Long shoot rope hanging kelp continuous lifting cutting harvesting device and working method

Abstract

The present application relates to a long shoot rope hanging kelp continuous lifting cutting harvesting device, a runway type continuous lifting conveying device comprises a runway type chain link formed by two rows of hollow pin shaft conveying chains and a pair of sprockets, a plurality of round bars pass through the hollow pin shaft holes of the hollow pin shaft conveying chains, the round bars have flanges at one end, and spherical ball bearings are arranged at the end of the flanges; a push rod rack and a pull rod rack are respectively engaged with a gear, forming two gear pairs; the two gears are driven by the same servo motor to move synchronously; the push rod structure is arranged at the upper edge of the kelp entering side of the runway type continuous lifting conveying device, and the pull rod structure is arranged at the upper edge of the kelp leaving side of the runway type continuous lifting conveying device; the round bars are stretched out to the outside under the driving of the push rod structure, and then located on the walking track of the kelp shoot rope, and the kelp shoot rope is lifted upwards and hung at a certain height; the running speed of the runway type chain link is the same as the running speed of the shoot rope traction guide device.

Description

Technical Field

[0001] This invention relates to mechanized kelp harvesting equipment using long seedling ropes, and more particularly to a device and method for continuous lifting, cutting and harvesting of kelp using long seedling ropes, belonging to the field of kelp harvesting technology. Background Technology

[0002] Kelp, as an important type of seaweed, has extremely high edible and industrial value. Due to the differences between kelp cultivation methods and traditional algae cultivation methods, although several research institutions have studied kelp cutting and harvesting machinery, they often suffer from shortcomings in economic applicability and have not been widely adopted. Currently, kelp harvesting is mostly in a semi-mechanized stage. The harvesting principles mainly fall into two categories. One involves installing a pulling rod and towing device on the hull to drag the kelp seedling ropes onto the hull, where they are then manually untied, thus reducing the intensity of manual towing. The other involves adding a rope-cutting device to the hull, cutting the hanging ropes at both ends of the kelp seedling ropes directly from the main rope and then dragging them onto the hull via the towing device.

[0003] Currently, enterprises have higher requirements for the quality of harvested kelp, and too much of the kelp body below the kelp root stalk should not be cut off. When using the two types of kelp harvesting vessels mentioned above, the cutting position of the kelp stalk is usually at a fixed height between the two ends of the kelp suspension rope. However, due to changes in the weight of the kelp on the seed rope and the swaying of the hull, the position of the kelp root stalk will fluctuate up and down. The fixed cutting height will result in three uncontrollable states: cutting the kelp body, cutting the kelp rope, or cutting the ideal kelp stalk. Therefore, the cut kelp heads are uneven, which seriously affects the quality of the harvested kelp. Summary of the Invention

[0004] The purpose of this invention is to provide a method and device for continuous lifting, cutting and harvesting of kelp using a long seedling rope. When harvesting kelp, the method effectively limits the vibration of the seedling rope during the harvesting and cutting of the kelp handle, accurately cuts the kelp handle, and improves the efficiency and quality of mechanized continuous harvesting and cutting of kelp.

[0005] The present invention adopts the following technical solution:

[0006] A continuous lifting, cutting, and harvesting device for kelp with long seedling ropes includes a seedling rope traction and guiding device, a racetrack-type continuous lifting and conveying device II, a kelp horizontal cutter V, and an inclined belt conveyor I. The racetrack-type continuous lifting and conveying device II includes a racetrack-shaped link consisting of two rows of hollow pin shaft conveying chains 1 and a pair of sprockets. Several round bars 2 pass through the hollow pin shaft holes of the hollow pin shaft conveying chains 1. One end of each round bar has a flange 5, and the flange end is provided with spherical balls 18. The spherical balls 18 contact a push rod structure 6. The inner surface of the flange 5 contacts the inner surface of a pull rod structure 12. The push rod structure 6 is fixedly connected to a push rod rack 8, and the pull rod structure 12 is fixedly connected to a pull rod rack. The push rod rack 8 and the pull rod rack are parallel to each other and both perpendicular to the racetrack-type continuous lifting and conveying device. On the side of component II, the push rod rack and pull rod rack each mesh with a gear 7, forming two gear pairs; the gear diameters corresponding to the push rod structure and pull rod structure are equal; the two gears are driven synchronously by the same servo motor 9; the push rod structure is located on the upper edge of the kelp entry side of the runway-type continuous lifting and conveying device II, and the pull rod structure 12 is located on the upper edge of the kelp exit side of the runway-type continuous lifting and conveying device II; the height of the end of the inclined belt conveyor I is higher than the kelp entry side of the runway-type continuous lifting and conveying device II; the round bar 2 extends outward under the drive of the push rod structure 6 and is located on the walking trajectory of the kelp seedling rope, lifting the kelp seedling rope upward and hanging it at a certain height; the traveling speed of the runway-shaped link is the same as the traveling speed of the seedling rope traction guide device.

[0007] Preferably, the seedling rope traction and guiding device includes a winch IV and a fixed pulley for guiding the seedling rope.

[0008] Preferably, the pull rod structure is equipped with a reverse gear 10, which is synchronized with the servo motor 9 and rotates in the opposite direction. The push rod structure 6 and the pull rod structure 12 move synchronously. When the pull rod structure 6 pulls the round bar 2 backward, the push rod structure 6 resets backward.

[0009] Preferably, the round bars are evenly distributed on the runway-shaped link with a spacing of 252mm. When the round bars on the upper edge of the horizontal side of the runway-shaped link are in the extended state, the extension distance of the round bars extending 15 short distances from the wall surface is 150-200mm. The round bars on the lower edge of the arc side and the horizontal side of the runway-shaped link are in the retracted state. The extended ends of the round bars are basically flush with the wall surface, so the round bars do not interfere with the lower part of the kelp.

[0010] Preferably, when the round bar 2 reaches the position where the upper edge of the horizontal side intersects with the right arc side along the racetrack-shaped link, the spherical ball at the end of the round bar flange corresponds exactly to the outer surface of the push rod structure; at this time, the round bar 2 reaches the position where the upper edge of the horizontal side intersects with the left arc side, and the inner surface of the round bar flange corresponds exactly to the inner surface of the pull rod structure.

[0011] Furthermore, a proximity sensor is installed at the intersection of the upper edge of the horizontal side and the right arc side of the runway-shaped link; when the round bar reaches this position, the sensor is triggered to send a drive signal to the servo motor, and the servo motor drives the push rod structure to perform an outward action and the pull rod structure to perform a pull-back action simultaneously.

[0012] Furthermore, both rows of conveyor chains are equipped with rollers, and the upper and lower surfaces of the rollers are equipped with guide rails 4 and 14; the rear sprocket guide rails are supported by hangers and brackets, and the round bar and its flange move in a racetrack-shaped link between them; a baffle 17 is provided on the inner side of the flange of the pulled-back round bar, which is connected to the frame to ensure that the flange of the pulled-back round bar is always on the outside of the baffle; the limiting sleeve 3 is fixed to the round bar to fix the pull-back position of the round bar so that the round bar will not retract too much and detach from the hollow pin shaft.

[0013] Furthermore, the pusher plane of the pusher structure is elongated rectangular, corresponding to the horizontal side of the racetrack-shaped link; when pushing the spherical ball at the end of the round bar flange, the trajectory of the ball on the pusher plane is linear; the trajectory of the ball is a composite motion of horizontal movement along the pusher plane and forward pushing; the puller plane of the puller structure 12 is arc-shaped, corresponding to the arc of the racetrack-shaped link; when pulling back the inner surface of the round bar flange, the trajectory of the inner surface of the round bar flange on the puller plane is arc-shaped; the trajectory of the round bar flange is a composite motion of arc movement of the racetrack-shaped link and backward pulling.

[0014] Furthermore, the front of the long seedling rope hanging kelp continuous lifting and conveying device is provided with a baffle 16, and the round bars on the lower edge of the arc and horizontal sides are all inserted into the plane of the baffle 16; the round bars extending from the upper edge of the racetrack-shaped horizontal side are provided with a high-speed rotating horizontal disc blade V from below, and there is also a set of stationary blades corresponding to it. The disc blades and the stationary blades intersect each other to form a shearing effect; the seedling rope traction and guiding device includes a towing winch IV, which is placed behind the racetrack-shaped continuous lifting and conveying device II. The linear speed of the towing is synchronized with the linear speed of the moving chain of the round bars of the long seedling rope hanging kelp continuous lifting and conveying device, and is used to tow the kelp rope.

[0015] A method for operating the aforementioned long-rope hanging kelp continuous lifting, cutting, and harvesting device: the seedling rope VIII, driven by winch IV, is sequentially conveyed backward along the direction of inclined belt conveyor I, long-rope hanging kelp continuous lifting and conveying device II, kelp horizontal cutter V, and winch IV; the push and pull rod structures are installed at positions consistent with the positions of the round bars that need to be pushed out and pulled back, that is, when the left round bar reaches the position where the upper edge of the horizontal side intersects with the right arc side, the push rod structure pushes the spherical ball at the flange end of the round bar to extend the push rod; at this time, another round bar reaches the position where the upper edge of the horizontal side intersects with the left arc side, and the pull rod structure pulls the inner surface of the flange of the round bar to retract the round bar, and so on, forming: all the round bars along the upper edge of the racetrack-shaped horizontal side are extended, and all the round bars along the lower edge of the arc side and the horizontal side are retracted; at the same time, the round bars move along the trajectory of the racetrack-shaped link.

[0016] The most basic function of this invention is to simultaneously (without affecting the horizontal movement of the seaweed) lift the seedling rope during its movement, maintaining the cut portion of the seaweed at a predetermined position. This prevents inconsistent cutting due to changes in ship load or wave effects, thus avoiding issues that could affect seaweed quality. After cutting, the lifting action can be retracted in real time without disrupting the seaweed's movement. Furthermore:

[0017] The beneficial effects of this invention are as follows:

[0018] 1) The round bars of the long kelp-hanging continuous lifting and conveying device are evenly distributed along a racetrack-shaped link. The bars move along the racetrack-shaped link at a linear speed consistent with the speed at which the winch retracts the long kelp ropes. This facilitates the synchronized movement of the kelp ropes towards the winch retraction side, ensuring good synchronization and preventing speed differences between the round bars and the kelp, thus preventing the kelp from being scraped off the ropes.

[0019] 2) The round rod at the top edge of the horizontal side is extended, while the round rods at the two curved sides and the bottom edge of the horizontal side are retracted. The extended ends of the round rods are basically flush with the wall surface. The advantage of having the round rods at the top edge extended and the round rods at the bottom edge retracted is that the extended round rods at the top edge are used to align the kelp rope and move it in the direction of winding, while the round rods at the bottom edge move in the opposite direction to the upper edge. In order not to interfere with the kelp moving in the direction of winding, the round rods at the bottom edge are always in a retracted state, which facilitates the continuous movement of the kelp rope.

[0020] 2) When the right-side round bar reaches the intersection of the upper edge of the horizontal side and the right-side arc edge, the push rod structure pushes the spherical ball bearing at the flange end of the round bar, causing the push rod to extend. At this time, another round bar will inevitably reach the intersection of the upper edge of the horizontal side and the left-side arc edge. The pull rod structure pulls the inner surface of the flange of the round bar, causing the round bar to retract. This cycle repeats until all the round bars along the upper edge of the racetrack-shaped horizontal side extend, and all the round bars along the lower edge of the arc edge and the horizontal side retract. Simultaneously, the round bars move along the trajectory of the racetrack-shaped link. When the round bar at the left intersection point extends, it picks up the kelp seedling rope from the gap between the kelp, and moves horizontally from the right side of the intersection point to the left side of the intersection point in sync with the seedling rope. The round bar retracts to release the kelp seedling rope. Subsequently, round bars at certain intervals extend in sequence to pick up the kelp rope, move horizontally, retract at the left end, and release the kelp seedling rope. This cycle repeats. The kelp rope is supported by the round bars and will not vibrate. The cutter below precisely cuts the kelp stem at the root position, ensuring the cutting quality.

[0021] 3) When the push-pull structure drives the round bar to the position where the upper edge of the horizontal side intersects with the right arc side, the push rod structure pushes the spherical ball bearing at the flange end of the round bar to extend the push rod. At this time, another round bar will inevitably reach the position where the upper edge of the horizontal side intersects with the left arc side, and the pull rod structure pulls the inner surface of the flange of the round bar to retract the round bar. By sensing the position with a sensor and driving a pair of gear racks and another pair of gear racks in opposite directions with a motor, the consistency of the time and position of the round bar extension and retraction is ensured, and malfunctions will not occur. Attached Figure Description

[0022] Figure 1 This is a three-dimensional structural diagram of the long seedling rope hanging kelp continuous lifting, cutting and harvesting device of the present invention.

[0023] Figure 2 yes Figure 1 Side view.

[0024] Figure 3 This is a working example diagram of the long seedling rope hanging kelp continuous lifting, cutting and harvesting device of the present invention.

[0025] In the diagram: 1. Pin-hole chain; 2. Round bar; 3. Limiting sleeve; 4. Chain roller guide rail; 5. Round bar flange structure; 6. Push rod structure; 7. Gear; 8. Rack; 9. Motor; 10. Reverse gear; 11. Roller guide rail; 12. Pull rod structure; 13. Drive motor; 14. Guide rail; 15. Wall panel; 16. Material stop cover; 17. Baffle; 18. Flange spherical ball bearing.

[0026] I. Inclined belt conveyor; II. Runway-type continuous lifting and conveying device; III. Pulley; IV. Winch; V. Horizontal disc cutter system; VI. Kelp; VII. Kelp that falls off after cutting; VIII. Long seedling rope. Detailed Implementation

[0027] The following specific examples further illustrate this embodiment:

[0028] See Figure 1-3 A continuous lifting and cutting harvesting device for kelp with long seedling ropes includes a seedling rope traction and guiding device, a racetrack-type continuous lifting and conveying device II, a kelp horizontal cutter V, and an inclined belt conveyor I. The racetrack-type continuous lifting and conveying device II includes a racetrack-shaped link consisting of two rows of hollow pin shaft conveying chains 1 and a pair of sprockets. Several round bars 2 pass through the hollow pin shaft holes of the hollow pin shaft conveying chains 1. One end of each round bar has a flange 5, and the flange end is provided with spherical balls 18. The spherical balls 18 contact a push rod structure 6. The inner surface of the flange 5 contacts the inner surface of a pull rod structure 12. The push rod structure 6 is fixedly connected to a push rod rack 8, and the pull rod structure 12 is fixedly connected to a pull rod rack. The push rod rack 8 and the pull rod rack are parallel to each other and both perpendicular to the racetrack-type continuous lifting and conveying device. On the side of component II, the push rod rack and pull rod rack each mesh with a gear 7, forming two gear pairs; the gear diameters corresponding to the push rod structure and pull rod structure are equal; the two gears are driven synchronously by the same servo motor 9; the push rod structure is located on the upper edge of the kelp entry side of the runway-type continuous lifting and conveying device II, and the pull rod structure 12 is located on the upper edge of the kelp exit side of the runway-type continuous lifting and conveying device II; the height of the end of the inclined belt conveyor I is higher than the kelp entry side of the runway-type continuous lifting and conveying device II; the round bar 2 extends outward under the drive of the push rod structure 6 and is located on the walking trajectory of the kelp seedling rope, lifting the kelp seedling rope upward and hanging it at a certain height; the traveling speed of the runway-shaped link is the same as the traveling speed of the seedling rope traction guide device.

[0029] See Figure 3 The seedling rope traction and guiding device includes a winch IV and a fixed pulley for guiding the seedling rope.

[0030] See Figure 1 The pull rod structure is equipped with a reverse gear 10, which is synchronized with the servo motor 9 and rotates in the opposite direction. The push rod structure 6 and the pull rod structure 12 move synchronously. When the pull rod structure 6 pulls the round bar 2 backward, the push rod structure 6 resets backward.

[0031] See Figure 1 The round bars are evenly distributed on the runway-shaped link with a spacing of 252mm. When the round bars on the upper edge of the horizontal side of the runway-shaped link are in the extended state, the extension distance of the round bars extending 15 short distances from the wall is 150-200mm. The round bars on the lower edge of the arc side and the horizontal side of the runway-shaped link are in the retracted state. The extended ends of the round bars are basically flush with the wall, so the round bars do not interfere with the lower part of the kelp.

[0032] See Figure 1When the round bar 2 reaches the intersection of the upper edge of the horizontal side and the right arc side along the racetrack-shaped link, the spherical ball at the end of the round bar flange corresponds exactly to the outer surface of the push rod structure; at this time, the round bar 2 reaches the intersection of the upper edge of the horizontal side and the left arc side, and the inner surface of the round bar flange corresponds exactly to the inner surface of the pull rod structure.

[0033] A proximity sensor (not shown in the attached figure) is installed at the intersection of the upper edge of the horizontal side and the right arc side of the runway-shaped link. When the round bar reaches this position, the sensor is triggered to send a drive signal to the servo motor. The servo motor drives the push rod structure to perform the push action and the pull rod structure to perform the pull-back action simultaneously.

[0034] See Figure 1 Both rows of conveyor chains are equipped with rollers, and the upper and lower surfaces of the rollers are equipped with guide rails 4 and 14. The rear sprocket guide rail is supported by a hanger and a bracket, and the round bar and its flange move in a racetrack-shaped link between them. A baffle 17 is provided on the inner side of the flange of the retracted round bar, which is connected to the frame to ensure that the flange of the retracted round bar is always on the outer side of the baffle. The limiting sleeve 3 is fixed to the round bar to fix the retracted position of the round bar so that the round bar will not retract too much and detach from the hollow pin.

[0035] See also Figure 1 The pusher plane of the pusher structure is long and rectangular, corresponding to the horizontal side of the racetrack-shaped link. When pushing the spherical ball at the end of the round bar flange, the trajectory of the ball on the pusher plane is straight. The trajectory of the ball is a combination of horizontal movement along the pusher plane and forward pushing. The puller plane of the puller structure 12 is arc-shaped, corresponding to the arc of the racetrack-shaped link. When pulling back the inner surface of the round bar flange, the trajectory of the inner surface of the round bar flange on the puller plane is arc-shaped. The trajectory of the round bar flange is a combination of arc movement of the racetrack-shaped link and backward pulling.

[0036] See Figure 1 The long seedling rope hanging kelp continuous lifting and conveying device is equipped with a baffle 16 at the front, and the round bars on the lower edge of the arc and horizontal sides are all inserted into the plane of the baffle 16. The round bars extending from the upper edge of the racetrack-shaped horizontal side are provided with a high-speed rotating horizontal disc blade V from below, and there is also a set of stationary blades. The disc blades and the stationary blades intersect each other to form a shearing effect. The seedling rope traction and guiding device includes a towing winch IV, which is located behind the racetrack-shaped continuous lifting and conveying device II. The linear speed of the towing is synchronized with the linear speed of the moving chain of the round bars of the long seedling rope hanging kelp continuous lifting and conveying device, and is used to tow the kelp rope.

[0037] When the long seedling rope hanging kelp continuous lifting, cutting and harvesting device is working, the seedling rope VIII, driven by the winch IV, is conveyed backward in sequence along the direction of the inclined belt conveyor I, the long seedling rope hanging kelp continuous lifting and conveying device II, the kelp horizontal cutter V, and the winch IV. The position of the push and pull rod structure is consistent with the position of the round bar that needs to be pushed out and pulled back. That is, when the left round bar reaches the position where the upper edge of the horizontal side and the right arc side intersect, the push rod structure pushes the spherical ball at the flange end of the round bar to extend the push rod. At this time, another round bar reaches the position where the upper edge of the horizontal side and the left arc side intersect, and the pull rod structure pulls the inner surface of the flange of the round bar to retract the round bar. This cycle repeats, forming that: all the round bars along the upper edge of the racetrack-shaped horizontal side are extended, and all the round bars along the lower edge of the arc side and the horizontal side are retracted; at the same time, the round bars move along the trajectory of the racetrack-shaped link.

[0038] To adapt to mechanized kelp harvesting, the kelp farming rafts have been optimized by connecting the ends of the seedling ropes of the kelp in horizontal cultivation to form a multi-knotted seedling rope of 50-200m.

[0039] Based on this, it is further optimized into a single knotless long seedling rope, facilitating continuous and precise cutting and harvesting. During kelp harvesting, the long seedling rope (VIII) attached to the kelp passes through an inclined belt conveyor (I), hangs from a continuous kelp lifting and conveying device (II), pulleys (III), and finally connects to a winch (IV). The circular bar (2) of the continuous kelp lifting and conveying device, suspended by the long seedling rope, always moves along a racetrack-shaped link trajectory, with its horizontal movement speed synchronized with the winch's dragging speed. As the kelp hanging from the inclined belt conveyor gradually moves forward to the circular bar of the continuous lifting and conveying device (II), when the circular bar reaches the intersection of the horizontal edge and the right arc edge, a signal is triggered from the position sensor. This causes the servo motor to drive the push rod structure via a gear and rack to push the circular bar forward, simultaneously pulling the inner side of the flange of the circular bar at the intersection of the horizontal edge and the left arc edge backward, causing the circular bar to retract. The width of the baffles in the push and pull structure for the extension and retraction of the circular bar should meet the distance and time required for the circular bar to move simultaneously around the racetrack-shaped link during its extension or retraction. Once the circular bar extends or retracts to its final position, the servo motor reverses its rotation, restoring the push-pull structure to its initial position and preparing for the next cycle. Therefore, the circular bar along the horizontal upper track of the device is always in an extended and left-lateral position; the circular bars on both sides and along the horizontal lower track are always in a retracted and right-lateral position.

[0040] As the winch continues to reel in the kelp, when the hanging kelp reaches the right side of device II, the round bars inside the device automatically extend outward from the gaps between the kelp, lifting the seedling rope section and moving horizontally to the left. Subsequent round bars, spaced 252mm apart, extend and move to the left in sequence. The kelp seedling rope remains horizontal during the lifting process by the round bars. The round bars along the arcs on both sides and the horizontal lower edge of the trajectory are always in a contracted and rightward translational state to avoid interfering with the movement direction of the hanging kelp. When the translated kelp reaches the horizontal disc cutter system V, the cutting system consists of a combination of high-speed rotating disc cutters and stationary disc cutters, with a small blade spacing, forming a shearing motion for quick and neat cutting of the kelp rootstock. At this point, the cut kelp falls and is transported by a subsequent conveyor belt. The disc cutters rotate at a high speed of 1000 rpm.

[0041] The core function of this invention is to extend a round rod synchronously (without affecting the horizontal movement of the kelp) during the movement of the seedling rope. The extension action is combined with the movement of the kelp. After extension, it lifts the seedling rope upward, maintaining the cut part of the kelp at a set height. This prevents the kelp quality from being affected by inconsistent cutting parts due to changes in ship load or wave effects. After cutting, the lifting action can be retracted in real time (thus avoiding interference from the round rod at the lower edge of the "runway" with the lower part of the kelp). The retraction of the round rod is combined with the movement of the left side arc of the "runway" without affecting the movement of the kelp.

[0042] The entire equipment is simple to install, employing a long-rope suspending and continuous kelp lifting and conveying device. Under the support of this device, the long kelp rope remains straight, facilitating precise cutting of the kelp root and stem, improving the quality of the harvested kelp, reducing labor intensity, and increasing operational efficiency. It effectively solves the problems of existing kelp harvesting devices being single-function, resulting in high harvest loss and a large workload of auxiliary work. It is suitable for specialized harvesting operations of kelp, wakame, and other similar products, requiring minimal auxiliary support from harvesting vessels, making it easy to promote and apply.

[0043] It should be noted that the terms "left side" and "right side" in this embodiment are used for ease of understanding in relation to the accompanying drawings and are not intended to limit specific locations. In fact, the two terms can be interchanged.

[0044] The above are preferred embodiments of the present invention. Those skilled in the art can make various modifications or improvements based on these embodiments. Without departing from the overall concept of the present invention, such modifications or improvements should fall within the scope of protection claimed by the present invention.

Claims

1. A long-rope hanging kelp continuous lifting, cutting and harvesting device, characterized in that: Including seedling rope traction and guidance device, runway-type continuous lifting and conveying device (II), kelp horizontal cutter (V), and inclined belt conveyor (I); The racetrack-type continuous lifting and conveying device (II) includes a racetrack-shaped link consisting of two rows of hollow pin shaft conveying chains (1) and a pair of sprockets. Several round bars (2) pass through the hollow pin shaft holes of the hollow pin shaft conveying chains (1). One end of the round bar has a flange (5), and the end of the flange is provided with spherical balls (18). The spherical balls (18) are in contact with the push rod structure (6). The inner surface of the flange (5) is in contact with the inner surface of the pull rod structure (12). The push rod structure (6) is fixedly connected to the push rod rack (8), and the pull rod structure (12) is fixedly connected to the pull rod rack. The push rod rack (8) and the pull rod rack are parallel to each other and perpendicular to the side of the racetrack-type continuous lifting and conveying device (Ⅱ). The push rod rack and the pull rod rack each mesh with a gear (7) to form two gear pairs. The gear diameters corresponding to the push rod structure and the pull rod structure are equal. The two gears are driven synchronously by the same servo motor (9); The push rod structure is located on the upper edge of the kelp entry side of the runway-type continuous lifting and conveying device (II), and the pull rod structure (12) is located on the upper edge of the kelp exit side of the runway-type continuous lifting and conveying device (II); the height of the end of the inclined belt conveyor (I) is higher than the kelp entry side of the runway-type continuous lifting and conveying device (II); the round bar (2) extends outward under the drive of the push rod structure (6) and is located on the walking trajectory of the kelp seedling rope, and lifts the kelp seedling rope upward and hangs it at a certain height. The travel speed of the runway-shaped link is the same as the travel speed of the seedling rope traction guide device; The pull rod structure is equipped with a reverse gear (10), which is synchronized with the servo motor (9) and rotates in the opposite direction. The push rod structure (6) and the pull rod structure (12) move synchronously. When the pull rod structure (12) pulls the round bar (2) backward, the push rod structure (6) resets backward. When the round bar (2) reaches the position where the upper edge of the horizontal side intersects with the right arc side along the racetrack-shaped link, the spherical ball at the end of the round bar flange corresponds exactly to the outer surface of the push rod structure; at this time, the round bar (2) reaches the position where the upper edge of the horizontal side intersects with the left arc side, and the inner surface of the round bar flange corresponds exactly to the inner surface of the pull rod structure. A proximity sensor is installed at the intersection of the upper edge of the horizontal side and the right arc side of the runway-shaped link. When the round bar reaches this position, the sensor is triggered to send a drive signal to the servo motor. The servo motor drives the push rod structure to perform an outward action, and the pull rod structure simultaneously performs a pull-back action.

2. The long-rope hanging kelp continuous lifting, cutting and harvesting device as described in claim 1, characterized in that: The seedling rope traction and guiding device includes a winch (Ⅳ) and a fixed pulley for guiding the seedling rope.

3. The long-rope hanging kelp continuous lifting, cutting and harvesting device as described in claim 1, characterized in that: The round bars are evenly distributed on the runway-shaped link with a spacing of 252 mm. When the round bars on the upper edge of the horizontal side of the runway-shaped link are in the extended state, the extension distance of the round bars extending short distances from the wall (15) is 150~200 mm. The round bars on the lower edge of the arc side and the horizontal side of the runway-shaped link are in the contracted state. The extended end of the round bar is basically flush with the wall, so the round bars do not interfere with the lower part of the kelp.

4. The long-rope hanging kelp continuous lifting, cutting and harvesting device as described in claim 1, characterized in that: Both rows of conveyor chains are equipped with rollers, and the upper and lower surfaces of the rollers are equipped with guide rails (4, 14); the rear sprocket guide rails are supported by hangers and brackets, and the round bar and its flange move in a racetrack-shaped link between them; A baffle (17) is provided on the inner side of the retracted round bar flange, which is connected to the frame to ensure that the retracted round bar flange is always on the outer side of the baffle. The limiting sleeve (3) is fixed to the round bar, fixing the pull-back position of the round bar so that the round bar will not retract too much and detach from the hollow pin.

5. The long-rope hanging kelp continuous lifting, cutting and harvesting device as described in claim 1, characterized in that: The pusher plane of the pusher structure is long and rectangular, corresponding to the horizontal side of the racetrack-shaped link; when pushing the spherical ball at the end of the round bar flange, the trajectory of the spherical ball on the pusher plane is straight; the trajectory of the spherical ball is a composite motion of horizontal movement along the pusher plane and forward pushing. The pull rod plane of the pull rod structure (12) is arc-shaped, corresponding to the arc of the racetrack-shaped link; when the inner surface of the round bar flange is pulled back, the trajectory of the inner surface of the round bar flange running on the pull rod plane is arc-shaped; the motion trajectory of the round bar flange is: a composite motion of the arc motion of the racetrack-shaped link and the backward pulling motion.

6. The long-rope hanging kelp continuous lifting, cutting and harvesting device as described in claim 1, characterized in that: The front of the long seedling rope hanging kelp continuous lifting and conveying device is equipped with a baffle (16), and the round bars at the lower edge of the arc side and the horizontal side are all inside the plane of the baffle. A circular bar along the horizontal edge of a racetrack-shaped structure has a high-speed rotating horizontal disc blade (V) below it, and a stationary blade is also present. The disc blade and the stationary blade intersect each other to form a shearing action. The seedling rope traction and guiding device includes a towing winch (Ⅳ), which is located behind the runway-type continuous lifting and conveying device (Ⅱ). The towing linear speed is synchronized with the linear speed of the moving chain of the round bar of the long seedling rope hanging kelp continuous lifting and conveying device, and is used to tow the kelp rope.

7. A method for operating the long seedling rope hanging kelp continuous lifting, cutting and harvesting device according to any one of claims 1-3, characterized in that: Driven by the winch (Ⅳ), the seedling rope (Ⅷ) is conveyed backward in sequence along the direction of the inclined belt conveyor (Ⅰ), the long seedling rope hanging kelp continuous lifting and conveying device (Ⅱ), the kelp horizontal cutter (Ⅴ), and the winch (Ⅳ); The push and pull rod structures are installed in positions consistent with the positions of the round bars that need to be pushed out and pulled back. That is, when the left round bar reaches the intersection of the upper edge of the horizontal side and the right arc side, the push rod structure pushes the spherical ball at the flange end of the round bar to extend the push rod. At the same time, another round bar reaches the intersection of the upper edge of the horizontal side and the left arc side, and the pull rod structure pulls the inner surface of the flange of the round bar to retract the round bar. This cycle repeats, forming a situation where all the round bars along the upper edge of the racetrack-shaped horizontal side extend out, and all the round bars along the lower edge of the arc side and the horizontal side retract. At the same time, the round bars move along the trajectory of the racetrack-shaped link.

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