Knotting device and knotting method thereof

Abstract

The invention relates to the technical field of knotting processing equipment, in particular to a knotting device and a knotting method thereof. The knotting device comprises a rack; the first connecting seat is connected to the rack; the feeding claw mechanism is connected with the first connecting seat; the second connecting base is connected to the rack and located on the X-direction side of the first connecting base; the rotating seat is rotationally connected to the lower part of the second connecting seat; the gripper jaw mechanism is connected to the lower part of the rotating seat; the cutting mechanism is connected to the lower part of the rotating seat; the multi-axis mechanical arm is connected to the rack; and the knotting claw mechanism is connected to the multi-axis mechanical arm, and the knotting claw mechanism comprises an extension arm and a knotting claw body vertically connected to the extension arm. By means of the structural improvement, automatic kelp feeding can be achieved, the automatic kelp knotting machine can be suitable for knotting kelp strips of different thicknesses and widths, and kelp knots of different lengths and tightness degrees can be produced.

Description

Technical Field

[0001] The present invention relates to the technical field of knotting processing equipment, and particularly to a knotting device and a knotting method thereof. Background Art

[0002] A Chinese patent with the authorization announcement number CN116138470B discloses a kelp knotting device and a knotting method thereof, which improves the structure of kelp knotting. Through the cooperation of the first clamping structure, the second clamping mechanism and the interactive knotting clamping mechanism, the knotting part can be made finer, and it is not easy to loosen during later cooking, and the above structure has a high success rate when knotting. However, the above patent solution cannot achieve the complete automation of kelp from traction, knotting to positioning and cutting. For example, in step 1 thereof, it is necessary to manually pull the kelp and clamp it between the first clamping mechanism and the second clamping mechanism, and it has poor adaptability to the changes in thickness and length, and is prone to breakage and looseness. The stability and quality of the formed knots still need to be further improved. Summary of the Invention

[0003] The technical problem to be solved by the present invention is: how to improve the knotting device and the knotting method thereof to realize the automatic feeding of kelp, and be able to adapt to the knotting of kelp strips with different thicknesses and widths, and produce kelp knots with different lengths and tightness.

[0004] In order to solve the above technical problem, the technical solution adopted by the present invention is:

[0005] A knotting device, comprising:

[0006] A frame;

[0007] A first connecting seat, which is connected to the frame;

[0008] A feeding claw mechanism, which is connected to the first connecting seat;

[0009] A second connecting seat, which is connected to the frame, and the second connecting seat is located on the X-axis side of the first connecting seat;

[0010] A rotating seat, which is rotatably connected to the lower part of the second connecting seat;

[0011] A clamping claw mechanism, which is connected to the lower part of the rotating seat;

[0012] A cutting mechanism, which is connected to the lower part of the rotating seat;

[0013] A multi-axis robotic arm, which is connected to the frame;

[0014] A knotting claw mechanism, which is connected to the multi-axis robotic arm, and the knotting claw mechanism includes an extension arm and a knotting claw body vertically connected to the extension arm.

[0015] Further, in the above knotting device structure, the knotting device converts between the following first state to the sixth state;

[0016] In the first state, the clamping arms of the feeding claw mechanism are opened, the clamping arms of the clamping claw are opened, and the knotting claw clamps one end of the kelp, so that the kelp passes through the clamping arms of the feeding claw and the clamping claw in sequence;

[0017] Refer to Figure 1 and Figure 2 , in the second state, the clamping arms of the feeding claw mechanism are tightened to leave a gap larger than the thickness of the kelp, the clamping claw closes to clamp the kelp, the main body of the knotting claw opens, releases the kelp, and moves to a position in the opposite Y direction between the feeding claw mechanism and the clamping claw mechanism, and the chuck of the main body of the knotting claw faces upward or downward;

[0018] Refer to Figure 3 and Figure 4 , in the third state, the multi-axis robotic arm drives the main body of the knotting claw to move to a position in the Y direction between the feeding claw mechanism and the clamping claw mechanism, and pulls the kelp in the Y direction;

[0019] Refer to Figure 5 and Figure 6 , in the fourth state, the multi-axis robotic arm drives the knotting claw mechanism to rotate 180 - 270 degrees around the Y axis, so that the kelp is wound around the position between the main body of the knotting claw and the extension arm;

[0020] Refer to Figure 7 and Figure 8 , in the fifth state, the multi-axis robotic arm drives the main body of the knotting claw to move to a position between the clamping claw mechanism and the cutting mechanism, the main body of the knotting claw clamps the end of the kelp again, the clamping arms of the clamping claw mechanism open, and the clamping arms of the feeding claw mechanism clamp;

[0021] Refer to Figure 9 and Figure 10 , in the sixth state, the multi-axis robotic arm drives the main body of the knotting claw to move to a position in the Y direction between the feeding claw mechanism and the clamping claw mechanism again, tightens the kelp knot, the rotating seat rotates to drive the cutting mechanism to move to a position between the feeding claw and the main body of the knotting claw, and cuts the kelp.

[0022] Further, in the above knotting device structure, it further includes:

[0023] A first X-direction moving mechanism connected to the frame, and the first connecting seat is connected to the first X-direction moving mechanism.

[0024] Further, in the above knotting device structure, the first X-direction moving mechanism is a lead screw guide rail assembly, a direct-acting cylinder or a synchronous belt drive mechanism.

[0025] Further, in the above knotting device structure, it further includes:

[0026] A second X-direction moving mechanism connected to the frame, and the second connecting seat is connected to the second X-direction moving mechanism.

[0027] Furthermore, in the above knotting device structure, the second X-direction moving mechanism is a screw rail assembly, a direct-acting cylinder or a synchronous belt drive mechanism.

[0028] Furthermore, in the above knotting device structure, one end of a clamping arm of the feeding claw is provided with a blocking strip extending towards the other clamping arm, and the blocking strip is used to prevent the kelp from slipping off the end of the feeding claw.

[0029] Furthermore, in the above knotting device structure, the rotating seat is rotatably connected to the lower part of the second connecting seat through a rotating mechanism, and the driving mechanism of the rotating mechanism is a rotary cylinder or a motor.

[0030] The present invention also relates to a knotting method, based on the above knotting device, comprising the following steps:

[0031] Step 1: The clamping arms of the feeding claw mechanism are opened, the clamping arms of the clamping claw are opened, the knotting claw clamps one end of the kelp, and the kelp sequentially passes through between the clamping arms of the feeding claw and the clamping claw;

[0032] Step 2: The clamping arms of the feeding claw mechanism are tightened to leave a gap larger than the thickness of the kelp, the clamping claw closes to clamp the kelp, the body of the knotting claw opens, releases the kelp, and moves to a position in the reverse Y-direction between the feeding claw mechanism and the clamping claw mechanism, and the chuck of the body of the knotting claw faces upwards or downwards;

[0033] Step 3: The multi-axis robotic arm drives the body of the knotting claw to move to a position in the Y-direction between the feeding claw mechanism and the clamping claw mechanism, and pulls the kelp in the Y-direction;

[0034] Step 4: The multi-axis robotic arm drives the knotting claw mechanism to rotate 180 - 270 degrees around the Y-axis, so that the kelp is wound around the position between the body of the knotting claw and the extension arm;

[0035] Step 5: The multi-axis robotic arm drives the body of the knotting claw to move to a position between the clamping claw mechanism and the cutting mechanism, the body of the knotting claw clamps the end of the kelp again, the clamping arms of the clamping claw mechanism open, and the clamping arms of the feeding claw mechanism clamp;

[0036] Step 6: The multi-axis robotic arm drives the body of the knotting claw to move to a position in the Y-direction between the feeding claw mechanism and the clamping claw mechanism again, tightens the kelp knot, the rotating seat rotates to drive the cutting mechanism to move to a position between the feeding claw and the body of the knotting claw, and cuts the kelp.

[0037] Further, in the above knotting method, in step 4, synchronously, the first connecting seat moves in the X direction along the first X-direction moving mechanism, and the second connecting seat moves in the reverse X direction along the second X-direction moving mechanism;

[0038] After step 6, the first connecting seat moves in the reverse X direction along the first X-direction moving mechanism, and the second connecting seat moves in the X direction along the second X-direction moving mechanism, returning to the initial state.

[0039] The beneficial effects of the present invention are as follows: The knotting claw mechanism is driven by a multi-axis robotic arm to move, enabling the knotting claw mechanism to move flexibly in multiple directions and at multiple angles within the stroke range of the multi-axis robotic arm. The knotting claw mechanism can pick up the end of the kelp from any fixed position within the stroke range of the multi-axis robotic arm for feeding, solving the problem of difficult feeding in conventional knotting machines. When knotting and tightening, the clamping claw can be loosened, and the knotting claw mechanism can pull the end of the kelp in the Y direction to tighten. By setting the structure of the rotating seat, the cutting mechanism can rotate the angle to facilitate cutting the knotted kelp, and it is convenient for the knotting claw mechanism to continue clamping the head of the kelp for the next knotting operation;

[0040] During the winding and knotting process of the knotting claw, the feeding claw does not clamp the kelp tightly, but leaves a gap that can accommodate the sliding of the kelp according to the thickness of the kelp. When the knotting claw body rotates between the third state and the fourth state, the kelp can slide and stretch, so as to wind around the position between the root of the knotting claw and the extension arm to form a loop. When the knotting is completed and the kelp knot needs to be tightened, the position of the knotting claw body is flexible and can move to the Y-side of the feeding claw mechanism, with sufficient tightening space, and the tightening process is not interfered by the clamping claw mechanism and the cutting mechanism. The tightening distance can be flexibly adjusted according to the thickness and width of the kelp, and the tightness of the tightening can also be flexibly adjusted. By driving the cutting mechanism to rotate to the path where the kelp is pulled out through the rotating seat, it is convenient to cut the kelp.

[0041] The above structural improvements can realize the automatic feeding of kelp, and can adapt to the knotting of kelp strips with different thicknesses and widths to produce kelp knots with different lengths and tightness. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a schematic structural diagram of the second state of a knotting device according to a specific embodiment of the present invention;

[0043] Figure 2 It is Figure 1 The enlarged view of part A;

[0044] Figure 3 It is a schematic structural diagram of the third state of a knotting device according to a specific embodiment of the present invention;

[0045] Figure 4 It isFigure 3 Enlarged view of part B;

[0046] Figure 5 Structural schematic diagram of the fourth state of a knotting device according to a specific embodiment of the present invention;

[0047] Figure 6 is Figure 5 Enlarged view of part C;

[0048] Figure 7 Structural schematic diagram of the fifth state of a knotting device according to a specific embodiment of the present invention;

[0049] Figure 8 is Figure 3 Enlarged view of part D;

[0050] Figure 9 Structural schematic diagram of the sixth state of a knotting device according to a specific embodiment of the present invention;

[0051] Figure 10 is Figure 3 Enlarged view of part E;

[0052] Reference numeral description:

[0053] 1, frame;

[0054] 2, first connecting seat;

[0055] 3, feeding claw mechanism; 31, blocking strip;

[0056] 4, second connecting seat;

[0057] 5, rotating seat;

[0058] 6, clamping claw mechanism;

[0059] 7, cutting mechanism;

[0060] 8, multi-axis robotic arm;

[0061] 9, knotting claw mechanism; 91, extension arm; 92, knotting claw body;

[0062] 10, first X-direction moving mechanism;

[0063] 11, second X-direction moving mechanism. Specific embodiments

[0064] To illustrate the technical content, achieved objectives and effects of the present invention in detail, the following is described in conjunction with embodiments and with reference to the accompanying drawings.

[0065] Please refer to Figures 1 to 10 , a specific embodiment of the present invention relates to a knotting device, comprising:

[0066] Frame 1;

[0067] The first connecting seat 2, the first connecting seat 2 is connected to the frame 1;

[0068] The feeding claw mechanism 3, the feeding claw mechanism 3 is connected to the first connecting seat 2;

[0069] The second connecting seat 4, the second connecting seat 4 is connected to the frame 1, and the second connecting seat 4 is located on the X-direction side of the first connecting seat 2;

[0070] The rotating seat 5, the rotating seat 5 is rotatably connected to the lower part of the second connecting seat 4;

[0071] The clamping claw mechanism 6, the clamping claw mechanism 6 is connected to the lower part of the rotating seat 5;

[0072] The cutting mechanism 7, the cutting mechanism 7 is connected to the lower part of the rotating seat 5;

[0073] The multi-axis robotic arm 8, the multi-axis robotic arm 8 is connected to the frame 1;

[0074] The knotting claw mechanism 9, the knotting claw mechanism 9 is connected to the multi-axis robotic arm 8, and the knotting claw mechanism 9 includes an extension arm 91 and a knotting claw body 92 vertically connected to the extension arm 91.

[0075] In the above embodiments, the multi-axis robotic arm 8 drives the knotting claw mechanism 9 to move, so that the knotting claw mechanism 9 can move flexibly in multiple directions and at multiple angles within the stroke movement range of the multi-axis robotic arm 8, and the knotting claw mechanism 9 can pick up the head of the kelp from any fixed position within the stroke range of the multi-axis robotic arm 8 for feeding, solving the problem of difficult feeding of the previous knotting machine. When knotting and tightening, the clamping claws can be loosened, and the knotting claw mechanism 9 can pull the head of the kelp in the Y direction to tighten. By setting the structure of the rotating seat 5, the cutting mechanism 7 can cut the knotted kelp conveniently by rotating the angle, facilitating the knotting claw mechanism 9 to continue clamping the head of the kelp for the next section of knotting operation.

[0076] As a preferred embodiment, the knotting device switches between the following first state to the sixth state;

[0077] In the first state, the clamping arms of the feeding claw mechanism 3 are opened, the clamping arms of the clamping claws are opened, and the knotting claw holds one end of the kelp, so that the kelp passes through the gap between the clamping arms of the feeding claw and the clamping claws in sequence;

[0078] In the second state, the clamping arms of the feeding claw mechanism 3 are tightened to leave a gap greater than the thickness of the kelp, the clamping claws are closed to clamp the kelp, the knotting claw body 92 is opened, the kelp is released, and it moves to a position in the opposite Y direction between the feeding claw mechanism 3 and the clamping claw mechanism 6, and the clamping head of the knotting claw body 92 faces up or down;

[0079] In the third state, the multi-axis robotic arm 8 drives the knotting claw body 92 to move to the Y-direction position between the feeding claw mechanism 3 and the clamping claw mechanism 6, and pulls the kelp out in the Y-direction;

[0080] In the fourth state, the multi-axis robotic arm 8 drives the knotting claw mechanism 9 to rotate 180 - 270 degrees around the Y-axis, so that the kelp is wound around the position between the knotting claw body 92 and the extension arm 91;

[0081] In the fifth state, the multi-axis robotic arm 8 drives the knotting claw body 92 to move to the position between the clamping claw mechanism 6 and the cutting mechanism 7. The knotting claw body 92 clamps the end of the kelp again. The clamping arms of the clamping claw mechanism 6 open, and the clamping arms of the feeding claw mechanism 3 clamp;

[0082] In the sixth state, the multi-axis robotic arm 8 drives the knotting claw body 92 to move to the Y-direction position between the feeding claw mechanism 3 and the clamping claw mechanism 6 again to tighten the kelp knot. The rotating seat 5 rotates to drive the cutting mechanism 7 to move to the position between the feeding claw and the knotting claw body 92, and cuts the kelp.

[0083] In the above embodiments, in the first state, the knotting claw driven by the multi-axis robotic arm 8 can be used to automatically feed the kelp head for knotting. In the second state, the feeding claw does not clamp the kelp tightly, but leaves a gap that can accommodate the sliding of the kelp according to the thickness of the kelp, so that when the knotting claw body 92 rotates in the third and fourth states, the kelp can slide and stretch, and thus wind around the position between the root of the knotting claw and the extension arm 91 to form a loop. In the fifth state, the knotting claw body 92 moves between the clamping claw mechanism 6 and the cutting mechanism 7, clamps and pulls out the end of the kelp, and tightens it to form a kelp knot. During the pulling process, the position of the knotting claw body 92 is flexible and can move to the Y-direction side of the feeding claw mechanism 3, with sufficient tightening space, and the tightening process is not interfered by the clamping claw mechanism 6 and the cutting mechanism 7. The tightening distance can be flexibly adjusted according to the thickness and width of the kelp, and the tightness of the tightening can also be flexibly adjusted. In the sixth state, the cutting mechanism 7 is driven by the rotating seat to rotate to the path where the kelp is pulled out, facilitating the cutting of the kelp. At this time, the knotting claw loosens, so that the knotted kelp falls for collection. The knotting claw body 92 clamps the head of the cut kelp strip again. The rotating seat 5 drives the cutting mechanism 7 and the clamping claw mechanism 6 to return to their positions. The knotting claw body 92 drives the kelp head to move between the clamping claw mechanism 6 and the cutting mechanism 7 again. The clamping claw mechanism 6 clamps the kelp, and then repeats the process from the second state to the sixth state.

[0084] Preferably, when feeding, a sensor capable of identifying the width and thickness of the kelp can be provided between the feeding claw mechanism 3 and the clamping claw mechanism 6, so that the controller can flexibly set the distance that the clamping claw body clamps the thick head of the kelp and pulls out in the Y direction according to the width and thickness of the kelp, thereby controlling the tightness and length of the tied kelp knots.

[0085] As a preferred embodiment, the knotting device further includes:

[0086] A first X-direction moving mechanism 10 connected to the frame 1, and the first connecting seat 2 is connected to the first X-direction moving mechanism 10.

[0087] The first X-direction moving mechanism 10 is a lead screw guide rail assembly, a direct-acting cylinder or a synchronous belt drive mechanism.

[0088] As a preferred embodiment, the knotting device further includes:

[0089] A second X-direction moving mechanism 11 connected to the frame 1, and the second connecting seat 4 is connected to the second X-direction moving mechanism 11.

[0090] Preferably, the second X-direction moving mechanism 11 is a lead screw guide rail assembly, a direct-acting cylinder or a synchronous belt drive mechanism.

[0091] In the above embodiments, referring to Figure 5 and Figure 6 , when the knotting claw mechanism 9 rotates to wind around the kelp strip, the first connecting seat 2 and the second connecting seat 4 move towards each other to get closer, so as to adapt to the change in length reduction caused by the winding of the kelp strip, and avoid the problem of the kelp being pulled off during the rotation of the knotting claw.

[0092] As a preferred embodiment, a blocking strip 31 extending towards the other clamping arm is provided at the end of one clamping arm of the feeding claw mechanism 3, and the blocking strip 31 is used to prevent the kelp from slipping off the end of the feeding claw.

[0093] In the above embodiments, since the feeding claws do not fully clamp the kelp strip in the third state and the fourth state, when the knotting claw mechanism 9 moves in the Y direction and rotates to wind around the kelp strip, the blocking strip 31 can prevent the kelp strip from slipping off the end of the feeding claw body.

[0094] As a preferred embodiment, the rotating seat 5 is rotatably connected to the lower part of the second connecting seat 4 through a rotating mechanism, and the driving mechanism of the rotating mechanism is a rotary cylinder or a motor.

[0095] The present invention also relates to a knotting method, based on the above knotting device, including the following steps:

[0096] Step 1: The clamping arms of the feeding claw mechanism 3 open, the clamping arms of the clamping claws open, the knotting claw clamps one end of the kelp, and the kelp passes through the space between the clamping arms of the feeding claws and the clamping claws in sequence;

[0097] Step 2: The clamping arms of the feeding claw mechanism 3 tighten to leave a gap larger than the thickness of the kelp, the clamping claws close to clamp the kelp, the body 92 of the knotting claw opens, releases the kelp, moves to a position in the reverse Y direction between the feeding claw mechanism 3 and the clamping claw mechanism 6, and the chuck of the body 92 of the knotting claw faces upward or downward;

[0098] Step 3: The multi-axis robotic arm 8 drives the body 92 of the knotting claw to move to a position in the Y direction between the feeding claw mechanism 3 and the clamping claw mechanism 6, and pulls the kelp in the Y direction;

[0099] Step 4: The multi-axis robotic arm 8 drives the knotting claw mechanism 9 to rotate 180 - 270 degrees around the Y axis, so that the kelp is wound around the position between the body 92 of the knotting claw and the extension arm 91;

[0100] Step 5: The multi-axis robotic arm 8 drives the body 92 of the knotting claw to move to a position between the clamping claw mechanism 6 and the cutting mechanism 7, the body 92 of the knotting claw clamps the end of the kelp again, the clamping arms of the clamping claw mechanism 6 open, and the clamping arms of the feeding claw mechanism 3 clamp;

[0101] Step 6: The multi-axis robotic arm 8 drives the body 92 of the knotting claw to move to a position in the Y direction between the feeding claw mechanism 3 and the clamping claw mechanism 6 again to tighten the kelp knot, the rotating seat 5 rotates to drive the cutting mechanism 7 to move to a position between the feeding claw and the body 92 of the knotting claw, and cuts the kelp.

[0102] Referring to Step 4 in the figure, synchronously, the first connecting seat 2 moves in the X direction along the first X-direction moving mechanism 10, and the second connecting seat 4 moves in the reverse X direction along the second X-direction moving mechanism 11;

[0103] After Step 6, the first connecting seat 2 moves in the reverse X direction along the first X-direction moving mechanism 10, and the second connecting seat 4 moves in the X direction along the second X-direction moving mechanism 11, and returns to the initial state.

[0104] The above are only the embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent transformation made by using the description and drawings of the present invention, or directly or indirectly applied in the related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A knotting device, characterized in that, Including: Frame; The first connecting seat, which is connected to the frame; The feeding claw mechanism, which is connected to the first connecting seat; The second connecting seat, which is connected to the frame and is located on the X - direction side of the first connecting seat; The rotating seat, which is rotatably connected to the lower part of the second connecting seat; The clamping claw mechanism, which is connected to the lower part of the rotating seat; The cutting mechanism, which is connected to the lower part of the rotating seat; The multi - axis robotic arm, which is connected to the frame; The tying claw mechanism, which is connected to the multi - axis robotic arm. The tying claw mechanism includes an extension arm and a tying claw body vertically connected to the extension arm.

2. The knotting device according to claim 1, wherein The tying device converts between the following first state to the sixth state; In the first state, the clamping arms of the feeding claw mechanism are opened, the clamping arms of the clamping claw are opened, the tying claw clamps one end of the kelp, and the kelp passes through the space between the clamping arms of the feeding claw and the clamping claw in sequence; In the second state, the clamping arms of the feeding claw mechanism tighten to leave a gap larger than the thickness of the kelp, the clamping claw closes to clamp the kelp, the tying claw body opens, releases the kelp, and moves to a position in the opposite Y - direction between the feeding claw mechanism and the clamping claw mechanism, and the clamping head of the tying claw body faces upward or downward; In the third state, the multi - axis robotic arm drives the tying claw body to move to a position in the Y - direction between the feeding claw mechanism and the clamping claw mechanism, and pulls the kelp in the Y - direction; In the fourth state, the multi - axis robotic arm drives the tying claw mechanism to rotate 180 - 270 degrees around the Y - axis, so that the kelp is wound around the position between the tying claw body and the extension arm; In the fifth state, the multi - axis robotic arm drives the tying claw body to move to a position between the clamping claw mechanism and the cutting mechanism, the tying claw body clamps the end of the kelp again, the clamping arms of the clamping claw mechanism open, and the clamping arms of the feeding claw mechanism clamp; In the sixth state, the multi - axis robotic arm drives the tying claw body to move to a position in the Y - direction between the feeding claw mechanism and the clamping claw mechanism again, tightens the kelp knot, the rotating seat rotates to drive the cutting mechanism to move to a position between the feeding claw and the tying claw body, and cuts the kelp.

3. The knotting device according to claim 1, wherein, It further includes: The first X - direction moving mechanism connected to the frame, and the first connecting seat is connected to the first X - direction moving mechanism.

4. The knotting device according to claim 3, characterized in that, The first X - direction moving mechanism is a lead screw guide rail assembly, a direct - acting cylinder or a synchronous belt drive mechanism.

5. The knotting device according to claim 1, wherein, It further includes: The second X - direction moving mechanism connected to the frame, and the second connecting seat is connected to the second X - direction moving mechanism.

6. The knotting device according to claim 5, characterized in that, The second X - direction moving mechanism is a lead screw guide rail assembly, a direct - acting cylinder or a synchronous belt drive mechanism.

7. The knotting device according to claim 1, wherein At the end of one of the clamping arms of the feeding claw, there is a blocking strip extending towards the other clamping arm, and the blocking strip is used to prevent the kelp from slipping off the end of the feeding claw.

8. The knotting device according to claim 1, wherein The rotating seat is rotatably connected to the lower part of the second connecting seat through a rotating mechanism, and the driving mechanism of the rotating mechanism is a rotary cylinder or a motor.

9. A knotting method, characterized in that, For the tying device according to any one of claims 1 to 8, it is characterized in that it includes the following steps: Step 1: The clamping arms of the feeding claw mechanism are opened, the clamping arms of the clamping claw mechanism are opened, the tying claw clamps one end of the kelp, and the kelp passes through the space between the clamping arms of the feeding claw and the clamping claw in sequence; Step 2: The clamping arms of the feeding claw mechanism are tightened to leave a gap larger than the thickness of the kelp. The clamping claws are closed to clamp the kelp. The knotting claw body opens, releases the kelp, and moves to a position in the reverse Y direction between the feeding claw mechanism and the clamping claw mechanism. The chuck of the knotting claw body faces upward or downward. Step 3: The multi-axis robotic arm drives the knotting claw body to move to a position in the Y direction between the feeding claw mechanism and the clamping claw mechanism, and pulls the kelp in the Y direction. Step 4: The multi-axis robotic arm drives the knotting claw mechanism to rotate 180 - 270 degrees around the Y axis, so that the kelp is wound around the position between the knotting claw body and the extension arm. Step 5: The multi-axis robotic arm drives the knotting claw body to move to a position between the clamping claw mechanism and the cutting mechanism. The knotting claw body clamps the end of the kelp again. The clamping arms of the clamping claw mechanism open, and the clamping arms of the feeding claw mechanism clamp. Step 6: The multi-axis robotic arm drives the knotting claw body to move again to a position in the Y direction between the feeding claw mechanism and the clamping claw mechanism, tightens the kelp knot, and the rotating seat rotates to drive the cutting mechanism to move to a position between the feeding claw and the knotting claw body to cut the kelp.

10. The knotting method according to claim 9, characterized in that, In the said Step 4, synchronously, the first connecting seat moves in the X direction along the first X-direction moving mechanism, and the second connecting seat moves in the reverse X direction along the second X-direction moving mechanism. After Step 6, the first connecting seat moves in the reverse X direction along the first X-direction moving mechanism, and the second connecting seat moves in the X direction along the second X-direction moving mechanism to return to the initial state.

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