Mechanical knotting device and method for eriocheir sinensis

Abstract

The application provides a mechanical knot tying device for Chinese mitten crab, which comprises a side plate and a mounting plate, the mounting plate is provided with a pushing mechanism, a blocking mechanism, a beak wire clamping mechanism, a wire end clamping plate, a wire cutting mechanism and a wire kicking mechanism; the wire end clamping plate clamps and fixes the front end of the rope, the tail end of the rope is wound around the crab through the rotation of the wire releasing pipe, when the wire releasing pipe winds around the last circle of the crab, the pushing mechanism is retracted so that the end of the rope is fixed around the wire end clamping plate; the pushing mechanism pushes the just wound rope to the front of the beak wire clamping mechanism during the retraction and wire feeding process, the beak wire clamping mechanism inserts into the two ropes when swinging forward, the beak rotates to wind the two ropes and tie a live knot, the blocking mechanism extends from the left and right sides to block the two ends of the live knot, the wire cutting mechanism cuts the tail of the rope, the wire kicking mechanism kicks out the end of the rope on the wire end clamping plate, and the beak wire clamping mechanism swings backward to pull out the clamped rope from the live knot to realize the tying of the live knot.

Description

Technical Field

[0001] This invention relates to the field of automatic binding machinery for hairy crabs, and in particular to a device and method for mechanically tying loose knots for hairy crabs. Background Technology

[0002] Crabs are loved by many for their rich nutrition and delicious taste. To facilitate transportation and improve survival rates and safety, almost all sellers use the cross-binding method to tie the crabs together or use quick-pack boxes.

[0003] Currently, most crabs are still tied up manually using traditional methods, which is inefficient, prone to breaking or damaging the crab claws, and can also injure the tying personnel. Using quick-pack boxes for crabs also incurs labor costs, and the boxes themselves are relatively expensive. Furthermore, the crabs still have some room to move around inside the quick-pack box, making them less suitable for preservation. In addition, consumers still need to open the quick-pack box to remove the crabs before cooking, increasing the probability of crab claws breaking during the cooking process.

[0004] Therefore, some automatic crab-tying devices have appeared on the market, but the devices are not perfect and cannot perform the live-jointing operation after the crabs are tied with ropes. Summary of the Invention

[0005] To address the aforementioned problems, this invention aims to provide a device and method for mechanically tying slipknots for hairy crabs. Its novel structure enables automatic slipknot tying after the crabs are tied up, allowing consumers to quickly untie the ropes and remove the crabs later.

[0006] The technical solution of this invention is a device for mechanically tying slipknots on hairy crabs, characterized in that: it includes a side plate and a mounting plate connected to the top of the side plate. The mounting plate is provided with a line pushing mechanism, a line blocking mechanism, a bird beak line clamping mechanism, a line end clamping plate, a line cutting mechanism, and a line kicking mechanism. The line end clamping plate clamps and fixes the front end of the rope. The tail end of the rope is released and wrapped around the crab by rotating the line release tube. When wrapping the crab, the line pushing mechanism extends so that the rope bypasses the line end clamping plate and wraps around the crab directly. When the line release tube wraps around the crab for the last time, the line pushing mechanism retracts so that the end of the rope is wrapped around the line end clamping plate and fixed.

[0007] A main shaft controlled by a motor is mounted on the side plate via bearings. A cam is positioned near the side plate on the main shaft. The outer surface of the cam has a first engaging portion, a second engaging portion, and a third engaging portion at different positions along the axial direction. These engaging portions are located at different angles along their circumference. During rotation, the first engaging portion controls the bird-beak wire clamping mechanism to swing back and forth at different positions. During rotation, the second engaging portion controls the wire pushing mechanism to extend the wire stop and retract the wire feed. During the retraction of the wire feed, the wire pushing mechanism pushes the newly wound rope to the front of the bird-beak wire clamping mechanism. When the bird-beak wire clamping mechanism swings forward, it inserts two... In the rope strands, a sector gear plate is connected to the third engaging part. The sector gear plate meshes with the transmission pinion on the bird beak clamping mechanism. The rotation of the transmission pinion drives the bird beak at the top of the bird beak clamping mechanism to rotate. During the rotation, the bird beak loops the two rope strands together to tie a slip knot. During the rotation, the bird beak opens to hold the two rope strands and then continues to rotate to close and clamp the rope until it rotates 360° to return to its original position. The line-blocking mechanism extends from the left and right sides to block the two ends of the slip knot. The line-cutting mechanism cuts off the tail of the rope. The line-kicking mechanism kicks the rope end off the line end clamping plate. The bird beak clamping mechanism swings backward to pull the clamped rope out of the slip knot to tie a slip knot.

[0008] Preferably, the wire pushing mechanism includes a slide rail and a wire pushing rod disposed on the bottom surface of the mounting plate. A slider is sleeved on the slide rail, and the rear end of the wire pushing rod is hinged to the slider. The front end of the wire pushing rod extends outward into a U-shaped end. Wire-catching grooves are provided on the front ends of the two side walls of the U-shaped end. A guide groove with an inclined section is provided in the middle of the wire pushing rod. A roller is disposed in the guide groove, and the center of the roller is mounted on the bottom surface of the mounting plate via a locking post. A first spring post is provided at the rear end of the wire pushing rod, and a second spring post is provided in the middle of the bottom surface of the mounting plate. A tension spring is sleeved between the first and second spring posts. Under normal conditions, the wire is pushed under the tension of the tension spring. The rod extends forward so that the U-shaped end blocks the wire end clamping plate. A connecting rod is hinged to the slider, and a flipping rod is hinged to the front end of the connecting rod. The middle part of the flipping rod is hinged to the mounting plate. A roller is sleeved at the bottom of the flipping rod. The roller contacts the second engaging part of the cam and is pushed up by the second engaging part during the rotation of the cam. Through the lever principle, the slider is pushed back. During the retraction, the guide groove moves along the roller, causing the push rod to overcome the elastic force of the tension spring and retract. This allows the rope to be locked in the gap of the wire end clamping plate during winding. At the same time, during the retraction, the rope that has just been wound in the gap of the wire end clamping plate is pushed to the front of the bird's beak through the wire clamping groove.

[0009] Preferably, the line-blocking mechanism includes a left telescopic cylinder and a right telescopic cylinder disposed on the mounting plate on the left and right sides of the bird beak line-clamping mechanism. Each of the left and right telescopic cylinders has a clamping rod on its inner side, and a U-shaped line-blocking groove is provided at the end of the clamping rod. After the left and right telescopic cylinders are extended into position, the two U-shaped line-blocking grooves respectively engage with the left and right ends of the rope knot for abutment and positioning, so that the bird beak can pull backward to pull the two ends of the rope out of the knot.

[0010] Preferably, the beak-clamping mechanism includes a main frame, the middle of which is hinged to the lower part of the mounting plate. The bottom end of the main frame is kept in a forward-tilted position by a roller contacting a cam. Through leverage, the top of the main frame is kept in a retracted state at the rear. During cam rotation, it is pushed backward by a first engaging part, causing the top of the main frame to swing forward and extend. An arc-shaped flange extends upward from the front end of the top of the main frame, and a vertical mounting hole is provided within the arc-shaped flange. The beak includes an upper beak and a lower beak. The front ends of the upper and lower beaks are engaged and joined at their rear positions, leaving a gap for the rope to pass through freely. A mounting shaft extends downward from the bottom of the upper beak, passes through the vertical mounting hole, and connects to a first bevel gear. The lower beak is hinged within the upper beak, and a rod extends downward from the bottom of the lower beak. A transmission rod is provided on the main frame at this location along the front-rear direction for transmission. The front end of the rod is provided with a second bevel gear that meshes with the first bevel gear, and the rear end of the transmission rod is provided with a transmission pinion. During the rotation of the cam, the sector gear plate contacts and meshes with the transmission pinion, which drives the second bevel gear and the first bevel gear to rotate, thereby driving the beak to rotate. During the rotation of the beak, the rod under the lower half of the beak contacts the arc-shaped flange and flips accordingly according to the different protrusion size of the outer wall of the arc-shaped flange. Finally, during the rotation of the entire beak, the lower half of the beak achieves the entire opening and closing action relative to the upper half of the beak. The top surface of the main frame is provided with a locking block. The locking block is provided with a spring. Under normal conditions, it locks the rod of the lower half of the beak to prevent it from rotating. When the main frame is pushed up by the first locking part and its top extends forward, the locking block contacts the impact block on the mounting plate, so that the locking block overcomes the internal spring force and releases the rod of the lower half of the beak, thereby allowing the rod of the lower half of the beak to be driven to rotate by the first bevel gear.

[0011] Preferably, the wire clamping plate includes a main board connected to the side plate. The main board has mounting holes along the front-rear direction, and a wire clamping post passes through the mounting holes. The front end of the wire clamping post is a flat, large-diameter end, and the rear part is a small-diameter rod. After the small-diameter rod passes through the mounting holes, a tension rod is hinged to the rear end. The tension rod is hinged to the main board near the wire clamping post. A compression support spring is provided at the end of the tension rod away from the wire clamping post. The rear end of the compression support spring is positioned and installed through the main board, and the front end is positioned and installed through the tension rod. Under the action of the spring force of the compression support spring, the wire clamping post is in a backward tensioned state through the leverage action of the tension rod. When winding the wire, the rope is clamped in the gap between the flat, large-diameter end of the wire clamping post and the main board.

[0012] Preferably, the wire-cutting mechanism includes a telescopic cylinder connected to the main board. The telescopic cylinder has a slide rail and a slider, and a wire-cutting cylinder is installed on the slider. The telescopic cylinder drives the wire-cutting cylinder to move back and forth along the slide rail. The front end of the wire-cutting cylinder is equipped with scissors, which are located on the side of the wire clamping post near the bird's beak and leave a gap between them and the wire clamping post. The telescopic cylinder controls the opening and closing of the scissors. When cutting the wire, the telescopic cylinder extends to deliver the wire-cutting cylinder into position, and the wire-cutting cylinder controls the closing of the scissors to cut the rope.

[0013] Preferably, the kicking mechanism includes a kicking rod, which includes a head extending longitudinally and a rod extending laterally. The head is located between the clamping post and the scissors, with gaps on both sides. The rod passes laterally through the main board and is hinged to a swing arm. The other end of the swing arm is connected to a kicking cylinder. The extension and retraction of the kicking cylinder causes the swing arm to swing forward, thereby causing the head of the kicking rod to rotate backward to avoid the rope so that the rope can be wound normally. Alternatively, the swing arm can swing backward, thereby causing the head of the kicking rod to rotate forward and kick the end of the rope out of the clamping post.

[0014] A method for making a slipknot using a mechanical slipknot device for hairy crabs, characterized in that: a push rod extends to block the clamping post, the line release tube rotates to avoid the clamping post and directly winds the line around the crab, and when the line release tube rotates to wind the line to the last turn, the cam rotates.

[0015] The cam rotation first contacts the bottom of the flipping rod with the second engaging part, causing the push rod to retract. The wire feeding tube winds the rope around the gap between the flat end of the wire clamping post and the main board, where it is clamped. At the same time, during the retraction of the push rod, the rope that has just been wound is pushed to the front of the bird's beak through the wire clamping groove.

[0016] Then the cam continues to rotate, and the first engaging part contacts the bottom of the main frame and pushes the bottom of the main frame backward. The upper part of the main frame flips forward and gets into the lower half of the bird's beak to wrap around the two ropes. The push rod retracts into place and disengages from the ropes.

[0017] Then the cam continues to rotate, which drives the transmission pinion to rotate through the sector gear plate of the third engagement part. The rotation of the second bevel gear and the first bevel gear drives the bird beak to rotate. During the rotation of the bird beak, the two ropes are wrapped together to form a slip knot and then opened to clamp the middle rope part and pull it from inside the slip knot.

[0018] Next, the left and right telescopic cylinders extend into position and are held in place by two U-shaped wire guide grooves that engage with the left and right ends of the rope knot.

[0019] Next, the telescopic cylinder extends to send the wire-cutting cylinder into position, and the wire-cutting cylinder controls the closing of the scissors to cut the rope.

[0020] Next, the kicking cylinder retracts, causing the swing arm to swing backward, which in turn causes the head of the kicking rod to rotate forward, kicking the end of the rope out of the clamp post, thus achieving a free and unrestricted state for both ends of the rope.

[0021] Then the cam continues to rotate, causing the first engaging part to flip the beak backward, pulling the rope out of the slipknot and completing the action of tying a slipknot.

[0022] This invention features a high degree of automation, enabling automatic knot tying after the crabs are tied up. The structure is stable and reliable, and the knot tying speed is fast, allowing consumers to quickly untie the ropes and remove the crabs later. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of the present invention;

[0024] Figure 2 This is a schematic diagram of the structure of the present invention after the rope is wound around it;

[0025] Figure 3 for Figure 2 A structural diagram from another perspective;

[0026] Figure 4 This is a schematic diagram of the structure between the beak wire clamping mechanism and the cam in this invention (about to enter the forward swinging motion at the top of the beak).

[0027] Figure 5 This is a schematic diagram of the structure between the beak wire clamping mechanism and the cam in this invention (about to enter the beak rotation state).

[0028] Figure 6 for Figure 5 A structural diagram from another perspective;

[0029] Figure 7 This is a schematic diagram of the wire pushing mechanism and the wire blocking mechanism in this invention;

[0030] Figure 8 for Figure 7 A structural diagram from another perspective;

[0031] Figure 9 This is a schematic diagram of the wire-cutting mechanism and the wire-kicking mechanism in this invention;

[0032] Figure 10 for Figure 9 A structural diagram from another perspective;

[0033] Figure 11 This is a schematic diagram of the bird beak wire clamping mechanism after the rope is initially inserted;

[0034] Figure 12 A schematic diagram of a bird beak wire clamping mechanism rotating at an angle to wind the rope (the bird beak is not open).

[0035] Figure 13 A schematic diagram of the structure for the bird beak clamping mechanism to rotate to the second angle and wind the rope (bird beak open);

[0036] Figure 14 A schematic diagram of the structure of the bird beak clamping mechanism that rotates to the third angle, opens around the rope, and holds the rope in its mouth;

[0037] Figure 15 A schematic diagram of the structure after the bird beak clamping mechanism rotates 360° to clamp the rope (preparing to pull the rope out of the slip knot);

[0038] Wherein: 1—Side plate; 2—Mounting plate; 3—Push-wire mechanism; 301—Slide rail; 302—Push-wire rod; 303—Slider; 304—U-shaped end; 305—Wire clamping groove; 306—Guide groove; 307—First spring post; 308—Second spring post; 309—Tension spring; 310—Connecting rod; 311—Flipping rod; 4—Wire blocking mechanism; 401—Left telescopic cylinder; 402—Right telescopic cylinder; 403—Clamping rod; 404—U-shaped wire blocking groove; 5—Bird beak wire clamping mechanism; 501—Transmission pinion; 502—Bird beak; 5021—Upper beak; 5022—Lower beak; 503 —Main frame; 504—Arc-shaped flange; 505—First bevel gear; 506—Second bevel gear; 507—Locking block; 6—Wire end clamping plate; 601—Main board; 602—Wire clamping post; 603—Tightening rod; 604—Compression support spring; 7—Wire cutting mechanism; 701—Telescopic cylinder; 702—Wire cutting cylinder; 703—Scissors; 8—Wire kicking mechanism; 801—Wire kicking rod; 802—Swing arm; 803—Wire kicking cylinder; 9—Wire release tube; 10—Main shaft; 11—Cam; 111—First engaging part; 112—Second engaging part; 113—Third engaging part; 12—Sector gear plate. Detailed Implementation

[0039] The present invention will now be described in further detail with reference to the accompanying drawings.

[0040] like Figures 1 to 3As shown, the present invention provides a device for mechanically tying slipknots on hairy crabs, including a side plate 1 and a mounting plate 2 connected to the top of the side plate 1. The mounting plate 2 is provided with a line pushing mechanism 3, a line blocking mechanism 4, a bird beak line clamping mechanism 5, a line end clamping plate 6, a line cutting mechanism 7, and a line kicking mechanism 8. The line end clamping plate 6 clamps and fixes the front end of the rope. The tail end of the rope is released and wrapped around the crab by rotating the line releasing tube 9. When wrapping the crab, the line pushing mechanism 3 extends so that the rope bypasses the line end clamping plate 6 and wraps around the crab directly. When the line releasing tube 9 wraps around the crab for the last time, the line pushing mechanism 3 retracts so that the end of the rope is wrapped around the line end clamping plate 6 and fixed.

[0041] A main shaft 10, controlled by a motor, is mounted on the side plate 1 via bearings. A cam 11 is positioned near the side plate 1 on the main shaft 10. The outer surface of the cam 11 has a first engaging portion 111, a second engaging portion 112, and a third engaging portion 113 at different axial positions. These portions are located at different angles along the circumference of the cam 11. During rotation, the first engaging portion 111 controls the bird-beak clamping mechanism 5 to swing back and forth at different positions. During rotation, the second engaging portion 112 controls the pushing mechanism 3 to extend the line and retract the line feed. During the retraction process, the pushing mechanism 3 pushes the newly wound rope to the front of the bird-beak clamping mechanism 5. The bird-beak clamping mechanism 5 then moves forward... When swinging, the rope is inserted into the two strands. The third engaging part 113 is connected to a sector gear plate 12. The sector gear plate 12 meshes with the transmission pinion 501 on the bird beak clamping mechanism 5. The rotation of the transmission pinion 501 drives the bird beak 502 at the top of the bird beak clamping mechanism 5 to rotate. During the rotation, the bird beak 502 loops the two strands of rope to tie a slip knot. During the rotation, the bird beak 502 opens to hold the two strands of rope and then continues to rotate to close and clamp the rope until it rotates 360° to return to its original position. The line blocking mechanism 4 extends from the left and right sides to block the two ends of the slip knot. The line cutting mechanism 7 cuts the end of the rope. The line kicking mechanism 8 kicks the end of the rope off the line clamping plate 6. The bird beak clamping mechanism 5 swings backward to pull the clamped rope out of the slip knot to tie a slip knot.

[0042] In the above scheme, such as Figure 7 and Figure 8As shown, the wire pushing mechanism 3 includes a slide rail 301 and a wire pushing rod 302 disposed on the bottom surface of the mounting plate 2. A slider 303 is sleeved on the slide rail 301. The rear end of the wire pushing rod 302 is hinged to the slider 303. The front end of the wire pushing rod 302 extends outward to form a U-shaped end 304. Wire clamping grooves 305 are provided on the front ends of both side walls of the U-shaped end 304. A guide groove 306 with an inclined section is provided in the middle of the wire pushing rod 302. A roller is disposed in the guide groove 306. The center of the roller is mounted on the bottom surface of the mounting plate 2 via a clamping post. A first spring post 307 is provided at the rear end of the wire pushing rod 302. A second spring post 308 is provided in the middle of the bottom surface of the mounting plate 2. A tension spring 309 is sleeved between the first spring post 307 and the second spring post 308. Under normal conditions, the tension spring 309 exerts a pulling force. The push rod 302 extends forward, causing the U-shaped end 304 to block the wire end clamping plate 6. A connecting rod 310 is hinged to the slider 303. A flip rod 311 is hinged to the front end of the connecting rod 310. The middle part of the flip rod 311 is hinged to the mounting plate 2. A roller is sleeved at the bottom of the flip rod 311. The roller contacts the second engaging part 112 of the cam 11 and is pushed up by the second engaging part 112 during the rotation of the cam 11. Through the lever principle, the slider 303 is pushed back. During the retraction process, the guide groove 306 moves along the roller guide, causing the push rod 302 to overcome the elastic force of the tension spring 309 and retract. This allows the rope to be stuck in the gap of the wire end clamping plate 6 and fixed during winding. At the same time, during the retraction process, the rope that has just been wound in the gap of the wire end clamping plate 6 is pushed to the front of the beak 502 through the wire clamping groove 305.

[0043] Among them, such as Figure 7 and Figure 8 As shown, the line-blocking mechanism 4 includes a left telescopic cylinder 401 and a right telescopic cylinder 402 located on the left and right sides of the bird beak line-clamping mechanism 5 on the mounting plate 2. The inner side of the left telescopic cylinder 401 and the right telescopic cylinder 402 is provided with a clamping rod 403. The end of the clamping rod 403 is provided with a U-shaped line-blocking groove 404. After the left telescopic cylinder 401 and the right telescopic cylinder 402 are extended into place, the two U-shaped line-blocking grooves 404 respectively engage with the left and right ends of the rope knot for abutment and positioning, so that the bird beak 502 can pull backward to pull the two ends of the rope out of the knot.

[0044] Specifically, such as Figures 4 to 6As shown, the bird beak wire clamping mechanism 5 includes a main frame 503, which is hinged to the lower part of the mounting plate 2 in the middle. The bottom end of the main frame 503 is in a forward-tilted position by contacting the cam 11 through a roller. Through the lever principle, the top of the main frame 503 is kept in a retracted state at the rear. During the rotation of the cam 11, it is pushed up by the first engaging part 111, pushing the lower end of the main frame 503 backward. Through the lever principle, the top of the main frame 503 swings forward and extends. The front end of the top of the main frame 503 extends upward into an arc-shaped flange 504. A vertical mounting hole is provided inside 504. The beak 502 includes an upper beak 5021 and a lower beak 5022. The front ends of the upper beak 5021 and the lower beak 5022 are engaged and closed at their rear positions, leaving a gap for a rope to pass through freely. The bottom of the upper beak 5021 extends downward to form a mounting shaft that passes through the vertical mounting hole and connects to the first bevel gear 505. The lower beak 5022 is hinged inside the upper beak 5021, and the bottom of the lower beak 5022 extends downward to form a rod 5023. A transmission rod is provided on the main frame 503 at this location along the front-to-back direction. The front end of the transmission rod is provided with a part that engages with the first bevel gear. The second bevel gear 506 meshes with the first bevel gear 505, and a small transmission gear 501 is provided at the rear end of the transmission rod. During the rotation of the cam 11, the sector gear plate 12 contacts and meshes with the small transmission gear 501. The small transmission gear 501 drives the second bevel gear 506 and the first bevel gear 505 to rotate, thereby driving the beak 502 to rotate. During the rotation of the beak 502, the rod part 5023 under the lower half of the beak 5022 contacts the arc-shaped flange part 504 and flips accordingly according to the different protrusion size of the outer wall of the arc-shaped flange part 504. Finally, during the entire rotation of the beak 502, the lower half of the beak 502 is rotated. During the opening and closing of the mouth 5022 relative to the upper mouth 5021, a locking block 507 is provided on the top surface of the main frame 503. The locking block 507 has a spring inside that normally engages the rod 5023 of the lower mouth 5022 to prevent it from rotating. When the main frame 503 is pushed up by the first engaging part 111 and its top extends forward, the locking block 507 contacts the impact block on the mounting plate 2, causing the locking block 507 to overcome the internal spring force and release the rod 5023 of the lower mouth 5022, thereby allowing the rod 5023 of the lower mouth 5022 to be driven to rotate by the first bevel gear 505.

[0045] Specifically, such as Figure 9 and Figure 10As shown, the wire clamping plate 6 includes a main board 601 connected to the side plate 1. The main board 601 has mounting holes along the front-rear direction. A wire clamping post 602 passes through the mounting holes. The front end of the wire clamping post 602 is a flat, large-diameter end, and the rear part is a small-diameter rod. After the small-diameter rod passes through the mounting holes, a tension rod 603 is hinged to the rear end. The tension rod 603 is hinged to the main board 601 near the wire clamping post 602. A compression support spring 604 is provided at the end of the tension rod 603 away from the wire clamping post 602. The rear end of the compression support spring 604 is positioned and installed through the main board 601, and the front end is positioned and installed through the tension rod 603. Under the action of the spring force of the compression support spring 604, the wire clamping post 602 is in a backward tensioned state through the leverage action of the tension rod 603. When winding the wire, the rope is clamped in the gap between the flat, large-diameter end of the wire clamping post 602 and the main board 601.

[0046] Specifically, such as Figure 9 and Figure 10 As shown, the wire-cutting mechanism 7 includes a telescopic cylinder 701 connected to the main board 601. The telescopic cylinder 701 has a slide rail and a slider, and a wire-cutting cylinder 702 is set on the slider. The telescopic cylinder 701 drives the wire-cutting cylinder 702 to move back and forth along the slide rail. The front end of the wire-cutting cylinder 702 is provided with scissors 703. The scissors 703 is located on the side of the wire clamping post 602 near the beak 502 and leaves a gap between it and the wire clamping post 602. The telescopic movement of the wire-cutting cylinder 702 controls the opening and closing of the scissors 703. When cutting the wire, the telescopic cylinder 701 extends to deliver the wire-cutting cylinder 702 into position, and the wire-cutting cylinder 702 controls the closing of the scissors 703 to cut the rope.

[0047] In addition, such as Figure 9 and Figure 10 As shown, the kicking mechanism 8 includes a kicking rod 801, which includes a head extending longitudinally and a rod extending laterally. The head is located between the clamping post 602 and the scissors 703, with gaps on both sides. The rod passes laterally through the main board 601 and is hinged to a swing arm 802. The other end of the swing arm 802 is connected to a kicking cylinder 803. The extension and retraction of the kicking cylinder 803 causes the swing arm 802 to swing forward, thereby causing the head of the kicking rod 801 to rotate backward to avoid the rope so that the rope can be wound normally. Alternatively, the swing arm 802 can swing backward, thereby causing the head of the kicking rod 801 to rotate forward and kick the end of the rope out of the clamping post 602.

[0048] A method for making a slipknot using a mechanical slipknot device for hairy crabs: the push rod 302 extends to block the clamping post 602, the release tube 9 rotates to avoid the clamping post 602 and directly winds the line around the crab, and when the release tube 9 rotates to wind the line to the last turn, the cam 11 rotates.

[0049] The rotation of the cam 11 first causes the second engaging part 112 to contact the bottom of the flipping rod 311, which in turn drives the push rod 302 to retract. The wire feeding tube 9 winds the rope around the gap between the flat end of the wire clamping post 602 and the main board 601, where it is clamped. At the same time, as the push rod 302 retracts, it pushes the newly wound rope to the front of the beak 502 through the wire clamping groove 305.

[0050] Then, the cam 11 continues to rotate and pushes the bottom of the main frame 503 backward by contacting the bottom of the main frame 503 with the first engaging part 111. The upper end of the main frame 503 flips forward and gets into the lower half of the beak 5022 of the bird beak 502 to wrap around the two ropes. The push rod 302 retracts back into place and disengages from the ropes.

[0051] Then, the cam 11 continues to rotate, and the sector gear plate 12 of the third engagement part 113 drives the transmission pinion 501 to rotate. Through the rotation of the second bevel gear 506 and the first bevel gear 505, the bird beak 502 is driven to rotate. During the rotation of the bird beak 502, the two ropes are wrapped together to form a slip knot and then opened to clamp the middle rope part and pull it from inside the slip knot.

[0052] Next, the left telescopic cylinder 401 and the right telescopic cylinder 402 extend into place and are held in place by two U-shaped wire-blocking grooves 404 respectively engaging with the left and right ends of the rope knot.

[0053] Next, the telescopic cylinder 701 extends to send the wire-cutting cylinder 702 into position, and the wire-cutting cylinder 702 controls the closing of the scissors 703 to cut the rope.

[0054] Next, the kicking cylinder 803 retracts, causing the swing arm 802 to swing backward, which in turn causes the head of the kicking rod 801 to rotate forward, kicking the end of the rope out of the clamping post 602, thus achieving a state where both ends of the rope are free and unrestricted.

[0055] Then, the cam 11 continues to rotate, causing the first engaging part 111 to drive the beak 502 to flip backward, pulling the rope out of the slipknot and realizing the action of tying a slipknot.

[0056] in Figures 11 to 15 The diagram shows a series of actions performed by the bird beak wire clamping mechanism 5 after it receives the newly wound rope from the wire clamping groove 305 of the push rod 302. Initially, it behaves as follows: Figure 11 As shown, the upper end of the bird beak clamping mechanism 5 flips forward and is inserted into the lower part of the bird beak 502 to wrap around the two ropes.

[0057] Next, the rotation of the transmission pinion 501, through the rotation of the second bevel gear 506 and the first bevel gear 505, drives the bird's beak 502 to rotate, winding the two ropes together. Figure 12 As shown;

[0058] As the beak 502 rotates, it winds the rope while simultaneously tilting its lower half 5022. The rod 5023 beneath the lower half 5022 contacts the arc-shaped flange 504, causing the lower half 5022 to open relative to the upper half 5021. As the rope continues to wind, it becomes wedged between the upper and lower halves of the beak 5021. Figure 13 and Figure 14 As shown;

[0059] The beak 502 continues to rotate 360°, as... Figure 15 As shown, the rope has now wrapped around the outer surface of the bird's beak 502, forming a slipknot, and the two ends of the rope are located between the upper beak 5021 and the lower beak 5022 and cannot come out.

[0060] Subsequently, as the cam 11 continues to rotate, the bird beak clamping mechanism 5 disengages from the first engaging part 111. Guided by the cam 11, its top flips backward, pulling both ends of the rope out of the slipknot. The rope ends are then released by the wire cutting mechanism 7 and the wire kicking mechanism 8, allowing the rope to be smoothly pulled out of the slipknot and detached from the bird beak 502.

[0061] Repeat the above actions to repeat the crab's action of catching and wrapping the rope.

[0062] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention in any way. Any simple modifications, equivalent changes, or alterations made to the above embodiments based on the technical principles of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. A device for mechanically tying loose knots in hairy crabs, characterized in that: Includes a side plate (1) and a mounting plate (2) connected to the top of the side plate (1). The mounting plate (2) is provided with a push line mechanism (3), a line blocking mechanism (4), a bird beak clamping mechanism (5), a line end clamping plate (6), a line cutting mechanism (7), and a line kicking mechanism (8). The line end clamping plate (6) clamps and fixes the front end of the rope. The tail end of the rope is released and wrapped around the crab by rotating the release tube (9). When wrapping the crab, the push line mechanism (3) extends so that the rope avoids the line end clamping plate (6) and wraps around the crab directly. When the release tube (9) wraps around the crab for the last time, the push line mechanism (3) retracts so that the end of the rope is wrapped around the line end clamping plate (6) and fixed. A main shaft (10) controlled by a motor is mounted on the side plate (1) via bearings. A cam (11) is provided on the main shaft (10) near the side plate (1). A first engaging part (111), a second engaging part (112), and a third engaging part (113) are respectively provided at different positions along the axial direction on the outer side of the cam (11). The first engaging part (111), the second engaging part (112), and the third engaging part (113) on the cam (11) are located at different angles along its circumference. The first engaging part (111) controls the bird beak wire clamping machine at different positions during rotation. The mechanism (5) swings back and forth. During the rotation of the second engaging part (112), the pushing mechanism (3) extends the guide wire and retracts the feed wire. During the retraction of the feed wire, the pushing mechanism (3) pushes the rope that has just been wound to the front of the bird beak clamping mechanism (5). When the bird beak clamping mechanism (5) swings forward, it inserts into the two strands of rope. The third engaging part (113) is connected to a sector gear plate (12). The sector gear plate (12) meshes with the transmission pinion (501) on the bird beak clamping mechanism (5). The transmission pinion (501) rotates and drives the bird at the top of the bird beak clamping mechanism (5). The beak (502) rotates, and during the rotation, the beak (502) wraps the two ropes around to tie a slipknot. During the rotation, the beak (502) opens to hold the two ropes and continues to rotate to close and clamp the ropes until it rotates 360° to return to its original position. The line-blocking mechanism (4) extends from the left and right sides to block the two ends of the slipknot. The line-cutting mechanism (7) cuts off the end of the rope. The line-kicking mechanism (8) kicks the end of the rope off the line-end clamping plate (6). The beak-clamping mechanism (5) swings backward to pull the clamped rope out of the slipknot to tie a slipknot. The line-blocking mechanism (4) includes a mechanism installed on the installation side. On the plate (2), there are left telescopic cylinders (401) and right telescopic cylinders (402) located on the left and right sides of the bird beak clamping mechanism (5). The inner sides of the left telescopic cylinder (401) and the right telescopic cylinder (402) are equipped with clamping rods (403). The ends of the clamping rods (403) are equipped with U-shaped line-blocking grooves (404). After the left telescopic cylinder (401) and the right telescopic cylinder (402) are extended into place, the two U-shaped line-blocking grooves (404) respectively engage with the left and right ends of the rope knot for abutment and positioning, so that the bird beak (502) can pull backward to pull the two ends of the rope out from the knot.

2. The device for mechanically tying loose knots in hairy crabs according to claim 1, characterized in that: The wire pushing mechanism (3) includes a slide rail (301) and a wire pushing rod (302) disposed on the bottom surface of the mounting plate (2). A slider (303) is sleeved on the slide rail (301). The rear end of the wire pushing rod (302) is hinged to the slider (303). The front end of the wire pushing rod (302) extends outward to form a U-shaped end (304). The front ends of the two side walls of the U-shaped end (304) are provided with wire-holding grooves (305). The middle part of the wire pushing rod (302) is provided with an inclined... The inclined section has a guide groove (306), in which a roller is installed. The center of the roller is mounted on the bottom surface of the mounting plate (2) via a locking pin. A first spring post (307) is provided at the rear end of the push rod (302), and a second spring post (308) is provided in the middle of the bottom surface of the mounting plate (2). A tension spring (309) is sleeved between the first spring post (307) and the second spring post (308). Under normal conditions, the tension spring (309) exerts a pulling force. The push rod (302) extends forward so that the U-shaped end (304) blocks the wire end clamping plate (6). A connecting rod (310) is hinged to the slider (303). A flip rod (311) is hinged to the front end of the connecting rod (310). The middle part of the flip rod (311) is hinged to the mounting plate (2). A roller is sleeved at the bottom of the flip rod (311). The roller contacts the second engaging part (112) of the cam (11) and rotates during the rotation of the cam (11). The second engaging part (112) lifts the slider (303) backward through the lever principle. During the retraction process, the guide groove (306) moves along the roller guide, causing the push rod (302) to overcome the elastic force of the tension spring (309) and retract. This allows the rope to be fixed in the gap of the wire end clamping plate (6) during winding. At the same time, during the retraction process, the rope that has just been wound in the gap of the wire end clamping plate (6) is pushed to the front of the bird's beak (502) through the wire clamping groove (305).

3. The device for mechanically tying knots in hairy crabs according to claim 1, characterized in that: The beak clamping mechanism (5) includes a main frame (503), the middle of which is hinged to the lower part of the mounting plate (2). The bottom end of the main frame (503) is in contact with the cam (11) through a roller to keep the bottom end of the main frame (503) in a forward tilted position. Through the lever principle, the top of the main frame (503) is located at the rear and kept in a retracted state. During the rotation of the cam (11), it is pushed up by the first engaging part (111) to push the lower end of the main frame (503) backward. Through the lever principle, the top of the main frame (503) swings forward and extends. The front end of the top of the main frame (503) extends upward to form an arc-shaped flange (504). The arc-shaped flange (504) extends upward to form an arc-shaped flange (504). The beak (502) is provided with a vertical mounting hole. The beak (502) includes an upper beak (5021) and a lower beak (5022). The front ends of the upper beak (5021) and the lower beak (5022) are engaged and closed at their rear positions, leaving a gap for a rope to pass through freely. The bottom of the upper beak (5021) extends downward to form a mounting shaft that passes through the vertical mounting hole and connects to the first bevel gear (505). The lower beak (5022) is hinged inside the upper beak (5021), and the bottom of the lower beak (5022) extends downward to form a rod (5023). A transmission rod is provided on the main frame (503) at this location along the front-to-back direction. The front end of the transmission rod is provided with a connection to the first bevel gear (505). The second bevel gear (506) meshes with the transmission rod, and a small transmission gear (501) is provided at the rear end of the transmission rod. During the rotation of the cam (11), the sector gear plate (12) contacts and meshes with the small transmission gear (501). The small transmission gear (501) drives the second bevel gear (506) and the first bevel gear (505) to rotate, thereby driving the beak (502) to rotate. During the rotation of the beak (502), the rod part (5023) under the lower half of the beak (5022) contacts the arc-shaped flange part (504) and flips accordingly according to the different protrusion size of the outer wall of the arc-shaped flange part (504). Finally, during the rotation of the entire beak (502), the lower half of the beak (5022) is rotated. 22) For the entire opening and closing action of the upper half mouth (5021), a locking block (507) is provided on the top surface of the main frame (503). The locking block (507) is provided with a spring that normally engages the rod (5023) of the lower half mouth (5022) to prevent it from rotating. When the main frame (503) is pushed up by the first engaging part (111) and its top extends forward, the locking block (507) contacts the impact block on the mounting plate (2), so that the locking block (507) overcomes the internal spring force and disengages from the rod (5023) of the lower half mouth (5022), thereby allowing the rod (5023) of the lower half mouth (5022) to be driven to rotate by the first bevel gear (505).

4. The device for mechanically tying knots in hairy crabs according to claim 3, characterized in that: The wire clamping plate (6) includes a main board (601) connected to the side plate (1). The main board (601) has mounting holes along the front-rear direction. A wire clamping post (602) passes through these mounting holes. The front end of the wire clamping post (602) is a flat, large-diameter end, and the rear end is a small-diameter rod. After passing through the mounting holes, a tension rod (603) is hinged to the rear end of the small-diameter rod. The tension rod (603) is hinged to the main board (601) near the wire clamping post (602). 3) A compression support spring (604) is provided at the end away from the clamping post (602). The rear end of the compression support spring (604) is positioned and installed through the main board (601), and the front end is positioned and installed through the tension rod (603). Under the action of the spring force of the compression support spring (604), the clamping post (602) is in a backward tensioned state through the leverage action of the tension rod (603). When winding the line, the rope is clamped in the gap between the flat end of the clamping post (602) and the main board (601).

5. The device for mechanically tying knots in hairy crabs according to claim 4, characterized in that: The wire cutting mechanism (7) includes a telescopic cylinder (701) connected to the main board (601). The telescopic cylinder (701) is equipped with a slide rail and a slider, and a wire cutting cylinder (702) is set on the slider. The telescopic cylinder (701) drives the wire cutting cylinder (702) to move back and forth along the slide rail. The front end of the wire cutting cylinder (702) is equipped with scissors (703). The scissors (703) are located on the side of the wire clamping post (602) near the beak (502) and leave a gap between them. The telescopic cylinder (702) controls the opening and closing of the scissors (703). When cutting the wire, the telescopic cylinder (701) extends to send the wire cutting cylinder (702) into place. The wire cutting cylinder (702) controls the closing of the scissors (703) to cut the rope.

6. The device for mechanically tying loose knots in hairy crabs according to claim 5, characterized in that: The kicking mechanism (8) includes a kicking rod (801), which includes a head extending longitudinally and a rod extending laterally. The head is located between the clamping post (602) and the scissors (703) with gaps on both sides. The rod passes laterally through the main board (601) and is hinged to a swing arm (802). The other end of the swing arm (802) is connected to a kicking cylinder (803). The extension and retraction of the kicking cylinder (803) causes the swing arm (802) to swing forward, thereby causing the head of the kicking rod (801) to rotate backward to avoid the rope so that the rope can be wound normally. Alternatively, the swing arm (802) can swing backward, thereby causing the head of the kicking rod (801) to rotate forward and kick the end of the rope out of the clamping post (602).

7. A method for tying a slipknot using a mechanical slipknotting device for hairy crabs as described in claim 6, characterized in that: The push rod (302) extends to block the clamping post (602), and the line release tube (9) rotates to avoid the clamping post (602) and directly winds the line around the crab. When the line release tube (9) rotates to wind the line to the last turn, the cam (11) rotates. The cam (11) rotates first by the second engaging part (112) contacting the bottom of the flipping rod (311), which drives the push rod (302) to retract. The wire release tube (9) winds the rope into the gap between the flat end of the wire clamping post (602) and the main board (601), where it is clamped. At the same time, as the push rod (302) retracts, it pushes the newly wound rope to the front of the bird's beak (502) through the wire clamping groove (305). Then the cam (11) continues to rotate and contacts the bottom of the main frame (503) from the first engaging part (111), pushing the bottom of the main frame (503) backward. The upper end of the main frame (503) flips forward and gets into the lower half of the beak (5022) of the bird beak (502) to wrap around the two ropes. The push rod (302) retracts back into place and disengages from the ropes. Then the cam (11) continues to rotate, and the sector gear plate (12) of the third engagement part (113) drives the transmission pinion (501) to rotate. Through the rotation of the second bevel gear (506) and the first bevel gear (505), the beak (502) is driven to rotate. During the rotation of the beak (502), the two ropes are wrapped together to form a slip knot and then opened to clamp the middle rope part and pull it from the slip knot. Next, the left telescopic cylinder (401) and the right telescopic cylinder (402) extend into place and are held in place by two U-shaped wire guide grooves (404) respectively engaging with the left and right ends of the rope knot; Then the telescopic cylinder (701) extends to send the wire-cutting cylinder (702) into place, and the wire-cutting cylinder (702) controls the closing of the scissors (703) to cut the rope; Then the kicking cylinder (803) retracts, causing the swing arm (802) to swing backward, thereby causing the head of the kicking rod (801) to rotate forward and kick the end of the rope out of the clamp post (602), so that both ends of the rope are in a free and unrestricted state. Then the cam (11) continues to rotate, causing the first engaging part (111) to drive the beak (502) to flip backward, pulling the rope out of the slipknot and realizing the action of tying a slipknot.

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