Humanoid double-finger type kelp winding and knotting equipment

Abstract

The humanoid double-finger type kelp winding and knotting equipment comprises an auxiliary knotting module and a pneumatic clamping jaw module which are installed on the two sides of a main body bottom plate, and the auxiliary knotting module comprises a first clamping mechanism and a second clamping mechanism which are arranged in a spaced mode; the first clamping mechanism and the second clamping mechanism clamp the two ends of a kelp strip respectively and move relatively to enable the kelp strip to be wound into a circle, the pneumatic clamping jaw module comprises a first pneumatic clamping jaw and a second pneumatic clamping jaw, the first pneumatic clamping jaw and the second pneumatic clamping jaw are arranged in an up-down crossed mode, and the first pneumatic clamping jaw extends to the second clamping mechanism; the second pneumatic clamping jaw extends to the first clamping mechanism, clamps the two ends of the kelp strips respectively and retreats to pull the kelp strips to be knotted. The first clamping mechanism and the second clamping mechanism clamp kelp to move up and down to form a ring, the first pneumatic clamping jaw and the second pneumatic clamping jaw are matched to grab the two ends of kelp strips to penetrate through the kelp ring to form kelp knots, the clamping jaws are high in clamping speed and stable, the kelp knotting efficiency is improved, and the kelp strips are prevented from being damaged by redundant actions.

Description

Technical Field

[0001] The invention belongs to the technical field of kelp knotting, and in particular relates to a humanoid double-finger kelp winding and knotting device. Background Art

[0002] At present, kelp knotting mainly relies on manual knotting, which has low knotting efficiency and high labor cost. It also has certain corrosive damage to workers' skin and even causes finger deformation and nail loss. Therefore, some people use mechanical knotting. Another part of the knotting is mechanical, but the existing kelp knotting machine equipment is large in size and the knotting action is complicated, especially the winding knotting part, which has a complex structure, low knotting efficiency and is easy to damage the kelp.

[0003] The Chinese patent with publication number CN 203457758 U discloses a main shaft clamp mechanism of a kelp knotting machine, including a main shaft, a main shaft driving device and a main shaft clamp, the main shaft clamp is hollow, the main shaft is sleeved in the main shaft clamp, and the main shaft driving device is arranged at the end of the main shaft; the main shaft clamp includes a kelp clamp, a kelp reel and a main shaft sleeve, the kelp clamp is hinged on the kelp reel, the kelp reel is fixedly connected to the main shaft sleeve, the main shaft sleeve is hollow, and the main shaft is sleeved on the main shaft sleeve. The kelp is clamped by the kelp clamp, and the knife clamp mechanism of the kelp knotting machine is inserted into the kelp reel. The main shaft clamp rotates to make the kelp wrap around the kelp reel and the knife clamp mechanism, completing the wrapping process, and then the knife clamp mechanism clamps the other end of the kelp and cuts and pulls it out at the same time, completing the wrapping and knotting process of the kelp. Although the device can quickly complete the kelp winding action, the coordination between the various structures is low, which affects the overall efficiency of knotting, and the kelp is easily damaged when winding into a knot. Summary of the invention

[0004] The purpose of the present invention is to provide a humanoid double-finger kelp winding and knotting device to replace manual knotting, liberate labor, and solve the problems of low knotting efficiency and easy damage to kelp in existing equipment.

[0005] The technical solution adopted by the present invention is a humanoid double-finger kelp winding and knotting device, including an auxiliary knotting module and a pneumatic clamping claw module installed on both sides of the main body bottom plate, the auxiliary knotting module includes a first clamping mechanism and a second clamping mechanism arranged at intervals, the first clamping mechanism and the second clamping mechanism respectively clamp the two ends of the kelp strip and move relatively to each other to wind the kelp strip into a circle, the pneumatic clamping claw module includes a first pneumatic clamping claw and a second pneumatic clamping claw, the first pneumatic clamping claw and the second pneumatic clamping claw are arranged crosswise up and down and the first pneumatic clamping claw extends to the second clamping mechanism, and the second pneumatic clamping claw extends to the first clamping mechanism, respectively clamping the two ends of the kelp strip and pulling the kelp strip backward to form a knot.

[0006] Furthermore, the first clamping mechanism is installed on the first auxiliary vertical plate, and the second clamping mechanism is installed on the second auxiliary vertical plate. The lower part of the first auxiliary vertical plate is provided with an arc-shaped first notch, the first notch is provided with a first guide rail, and the first guide rail is slidably connected to a matching first slider, the first clamping mechanism is installed on the first slider and connected to the first driver, and the first driver is installed on the first auxiliary vertical plate; the upper part of the second auxiliary vertical plate is provided with an arc-shaped second notch, the second notch is provided with a second guide rail, and the second guide rail is slidably connected to a matching second slider, the second clamping mechanism is installed on the second slider and connected to the second driver, and the second driver is installed on the second auxiliary vertical plate; the first guide rail and the second guide rail space are in a cross state, the top left end of the first guide rail is opposite to the lower left end of the second guide rail, and when the first clamping mechanism is located at the top left end of the first guide rail and the second clamping mechanism is located at the lower left end of the second guide rail, the openings of the first clamping mechanism and the second clamping mechanism are opposite to the discharge port of the feeding module.

[0007] Furthermore, a T-shaped slot matching the arc-shaped T-shaped sliding portion of the first guide rail is provided at the bottom of the first sliding block, and a T-shaped slot matching the arc-shaped T-shaped sliding portion of the second guide rail is provided at the bottom of the second sliding block.

[0008] Furthermore, the first driver includes a first active driving wheel, a first bow directional wheel, a first tail directional wheel and a first driving rope. The first driving active wheel is installed in the middle part of the outer side of the first auxiliary vertical plate and is connected to the output shaft of the first driving motor. The first driving motor is installed on the inner side of the first auxiliary vertical plate. The first bow directional wheel and the first tail directional wheel are rotatably connected to the first bow mounting shaft and the first tail mounting shaft respectively. The first bow mounting shaft and the first tail mounting shaft are respectively fixedly installed on the outer side of the first auxiliary vertical plate and are located at the bow and tail ends of the first guide rail. The middle part of the first driving rope is fixedly connected to the first active driving wheel. The two ends of the first driving rope are respectively connected to the two sides of the first clamping mechanism after bypassing the first bow directional wheel and the first tail directional wheel. The first clamping mechanism is driven by the first driving active wheel to move along the first guide rail. The first bow directional wheel and the first tail directional wheel are both provided with grooves for accommodating the winding of the first driving rope. The second driver has the same structure as the first driver and is installed on the second auxiliary vertical plate.

[0009] Furthermore, the first clamping mechanism includes a first fixed auxiliary splint, a first movable auxiliary splint and a first electric magnet, the first fixed auxiliary splint includes a first fixed auxiliary splint bottom plate and a first fixed auxiliary splint long side plate and a first fixed auxiliary splint short side plate vertically arranged at both ends of the first fixed auxiliary splint bottom plate, the first fixed auxiliary splint bottom plate is fixedly mounted on the top surface of the first sliding block, the first fixed auxiliary splint short side plate is located on the outside of the first auxiliary vertical plate and a strip notch is provided at the bottom, the first movable auxiliary splint includes a first movable auxiliary splint bottom plate, the first movable auxiliary splint bottom plate passes through the first fixed auxiliary splint short side plate through the strip notch and the inner end is provided with the first movable auxiliary splint long side plate upward, and the outer end is provided with the first movable auxiliary splint short side plate downward, and there is an opening between the first movable auxiliary splint long side plate and the first fixed auxiliary splint long side plate for clamping kelp The first movable auxiliary splint has a long side plate fixedly connected to the left mounting shaft of the first splint and the right mounting shaft of the first splint, and the other ends of the left mounting shaft of the first splint and the right mounting shaft of the first splint pass through the short side plate of the first fixed auxiliary splint and are movably connected with it. The left mounting shaft of the first splint and the right mounting shaft of the first splint are respectively sleeved with a first left tension spring and a first right tension spring, and the two ends of the first left tension spring and the first right tension spring are respectively fixedly connected to the short side plate of the first fixed auxiliary splint and the long side plate of the first movable auxiliary splint; the first electric magnet is fixedly installed on the outer side of the first sliding block and the electromagnetic surface is connected to the short side plate of the first movable auxiliary splint by magnetic attraction, and the first electric magnet is energized to adsorb the short side plate of the first movable auxiliary splint so that the long side plate of the first movable auxiliary splint moves inward and closes with the long side plate of the first fixed auxiliary splint to clamp the kelp strip; the structure of the second clamping mechanism is the same as the first clamping mechanism.

[0010] Furthermore, a positioning pin is provided on one side of the long side plate of the first movable auxiliary splint facing the long side plate of the first fixed auxiliary splint, a tip is provided at the head end of the positioning pin, and a positioning hole is provided on the long side plate of the first fixed auxiliary splint corresponding to the positioning pin.

[0011] Furthermore, the left end of the first pneumatic clamp is connected to the driving mechanism through the first connecting mechanism, and the right end is fixedly connected to the first left claw finger and the first right claw finger through the clamping fingers of the first pneumatic fingers. The first left claw finger and the first right claw finger are pushed by the first pneumatic fingers to open and close and clamp the kelp strips. The structure of the second pneumatic clamp is the same as that of the first pneumatic clamp, the right ends of the first pneumatic clamp and the second pneumatic clamp are in a crossed state and the first pneumatic clamp is located above the second pneumatic clamp, the clamping end of the first pneumatic clamp faces the second clamping mechanism, and the clamping end of the second pneumatic clamp faces the first clamping mechanism.

[0012] Furthermore, the first connecting mechanism includes a first rack, the right end of the first rack is fixedly connected to the first pneumatic clamp through a first connecting block, the back of the left end is connected to the first linear guide rail through a first sliding block, and the front is connected to the output end of the driving mechanism. The structure of the second connecting mechanism is the same as that of the first connecting mechanism.

[0013] Compared with the prior art, the beneficial effect of the present invention is that the present invention adopts an auxiliary knotting module to clamp the two ends of the kelp strip, and the first clamping mechanism and the second clamping mechanism stably clamp the kelp and move it up and down to quickly form a circle, and cooperate with the first pneumatic clamp and the second pneumatic clamp to grab the two ends of the kelp strip and pass them through the kelp circle to form a kelp knot. The action is simple, the clamping speed is fast and stable, the kelp knotting efficiency is improved, and unnecessary actions to avoid damage to the kelp strip. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of a kelp winding and knotting device; Figure 2 It is a structural schematic diagram of the auxiliary knotting mechanism; Figure 3 It is a structural schematic diagram of the first auxiliary vertical plate of the auxiliary knotting mechanism; Figure 4 is a structural schematic diagram of a first clamping mechanism; Figure 5 It is a schematic diagram of the structure of the pneumatic gripper module; Figure 6 is a schematic diagram of the driving mechanism structure; Figure 7 It is a cross-sectional view of the friction wheel one-way shaft module; Figure 8 This is a schematic diagram of the overall structure of the kelp winding and knotting equipment; Fig. 9 Schematic diagram of assembling the kelp knotting device; Fig.10 This is a diagram of the knotted and entangled state of kelp. DETAILED DESCRIPTION

[0015] The present invention will be further explained below in conjunction with the accompanying drawings to facilitate better understanding by those skilled in the art.

[0016] Example 1 like Figure 1-10As shown, a humanoid double-finger kelp winding and knotting device includes an auxiliary knotting module 2 and a pneumatic clamping jaw module 3 installed on both sides of a main body bottom plate 1, the auxiliary knotting module 2 includes a first clamping mechanism 203 and a second clamping mechanism 204 arranged at intervals, the first clamping mechanism 203 and the second clamping mechanism 204 respectively clamp the two ends of the kelp strip and move relatively to each other to wind the kelp strip into a circle, the pneumatic clamping jaw module 3 includes a first pneumatic clamping jaw 301 and a second pneumatic clamping jaw 302, the first pneumatic clamping jaw 301 and the second pneumatic clamping jaw 302 are arranged crosswise up and down and the first pneumatic clamping jaw 301 extends to the second clamping mechanism 204, and the second pneumatic clamping jaw 302 extends to the first clamping mechanism 203, respectively clamping the two ends of the kelp strip and pulling the kelp strip backward to form a knot. Among them, a support 5 is also installed on the main body bottom plate, and the support 5 is used to install the pneumatic clamp module 3, the feeding module 4 and the driving mechanism 6. The feeding module 4 is installed above the pneumatic clamp module 3 to transport the kelp strips from the left end of the main body bottom plate 1 to the right end facing the auxiliary knotting module 2, so that the auxiliary knotting module 2 can clamp the two ends of the kelp strips.

[0017] The first clamping mechanism 203 and the second clamping mechanism 204 stably clamp the kelp and move it up and down to quickly form a circle. The first pneumatic clamp 301 and the second pneumatic clamp 302 cooperate to grab the two ends of the kelp strip and pass it through the kelp circle to form a kelp knot. The action is simple, and the clamping speed is fast and stable, which improves the efficiency of kelp knotting and avoids damage to the kelp strip caused by unnecessary actions.

[0018] The auxiliary knotting module 2 includes a first auxiliary vertical plate 201, a second auxiliary vertical plate 202, a first clamping mechanism 203 and a second clamping mechanism 204. The first auxiliary vertical plate 201 is provided with an arc-shaped first notch 2011 at the lower part, and a first guide rail 2012 is provided on the first notch 2011. The first guide rail 2012 is slidably connected to a first slider 2013 matching the first guide rail 2012. The first clamping mechanism 203 is fixedly installed on the first slider 2013. The first clamping mechanism 203 is connected to a first driver 205, and the first driver 205 drives the first clamping mechanism 203 to slide along the first guide rail 2012; wherein, the bottom of the first slider 2013 is provided with an arc-shaped T-shaped sliding portion matching the first guide rail 2012 The matching T-slot limits the first slider 2013 to slide along the first guide rail 2012 to avoid slipping; an arc-shaped second notch 2021 is provided on the upper part of the second auxiliary vertical plate 202, and a second guide rail 2022 is provided on the second notch 2021. The second guide rail 2022 is slidably connected to the matching second slider 2023, and the second clamping mechanism 204 is fixedly installed on the second slider 2023. The second clamping mechanism 204 is connected to the second driver, and the second driver drives the second clamping mechanism 204 to slide along the second guide rail 2022. A T-slot matching the arc-shaped T-sliding part of the second guide rail 2022 is provided at the bottom of the second slider 2023, which limits the second slider 2023 to slide along the second guide rail 2022 to avoid slipping. The first guide rail 2012 and the second guide rail 2022 are in a cross state in space, and the top left end of the first guide rail 2012 is opposite to the lower left end of the second guide rail 2022. When the first clamping mechanism 203 is located at the top left end of the first guide rail 2012 and the second clamping mechanism 204 is located at the lower left end of the second guide rail 2022, the openings of the first clamping mechanism 203 and the second clamping mechanism 204 are opposite to the discharge port of the feeding module 4, so as to achieve the purpose that the first clamping mechanism 203 and the second clamping mechanism 204 respectively accurately clamp the head end and the tail end of the kelp strip, and drive the kelp strip to form a ring with both ends crossed after movement. The auxiliary knotting mechanism moves along the first guide rail and the second guide rail through the first clamping structure and the second clamping mechanism, so as to achieve stable clamping of the kelp and move it up and down to form a circle quickly. The kelp circle has sufficient space for control and the positions of the two ends of the kelp strip are staggered, which is conducive to the subsequent clamping and knotting by the pneumatic clamping claw module 3, thereby improving the knotting success rate and knotting efficiency.

[0019] The first driver 205 includes a first active driving wheel 2051, a first bow directional wheel 2052, a first tail directional wheel 2053 and a first driving rope 2054. The first driving active wheel 2051 is installed in the middle of the outer side of the first auxiliary vertical plate 201 and is connected to the output shaft of the first driving motor 2055. The first driving motor 2055 is installed on the inner side of the first auxiliary vertical plate 201. The first bow directional wheel 2052 and the first tail directional wheel 2053 are rotatably connected to the first bow mounting shaft 2056 and the first tail mounting shaft 2057 respectively. The first bow mounting shaft 2056 and the first tail mounting shaft 2057 are respectively fixedly installed on the outer side of the first auxiliary vertical plate 201, located at the first and tail ends of the first guide rail 2012. The first driving The middle part of the rope 2054 is fixedly connected to the first active driving wheel 2051, and the two ends of the first driving rope 2051 are respectively connected to the two sides of the first clamping mechanism 203 after passing through the first head directional wheel 2052 and the first tail directional wheel 2053. The first head directional wheel 2052 and the first tail directional wheel 2053 are both provided with grooves for accommodating the winding of the first driving rope 2054 to prevent the first driving rope 2054 from slipping. The first driving motor 2055 rotates to drive the first driving active wheel 2051 to rotate, so that the first driving ropes 2044 on both sides are retracted or extended, thereby driving the first clamping mechanism 203 to move upward or downward along the first guide rail 2012; the second driver has the same structure as the first driver and is installed on the second auxiliary vertical plate 202.Furthermore, the first clamping mechanism 203 includes a first fixed auxiliary clamping plate 2031, a first movable auxiliary clamping plate 2032 and a first electric magnet 2033. The first fixed auxiliary clamping plate 2031 includes a first fixed auxiliary clamping plate bottom plate 20311 and a first fixed auxiliary clamping plate long side plate 20312 and a first fixed auxiliary clamping plate short side plate 20313 vertically arranged at both ends of the first fixed auxiliary clamping plate bottom plate 20311. The first fixed auxiliary clamping plate bottom plate 20311 is fixedly mounted on the top surface of the first sliding block 2013. The first fixed auxiliary clamping plate short side plate 20313 is located on the outer side of the first auxiliary vertical plate 201 and has a strip notch 20314 at the lower part. The strip notch 20314 is provided 314 is U-shaped, one end of which passes through the first fixed auxiliary splint short side plate 20313; the first movable auxiliary splint 2032 includes a first movable auxiliary splint bottom plate 20321, the first movable auxiliary splint bottom plate 20321 passes through the first fixed auxiliary splint short side plate 20313 through the strip-shaped notch 20314 and the inner end is upwardly provided with a first movable auxiliary splint long side plate 20322, and the outer end is downwardly provided with a first movable auxiliary splint short side plate 20323, there is an opening between the first movable auxiliary splint long side plate 20322 and the first fixed auxiliary splint long side plate 20312 for clamping the kelp strip, and the outer side of the first movable auxiliary splint long side plate 20322 is fixedly connected to the left mounting shaft of the first splint 2034 and the first clamping plate right mounting shaft 2035, the other end of the first clamping plate left mounting shaft 2034 and the first clamping plate right mounting shaft 2035 pass through the first fixed auxiliary clamping plate short side plate 20313 and are movably connected thereto, the first clamping plate left mounting shaft 2034 and the first clamping plate right mounting shaft 2035 are respectively sleeved with a first left tension spring 2036 and a first right tension spring 2037, the first left tension spring 2036 and the first right tension spring 2037 are respectively fixedly connected at both ends to the first fixed auxiliary clamping plate short side plate 20313 and the first movable auxiliary clamping plate long side plate 20322; the first electric magnet 2033 is fixedly mounted on the outside of the first sliding block 2013 and the electromagnetic surface is connected to the first movable auxiliary clamping plate The short side plate 20323 of the plate is connected by magnetic attraction. The first electric magnet 2033 is energized to attract the short side plate 20323 of the first movable auxiliary splint, so that the long side plate 20322 of the first movable auxiliary splint moves inward and closes with the long side plate 20312 of the first fixed auxiliary splint to clamp the kelp strips. After the first electric magnet 2033 is powered off, the elastic restoring force of the first left tension spring 2036 and the first right tension spring 2037 causes the short side plate 20323 of the first movable auxiliary splint to pop outward, driving the long side plate 20322 of the first movable auxiliary splint to move outward and loosen from the long side plate 20312 of the first fixed auxiliary splint; the structure of the second clamping mechanism 204 is the same as that of the first clamping mechanism 203.

[0020] Among them, in order to ensure the directional movement of the long side plate of the first movable auxiliary splint, a positioning pin 2038 is provided on the side of the long side plate 20322 of the first movable auxiliary splint facing the long side plate 20312 of the first fixed auxiliary splint, and the head end of the positioning pin 2038 is a pointed part, and a positioning hole 20315 is provided on the long side plate 20312 of the first fixed auxiliary splint corresponding to the positioning pin 2038.

[0021] The clamping mechanism adopts a fixed auxiliary splint and a dynamic auxiliary splint and is provided with an electromagnetic drive and a spring tension recovery. There is a large flat clamping space between the fixed auxiliary splint and the dynamic auxiliary splint, the clamping success rate of the kelp strips is high, the stability of the moving process is good, and the kelp strips are not easily damaged. The electromagnetic drive is not only simple to control, but also has good adaptability, and can quickly realize the closure of the clamping mechanism. When used with a spring, the fixed auxiliary splint and the dynamic auxiliary splint can automatically and quickly restore opening. The overall clamping structure is small and compact, and a rope drive is adopted to realize the process requirements of kelp wrapping and knotting. As a flexible drive, the rope drive has good adaptability and can make the clamping mechanism move freely on the arc track, with faster speed and more flexible movement. The kelp circle-forming action is simpler and more coherent, thereby improving the efficiency of kelp knotting.

[0022] The pneumatic gripper module 3 includes a first pneumatic gripper 301 and a second pneumatic gripper 302. The left end of the first pneumatic gripper 301 is connected to the driving mechanism 6 through a first connecting mechanism. The right end of the first pneumatic gripper 301 is fixedly connected to the first left claw finger 304 and the first right claw finger 305 through the clamping fingers of the first pneumatic finger 303. The first left claw finger 304 and the first right claw finger 305 are driven by the first pneumatic finger 303 to open and close the kelp strips. The first connecting mechanism includes a first rack 306, and the first rack The right end of 306 is fixedly connected to the first pneumatic clamp 301 through the first connecting block 307, the back of the left end of the first rack 306 is connected to the first linear guide 309 through the first sliding block 308, and the front of the first rack 306 is connected to the output end of the driving mechanism 6; the back of the first linear adjustment block 309 is connected to the support 5 through the angle adjustment block 310, and the angle adjustment block 310 is used to support and stabilize the first linear guide 309 to ensure that the first rack 306 moves linearly along the first linear guide 309.

[0023] The structure of the second pneumatic clamp 302 is the same as that of the first pneumatic clamp 301. Similarly, the second pneumatic clamp 302 is connected to the driving mechanism through the second connecting mechanism. The setting of the second connecting mechanism is the same as that of the first connecting mechanism. The driving mechanism drives the first rack and the second rack to move left or right, driving the first pneumatic clamp 301 and the second pneumatic clamp 302 to move left or right; when the first pneumatic clamp 301 and the second pneumatic clamp 302 move rightward to position, the clamping ends of the first pneumatic clamp 301 and the second pneumatic clamp 302 are in a crossed state and the first pneumatic clamp 301 is located above the second pneumatic clamp 302, the clamping end of the first pneumatic clamp 301 is facing the second clamping mechanism 204, and the clamping end of the second pneumatic clamp 3021 is facing the first clamping mechanism 203; when the first pneumatic clamp 301 and the second pneumatic clamp 302 move leftward to position, the clamping ends of the first pneumatic clamp 301 and the second pneumatic clamp 302 are separated at a set angle and have a set distance. Pneumatic grippers are used as the power source. The grippers overlap each other to clamp the two ends of the kelp and tie a knot. The action is simpler, the gripping speed of the grippers is fast and stable, the success rate is higher, and the efficiency of kelp knotting is improved.

[0024] Among them, in order to ensure the smooth movement of the first pneumatic clamp 301 and the second pneumatic clamp 302, the first pneumatic clamp 301 and the second pneumatic clamp 302 are slidably connected to the first slide groove 701 and the second slide groove 702 on the pneumatic clamp support plate 7 through the first supporting bull's eye wheel 311 and the second supporting bull's eye wheel respectively. The pneumatic clamp support plate 7 is erected on the main body bottom plate 1, and a notch 703 is opened in the middle of the pneumatic clamp support plate 7. A limiting groove 101 is provided at a position corresponding to the notch 703 on the main body bottom plate 1, and a kelp collection bin 8 is placed on the limiting groove 101.

[0025] The left end of the feeding module 4 is mounted on the support 5, and the right end extends to the auxiliary knotting module 2. The support 5 includes a first vertical plate 501, a second vertical plate 502, a friction wheel mounting plate 503 and a motor fixing plate 504. The first vertical plate 501 and the second vertical plate 502 are vertically mounted on the upper end surface of the main body bottom plate 1 in parallel and at intervals. The friction wheel mounting plate 503 is fixedly arranged at the top of the first vertical plate 501 and the second vertical plate 502, and the motor fixing plate 504 is installed in the middle of the first vertical plate 501 and the second vertical plate 502. The driving mechanism 6 of the feeding module 4 and the pneumatic clamping claw module 3 is integrated and mounted on the motor fixing plate 504 and the friction wheel mounting plate 503 of the support 5, which is not only energy-saving, but also conducive to improving the continuity of the action, and reduces the equipment layout and improves the compactness of the equipment structure.

[0026] Among them, in order to adapt to production needs and improve the clamping accuracy of the pneumatic gripper module 2 on the kelp strips, the motor fixing plate 504 is symmetrically provided with an arc-shaped first angle adjustment groove 5041 and a second angle adjustment groove on the outside of the driving gear and the driven gear. The bottom end of the first angle adjustment block 309 is embedded in the motor fixing plate through the first angle adjustment groove 5041 and then fixed with bolts. The bottom end of the second angle adjustment block is embedded in the motor fixing plate through the second angle adjustment groove and then fixed with bolts.

[0027] The feeding module 4 includes an active friction wheel 401, a driven friction wheel 402 and a kelp conveying plate 403. The active friction wheel 401 and the driven friction wheel 402 are arranged side by side below the friction wheel mounting plate 503 and there is a gap between the two to accommodate the passage of kelp strips. The friction force of the active friction wheel 401 and the driven friction wheel 402 is used to convey the kelp. The inner ring of the active friction wheel 401 is fixedly connected to the friction wheel one-way shaft module 404 through a coupling. The friction wheel one-way shaft module 404 is provided with a one-way locking structure, which only allows the active friction wheel to rotate in one direction. The friction wheel one-way shaft module 404 is connected to the driving mechanism 6 and the bottom end is rotatably connected to the motor fixing plate 504 through a flange bearing. The top end of the friction wheel one-way shaft module 404 is rotatably connected to the friction wheel mounting plate 503 through a flange bearing and a rotary encoder 405 is installed on the top end. The number of rotations of the active friction wheel is controlled by setting the rotary encoder to control the output length of the kelp strips. The driven friction wheel 402 The inner ring is fixedly connected to the friction wheel fixed short shaft 406, the top of the friction wheel fixed short shaft 406 is rotatably connected to the friction wheel mounting plate 503 through a flange bearing, and the lower end passes through the kelp conveying plate 403, the head end of the kelp conveying plate 403 is located below the active friction wheel 401 and the driven friction wheel 402 and extends to the left to be provided with a feed port 4031, and circular holes 4032 are provided on the kelp conveying plate 403 corresponding to the active friction wheel 401 and the driven friction wheel 402 to prevent interference with the rotation of the two. Support plates 4033 are provided on both sides of the conveying plate 403 and are fixedly connected to the friction wheel mounting plate 503 to ensure the structural stability of the kelp conveying plate 403; the end of the kelp conveying plate 403 extends to the auxiliary knotting module 2 and is provided with a discharge port 4034, and a kelp shearing mechanism 407 is installed at the discharge port 4034 for cutting the kelp to make the kelp into 15-18 cm kelp strips, and the kelp strips are straight strips, which is conducive to the rapid clamping movement of the auxiliary knotting mechanism and improves the knotting efficiency.

[0028] The feeding module 4 is installed above the pneumatic gripper module 3, which reduces the space occupied by the equipment and improves the overall compactness of the device. The feeding module 4 and the pneumatic gripper 3 module share a driving mechanism to achieve intensive production, save energy and reduce costs.

[0029] The driving mechanism 6 includes a stepper motor 601, a driving gear 602 and a driven gear 603. The stepper motor 601 is installed below the motor fixing plate 604. The output shaft of the stepper motor 601 passes through the motor fixing plate 504 and is connected to the driving gear 602 to drive it to rotate. The driven gear 603 is installed on one side of the driving gear 602 and meshes with the driving gear 602. The inner ring of the driven gear 803 is fixedly connected to the friction wheel one-way shaft module 404. When the driven gear 803 rotates, the driving friction wheel 401 is driven to rotate synchronously through the friction wheel one-way shaft module 404 (except when the stepper motor is reversed). The stepper motor 601 is used as a power source. The rotation of the stepper motor 601 causes the driving gear 602 to drive the driven gear 603 to rotate synchronously. The mutually meshing driving gear 602 and the driven gear 603 synchronously transmit and simultaneously supply energy to the feeding module 4 and the pneumatic clamping claw module 3, which not only ensures the consistency of the action and improves the efficiency, but also enhances the compactness of the connection between the components and improves the portability of the device.

[0030] A shell 9 is provided above the auxiliary knotting module 2, the pneumatic gripper module 3 and the feeding module 4. The bottom end of the shell 9 is fixedly connected to the main body bottom plate 1 with screws to cover the equipment. Operation ports 901 are provided on the front and sides of the shell 9 to facilitate feeding and taking out the kelp collection bin 8.

[0031] The knotting steps of a humanoid double-finger kelp winding and knotting device are as follows: The first step, initially, the first clamping mechanism 203 is located at the top left end of the first guide rail 2012, the second clamping mechanism 204 is located at the lower left end of the second guide rail 2022, the first clamping mechanism 203 and the second clamping mechanism 204 are both kept in an open state, the stepping motor 601 is operated to rotate forward, and the kelp strip is put into the gap between the active friction wheel 401 and the driven friction wheel 402. The kelp strip moves to the right along the belt conveyor plate 403 by the thrust of the active friction wheel 401 and the driven friction wheel 402 until the head end of the kelp strip is pushed and falls between the second fixed auxiliary splint and the second movable auxiliary splint of the second clamping mechanism 204. At this time, the kelp strip moves the set distance set by the rotary encoder 405, and the end of the kelp strip is located between the first fixed auxiliary splint 2031 and the first movable auxiliary splint 2032. The kelp shearing mechanism 407 at the end of the conveyor plate 203 cuts the kelp strip; At the same time, the first fixed auxiliary clamping plate 2031 and the first movable auxiliary clamping plate 2032 are closed by the magnetic force of the first electric magnet 2033 to clamp the upper end of the kelp strip; similarly, the second fixed auxiliary clamping plate and the second movable auxiliary clamping plate are closed by the magnetic force of the second electric magnet to clamp the lower end of the kelp strip; In the second step, after clamping the two ends of the kelp strip, the first driving motor 2055 as a power source drives the first driving rope 2054 to pull the first clamping mechanism 203 along the first guide rail 2012 within the range limited by the first head directional wheel 2052 and the first tail directional wheel 2053, so that the head end of the kelp strip moves upward; similarly, the second driving motor as a power source drives the second rope to drive the second clamping mechanism to move along the second guide rail within the range limited by the second head directional wheel and the second tail directional wheel, so that the end of the kelp strip moves downward. Since the space between the first guide rail and the second guide rail is cross-shaped and arc-shaped, the kelp strip is twisted into a circle and the end of the kelp strip is located at the rear lower part of the head end; At the same time, the stepper motor 601 reverses, and the first rack 306 and the second rack drive the first sliding block 307 and the second sliding block to move rightward respectively, thereby driving the first pneumatic clamp 301 and the second pneumatic clamp 302 to move rightward, and the two are installed at different heights; at the end of the second step, the first pneumatic clamp 301 and the second pneumatic clamp 302 form a cross shape, with the first pneumatic clamp 301 at the top and the second pneumatic clamp at the bottom, and the head end of the kelp strip is just moved between the first left claw finger 304 and the first right claw finger 305 of the first pneumatic clamp 301, and the end of the kelp strip is just moved between the second left claw finger and the second right claw finger of the second pneumatic clamp; In the third step, the first pneumatic finger 303 of the first pneumatic clamp 301 drives the first left claw finger 304 and the first right claw finger 305 to close and clamp the head end of the kelp strip, and the second pneumatic finger of the second pneumatic clamp 302 drives the second left claw finger and the second right claw finger to close and clamp the end of the kelp strip. After clamping, the first electric magnet 3055 and the second electric magnet are powered off and lose their magnetic attraction. The first dynamic auxiliary clamp plate 2032 moves outward under the tension of the first left tension spring 2036 and the first right tension spring 2037, and the second dynamic auxiliary clamp plate moves outward under the tension of the second left tension spring and the second right tension spring, so that the first clamping mechanism 203 and the second clamping structure 204 release the kelp strip. The first pneumatic clamping mechanism 203 is driven by the first driving motor and the second driving motor to return to the left end of the top of the first guide rail 2012, and the second pneumatic clamping mechanism 204 is driven by the second driving motor to return to the left end of the bottom of the second guide rail 2022; the stepping motor 601 rotates forward, and the first rack and the second rack drive the first pneumatic clamping jaw 301 and the second pneumatic clamping jaw 302 to move to the left, wherein the first pneumatic clamping jaw 301 clamps the head end of the kelp strip through the kelp strip circle to move to the left, and the second pneumatic clamping jaw clamps the end of the kelp strip through the kelp strip circle to move to the left, and as the distance between the first pneumatic clamping jaw 301 and the second pneumatic clamping jaw 302 is pulled apart, the two ends of the kelp strip are pulled outward to complete the knotting; Step 4: After the kelp is knotted, the first pneumatic finger 303 drives the first left claw finger 304 and the first right claw finger 305 to open, and the second pneumatic finger drives the second left claw finger and the second right claw finger to open, and the knotted kelp falls into the kelp collecting bin 8 for collection and subsequent packaging. During the third step, the second kelp strip can enter the gap between the active friction wheel 401 and the driven friction wheel 402 according to the first step, preparing for the knotting of the second kelp, thereby forming a complete cycle beat to knot the kelp; when the stepper motor 601 reverses, due to the use of the friction wheel one-way shaft module 404, the active friction wheel 401 does not rotate, and the stepper motor 601 starts feeding when it rotates forward.

[0032] The above-described embodiments are only for describing the preferred implementation of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit and principles of the present invention, various modifications and improvements made by those skilled in the art to the technical solution of the present invention should all fall within the scope of protection determined by the claims of the present invention.

Claims

1. A humanoid double-finger kelp winding and knotting device, characterized in that: The invention comprises an auxiliary knotting module (2) and a pneumatic clamping claw module (3) installed on both sides of a main body bottom plate (1); the auxiliary knotting module (2) comprises a first clamping mechanism (203) and a second clamping mechanism (204) arranged at intervals; the first clamping mechanism (203) and the second clamping mechanism (204) respectively clamp two ends of a kelp strip and move relative to each other so that the kelp strip is wound into a circle; the pneumatic clamping claw module (3) comprises a first pneumatic clamping claw (301) and a second pneumatic clamping claw (302); the first pneumatic clamping claw (301) and the second pneumatic clamping claw (302) are arranged crosswise up and down, and the first pneumatic clamping claw (301) extends toward the second clamping mechanism (204), and the second pneumatic clamping claw (302) extends toward the first clamping mechanism (203), respectively clamping two ends of the kelp strip and pulling the kelp strip backward to form a knot.

2. The humanoid double-finger kelp winding and knotting device according to claim 1, characterized in that: The first clamping mechanism (203) is mounted on the first auxiliary vertical plate (201), the second clamping mechanism (204) is mounted on the second auxiliary vertical plate (202), the first auxiliary vertical plate (201) is provided with a first arc-shaped notch (2011) at the bottom, the first notch is provided with a first guide rail (2012), the first guide rail (212) is slidably connected to a matching first slider (2013), the first clamping mechanism (203) is mounted on the first slider (2013) and is connected to a first driver (205), the first driver (205) is mounted on the first auxiliary vertical plate (201); the second auxiliary vertical plate (202) is provided with a second arc-shaped notch (2021) at the top, the second notch (2021) is provided with a second guide rail (2 022), a second slider (2023) slidably connected to the second guide rail (2022), a second clamping mechanism (204) is installed on the second slider (2023) and connected to the second driver, and the second driver is installed on the second auxiliary vertical plate (202); the first guide rail (2012) and the second guide rail (2022) are spatially intersecting, the left end of the top (2012) of the first guide rail is directly opposite to the left end of the bottom of the second guide rail (2022), and when the first clamping mechanism (203) is located at the left end of the top of the first guide rail (2012) and the second clamping mechanism (204) is located at the left end of the bottom of the second guide rail (2022), the openings of the first clamping mechanism (203) and the second clamping mechanism (204) are directly opposite to the discharge port of the feeding module.

3. The humanoid double-finger kelp winding and knotting device according to claim 2, characterized in that: The bottom of the first sliding block (2013) is provided with a T-shaped slot matching the arc-shaped T-shaped sliding portion of the first guide rail (2012), and the bottom of the second sliding block (2023) is provided with a T-shaped slot matching the arc-shaped T-shaped sliding portion of the second guide rail (2022).

4. The humanoid double-finger kelp winding and knotting device according to claim 2, characterized in that: The first driver (205) comprises a first active driving wheel (2051), a first bow directional wheel (2052), a first tail directional wheel (2053) and a first driving rope (2054); the first driving active wheel (2051) is mounted on the middle part of the outer side of the first auxiliary vertical plate (201) and is connected to the output shaft of the first driving motor (2055); the first driving motor (2055) is mounted on the inner side of the first auxiliary vertical plate (201); the first bow directional wheel (2052) and the first tail directional wheel (2053) are rotatably connected to the first bow mounting shaft (2056) and the first tail mounting shaft (2057), respectively; the first bow mounting shaft (2056) and the first tail mounting shaft (2057) are fixedly mounted on the first auxiliary vertical plate (201) and the first driving active wheel (2051) is mounted on the inner side of the first auxiliary vertical plate (201); The outer side of the vertical plate (201) is located at the head and tail ends of the first guide rail (2012); the middle of the first driving rope (2054) is fixedly connected to the first active driving wheel (2051); the two ends of the first driving rope (2054) respectively pass around the first head directional wheel (2052) and the first tail directional wheel (2053) and then connect to the two sides of the first clamping mechanism (230); the first clamping mechanism (203) is driven by the first driving active wheel (2051) to move along the first guide rail (2012); the first head directional wheel (2052) and the first tail directional wheel (2053) are both provided with grooves for accommodating the winding of the first driving rope (2054); the second driver has the same structure as the first driver (205) and is installed on the second auxiliary vertical plate (202).

5. The humanoid double-finger kelp winding and knotting device according to claim 2, characterized in that: The first clamping mechanism (203) comprises a first fixed auxiliary clamping plate (2031), a first movable auxiliary clamping plate (2032) and a first electric magnet (2033); the first fixed auxiliary clamping plate (2031) comprises a first fixed auxiliary clamping plate bottom plate (20311) and a first fixed auxiliary clamping plate long side plate (20312) and a first fixed auxiliary clamping plate short side plate (20313) vertically arranged at both ends of the first fixed auxiliary clamping plate bottom plate (20311); the first fixed auxiliary clamping plate bottom plate (20311) is fixedly mounted on the top surface of the first sliding block (2013); the first fixed auxiliary clamping plate short side plate (20313) is fixedly mounted on the top surface of the first sliding block (2013); The first movable auxiliary splint (2032) is located outside the first auxiliary vertical plate (201) and has a strip-shaped notch (20314) at the bottom. The first movable auxiliary splint (2032) includes a first movable auxiliary splint bottom plate (20321). The first movable auxiliary splint bottom plate (20321) passes through the first fixed auxiliary splint short side plate (20313) through the strip-shaped notch (20314). The first movable auxiliary splint bottom plate (20321) is provided with a first movable auxiliary splint long side plate (20322) at the inner end upward, and a first movable auxiliary splint short side plate (20323) is provided at the outer end downward. An opening is provided between the first movable auxiliary splint long side plate (20322) and the first fixed auxiliary splint long side plate (20312) for clamping. The kelp strip is held, the outer side of the first movable auxiliary splint long side plate (20322) is fixedly connected to the first splint left mounting shaft (2034) and the first splint right mounting shaft (2035), the other ends of the first splint left mounting shaft (2034) and the first splint right mounting shaft (2035) pass through the first fixed auxiliary splint short side plate (20313) and are movably connected thereto, the first splint left mounting shaft (2034) and the first splint right mounting shaft (2035) are respectively sleeved with a first left tension spring (2036) and a first right tension spring (2037), and the first left tension spring (2036) and the first right tension spring (2037) are respectively fixed at both ends. The first fixed auxiliary splint short side plate (20313) and the first movable auxiliary splint long side plate (20322) are connected; the first electric magnet (2033) is fixedly mounted on the outside of the first slider (213) and the electromagnetic surface is connected to the first movable auxiliary splint short side plate (20323) by magnetic attraction; the first electric magnet (2033) is energized to adsorb the first movable auxiliary splint short side plate (20323) so that the first movable auxiliary splint long side plate (20322) moves inwards and closes with the first fixed auxiliary splint long side plate (20312) to clamp the kelp strips; the second clamping mechanism (204) has the same structure as the first clamping mechanism (203).

6. The humanoid double-finger kelp winding and knotting device according to claim 5, characterized in that: A positioning pin (2038) is provided on one side of the long side plate (20322) of the first movable auxiliary splint facing the long side plate (20312) of the first fixed auxiliary splint, a tip is provided at the head end of the positioning pin (2038), and a positioning hole (20315) is provided on the long side plate (20312) of the first fixed auxiliary splint corresponding to the positioning pin (2038).

7. The humanoid double-finger kelp winding and knotting device according to claim 1, characterized in that: The left end of the first pneumatic clamp (301) is connected to the driving mechanism (6) via a first connecting mechanism, and the right end is fixedly connected to the first left claw finger (304) and the first right claw finger (305) via the clamping fingers of the first pneumatic finger (303). The first left claw finger (304) and the first right claw finger (305) are pushed by the first pneumatic finger (303) to open and close to clamp the kelp strips. The structure of the second pneumatic clamp (302) is the same as that of the first pneumatic clamp (301). The right ends of the first pneumatic clamp (301) and the second pneumatic clamp (302) are in a crossed state and the first pneumatic clamp (301) is located above the second pneumatic clamp (302). The clamping end of the first pneumatic clamp (301) faces the second clamping mechanism (204), and the clamping end of the second pneumatic clamp (302) faces the first clamping mechanism (203).

8. The humanoid double-finger kelp winding and knotting device according to claim 7, characterized in that: The first connecting mechanism comprises a first rack (306), the right end of the first rack (306) being fixedly connected to the first pneumatic clamp (301) via a first connecting block (307), the back of the left end being connected to the first linear guide rail (309) via a first sliding block (308), and the front end being connected to the output end of the driving mechanism (6), and the structure of the second connecting mechanism is the same as that of the first connecting mechanism.

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