Kelp knotting device and knotting method

Abstract

The invention discloses a kelp knotting device and a knotting method thereof.The knotting device comprises a body bottom plate, and an auxiliary knotting module is installed at the right end of the body bottom plate and used for clamping the two ends of kelp strips and rotating to form a crossed ring shape; a pneumatic clamping jaw module is mounted at the left end of the main body bottom plate and used for clamping the two ends of the annular kelp strips and moving to enable the ends of the kelp strips to penetrate through the middles of the annular kelp strips to be wound and knotted; the feeding module is installed above the pneumatic clamping jaw module, and kelp strips are conveyed from the left end of the main body bottom plate to the right end and directly face the auxiliary knotting module. During knotting, the feeding module conveys kelp strips to the auxiliary knotting module, the auxiliary knotting module clamps the two ends of the kelp strips to enable the kelp strips to be wound into circles, and the pneumatic clamping jaw module clamps the two ends of the kelp strips and enables the kelp strips to penetrate through the kelp circles to be wound to complete knotting. The kelp knotting device is compact in mechanism design, small in size and tight in connection, and the problems that in the prior art, common kelp knotting equipment is large in size, complex in knotting action and low in success rate are solved.

Description

Technical Field

[0001] The invention belongs to the technical field of kelp processing equipment, and in particular relates to a kelp knotting device and a kelp knotting method. Background Art

[0002] Kelp is mostly produced in coastal areas and is loved by people as a delicacy. It has a huge market both at home and abroad. When eating kelp, people choose to tie it into knots before cooking. However, the knotting of kelp is currently done manually, which has low knotting efficiency and high labor costs. It also has certain corrosive damage to the workers' skin and even causes deformation of fingers and nail loss.

[0003] A Chinese patent with publication number CN 110558504 B discloses an artificial imitation kelp knotting machine, comprising a frame, a knotting mechanism, a winding mechanism and a cutting mechanism arranged on the frame, wherein in the knotting mechanism, a slip ring is arranged on the frame, the middle part of the rotating frame is rotatably arranged on the slip ring, and the conical clamp is arranged on the slip ring through a reciprocating moving component; in the winding mechanism, a swing motor is arranged on the rotating frame, an electric claw hand a is connected to the swing motor, and the electric claw hand a is smaller than the maximum opening and closing gap of the conical clamp; in the cutting mechanism, a cut block is arranged on the frame through a reciprocating moving component, an electric claw hand b is arranged on the cut block, and an electric cutter is arranged on the cut block.

[0004] A Chinese patent with announcement number CN 116138470 B discloses a kelp knotting device and a knotting method thereof. By designing a first clamping mechanism, a second clamping mechanism and a movable knotting clamping mechanism with specific structures and positional relationships, in particular, the mechanism design of two sliders and two clamping arms in the movable knotting clamping mechanism, utilizing the pivotal relationship between the two sliders and the two clamping arms, the pivotal relationship between the two clamping arms, and the special L-shaped structure of the two clamping arms, a unique knotting method is provided in the knotting process, that is, the kelp is first hooked and pulled back, and the kelp is wound around by rotation, and then the end of the kelp is clamped by the clamping end, and then flipped and moved in the X direction to loosen the wound kelp to form a kelp knot. The process of clamping the end of the kelp by the two clamping arms and moving in the X direction can fully tighten the kelp knot, making the knot smaller and less likely to loosen in the later cooking, and the above structure has a high success rate in knotting.

[0005] The above technical solutions all realize the automation of kelp knotting and free up manual labor, but there are problems such as large size of mechanical knotting equipment and complicated knotting movements. The development trend of kelp agricultural product processing in the future is to develop and design a kelp knotting equipment that can replace manual knotting, reduce knotting complexity, and improve knotting success rate and efficiency. Summary of the invention

[0006] The purpose of the present invention is to provide a kelp knotting device and a knotting method to solve the problems of large size, complicated knotting action and low success rate of common kelp knotting equipment in the prior art.

[0007] The technical solution adopted by the present invention is a kelp knotting device, comprising: Main body bottom plate; The auxiliary knotting module is installed at the right end of the main body bottom plate, and is used to clamp the two ends of the kelp strip and rotate to form a cross ring; The pneumatic gripper module is installed at the left end of the main body bottom plate, and is used to clamp the two ends of the annular kelp strip and move the ends of the kelp strip to pass through the middle of the annular kelp strip to be wound and knotted; The feeding module is installed above the pneumatic gripper module to transport the kelp strips from the left end of the main body bottom plate to the right end facing the auxiliary knotting module.

[0008] Preferably, the auxiliary knotting module comprises a first auxiliary vertical plate, a second auxiliary vertical plate, a first clamping mechanism and a second clamping mechanism, an upper portion of the first auxiliary vertical plate is provided with an arc-shaped first notch, a first guide rail is provided on the first notch, a first slide block is slidably connected to match the first guide rail, the first clamping mechanism is fixedly installed on the first slide block, an arc-shaped second notch is provided at the lower portion of the second auxiliary vertical plate, a second guide rail is provided on the second notch, a second slide block is slidably connected to match the second guide rail, the second clamping mechanism is fixedly installed on the second slide block, the first guide rail and the second guide rail space are in a cross state, the lower left end of the first guide rail is opposite to the top left end of the second guide rail; a first driver is installed on the first auxiliary vertical plate, the first clamping mechanism is installed on the first slide block and is connected to the first driver, a second driver is installed on the second auxiliary vertical plate, the second clamping mechanism is installed on the second slide block and is connected to the second driver, when the first clamping mechanism is located at the lower left end of the first guide rail and the second clamping mechanism is located at the top 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.

[0009] Preferably, the first driver comprises a first active driving wheel, a first bow directional wheel, a first tail directional wheel and a first driving rope. The first driving driving wheel is installed in the middle 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 driving wheel to move along the first guide rail. The second driver has the same structure as the first driver and is installed on the second auxiliary vertical plate.

[0010] Preferably, the above-mentioned pneumatic clamp module includes a first pneumatic clamp and a second pneumatic clamp, the left end of the first pneumatic clamp is connected to the driving mechanism through a first connecting mechanism, 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 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 below 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.

[0011] Preferably, the above-mentioned driving mechanism includes a stepper motor, a driving gear and a driven gear. The stepper motor is installed under the motor fixing plate. The two ends of the motor fixing plate are respectively fixedly connected to the first vertical plate and the second vertical plate. The first vertical plate and the second vertical plate are vertically arranged on the main body bottom plate. The output shaft of the stepper motor upwardly penetrates the motor fixing plate and is connected to the driving gear. The driven gear is installed on one side of the driving gear and meshes with the driving gear. The driving gear and the driven gear are respectively connected to the pneumatic clamping claw module.

[0012] Preferably, the feeding module comprises an active friction wheel, a driven friction wheel and a kelp conveying plate, the active friction wheel and the driven friction wheel are arranged side by side below the friction wheel mounting plate, and there is a gap between the two to accommodate the passage of kelp strips, two ends of the friction wheel mounting plate are respectively fixedly connected to the top of the first vertical plate and the second vertical plate, the inner ring of the active friction wheel is fixedly connected to the top of the friction wheel one-way shaft module, the bottom of the friction wheel one-way shaft module is rotatably connected to the motor fixing plate through a flange bearing, the top is rotatably connected to the friction wheel mounting plate through a flange bearing and a rotary encoder is installed on the top, the inner ring of the driven friction wheel is fixedly connected to the friction wheel fixed short shaft, the top of the friction wheel fixed short shaft is rotatably connected to the friction wheel mounting plate through a flange bearing, the head end of the kelp conveying plate is located below the active friction wheel and the driven friction wheel and extends to the left to be provided with a feed port, circular holes are opened on the kelp conveying plate corresponding to the active friction wheel and the driven friction, and support plates are provided outwardly on both sides of the kelp conveying plate and are fixedly connected to the friction wheel mounting plate; the end of the kelp conveying plate extends to the auxiliary knotting module and is provided with a discharge port, and a kelp shearing mechanism is installed at the discharge port.

[0013] A knotting method of a kelp knotting device comprises the following steps: The first step, initially, the first clamping mechanism is located at the left end of the lower part of the first guide rail, the second clamping mechanism is located at the left end of the top of the second guide rail, the first clamping mechanism and the second clamping mechanism are both kept in an open state, the stepper motor is operated to rotate forward, the kelp strip is put into the gap between the active friction wheel and the driven friction wheel, the kelp strip moves to the right along the belt conveyor plate by the thrust of the active friction wheel and the driven friction wheel, until the head end of the kelp strip is pushed and falls to the clamping end of the second clamping mechanism and is clamped, at this time, the kelp strip moves the set distance set by the rotary encoder, the end of the kelp strip is located at the clamping section of the first clamping mechanism and is clamped, and the kelp shearing mechanism at the end of the conveyor plate cuts the kelp strip; In the second step, after clamping the two ends of the kelp strip, the first driving motor as a power source drives the first driving rope to pull the first clamping mechanism to move along the first guide rail within the range limited by the first head directional wheel and the first tail directional wheel, 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 reverses, and the first rack and the second rack drive the first slider and the second slider to move to the right respectively, thereby driving the first pneumatic clamp and the second pneumatic clamp to move to the right, and the two are installed at different heights; at the end of the second step, the first pneumatic clamp and the second pneumatic clamp form a cross shape, with the first pneumatic clamp at the bottom and the second pneumatic clamp at the top, and the head end of the kelp strip is just moved to the clamping end of the second pneumatic clamp, and the tail end of the kelp strip is just moved to the clamping end of the first pneumatic clamp; In the third step, the clamping end of the first pneumatic clamp closes and clamps the end of the kelp strip, and the clamping end of the second pneumatic clamp closes and clamps the head end of the kelp strip. After clamping, the first clamping mechanism and the second clamping mechanism release the clamping of the kelp strip. Subsequently, driven by the first drive motor and the second drive motor, the first clamping mechanism returns to the left end of the lower part of the first guide rail, and the second clamping mechanism returns to the left end of the top of the second guide rail; then the stepper motor rotates forward, and the first rack and the second rack drive the first pneumatic clamp and the second pneumatic clamp to move to the left respectively, wherein the first pneumatic clamp clamps the end of the kelp strip through the kelp strip ring and moves to the left, and as the distance between the first pneumatic clamp and the second pneumatic clamp 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 clamping end of the first pneumatic clamp is opened, and the clamping end of the second pneumatic clamp is opened, and the knotted kelp is dropped and collected for subsequent packaging; In the third step, the second kelp strip can enter the gap between the active friction wheel and the driven friction wheel according to the first step, preparing for the knotting of the second kelp, thereby forming a complete cycle rhythm to knot the kelp; when the stepper motor reverses, due to the use of the friction wheel one-way shaft module, the active friction wheel does not rotate, and feeding begins when the stepper motor rotates forward.

[0014] Compared with the prior art, the beneficial effect of the present invention is that the knotting machine integrates the kelp knotting pneumatic clamp module, the kelp knotting auxiliary module and the main frame, and each module cooperates with each other to achieve efficient knotting, solving the problems of large size, complex knotting action and low success rate of the common kelp knotting equipment in the prior art. The various mechanisms of the kelp knotting device are compactly designed, small in size, tightly connected, and have a good use effect. Among them, the kelp knotting machine cooperates with the gear rack and the friction wheel, and the friction wheel completes the kelp strip feeding process. The kelp strip is straight, which is conducive to the rapid clamping movement of the auxiliary knotting mechanism. The auxiliary knotting mechanism stably clamps the kelp up and down through the first clamping structure and the second clamping mechanism to quickly form a circle, and cooperates with the first pneumatic clamp and the second pneumatic clamp to grab the two ends of the kelp strip and pass through the kelp circle to form a kelp knot. The action is simpler, the clamping speed is fast and stable, and the kelp knotting efficiency and quality are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the structure of the kelp knotting device; Figure 2 It is a top view of the kelp knotting device; Figure 3 It is a structural schematic diagram of the auxiliary knotting mechanism; Figure 4 It is a structural schematic diagram of the first auxiliary vertical plate of the auxiliary knotting mechanism; Figure 5 is a structural schematic diagram of a first clamping structure; Figure 6 It is a schematic diagram of the structure of the pneumatic gripper module; Figure 7 is a schematic diagram of the driving mechanism structure; Figure 8 It is a cross-sectional view of the friction wheel one-way shaft module; 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

[0016] The present invention will be further explained below in conjunction with the accompanying drawings to facilitate better understanding by those skilled in the art.

[0017] Example 1 like Figure 1-10 As shown, a kelp knotting device includes a main body bottom plate 1, an auxiliary knotting module 2, a pneumatic clamping claw module 3, a feeding module 4, a support 5 and a driving mechanism 6. The support 5 is installed at the left end of the main body bottom plate 1, and is used to install the pneumatic clamping claw module 3, the feeding module 4 and the driving mechanism 6. The auxiliary knotting module 2 is installed at the right end of the main body bottom plate 1, and is used to clamp the two ends of the kelp strip and rotate to form a crossed ring; one end of the pneumatic clamping claw module 3 is installed on the support 5 at the left end of the main body bottom plate 1, and the other end extends to the pneumatic clamping claw module 2, and is used to clamp the two ends of the ring-shaped kelp strip and move the end of the kelp strip to pass through the middle of the ring-shaped kelp strip to be wrapped and knotted; the feeding module 4 is installed above the pneumatic clamping claw module 3, and transports the kelp strip 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 strip.

[0018] The kelp knotting machine comprises an auxiliary knotting module 2, a pneumatic clamp module 3 and a main frame as a whole. The kelp knotting module 2 forms the kelp strip into a crossed ring shape, and then uses the pneumatic clamp module 3 to clamp the two ends of the ring-shaped kelp strip and move the end of the kelp strip to pass through the middle of the ring-shaped kelp strip to be wrapped and knotted. Each module cooperates with each other to achieve efficient knotting, thereby solving the problems of large size, complicated knotting action and low success rate of the common kelp knotting equipment in the prior art.

[0019] The auxiliary knotting module 2 comprises 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. The bottom of the first slider 2013 is provided with an arc-shaped T-shaped sliding A matching T-slot is provided on the upper part of the second auxiliary vertical plate 202, which 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 second notch 2021, and a second guide rail 2022 is provided on the second guide rail 2022. A matching second slider 2023 is slidably connected on the second guide rail 2022, and a second clamping mechanism 204 is fixedly installed on the second slider 2023. The second clamping mechanism 204 is connected to a 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 on 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.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] Example 2 A knotting method of a kelp knotting device comprises the following steps: 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.

[0033] 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 kelp knotting device, characterized in that: include: Main body bottom plate (1); An auxiliary knotting module (2) is installed at the right end of the main body bottom plate (1) and is used to clamp the two ends of the kelp strip and rotate to form a cross ring; A pneumatic gripper module (3) is installed at the left end of the main body bottom plate (1) and is used to clamp the two ends of the annular kelp strip and move the ends of the kelp strip so that the ends of the kelp strip pass through the middle of the annular kelp strip to be wound and knotted; The feeding module (4) is installed above the pneumatic gripper 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).

2. A kelp knotting device according to claim 1, characterized in that: The auxiliary knotting module (2) comprises 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 bottom, a first guide rail (212) is provided on the first notch, a first slide block (213) is slidably connected to the first guide rail (212) and matched with the first slide block (213); the first clamping mechanism (203) is mounted on the first slide block (213) and connected to the 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 an arc-shaped second notch (2121) at the top, a second guide rail is provided on the second notch (2121) (2022), a second slider (2023) slidably connected to a matching second guide rail (2022), a second clamping mechanism (204) mounted on the second slider (2023) and connected to a second driver, and the second driver mounted 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), 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. A kelp 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 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 respectively fixedly mounted on the outside of the first auxiliary vertical plate (201), and are 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) are respectively connected to the two sides of the first clamping mechanism (230) after passing through the first head directional wheel (2052) and the first tail directional wheel (2053); the first clamping mechanism (203) is driven by the first driving active wheel (2051) to move along the first guide rail (2012); and the second driver has the same structure as the first driver (205), and is mounted on the second auxiliary vertical plate (202).

4. A kelp knotting device according to claim 2, characterized in that: The pneumatic clamp module (3) comprises a first pneumatic clamp (301) and a second pneumatic clamp (302); the left end of the first pneumatic clamp (301) is connected to the driving mechanism (6) via a first connecting mechanism; the first connecting mechanism comprises a first rack (306); the right end of the first rack (306) is fixedly connected to the first pneumatic clamp (301) via a first connecting block (307); the back side of the left end is connected to the first linear guide rail (309) via a first sliding block (308); The second pneumatic clamp (302) is connected to the output end of the driving mechanism (6). 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).

5. A kelp knotting device according to claim 4, characterized in that: The driving mechanism (6) comprises a stepping motor (601), a driving gear (602) and a driven gear (603); the stepping motor (601) is mounted below a motor fixing plate (504); two ends of the motor fixing plate (504) are respectively fixedly connected to a first vertical plate (501) and a second vertical plate (502); the first vertical plate (501) and the second vertical plate (502) are vertically arranged on a main body bottom plate (1); an output shaft of the stepping motor (601) passes through the motor fixing plate (504) in an upward direction and is then connected to the driving gear (602); the driven gear (603) is mounted on one side of the driving gear (602) and meshes with the driving gear (602); the driving gear (602) and the driven gear (603) are respectively connected to a first rack and a second rack.

6. A kelp knotting device according to claim 1, characterized in that: The feeding module (4) comprises 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 for accommodating the passage of kelp strips; the two ends of the friction wheel mounting plate (503) are respectively fixedly connected to the top of the first vertical plate (501) and the top of the second vertical plate (502); the inner ring of the active friction wheel (401) is fixedly connected to the friction wheel one-way shaft module (404); the bottom end of the friction wheel one-way shaft module (404) is rotatably connected to the motor fixing plate (503) via a flange bearing; the top end is rotatably connected to the friction wheel mounting plate (503) via a flange bearing and a rotary encoder (405) is installed on the top end; the driven friction wheel (401) is fixedly connected to the motor fixing plate (503) via a flange bearing; the top end is rotatably connected to the friction wheel mounting plate (503) via a flange bearing and a rotary encoder (405) is installed on the top end; 02) The inner ring is fixedly connected to the friction wheel fixed short shaft (406), the top end of the friction wheel fixed short shaft (406) is rotatably connected to the friction wheel mounting plate (503) through a flange bearing, 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), circular holes (4032) are provided on the kelp conveying plate (403) corresponding to the active friction wheel (401) and the driven friction wheel (402), and supporting plates (4033) are provided outwardly on both sides of the kelp conveying plate (403) and are fixedly connected to the friction wheel mounting plate (503); 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).

7. A knotting method according to any one of claims 1 to 6, characterized in that: The following steps are involved: 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 stepper motor (601) is operated to rotate forward, and the kelp strip is placed in the gap between the active friction wheel (401) and the driven friction wheel (402), and the kelp strip is pushed to the right along the belt conveying plate (403) by the friction force of the active friction wheel (401) and the driven friction wheel (402), until the head end of the kelp strip falls to the clamping end of the second clamping mechanism (204) and is clamped, at this time, the kelp strip moves a set distance set by the rotary encoder (405), the end of the kelp strip is located at the clamping end of the first clamping mechanism and is clamped, and the kelp cutting mechanism (407) at the end of the belt conveying plate cuts the kelp strip; In the second step, after clamping the two ends of the kelp strip, the first drive motor (2055) is used as a power source to drive the first drive rope (2054) to pull the first clamping mechanism (203) to move along the first guide rail (2012) within the range limited by the first head directional wheel (2053) and the first tail directional wheel (2052), so that the end of the kelp strip moves downward; similarly, the second drive motor is used as a power source to drive the second drive rope to pull 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 head end of the kelp strip moves upward. Since the space between the first guide rail (2012) and the second guide rail (2022) 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) is reversed, and the first rack (307) and the second rack respectively drive the first sliding block (308) and the second sliding block to move rightward, 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 (302) at the bottom, and the head end of the kelp strip is just moved to the clamping end of the second pneumatic clamp, and the tail end of the kelp strip is just moved to the clamping end of the first pneumatic clamp (301); In the third step, the clamping end of the first pneumatic clamp (301) is closed to clamp the end of the kelp strip, and the clamping end of the second pneumatic clamp (302) is closed to clamp the head end of the kelp strip. After clamping, the first clamping mechanism (203) and the second clamping mechanism (204) release the clamping of the kelp strip. Subsequently, under the drive of the first drive motor and the second drive motor, the first clamping mechanism (203) returns to the top left end of the first guide rail (212), and the second clamping mechanism (204) returns to the bottom left end of the second guide rail (222). ; Then the stepper motor (601) rotates forward, and the first rack (307) and the second rack drive the first pneumatic clamp (301) and the second pneumatic clamp (302) to move leftward respectively, wherein the first pneumatic clamp (301) clamps the end of the kelp strip and passes through the kelp strip ring to move leftward, and the second pneumatic clamp (302) clamps the head end of the kelp strip and passes through the kelp strip ring to move leftward, and as the distance between the first pneumatic clamp (301) and the second pneumatic clamp (302) increases, the two ends of the kelp strip are pulled outward to complete the knotting; In the fourth step, after the kelp is knotted, the clamping end of the first pneumatic clamp (301) is opened, and the clamping end of the second pneumatic clamp (302) is opened, and the knotted kelp is dropped and collected for 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 second kelp to be knotted, thereby forming a complete cycle rhythm to knot the kelp; when the stepper motor (601) is reversed, 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.

Images