a plurality of clamping claws. During operation, the seedling rope continuous storage device 4 rotates and drags the kelp seedling rope. The kelp seedling rope is provided with a seedling rope color mark at predetermined intervals. When the seedling rope color mark is detected, the seedling rope continuous storage device 4 stops pulling the seedling rope. At this time, the various clamping claws of the kelp seedling clamping device 2 in a row clamp grip the seedling rope on the kelp seedling clamping device 2 and insert the kelp seedling on the seedling delivery device 3 into the gap between the three interwoven seedling ropes.

[0004] The seedling rope continuous storage device 4 needs to be frequently stopped and started during the above process, and the tension on the kelp seedling rope also changes frequently, causing the kelp seedling rope to shake easily, making it impossible for the clamping claws of the device 2 for vertically clamping kelp seedlings in rows to accurately clamp the kelp seedling rope. Summary of the Invention

[0005] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is the problem that the kelp seedling rope is easily shaken due to the stopping and starting during the pulling and conveying process of the kelp seedling rope.

[0006] To achieve the above-mentioned object, the present invention provides a kelp seedling rope passing device, which includes a seedling rope lifting mechanism and a seedling rope shaking suppression mechanism; wherein:

[0007] The seedling rope lifting mechanism is used to provide support for the horizontal suspended section of the kelp seedling rope;

[0008] The seedling rope jitter suppression mechanism includes a seedling rope jitter monitoring sensor, a jitter suppression plate and a suppression plate driving mechanism; the suppression plate driving mechanism and the seedling rope jitter monitoring sensor are both connected to a controller, and the controller is configured to: when the jitter amplitude of the kelp seedling rope is greater than a threshold value, control the suppression plate driving mechanism to drive the jitter suppression plate to flip and contact the kelp seedling rope to suppress the jitter of the kelp seedling rope.

[0009] A further improvement of the present invention is that the seedling rope lifting mechanism includes:

[0010] Several sets of lifting wheel pairs; each set of lifting wheel pairs includes two lifting rollers located on both sides of the kelp seedling rope, the two lifting rollers are inclined so that the distance between them gradually decreases from top to bottom, and a gap is left between the bottom ends of the two rollers for the kelp to pass through; the circumferential surfaces of the two lifting rollers are respectively used to contact the bottom sides of the kelp seedling rope to provide support;

[0011] Several flip plates, the top of the rotating shaft of each lifting roller is connected to the corresponding flip plate; the top of the flip plate is rotatably connected to a fixed bracket, and the rotating axis is parallel to the extension direction of the kelp seedling rope, and a flip driving mechanism for driving the flip plate to flip along its rotating axis is provided between each flip plate and the fixed bracket; the flip driving mechanism is used to drive the corresponding flip plate to rotate, thereby adjusting the bottom end distance of the lifting rollers on both sides of the kelp seedling rope to adapt to kelp seedling ropes of different diameters.

[0012] A further improvement of the present invention is that a motor is provided inside the lifting roller for driving the circumferential surface of the lifting roller to rotate, thereby providing assistance for the transmission process of the kelp seedling rope.

[0013] A further improvement of the present invention is that the motor in the lifting roller is connected to the motor driver, and the motor driver is connected to the controller; the controller is configured to adjust the output torque and speed of the motor according to the resistance during the transportation of the kelp seedling rope.

[0014] A further improvement of the present invention is that the flip driving mechanism is an electric push rod or a worm gear mechanism driven by a motor.

[0015] A further improvement of the present invention is that the power of the suppression plate driving mechanism is a voice coil motor or a servo motor.

[0016] A further improvement of the present invention is that the seedling rope vibration monitoring sensor includes a combination of one or more of a camera, a millimeter wave radar, and an ultrasonic sensor.

[0017] A further improvement of the present invention is that, in the process of suppressing the shaking of the kelp seedling rope, the shaking suppression plate contacts the kelp seedling rope once or multiple times in each shaking cycle.

[0018] The present invention also provides a method for suppressing the vibration of a kelp seedling rope, which is implemented using the above-mentioned kelp seedling rope passing device, and is characterized in that it includes: monitoring the vibration amplitude of the kelp seedling rope by a seedling rope vibration monitoring sensor, and when the vibration amplitude of the kelp seedling rope is greater than a threshold value, controlling the suppression plate driving mechanism to drive the vibration suppression plate to flip and contact the kelp seedling rope to suppress the vibration of the kelp seedling rope.

[0019] The beneficial technical effects of the present invention include:

[0020] 1. The spacing between the lifting rollers of the kelp seedling passing device can be automatically adjusted according to the diameter of the kelp seedling rope, and can adapt to kelp seedling ropes of different diameters;

[0021] 2. The kelp anti-shake device can quickly eliminate shakes and improve rope clamping efficiency.

[0022] 3. The kelp seedling transfer device has a lifting wheel with a power mechanism, which can rotate under low resistance; if the resistance is large, it can be transferred at a fast or slow speed according to the force.

[0023] The concept, specific structure and technical effects of the present invention will be further described below in conjunction with the accompanying drawings to fully understand the purpose, characteristics and effects of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a three-dimensional view of the kelp seedling rope passing device of the present invention;

[0025] Figure 2 yes Figure 1 A partial enlarged view of point A in the middle;

[0026] Figure 3 The present invention is a schematic diagram of an existing kelp seedling clamping device. DETAILED DESCRIPTION

[0027] The following describes the embodiments of the present invention through specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. The details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other unless they conflict.

[0028] It should be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component may be changed arbitrarily, and the component layout may also be more complex.

[0029] While some exemplary embodiments of the present invention have been described for purposes of illustration, it should be understood that the present invention may be implemented in other ways not specifically shown in the drawings.

[0030] like Figure 1 、 2 As shown, an embodiment of the present invention provides a kelp seedling rope passing device, which includes a seedling rope lifting mechanism and a seedling rope vibration suppression mechanism. The seedling rope lifting mechanism is used to provide support for the horizontal suspended section of the kelp seedling rope 80 and provide guidance and assistance for the transportation of the kelp seedling rope 80. The seedling rope vibration suppression mechanism is used to suppress the vibration of the kelp seedling rope. Specifically:

[0031] The seedling rope vibration suppression mechanism includes a seedling rope vibration monitoring sensor 10, a vibration suppression plate 11, and a suppression plate driving mechanism 12. The suppression plate driving mechanism 12 and the seedling rope vibration monitoring sensor 10 are both connected to a controller (not shown in the figure). The controller is configured to: when the vibration amplitude of the kelp seedling rope 80 detected by the seedling rope vibration monitoring sensor 10 is greater than a threshold value, control the suppression plate driving mechanism 12 to drive the vibration suppression plate 11 to flip and contact the kelp seedling rope 80 to suppress the vibration of the kelp seedling rope 80.

[0032] The rope vibration monitoring sensor 10 includes a combination of one or more of a camera, a millimeter-wave radar, and an ultrasonic sensor. In this embodiment, the rope vibration monitoring sensor 10 includes a vertical camera that captures the kelp rope from top to bottom to monitor its horizontal vibration. It also works with an ultrasonic sensor to detect the zero-crossing point of the horizontal swing of the kelp rope.

[0033] The vibration suppression plate 11 is parallel to the extension direction of the kelp seedling rope 80, and the top of the vibration suppression plate 11 is rotatably connected to the fixing bracket 32, and the direction of the rotation axis is also parallel to the extension direction of the kelp seedling rope 80. The suppression plate driving mechanism 12 can drive the vibration suppression plate 11 to flip along the above-mentioned rotation axis and contact the kelp seedling rope 80 from the side.

[0034] The suppression plate drive mechanism 12 is powered by a voice coil motor or a servo motor. Voice coil motors have low inertia and are simple to control, while servo motors enable precise motion control. Both are suitable for different contact methods. To suppress the vibration of the kelp seedling rope 80, the vibration suppression plate 11 contacts the rope once or multiple times during each vibration cycle.

[0035] For the contact mode in which only one contact occurs per shaking cycle, the vibration suppression plate 11 is driven by a servo motor direct drive mode; in this mode, the predetermined intersection position of the vibration suppression plate 11 and the kelp seedling rope 80 is determined based on the swing information monitored by the seedling rope vibration monitoring sensor 10. In the half cycle in which the kelp seedling rope 80 moves toward the vibration suppression plate 11, the suppression plate driving mechanism 12 drives the vibration suppression plate 11 to swing to the predetermined intersection position in advance. After the seedling rope and the vibration suppression plate 11 are in contact for a predetermined time (the vibration suppression plate is subjected to force at the moment of contact, which causes the output torque of the servo motor driver to rise. In this way, the starting time of contact between the two can be detected), the vibration suppression plate 11 is driven to lift. This contact mode can dissipate the energy of the lateral vibration of the kelp seedling rope 80, thereby suppressing the lateral vibration of the kelp seedling rope 80.

[0036] In other embodiments, the jitter suppression plate 11 is made of a composite material and is driven by a voice coil motor. The two ends of the voice coil motor are rotatably connected to the jitter suppression plate 11 and the fixed bracket 32 respectively, and the jitter suppression plate 11 can be driven to flip and swing by applying an alternating voltage at both ends of its coil. The output of the voice coil motor can reach tens of hertz, and the jitter suppression plate 11 can be driven to contact the kelp seedling rope multiple times in half a jitter cycle of the seedling rope moving toward the jitter suppression plate 11. In this contact mode, the jitter suppression plate 11 and the voice coil motor are both lightweight structures with small inertia and carry less energy, and can gradually consume the energy of the kelp seedling rope 80 jitter through multiple contacts.

[0037] In order to reduce the rotational inertia and air resistance of the vibration suppression plate 11 , in some embodiments, the vibration suppression plate 11 may adopt a hollow structure to reduce weight and reduce resistance.

[0038] The above-mentioned contact method mainly affects the vibration suppression plate 11 and the kelp seedling rope in the vertical direction of the vibration suppression plate 11, which makes the vibration suppression plate 11 mainly used to suppress horizontal vibration. In order to overcome this limitation, the vibration suppression plate 11 is provided with a rubber gasket on the side facing the kelp seedling rope 80. During the contact process with the kelp seedling rope 80, there is friction between the rubber gasket and the kelp seedling rope 80, so that the vibration suppression plate 11 can also effectively suppress the vertical vibration of the kelp seedling rope 80 through contact.

[0039] By suppressing the shaking of the seedling rope, the shaking of the kelp seedling rope can be quickly attenuated, making the kelp seedling rope easier to clamp, thereby improving the reliability and operating efficiency of the kelp seedling clamping device, and there is no need to wait for the shaking of the kelp seedling rope to naturally decay after each stop.

[0040] Before the kelp seedlings are stored, the ropes are stretched and tightened, causing them to slip off the storage device. In addition, during the process of transporting the seedlings to the storage device, due to the uneven thickness of the kelp seedling ropes, when passing through the seedling passing device, slightly thicker ropes can pass without falling (lifted), while slightly thinner ropes may fall through the gap between the rollers.

[0041] The seedling rope lifting mechanism includes two sets of lifting wheel pairs and multiple turning plates 31. Each set of lifting wheel pairs includes two lifting rollers 30 located on both sides of the kelp seedling rope 80. The two lifting rollers 30 are arranged obliquely and distributed in a V shape, so that the distance between them gradually decreases from top to bottom, and a gap is left between the bottom ends of the two rollers for kelp to pass through; the circumferential surfaces of the two lifting rollers 30 are used to contact the bottom sides of the kelp seedling rope 80 to provide support.

[0042] In this embodiment, each flip plate 31 corresponds to each lifting roller 30, and the flip plate 31 is fixedly connected to the top of the rotating shaft of the lifting roller 30. The top of the flip plate 31 is rotatably connected to the fixed bracket 32, and the rotation axis is parallel to the extension direction of the kelp seedling rope 80. A flip driving mechanism 33 is provided between each flip plate 31 and the fixed bracket 32 to drive the flip plate 31 to flip along its rotation axis; the flip driving mechanism 33 is used to drive the corresponding flip plate 31 to rotate, thereby adjusting the distance between the bottom ends of the lifting rollers 30 on both sides of the kelp seedling rope 80 to accommodate kelp seedling ropes of different diameters.

[0043] When the diameter of the kelp seedling rope 80 is relatively thick and the weight of the kelp attached to the rope is relatively large, greater pulling force is required to drag the kelp seedling rope 80, which can cause the kelp seedling rope 80 to be overly tight. To solve this problem, a motor is provided inside the lifting roller 30 to drive the circumferential surface of the lifting roller 30 to rotate, providing power for the transmission process of the kelp seedling rope. The motor inside the lifting roller 30 is connected to a motor driver, which is connected to the controller; the controller is configured to adjust the output torque and speed of the motor according to the resistance during the transportation of the kelp seedling rope 80, making the transportation process of the kelp seedling rope smoother.

[0044] The flip drive mechanism 33 is an electric push rod or a worm gear mechanism driven by a motor. Each motor of the flip drive mechanism 33 is also connected to the controller. The controller can identify the thickness of the kelp seedling rope 80 through a camera and control the flip drive mechanism 33 to drive each flip plate 31 to swing synchronously to a predetermined angle to adapt to the thickness of the kelp seedling rope. The camera for detecting the thickness of the seedling rope can be the camera of the seedling rope vibration monitoring sensor 10, or a separate camera can be used.

[0045] In some embodiments, the controller can use a camera to detect the vibration frequency of the kelp seedling rope to infer its tension and, therefore, its resistance. The greater the tension on the kelp seedling rope 80, the higher its vibration frequency, and the greater the resistance during transportation. When the vibration frequency of the kelp seedling rope 80 exceeds a frequency threshold, the controller can increase the torque output by the motor of the lifting roller 30 to provide greater assistance.

[0046] An embodiment of the present invention also includes a method for suppressing the vibration of a kelp seedling rope, which is implemented using the above-mentioned kelp seedling rope passing device, and includes: monitoring the vibration amplitude of the kelp seedling rope by a seedling rope vibration monitoring sensor 10; when the vibration amplitude of the kelp seedling rope 80 is greater than a threshold value, controlling the suppression plate driving mechanism 12 to drive the vibration suppression plate 11 to flip and contact the kelp seedling rope to suppress the vibration of the kelp seedling rope 80.

[0047] 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. A kelp seedling rope passing device, characterized in that: It includes a seedling rope lifting mechanism and a seedling rope vibration suppression mechanism; wherein: The seedling rope lifting mechanism is used to provide support for the transverse suspended section of the kelp seedling rope (80); The seedling rope vibration suppression mechanism comprises a seedling rope vibration monitoring sensor (10), a vibration suppression plate (11) and a suppression plate driving mechanism (12); the suppression plate driving mechanism (12) and the seedling rope vibration monitoring sensor (10) are both connected to a controller, and the controller is configured to: when the vibration amplitude of the kelp seedling rope (80) is greater than a threshold value, control the suppression plate driving mechanism (12) to drive the vibration suppression plate (11) to flip and contact the kelp seedling rope, so as to suppress the vibration of the kelp seedling rope (80); The seedling rope lifting mechanism includes: A plurality of lifting wheel pairs; each lifting wheel pair comprises two lifting rollers (30) located on both sides of a kelp seedling rope (80); the two lifting rollers (30) are tilted so that the distance between the two gradually decreases from top to bottom, and a gap is left between the bottom ends of the two for kelp to pass through; the circumferential surfaces of the two lifting rollers (30) are respectively used to contact the bottom sides of the kelp seedling rope (80) to provide support; A plurality of flip plates (31) are provided, and the top of the rotating shaft of each lifting roller (30) is connected to the corresponding flip plate; the top of the flip plate (31) is rotatably connected to a fixed bracket (32), and the rotation axis is parallel to the extension direction of the kelp seedling rope (80); a flip driving mechanism (33) is provided between each flip plate (31) and the fixed bracket (32) for driving the flip plate (31) to flip along its rotation axis; the flip driving mechanism (33) is used to drive the corresponding flip plate (31) to rotate, thereby adjusting the bottom end distance of the lifting rollers (30) on both sides of the kelp seedling rope (80) to adapt to kelp seedling ropes of different diameters.

2. A kelp seedling rope passing device according to claim 1, characterized in that: A motor is provided inside the lifting roller (30) for driving the circumferential surface of the lifting roller (30) to rotate, thereby providing assistance for the transmission process of the kelp seedling rope.

3. A kelp seedling rope passing device according to claim 2, characterized in that: The motor in the lifting roller (30) is connected to a motor driver, and the motor driver is connected to the controller; the controller is configured to adjust the output torque and rotation speed of the motor according to the resistance during the transportation of the kelp seedling rope (80).

4. A kelp seedling rope passing device according to claim 1, characterized in that: The flip driving mechanism (33) is an electric push rod or a worm gear mechanism driven by a motor.

5. The kelp seedling rope passing device according to claim 1, characterized in that: The power of the suppression plate driving mechanism (12) is a voice coil motor or a servo motor.

6. The kelp seedling rope passing device according to claim 1, characterized in that: The seedling rope vibration monitoring sensor (10) includes a combination of one or more of a camera, a millimeter wave radar, and an ultrasonic sensor.

7. The kelp seedling rope feeding device according to claim 1, characterized in that: In the process of suppressing the shaking of the kelp seedling rope (80), the shaking suppression plate (11) contacts the kelp seedling rope once or multiple times in each shaking cycle.

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