A kelp knotting device and method

Abstract

The application discloses a kelp knotting device and a knotting method thereof. The knotting device comprises a main body bottom plate, an auxiliary knotting module is installed at the right end of the main body bottom plate, and is used for clamping two ends of a kelp strip and rotating to form a crossed ring shape; a pneumatic clamping jaw module is installed at the left end of the main body bottom plate, and is used for clamping two ends of the ring-shaped kelp strip and moving to make the kelp strip end pass through the ring-shaped kelp strip to be wound and knotted; a feeding module is installed above the pneumatic clamping jaw module, and is used for conveying the kelp strip from the left end of the main body bottom plate to the right end opposite to the auxiliary knotting module. During knotting, the feeding module sends the kelp strip to the auxiliary knotting module, the auxiliary knotting module clamps two ends of the kelp strip to make the kelp strip be wound into a ring, and the pneumatic clamping jaw module clamps two ends of the kelp strip and makes the kelp strip pass through the kelp ring to be wound and knotted. The kelp knotting device has compact design, small size, and close connection, and solves the problems of large size, complex knotting action and low success rate of the kelp knotting equipment in the prior art.

Description

Technical Field

[0001] This invention belongs to the technical field of kelp processing equipment, specifically relating to a kelp knotting device and a kelp knotting method. Background Technology

[0002] Kelp is mainly produced in coastal areas and is a popular food. It has a large market both domestically and internationally. When cooking kelp, it is often knotted. However, currently, the knotting process is done manually, which is inefficient, labor-intensive, and can cause skin damage to workers, even leading to finger deformities and nail loss.

[0003] Chinese Patent No. CN 110558504 B discloses an artificial kelp knotting machine, including a frame, a knotting mechanism, a winding mechanism, and a cutting mechanism mounted on the frame. In the knotting mechanism, a slip ring is mounted on the frame, the center of a rotating frame is rotatably mounted on the slip ring, and a conical clamp is mounted on the slip ring via a reciprocating moving assembly. In the winding mechanism, a swing motor is mounted on the rotating frame, and an electric gripper a is connected to the swing motor, with the electric gripper a being smaller than the maximum opening and closing gap of the conical clamp. In the cutting mechanism, a cutter is mounted on the frame via a reciprocating moving assembly, an electric gripper b is mounted on the cutter, and an electric cutter is mounted on the cutter.

[0004] Chinese Patent No. CN 116138470 B discloses a kelp knotting device and its knotting method. Through the design of a first clamping mechanism, a second clamping mechanism, and a movable knotting clamping mechanism with specific structures and positional relationships, particularly the design of the two sliders and two clamping arms in the movable knotting clamping mechanism, and utilizing the pivotal relationship between the two sliders and two clamping arms, as well as the pivotal relationship between the two clamping arms and the special L-shaped structure of the two clamping arms, it has a unique knotting method during the knotting process. First, the kelp is hooked and pulled back, rotated to make the kelp wrap around, then the end of the kelp is clamped by the clamping end, then flipped, and moved along the X-direction to loosen the wrapped kelp and form a kelp knot. The process of clamping the end of the kelp by the two clamping arms and moving it in the X-direction can fully tighten the knot, making it thinner and less prone to loosening later. Furthermore, the above structure has a high success rate in knotting.

[0005] The above technical solutions all automate kelp knotting, freeing up manual labor. However, they suffer from the problems of bulky mechanical knotting equipment and complex knotting operations. Developing and designing a kelp knotting device that can replace manual knotting, reduce knotting complexity, and improve knotting success rate and efficiency is the future development trend of kelp agricultural product processing. Summary of the Invention

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

[0007] The technical solution adopted in this invention is a kelp knotting device, comprising:

[0008] Main base plate;

[0009] An auxiliary knotting module is installed on the right end of the main body base plate. It is used to clamp the two ends of the kelp strips and rotate them to form a cross ring.

[0010] The pneumatic gripper module, installed on the left end of the main body base plate, is used to grip both ends of the ring-shaped kelp strip and move it so that the ends of the kelp strip pass through the middle of the ring-shaped kelp strip and are wrapped and knotted.

[0011] The feeding module, installed above the pneumatic gripper module, conveys the kelp strips from the left end of the main body base plate to the right end, directly opposite the auxiliary knotting module.

[0012] Preferably, the above-mentioned auxiliary knotting module includes a first auxiliary plate, a second auxiliary plate, a first clamping mechanism, and a second clamping mechanism. The upper part of the first auxiliary plate is provided with an arc-shaped first notch, and a first guide rail is provided on the first notch. A matching first slider is slidably connected to the first guide rail, and the first clamping mechanism is fixedly installed on the first slider. The lower part of the second auxiliary plate is provided with an arc-shaped second notch, and a second guide rail is provided on the second notch. A matching second slider is slidably connected to the second guide rail, and the second clamping mechanism is fixedly installed on the second slider. The first guide rail and the second guide rail are in a space-crossing state, with the lower left end of the first guide rail and the top left end of the second guide rail facing each other. A first driver is installed on the first auxiliary plate, and the first clamping mechanism is installed on the first slider and connected to the first driver. A second driver is installed on the second auxiliary plate, and the second clamping mechanism is installed on the second slider and 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 face the discharge port of the feeding module.

[0013] Preferably, the first driver includes a first drive wheel, a first head directional wheel, a first tail directional wheel, and a first drive rope. The first drive wheel is installed on the outer middle of the first auxiliary plate and connected to the output shaft of the first drive motor. The first drive motor is installed on the inner side of the first auxiliary plate. The first head directional wheel and the first tail directional wheel are rotatably connected to the first head mounting shaft and the first tail mounting shaft, respectively. The first head mounting shaft and the first tail mounting shaft are fixedly installed on the outer side of the first auxiliary plate, located at the beginning and end of the first guide rail. The first drive rope is fixedly connected to the first drive wheel in the middle. The two ends of the first drive rope pass around the first head directional wheel and the first tail directional wheel and are connected to the two sides of the first clamping mechanism. The first clamping mechanism is driven by the first drive 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 plate.

[0014] Preferably, the pneumatic gripper module includes a first pneumatic gripper and a second pneumatic gripper. The left end of the first pneumatic gripper is connected to the drive mechanism via 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 gripper via a first connecting block. The back of the left end is connected to the first linear guide via a first sliding block, and the front end is connected to the output end of the drive mechanism. The structure of the second pneumatic gripper is the same as that of the first pneumatic gripper. The right ends of the first and second pneumatic grippers are in a cross-shaped state, with the first pneumatic gripper located below the second pneumatic gripper. The gripping end of the first pneumatic gripper faces the second gripping mechanism, and the gripping end of the second pneumatic gripper faces the first gripping mechanism.

[0015] Preferably, the drive mechanism includes a stepper motor, a drive gear, and a driven gear. The stepper motor is mounted below the motor mounting plate. The first and second vertical plates are fixedly connected to both ends of the motor mounting plate, respectively. The first and second vertical plates are vertically mounted on the main body base plate. The output axis of the stepper motor passes through the motor mounting plate and connects to the drive gear. The driven gear is mounted on one side of the drive gear and meshes with it. The drive gear and the driven gear are respectively connected to the pneumatic gripper module.

[0016] Preferably, the feeding module includes an active friction wheel, a driven friction wheel, and a kelp conveying plate. The active and driven friction wheels are arranged side by side below the friction wheel mounting plate, with a gap between them to allow kelp strips to pass through. The tops of the first and second vertical plates are fixedly connected to both ends of the friction wheel mounting plate, respectively. The inner ring of the active friction wheel is fixedly connected to the friction wheel one-way shaft module. The bottom end of the friction wheel one-way shaft module is rotatably connected to the motor mounting plate via a flange bearing, and the top end is rotatably connected to the friction wheel mounting plate via a flange bearing, with a rotary encoder installed at the top. The inner ring of the driven friction wheel is fixedly connected to the friction wheel fixed short shaft, and the top end of the friction wheel fixed short shaft is rotatably connected to the friction wheel mounting plate via a flange bearing. The head end of the kelp conveying plate is located below the active and driven friction wheels and extends to the left with a feed inlet. Circular holes are opened on the kelp conveying plate corresponding to the active and driven friction wheels. Support plates are provided on both sides of the kelp conveying plate and fixedly connected to the friction wheel mounting plate. The end of the kelp conveying plate extends towards the auxiliary knotting module and has a discharge port, with a kelp shearing mechanism installed at the discharge port.

[0017] A knotting method for a kelp knotting device includes the following steps:

[0018] In the first step, initially, 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. Both the first and second clamping mechanisms are in the open state. The stepper motor is operated to rotate forward, and the kelp strip is placed into the gap between the active friction wheel and the driven friction wheel. The kelp strip moves to the right along the kelp conveyor plate by the thrust of the active friction wheel and the driven friction wheel until the end of the kelp strip falls to the clamping end of the second clamping mechanism and is clamped. At this time, the kelp strip has moved the set distance set by the rotary encoder, and the end of the kelp strip is clamped at the clamping end of the first clamping mechanism. The kelp cutting mechanism at the end of the kelp conveyor plate cuts the kelp strip.

[0019] The second step involves clamping both ends of the kelp strip. The first drive motor, acting as a power source, drives the first drive rope to pull the first clamping mechanism along the first guide rail within the range limited by the first head directional wheel and the first tail directional wheel, causing the head end of the kelp strip to move upward. Similarly, the second drive motor, acting as a power source, drives the second rope to pull the second clamping mechanism along the second guide rail within the range limited by the second head directional wheel and the second tail directional wheel, causing the tail end of the kelp strip to move downward. Since the space between the first guide rail and the second guide rail is intersecting and arc-shaped, the kelp strip is twisted into a loop, and the tail end of the kelp strip is located behind and below the head end.

[0020] 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, thereby driving the first pneumatic gripper and the second pneumatic gripper to move to the right. The two are installed at different heights. When the second step ends, the first pneumatic gripper and the second pneumatic gripper form a cross shape, with the first pneumatic gripper below and the second pneumatic gripper above. The head end of the kelp strip is just moved to the gripping end of the second pneumatic gripper, and the tail end of the kelp strip is just moved to the gripping end of the first pneumatic gripper.

[0021] Third, the clamping end of the first pneumatic gripper closes to clamp the end of the kelp strip, and the clamping end of the second pneumatic gripper closes to clamp the head end of the kelp strip. After clamping, the first and second clamping mechanisms release the clamping of the kelp strip. Then, driven by the first and second drive motors, the first clamping mechanism returns to the lower left end of the first guide rail, and the second clamping mechanism returns to the top left end of the second guide rail. Then, the stepper motor rotates forward, and the first and second racks drive the first and second pneumatic grippers to move to the left, respectively. The first pneumatic gripper clamps the end of the kelp strip and moves to the left through the kelp strip loop. As the distance between the first and second pneumatic grippers increases, the two ends of the kelp strip are pulled outward to complete the knot.

[0022] The fourth step is to open the gripping ends of the first and second pneumatic grippers after the kelp is knotted. The knotted kelp will fall and be collected for subsequent packaging.

[0023] In the third step, the second strip of kelp can enter the gap between the active friction wheel and the driven friction wheel as in the first step, preparing for the second strip of kelp to be knotted, thus forming a complete cycle and knotting the kelp; when the stepper motor reverses, the active friction wheel does not rotate due to the use of the friction wheel unidirectional shaft module, and feeding begins when the stepper motor rotates forward.

[0024] Compared to existing technologies, the advantages of this invention are that the knotting machine integrates a pneumatic gripper module, an auxiliary knotting module, and a main frame into one unit. These modules work together to achieve efficient knotting, solving the problems of large size, complex knotting actions, and low success rates common in existing kelp knotting equipment. This kelp knotting device features a compact design, small size, and tight connections, resulting in better performance. Specifically, the kelp knotting machine utilizes the interaction of gears, racks, and friction wheels. The friction wheels complete the kelp strip feeding process, ensuring the kelp strips are straight, which facilitates rapid clamping by the auxiliary knotting module. The auxiliary knotting module, through a first clamping structure and a second clamping mechanism, stably clamps the kelp, moving it up and down to quickly form a loop. The first and second pneumatic grippers then grasp both ends of the kelp strip, passing it through the loop to form a knot. The operation is simpler, the gripping speed is fast and stable, improving the efficiency and quality of kelp knotting. Attached Figure Description

[0025] Figure 1 A schematic diagram of a kelp knotting device;

[0026] Figure 2 A top view of a kelp knotting device;

[0027] Figure 3 A schematic diagram of the auxiliary knotting mechanism;

[0028] Figure 4 A schematic diagram of the structure of the first auxiliary vertical plate of the auxiliary knotting mechanism;

[0029] Figure 5 This is a schematic diagram of the first clamping structure;

[0030] Figure 6 This is a schematic diagram of the pneumatic gripper module structure;

[0031] Figure 7 This is a schematic diagram of the drive mechanism structure;

[0032] Figure 8 This is a cross-sectional view of the friction wheel one-way shaft module;

[0033] Figure 9 Schematic diagram of the kelp knotting device assembly;

[0034] Figure 10 Diagram showing the knotted and entangled state of kelp. Detailed Implementation

[0035] The present invention will be further explained and described below with reference to the accompanying drawings to enable those skilled in the art to better understand it.

[0036] Example 1

[0037] like Figure 1-10 As shown, a kelp knotting device includes a main base plate 1, an auxiliary knotting module 2, a pneumatic gripper module 3, a feeding module 4, a support 5, and a drive mechanism 6. The support 5 is installed on the left end of the main base plate 1 and is used to install the pneumatic gripper module 3, the feeding module 4, and the drive mechanism 6. The auxiliary knotting module 2 is installed on the right end of the main base plate 1 and is used to clamp the two ends of the kelp strip and rotate it to form a cross-shaped ring. One end of the pneumatic gripper module 3 is installed on the support 5 on the left end of the main base plate 1, and the other end extends towards the pneumatic gripper module 3. It is used to clamp the two ends of the ring-shaped kelp strip and move it so that the ends of the kelp strip pass through the middle of the ring-shaped kelp strip and are wrapped and knotted. The feeding module 4 is installed above the pneumatic gripper module 3 and feeds the kelp strip from the left end of the main base 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.

[0038] The kelp knotting machine integrates an auxiliary knotting module 2, a pneumatic gripper module 3, and a main frame. The auxiliary knotting module 2 forms kelp strips into intersecting rings. Then, the pneumatic gripper module 3 clamps both ends of the ring kelp strip and moves it so that the ends of the kelp strip pass through the middle of the ring kelp strip and are wrapped and knotted. The various modules work together to achieve efficient knotting, solving the problems of large size, complex knotting action, and low success rate of common kelp knotting equipment in the prior art.

[0039] The aforementioned auxiliary knotting module 2 includes a first auxiliary plate 201, a second auxiliary plate 202, a first clamping mechanism 203, and a second clamping mechanism 204. The lower part of the first auxiliary plate 201 has an arc-shaped first notch 2011. A first guide rail 2012 is provided on the first notch 2011. A first slider 2013, matching the first guide rail 2012, is slidably connected to 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, which drives the first clamping mechanism 203 to slide along the first guide rail 2012. The first slider 2012... The bottom of the first slider 2013 is provided with a T-groove that matches the arc-shaped T-shaped sliding part of the first guide rail 2012, limiting the sliding of the first slider 2013 along the first guide rail 2012 and preventing slippage; the upper part of the second auxiliary plate 202 is provided with an arc-shaped second notch, and a second guide rail is provided on the second notch. A matching second slider is slidably connected on the second guide rail. A second clamping mechanism 204 is fixedly installed on the second slider. The second clamping mechanism 204 is connected to a second driver. The second driver drives the second clamping mechanism 204 to slide along the second guide rail. The bottom of the second slider is provided with a T-groove that matches the arc-shaped T-shaped sliding part of the second guide rail, limiting the sliding of the second slider along the second guide rail and preventing slippage. The first guide rail 2012 and the second guide rail are in a space-crossing state. The top left end of the first guide rail 2012 is directly opposite the lower left end of the second guide rail. 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, the openings of the first clamping mechanism 203 and the second clamping mechanism 204 are directly opposite the discharge port of the feeding module 4, so that the first clamping mechanism 203 and the second clamping mechanism 204 can accurately clamp the head end and the end end of the kelp strip respectively. After moving, the kelp strip is driven to form a ring and the two ends are crossed. The auxiliary knotting module moves along the first guide rail and the second guide rail through the first clamping structure and the second clamping mechanism to achieve stable clamping of the kelp and rapid up and down movement to form a ring. The kelp ring has foot control space and the two ends of the kelp strip are staggered, which is conducive to the subsequent clamping and knotting by the pneumatic gripper module 3, improving the knotting success rate and knotting efficiency.

[0040] The first driver 205 includes a first drive drive wheel 2051, a first head directional wheel 2052, a first tail directional wheel 2053, and a first drive rope 2054. The first drive drive wheel 2051 is installed on the outer middle of the first auxiliary plate 201 and connected to the output shaft of the first drive motor 2055. The first drive motor 2055 is installed on the inner side of the first auxiliary plate 201. The first head directional wheel 2052 and the first tail directional wheel 2053 are rotatably connected to the first head mounting shaft 2056 and the first tail mounting shaft 2057, respectively. The first head mounting shaft 2056 and the first tail mounting shaft 2057 are fixedly installed on the outer side of the first auxiliary plate 201, located at the head and tail ends of the first guide rail 2012. The first drive wheel 2051 is fixedly connected to the middle of the rope 2054. The two ends of the first drive rope 2054 pass over the first head directional wheel 2052 and the first tail directional wheel 2053 respectively and are connected to the two sides of the first clamping mechanism 203. The first head directional wheel 2052 and the first tail directional wheel 2053 are provided with grooves to accommodate the winding of the first drive rope 2054 to prevent the first drive rope 2054 from slipping off. The rotation of the first drive motor 2055 drives the first drive wheel 2051 to rotate, so that the first drive rope 2044 on both sides retracts or extends, thereby driving the first clamping mechanism 203 to move up or down along the first guide rail 2012. The second driver has the same structure as the first driver and is installed on the second auxiliary upright 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 base 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 disposed at both ends of the first fixed auxiliary clamping plate base plate 20311. The first fixed auxiliary clamping plate base plate 20311 is fixedly installed on the top surface of the first slider 2013. The first fixed auxiliary clamping plate short side plate 20313 is located outside the first auxiliary vertical plate 201 and has a strip-shaped notch 20314 at its lower part. 314 is U-shaped, with one end penetrating the short side plate 20313 of the first fixed auxiliary clamping plate; the first movable auxiliary clamping plate 2032 includes a first movable auxiliary clamping plate base plate 20321, which passes through the short side plate 20313 of the first fixed auxiliary clamping plate through a strip-shaped notch 20314, and has a long side plate 20322 of the first movable auxiliary clamping plate at its inner end facing upward, and a short side plate 20323 of the first movable auxiliary clamping plate at its outer end facing downward. There is an opening between the long side plate 20322 of the first movable auxiliary clamping plate and the long side plate 20312 of the first fixed auxiliary clamping plate for clamping kelp strips. The left mounting shaft of the first clamping plate is fixedly connected to the outer side of the long side plate 20322 of the first movable auxiliary clamping plate. The first clamping plate right mounting shaft 2034 and the first clamping plate right mounting shaft 2035, and 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 to it. The first clamping plate left mounting shaft 2034 and the first clamping plate right mounting shaft 2035 are respectively fitted with the first left tension spring 2036 and the first right tension spring 2037. The two ends of the first left tension spring 2036 and the first right tension spring 2037 are respectively fixedly connected 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 installed on the outside of the first slider 2013 and the electromagnetic surface is in contact with the first movable auxiliary clamping plate. The short side plate 20323 is magnetically connected. When the first electric magnet 2033 is energized, it attracts the short side plate 20323 of the first moving auxiliary clamping plate, causing the long side plate 20322 of the first moving auxiliary clamping plate to move inward and close with the long side plate 20312 of the first fixed auxiliary clamping plate to clamp the kelp strip. When the first electric magnet 2033 is de-energized, 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 moving auxiliary clamping plate to pop outward, driving the long side plate 20322 of the first moving auxiliary clamping plate to move outward and release from the long side plate 20312 of the first fixed auxiliary clamping plate. The structure of the second clamping mechanism 204 is the same as that of the first clamping mechanism 203.

[0041] In order to ensure the directional movement of the long side plate of the first moving auxiliary clamping plate 20322, a positioning pin 2038 is provided on the side of the long side plate 20322 of the first moving auxiliary clamping plate facing the long side plate 20312 of the first fixed auxiliary clamping plate. The head end of the positioning pin 2038 is pointed, and a positioning hole 20315 is provided on the long side plate 20312 of the first fixed auxiliary clamping plate corresponding to the positioning pin 2038.

[0042] The clamping mechanism employs fixed and movable auxiliary clamping plates, incorporating electromagnetic drive and spring tension return. The fixed and movable auxiliary clamping plates provide a large, flat clamping space, resulting in a high success rate in clamping kelp strips, good stability during movement, and minimal risk of damage. The electromagnetic drive is not only simple to control but also highly adaptive, enabling rapid closure of the clamping mechanism. Combined with the spring, the fixed and movable auxiliary clamping plates automatically and quickly reopen. The overall clamping structure is compact and small. Rope drive is used to achieve the kelp wrapping and knotting process requirements. As a flexible drive, the rope drive has good adaptability, allowing the clamping mechanism to move freely on the arc track, resulting in faster speeds, more flexible movement, and simpler, more continuous kelp wrapping, thus improving the efficiency of kelp knotting.

[0043] The aforementioned 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 drive mechanism 6 via a first connecting mechanism. The right end of the first pneumatic gripper 301 is fixedly connected to a first left claw finger 304 and a first right claw finger 305 via a 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 to grip the kelp strips. The first connecting mechanism includes a first rack 306. The right end of the first rack 306 is fixedly connected to the first pneumatic gripper 301 via the first connecting block 307. The back of the left end of the first rack 306 is connected to the first linear guide 309 via the first sliding block 308. The front of the first rack 306 is connected to the output end of the drive mechanism 6. The back of the first linear guide 309 is connected to the support 5 via the angle adjustment block 310. The angle adjustment block 310 is used to support and stabilize the first linear guide 309, ensuring that the first rack 306 moves linearly along the first linear guide 309.

[0044] The structure of the second pneumatic gripper 302 is the same as that of the first pneumatic gripper 301. Similarly, it is connected to the drive mechanism through the second connecting mechanism, and the configuration of the second connecting mechanism is the same as that of the first connecting mechanism. The drive mechanism drives the first rack and the second rack to move to the left or right, thereby moving the first pneumatic gripper and the second pneumatic gripper to the left or right. When the first pneumatic gripper 301 and the second pneumatic gripper 302 move to the right, the gripping ends of the first pneumatic gripper 301 and the second pneumatic gripper 302 are in a crossed state, with the first pneumatic gripper 301 located above the second pneumatic gripper 302. The gripping end of the first pneumatic gripper 301 faces the second gripping mechanism 204, and the gripping end of the second pneumatic gripper 3021 faces the first gripping mechanism 203. When the first pneumatic gripper 301 and the second pneumatic gripper 302 move to the left, the gripping ends of the first pneumatic gripper 301 and the second pneumatic gripper 302 are separated at a set angle and have a set distance. Using pneumatic grippers as the power source, the grippers overlap to clamp the two ends of the kelp and tie them into knots. The operation is simpler, the gripping speed is fast and stable, the success rate is higher, and the efficiency of kelp knotting is improved.

[0045] To ensure the smooth movement of the first pneumatic gripper 301 and the second pneumatic gripper 302, the first pneumatic gripper 301 and the second pneumatic gripper 302 are slidably connected to the pneumatic gripper support plate 7 via the first support bullseye wheel 311 and the second support bullseye wheel, respectively. The pneumatic gripper support plate 7 is erected on the main body base plate 1, and a slot 703 is opened in the middle of the pneumatic gripper support plate 7. A limiting groove 101 is provided on the main body base plate 1 at the position corresponding to the slot 703, and a seaweed collection bin 8 is placed on the limiting groove 101.

[0046] The left end of the feeding module 4 is mounted on the support 5, and the right end extends towards 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 parallel to each other on the upper surface of the main body base plate 1. The friction wheel mounting plate 503 is fixedly set 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 drive mechanism 6 of the feeding module 4 and the pneumatic gripper module 3 is integrated and mounted on the motor fixing plate 504 and the friction wheel mounting plate 503 of the support 5. This not only saves energy and improves the continuity of the operation, but also reduces the equipment layout and improves the compactness of the equipment structure.

[0047] In order to meet production needs and improve the gripping accuracy of the pneumatic gripper module 3 on the kelp strips, the motor fixing plate 504 is provided with an arc-shaped first angle adjustment groove 5041 and a second angle adjustment groove symmetrically located on the outside of the driving gear and the driven gear. The bottom end of the first angle adjustment block is embedded into 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 into the motor fixing plate through the second angle adjustment groove and then fixed with bolts.

[0048] 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, with a gap between them to accommodate kelp strips. The friction between 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 via a coupling. The friction wheel one-way shaft module 404 is equipped with a one-way locking structure, allowing only unidirectional rotation of the active friction wheel. The friction wheel one-way shaft module 404 is connected to the drive mechanism 6, and its bottom end is rotatably connected to the motor mounting plate 504 via 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 via a flange bearing, and a rotary encoder 405 is installed on the top end. By setting the rotary encoder, the number of rotations of the active friction wheel is controlled to control the output length of the kelp strips. The inner ring of the driven friction wheel 402... The 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 via a flange bearing. 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, with a feed inlet 4031. Circular holes 4032 are opened on the kelp conveying plate 403 corresponding to the active friction wheel 401 and the driven friction wheel 402 to prevent interference with their rotation. The conveyor plate 403 has outward support plates 4033 on both sides, which are fixedly connected to the friction wheel mounting plate 503 to ensure the structural stability of the kelp conveyor plate 403. The end of the kelp conveyor plate 403 extends to the auxiliary knotting module 2 and is provided with a discharge port 4034. A kelp cutting mechanism 407 is installed at the discharge port 4034 to cut the kelp into 15-18cm kelp strips. The kelp strips are straight, which is conducive to the rapid clamping movement of the auxiliary knotting mechanism and improves the knotting efficiency.

[0049] 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. In addition, the feeding module 4 and the pneumatic gripper module 3 share the same drive mechanism, realizing intensive production, saving energy and reducing costs.

[0050] The drive mechanism 6 includes a stepper motor 601, a drive gear 602, and a driven gear 603. The stepper motor 601 is mounted below the motor mounting plate 604. The output shaft of the stepper motor 601 passes through the motor mounting plate 604 and connects to the drive gear 602, driving it to rotate. The driven gear 603 is mounted on one side of the drive gear 602 and meshes with it. The inner ring of the driven gear 603 is fixedly connected to the friction wheel one-way shaft module 404. When the driven gear 603 rotates, it drives the drive friction wheel 401 to rotate synchronously through the friction wheel one-way shaft module 404 (except when the stepper motor reverses). The stepper motor 601 is used as the power source. The rotation of the stepper motor 601 causes the drive gear 602 to drive the driven gear 603 to rotate synchronously. The meshing drive gear 602 and driven gear 603 synchronously transmit power to the feeding module 4 and the pneumatic gripper module 3, which not only ensures the consistency of the action and improves efficiency, but also enhances the compactness of the connection between the components and improves the portability of the device.

[0051] The auxiliary knotting module 2, the pneumatic gripper module 3 and the feeding module 4 are equipped with an outer shell 9. The bottom of the outer shell 9 is fixedly connected to the main body base plate 1 with screws, covering the equipment. The front and sides of the outer shell 9 are provided with operation ports 901 to facilitate feeding and taking out the kelp collection bin 8.

[0052] Example 2

[0053] A knotting method for a kelp knotting device includes the following steps:

[0054] In the first step, initially, 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. Both the first clamping mechanism 203 and the second clamping mechanism 204 are kept in an open state. The stepper motor 601 is operated to rotate forward, and the kelp strip is placed into the gap between the active friction wheel 401 and the driven friction wheel 402. The kelp strip moves to the right along the kelp conveying plate 403 by the thrust of the active friction wheel 401 and the driven friction wheel 402 until the end of the kelp strip falls between the second fixed auxiliary clamping plate and the second moving auxiliary clamping plate of the second clamping mechanism 204. At this time, the kelp strip has moved the set distance set by the rotary encoder 405. The end of the kelp strip is located between the first fixed auxiliary clamping plate 2031 and the first moving auxiliary clamping plate 2032. The kelp cutting mechanism 407 at the end of the kelp conveying plate 403 cuts the kelp strip.

[0055] 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 electromagnet 2033, clamping 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 electromagnet, clamping the lower end of the kelp strip.

[0056] In the second step, after clamping both ends of the kelp strip, the first drive motor 2055, as a power source, drives the first drive 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 drive motor, as a power source, drives the second rope to pull the second clamping mechanism 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 intersecting and arc-shaped, the kelp strip is twisted into a circle and the end of the kelp strip is located behind and below the head end;

[0057] At the same time, the stepper motor 601 reverses, and the first rack 306 and the second rack drive the first sliding block 308 and the second sliding block to move to the right, thereby driving the first pneumatic gripper 301 and the second pneumatic gripper 302 to move to the right. The two are installed at different heights. When the second step ends, the first pneumatic gripper 301 and the second pneumatic gripper 302 form a cross shape, with the first pneumatic gripper 301 on top and the second pneumatic gripper on the bottom. 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 gripper 301, and the tail end of the kelp strip is just moved between the second left claw finger and the second right claw finger of the second pneumatic gripper.

[0058] In the third step, the first pneumatic finger 303 of the first pneumatic gripper 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. The second pneumatic finger of the second pneumatic gripper 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 electromagnet 3055 and the second electromagnet are de-energized and lose their magnetic attraction. The first movable auxiliary clamping plate 2032 moves outward under the tension of the first left tension spring 2036 and the first right tension spring 2037. The second movable auxiliary clamping plate moves outward under the tension of the second left tension spring and the second right tension spring, causing the first clamping mechanism 203 and the second clamping mechanism 204 to release their grip. The kelp strips are clamped, and then, driven by 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 2012, and the second clamping mechanism 204 returns to the lower left end of the second guide rail; the stepper motor 601 rotates forward, and the first rack and the second rack drive the first pneumatic gripper 301 and the second pneumatic gripper 302 to move to the left, respectively. The first pneumatic gripper 301 clamps the head end of the kelp strip and moves it to the left through the kelp strip loop, and the second pneumatic gripper clamps the end end of the kelp strip and moves it to the left through the kelp strip loop. As the distance between the first pneumatic gripper 301 and the second pneumatic gripper 302 increases, the two ends of the kelp strip are pulled outward to complete the knotting.

[0059] Fourth step: 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. The knotted kelp will fall into the kelp collection bin 8 for collection and subsequent packaging.

[0060] In the third step, the second kelp strip can enter the gap between the active friction wheel 401 and the driven friction wheel 402 as in the first step, preparing for the second kelp to be knotted, thus forming a complete cycle and knotting 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 feeding begins when the stepper motor 601 rotates forward.

[0061] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit and principles thereof should fall within the protection scope defined by the claims of the present invention.

Claims

1. A kelp knotting device, characterized in that, include: Main base plate (1); The auxiliary knotting module (2) is installed on the right end of the main body base plate (1) and is used to clamp the two ends of the kelp strips and rotate them to form a cross ring; The pneumatic gripper module (3) is installed on the left end of the main body base plate (1) and is used to grip both ends of the ring-shaped kelp strip and move it so that the ends of the kelp strip pass through the middle of the ring-shaped kelp strip and are wrapped 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 base plate (1) to the right end facing the auxiliary knotting module (2). The auxiliary knotting module (2) includes a first auxiliary plate (201), a second auxiliary plate (202), a first clamping mechanism (203), and a second clamping mechanism (204). The lower part of the first auxiliary plate (201) is provided with an arc-shaped first notch (2011), and a first guide rail (2012) is provided on the first notch. A matching first slider (2013) is slidably connected on the first guide rail (2012). The first clamping mechanism (203) is installed on the first slider (2013) and connected to the first driver (205). The first driver (205) is installed on the first auxiliary plate (201). The upper part of the second auxiliary plate (202) is provided with an arc-shaped first notch (2011). The second notch has a second guide rail, and a matching second slider is slidably connected to the second guide rail. The second clamping mechanism (204) is installed on the second slider and connected to the second driver. The second driver is installed on the second auxiliary plate (202). The first guide rail (2012) and the second guide rail are in a cross state. The top left end of the first guide rail (2012) is directly opposite the lower left end of the second guide rail. 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, the openings of the first clamping mechanism (203) and the second clamping mechanism (204) are directly opposite the discharge port of the feeding module.

2. The kelp knotting device according to claim 1, characterized in that, The first driver (205) includes a first drive drive wheel (2051), a first head directional wheel (2052), a first tail directional wheel (2053), and a first drive rope (2054). The first drive drive wheel (2051) is installed on the outer middle of the first auxiliary plate (201) and connected to the output shaft of the first drive motor (2055). The first drive motor (2055) is installed on the inner side of the first auxiliary plate (201). The first head directional wheel (2052) and the first tail directional wheel (2053) are rotatably connected to the first head mounting shaft (2056) and the first tail mounting shaft (2057), respectively. The first head mounting shaft (2056) The first tail mounting shaft (2057) is fixedly installed on the outside of the first auxiliary plate (201) and located at the beginning and end of the first guide rail (2012). The first drive rope (2054) is fixedly connected to the first drive drive wheel (2051) in the middle. The two ends of the first drive rope (2054) pass around the first head guide wheel (2052) and the first tail guide wheel (2053) respectively and are connected to the two sides of the first clamping mechanism (203). The first clamping mechanism (203) is driven by the first drive drive wheel (2051) to move along the first guide rail (2012). The second driver has the same structure as the first driver (205) and is installed on the second auxiliary plate (202).

3. The kelp knotting device according to claim 2, characterized in that, 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 drive mechanism (6) through a first connecting mechanism. The first connecting mechanism includes a first rack (306). The right end of the first rack (306) is fixedly connected to the first pneumatic gripper (301) through a first connecting block (307). The back of the left end is connected to the first linear guide rail (309) through a first sliding block (308). The front end... Connected to the output end of the drive mechanism (6), the structure of the second pneumatic gripper (302) is the same as that of the first pneumatic gripper (301). The right ends of the first pneumatic gripper (301) and the second pneumatic gripper (302) are in a cross state, and the first pneumatic gripper (301) is located above the second pneumatic gripper (302). The gripping end of the first pneumatic gripper (301) is facing the second gripping mechanism (204), and the gripping end of the second pneumatic gripper (302) is facing the first gripping mechanism (203).

4. The kelp knotting device according to claim 3, characterized in that, The drive mechanism (6) includes a stepper motor (601), a drive gear (602), and a driven gear (603). The stepper motor (601) is installed below the motor fixing plate (504). The first upright plate (501) and the second upright plate (502) are fixedly connected to both ends of the motor fixing plate (504). The first upright plate (501) and the second upright plate (502) are vertically erected on the main body base plate (1). The output axis of the stepper motor (601) passes through the motor fixing plate (504) and is connected to the drive gear (602). The driven gear (603) is installed on one side of the drive gear (602) and meshes with the drive gear (602). The drive gear (602) and the driven gear (603) are connected to the first rack and the second rack, respectively.

5. A kelp knotting device according to claim 4, characterized in that, 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) with a gap between them to accommodate kelp strips. The top ends of the first vertical plate (501) and the second vertical plate (502) are fixedly connected to the two ends of the friction wheel mounting plate (503). 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 (504) through a flange bearing, and the top end 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 driven friction wheel (401) 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. 2) 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 with a feed inlet (4031). The kelp conveying plate (403) has a round hole (4032) corresponding to the active friction wheel (401) and the driven friction wheel (402). The two sides of the kelp conveying plate (403) are provided with support plates (4033) fixedly connected to the friction wheel mounting plate (503) on the outside. The end of the kelp conveying plate (403) extends to the auxiliary knotting module (2) and is provided with a discharge port (4034). A kelp shearing mechanism (407) is installed at the discharge port (4034).

6. The knotting method of the kelp knotting device according to claim 5, characterized in that, Includes the following steps: In the first step, initially, 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. Both the first clamping mechanism (203) and the second clamping mechanism (204) are in an open state. The stepper motor (601) is operated to rotate forward, and the kelp strip is placed into the gap between the active friction wheel (401) and the driven friction wheel (402). The kelp strip is pushed by the friction of the active friction wheel (401) and the driven friction wheel (402) to move the kelp conveyor plate (403) to the right until the 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 has moved the set distance set by the rotary encoder (405), and the end of the kelp strip is clamped at the clamping end of the first clamping mechanism. The kelp cutting mechanism (407) installed at the end of the kelp conveyor plate (403) cuts the kelp strip. In the second step, after clamping both ends of the kelp strip, the first drive motor (2055) acts as a power source to drive the first drive 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), causing the end of the kelp strip to move downward; similarly, the second drive motor of the second driver acts as a power source to drive the second drive rope of the second driver to pull the second clamping mechanism along the second guide rail within the range limited by the second head directional wheel and the second tail directional wheel of the second driver, moving the head end of the kelp strip upward. Since the space between the first guide rail (2012) and the second guide rail is intersecting and arc-shaped, the kelp strip is twisted into a circle and the end of the kelp strip is located behind and below 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 (308) and the second sliding block to move to the right, thereby driving the first pneumatic gripper (301) and the second pneumatic gripper (302) to move to the right. The two are installed at different heights. When the second step ends, the first pneumatic gripper (301) and the second pneumatic gripper (302) form a cross shape, with the first pneumatic gripper (301) on top and the second pneumatic gripper (302) on the bottom. The head end of the kelp strip is just moved to the gripping end of the second pneumatic gripper, and the tail end of the kelp strip is just moved to the gripping end of the first pneumatic gripper (301). In the third step, the clamping end of the first pneumatic gripper (301) closes to clamp the end of the kelp strip, and the clamping end of the second pneumatic gripper (302) closes 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, driven by 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 (2012), and the second clamping mechanism (204) returns to the lower left end of the second guide rail. Then... When the stepper motor (601) rotates forward, the first rack (306) and the second rack drive the first pneumatic gripper (301) and the second pneumatic gripper (302) to move to the left, respectively. The first pneumatic gripper (301) holds the end of the kelp strip and moves it to the left through the kelp strip loop, while the second pneumatic gripper (302) holds the head end of the kelp strip and moves it to the left through the kelp strip loop. As the distance between the first pneumatic gripper (301) and the second pneumatic gripper (302) increases, the two ends of the kelp strip are pulled outward to complete the knot. Fourth step: After the kelp is knotted, the clamping end of the first pneumatic gripper (301) opens and the clamping end of the second pneumatic gripper (302) opens. The knotted kelp will fall and be collected for subsequent packaging. In the third step, the second kelp strip can enter the gap between the active friction wheel (401) and the driven friction wheel (402) as in the first step, in preparation for the second kelp to be knotted, thus forming a complete cycle and knotting 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 feeding begins when the stepper motor (601) rotates forward.

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