A knot-tying device and its knot-tying method

Abstract

This invention relates to the field of knotting processing equipment technology, and particularly to a knotting device and its knotting method. The knotting device includes: a frame; a first connecting seat connected to the frame; a feeding claw mechanism connected to the first connecting seat; a second connecting seat connected to the frame, the second connecting seat being located on the X-direction side of the first connecting seat; a rotating seat rotatably connected to the lower part of the second connecting seat; a clamping claw mechanism connected to the lower part of the rotating seat; a cutting mechanism connected to the lower part of the rotating seat; a multi-axis robotic arm connected to the frame; and a knotting claw mechanism connected to the multi-axis robotic arm, the knotting claw mechanism including an extension arm and a knotting claw body vertically connected to the extension arm. This structural improvement enables automatic feeding of kelp and can adapt to knotting kelp strips of different thicknesses and widths, producing kelp knots of different lengths and tightnesses.

Description

Technical Field

[0001] This invention relates to the field of knotting equipment technology, and in particular to a knotting device and knotting method thereof. Background Technology

[0002] Chinese patent CN116138470B discloses a kelp knotting device and method, which improves the kelp knotting structure. Through the cooperation of a first clamping structure, a second clamping mechanism, and an interactive knotting clamping mechanism, the knot can be made finer, making it less prone to loosening during cooking. Furthermore, the above structure has a high success rate in knotting. However, the above patent solution cannot achieve complete automation of kelp pulling, knotting, positioning, and cutting. For example, in step 1, the kelp needs to be manually pulled and clamped between the first and second clamping mechanisms. It has poor adaptability to variations in thickness and length, and is prone to breakage and loosening. The stability and quality of the knots need further improvement. Summary of the Invention

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

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0005] A knotting device, comprising:

[0006] frame;

[0007] The first connecting seat is connected to the frame;

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

[0009] The second connecting seat is connected to the frame and is located on the X-direction 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 gripper mechanism, wherein the gripper mechanism is connected to the lower part of the rotating base;

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

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

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

[0015] Furthermore, in the above-mentioned knotting device structure, the knotting device switches between the following first state to the sixth state;

[0016] In the first state, the clamping arms of the feeding claw mechanism open, the clamping arms of the holding claw open, 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 holding claw in sequence.

[0017] Reference Figure 1 as well as Figure 2 In the second state, the clamping arm of the feeding claw mechanism tightens to leave a gap greater than the thickness of the kelp, the clamping claw closes to clamp the kelp, the knotting claw body opens to loosen the kelp, and moves to a position where the feeding claw mechanism and the clamping claw mechanism are in opposite directions in the Y direction, with the clamping head of the knotting claw body facing up or down.

[0018] Reference Figure 3 as well as Figure 4 In the third state, the multi-axis robotic arm drives the knotting claw body to move to the Y-axis position between the feeding claw mechanism and the clamping claw mechanism, pulling the kelp out in the Y-axis direction;

[0019] Reference Figure 5 as well as 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 wrapped around the position between the knotting claw body and the extension arm.

[0020] Reference Figure 7 as well as Figure 8 In the fifth state, the multi-axis robotic arm moves the knotting claw body to the position between the clamping claw mechanism and the cutting mechanism. The knotting claw body clamps the end of the kelp again, the clamping arm of the clamping claw mechanism opens, and the clamping arm of the feeding claw mechanism clamps.

[0021] Reference Figure 9 as well as Figure 10 In the sixth state, the multi-axis robotic arm moves the knotting claw body to the Y-axis position between the feeding claw mechanism and the clamping claw mechanism, tightening the kelp knot. The rotating seat rotates, causing the cutting mechanism to move to the position between the feeding claw and the knotting claw body, cutting the kelp.

[0022] Furthermore, the above-mentioned knotting device structure also includes:

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

[0024] Furthermore, in the above-mentioned 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] Furthermore, the above-mentioned knotting device structure also includes:

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

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

[0028] Furthermore, in the above-mentioned knotting device structure, one of the clamping arms of the feeding claw is provided with a stop strip extending toward the other clamping arm. The stop strip is used to prevent the kelp from slipping off the end of the feeding claw.

[0029] Furthermore, in the above-mentioned 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-mentioned knotting device, comprising the following steps:

[0031] Step 1: The arms of the feeding claw mechanism open, the arms of the clamping claw open, and the knotted claw clamps one end of the kelp, so that the kelp passes through the arms of the feeding claw and the clamping claw in sequence.

[0032] Step 2: Tighten the gripper arm of the feeding claw mechanism to leave a gap greater than the thickness of the kelp, close the gripper to clamp the kelp, open the knotting claw body to release the kelp, and move to a position where the feeding claw mechanism and the gripper mechanism are in opposite directions in the Y direction, with the clamping head of the knotting claw body facing up or down.

[0033] Step 3: The multi-axis robotic arm moves the knotting claw body to the Y-axis position between the feeding claw mechanism and the clamping claw mechanism, pulling the kelp out in the Y-axis 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 wrapped around the knotting claw body and the extension arm.

[0035] Step 5: The multi-axis robotic arm moves the knotting claw body to the position between the clamping claw mechanism and the cutting mechanism. The knotting claw body clamps the end of the kelp again, the clamping arm of the clamping claw mechanism opens, and the clamping arm of the feeding claw mechanism clamps.

[0036] Step 6: The multi-axis robotic arm moves the knotting claw body to the Y-axis position between the feeding claw mechanism and the clamping claw mechanism to tighten the kelp knot. The rotating seat rotates to move the cutting mechanism to the position between the feeding claw and the knotting claw body to cut the kelp.

[0037] Furthermore, in the above knotting method, in step 4, simultaneously, the first connecting seat moves in the X direction along the first X-direction moving mechanism, and the second connecting seat moves in the opposite direction along the second X-direction moving mechanism.

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

[0039] The beneficial effects of this invention are as follows: by driving the knotting claw mechanism to move through the multi-axis robotic arm, the knotting claw mechanism can move flexibly in multiple directions and angles within the stroke range of the multi-axis robotic arm. It can clamp the kelp end from any fixed position within the stroke range of the multi-axis robotic arm for feeding, which solves the problem of difficult feeding in previous knotting machines. When the knot is tightened, the clamping claw can be released, and the knotting claw mechanism can be used to pull the kelp end out in the Y direction to tighten it. By setting the rotating seat structure, the cutting mechanism can easily cut the knotted kelp by rotating the angle, which makes it easy for the knotting claw mechanism to continue to clamp the kelp head for the next knotting operation.

[0040] During the knotting process, the feeding claw does not clamp the kelp tightly. Instead, it leaves a gap, based on the thickness of the kelp, to allow it to slide through. This allows the kelp to slide and expand as the knotting claw rotates in the third and fourth states, thus wrapping around the base of the knotting claw and the extension arm to form a loop. When the knot needs to be tightened, the knotting claw is flexible and can move to the Y-axis side of the feeding claw mechanism, providing ample tightening space. The tightening process is not interfered with by the clamping claw mechanism or the cutting mechanism. The tightening distance and tightness can be flexibly adjusted according to the thickness and width of the kelp. The cutting mechanism is rotated by the rotating seat into the path through which the kelp is pulled out, facilitating the cutting of the kelp.

[0041] The above structural improvements enable automatic feeding of kelp and can adapt to knotting kelp strips of different thicknesses and widths, producing kelp knots of different lengths and tightness. Attached Figure Description

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

[0043] Figure 2 for Figure 1 Enlarged view of part A;

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

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

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

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

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

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

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

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

[0052] Label Explanation:

[0053] 1. Rack;

[0054] 2. First connecting seat;

[0055] 3. Feeding claw mechanism; 31. Stopping strip;

[0056] 4. Second connecting seat;

[0057] 5. Rotating seat;

[0058] 6. Clamping claw mechanism;

[0059] 7. Adjudication mechanism;

[0060] 8. Multi-axis robotic arm;

[0061] 9. Knotting claw mechanism; 91. Extension arm; 92. Knotting claw body;

[0062] 10. First X-axis moving mechanism;

[0063] 11. Second X-axis moving mechanism. Detailed Implementation

[0064] To explain in detail the technical content, objectives, and effects of the present invention, the following description is provided in conjunction with the embodiments and accompanying drawings.

[0065] Please refer to Figures 1 to 10 The present invention relates to a knotting device, comprising:

[0066] Rack 1;

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

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

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

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

[0071] A gripper mechanism 6 is connected to the lower part of the rotating seat 5;

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

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

[0074] A knotting claw mechanism 9 is connected to a multi-axis robotic arm 8. The knotting claw mechanism 9 includes an extension arm 91 and a knotting claw body 92 that is 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, enabling the knotting claw mechanism 9 to move flexibly in multiple directions and angles within the stroke range of the multi-axis robotic arm 8. The knotting claw mechanism 9 can grip the kelp head from any fixed position within the stroke range of the multi-axis robotic arm 8 for feeding, solving the problem of difficult feeding in previous knotting machines. When the knot is tightened, the gripping claw can be released, and the knotting claw mechanism 9 can pull the kelp head out in the Y direction to tighten it. By setting the structure of the rotating seat 5, the cutting mechanism 7 can easily cut the knotted kelp by rotating the angle, making it convenient for the knotting claw mechanism 9 to continue gripping the kelp head for the next knotting operation.

[0076] In 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 open, the clamping arms of the holding claw open, 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 holding claw in sequence.

[0078] In the second state, the clamping arm of the feeding claw mechanism 3 is tightened to leave a gap greater than the thickness of the kelp, the clamping claw closes to clamp the kelp, the knotting claw body 92 opens, loosens the kelp, and moves to a position in the opposite direction of the Y direction between the feeding claw mechanism 3 and the clamping claw mechanism 6, with the clamping head of the knotting claw body 92 facing 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 in the Y direction as the axis, so that the kelp is wrapped 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 moves the knotting claw body 92 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 arm of the clamping claw mechanism 6 opens, and the clamping arm of the feeding claw mechanism 3 clamps.

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

[0083] In the above embodiments, in the first state, the knotting claw driven by the multi-axis robotic arm 8 can automatically feed the kelp to tie knots by clamping the kelp head. In the second state, the feeding claw does not clamp the kelp tightly, but leaves a gap according to the thickness of the kelp to allow the kelp to slide through. When the knotting claw body 92 rotates in the third and fourth states, the kelp can slide and extend, thereby wrapping 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. Since the position of the knotting claw body 92 is flexible during the pulling process, it can move to the Y-direction side of the feeding claw mechanism 3, with sufficient tightening space. Moreover, the tightening process is not interfered with 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 rotated by the rotating seat to the path through which the kelp is pulled out, making it easier to cut the kelp. At this time, the knotting claw is released, allowing the knotted kelp to fall and be collected. The knotting claw body 92 then clamps the cut kelp strip head. The rotating seat 5 drives the cutting mechanism 7 and the clamping claw mechanism 6 to return to their original positions. The knotting claw body 92 then moves the kelp head between the clamping claw mechanism 6 and the cutting mechanism 7. The clamping claw mechanism 6 clamps the kelp, and the process from the second state to the sixth state is repeated.

[0084] Preferably, during feeding, a sensor capable of identifying the width and thickness of the kelp can be installed between the feeding claw mechanism 3 and the clamping claw mechanism 6. The controller can then flexibly set the clamping claw body to hold the kelp head and pull it out in the Y direction according to the width and thickness of the kelp, thereby controlling the tightness and length of the kelp knot.

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

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

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

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

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

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

[0091] In the above embodiments, refer to Figure 5 as well as Figure 6 When the knotting claw mechanism 9 rotates to wrap the kelp strip, the first connecting seat 2 and the second connecting seat 4 move towards each other to accommodate the length shortening caused by the wrapping of the kelp strip, thus avoiding the problem of the kelp breaking during the rotation of the knotting claw.

[0092] In a preferred embodiment, one of the gripper arms of the feed claw mechanism 3 is provided with a stop strip 31 extending toward the other gripper arm. The stop strip 31 is used to prevent the kelp from slipping off the end of the feed claw.

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

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

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

[0096] Step 1: The clamping arms of the feeding claw mechanism 3 open, the clamping arms of the holding claw open, and the knotted claw clamps one end of the kelp, so that the kelp passes through the clamping arms of the feeding claw and the holding claw in sequence.

[0097] Step 2: Tighten the gripper arm of the feeding claw mechanism 3 to leave a gap greater than the thickness of the kelp, close the gripper to clamp the kelp, open the knotting claw body 92 to release the kelp, and move to the position of opposite Y direction between the feeding claw mechanism 3 and the gripper mechanism 6, with the clamping head of the knotting claw body 92 facing up or down.

[0098] Step 3: 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;

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

[0100] Step 5: The multi-axis robotic arm 8 moves the knotting claw body 92 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 arm of the clamping claw mechanism 6 opens, and the clamping arm of the feeding claw mechanism 3 clamps.

[0101] Step 6: The multi-axis robotic arm 8 moves the knotting claw body 92 to the Y-axis position between the feeding claw mechanism 3 and the clamping claw mechanism 6, tightening the kelp knot. The rotating seat 5 rotates, driving the cutting mechanism 7 to move to the position between the feeding claw and the knotting claw body 92, cutting the kelp.

[0102] Referring to step 4, 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 opposite X direction along the second X-direction moving mechanism 11.

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

[0104] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent modifications made based on the content of the present invention specification and drawings, or direct or indirect applications in related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A knotter device characterized by, include: frame; The first connecting seat is connected to the frame; A feeding claw mechanism, wherein the feeding claw mechanism is connected to a first connecting seat; The second connecting seat is connected to the frame and is located on the X-direction side of the first connecting seat; A rotating seat, which is rotatably connected to the lower part of the second connecting seat; A gripper mechanism, wherein the gripper mechanism is connected to the lower part of the rotating base; A cutting mechanism, which is connected to the lower part of the rotating seat; A multi-axis robotic arm, wherein the multi-axis robotic arm is connected to a frame; A knotting claw mechanism is connected to a multi-axis robotic arm. The knotting claw mechanism includes an extension arm and a knotting claw body vertically connected to the extension arm. The knotting device transitions between the following first to sixth states; In the first state, the clamping arms of the feeding claw mechanism open, the clamping arms of the holding claw open, 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 holding claw in sequence. In the second state, the clamping arm of the feeding claw mechanism tightens to leave a gap greater than the thickness of the kelp, the clamping claw closes to clamp the kelp, the knotting claw body opens to loosen the kelp, and moves to a position where the feeding claw mechanism and the clamping claw mechanism are in opposite directions in the Y direction, with the clamping head of the knotting claw body facing up or down. In the third state, the multi-axis robotic arm drives the knotting claw body to move to the Y-axis position between the feeding claw mechanism and the clamping claw mechanism, and pulls the kelp out in the Y-axis. 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 wrapped around the knotting claw body and the extension arm. In the fifth state, the multi-axis robotic arm moves the knotting claw body to the position between the clamping claw mechanism and the cutting mechanism. The knotting claw body clamps the end of the kelp again, the clamping arm of the clamping claw mechanism opens, and the clamping arm of the feeding claw mechanism clamps. In the sixth state, the multi-axis robotic arm moves the knotting claw body to the Y-axis position between the feeding claw mechanism and the clamping claw mechanism, tightening the kelp knot. The rotating seat rotates, causing the cutting mechanism to move to the position between the feeding claw and the knotting claw body, cutting the kelp.

2. The knotter device of claim 1, wherein, Also includes: A first X-axis moving mechanism is connected to the frame, and the first connecting seat is connected to the first X-axis moving mechanism.

3. The knotting device according to claim 2, characterized in that, The first X-axis moving mechanism is a lead screw guide rail assembly, a direct-acting cylinder, or a synchronous belt drive mechanism.

4. The knotting device according to claim 1, characterized in that, Also includes: A second X-axis moving mechanism is connected to the frame, and the second connecting seat is connected to the second X-axis moving mechanism.

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

6. The knotting device according to claim 1, characterized in that, One of the gripping arms of the feed claw has a stop strip extending toward the other gripping arm. The stop strip is used to prevent the kelp from slipping off the end of the feed claw.

7. The knotting device according to claim 1, characterized in that, The rotating seat is rotatably connected to the lower part of the second connecting seat through a rotating mechanism, the driving mechanism of which is a rotary cylinder or a motor.

8. A knot-tying method, characterized in that, The knotting device according to any one of claims 1 to 7 is characterized by comprising the following steps: Step 1: The arms of the feeding claw mechanism open, the arms of the clamping claw mechanism open, and the knotted claw clamps one end of the kelp, so that the kelp passes through the arms of the feeding claw and the clamping claw in sequence. Step 2: Tighten the gripper arm of the feeding claw mechanism to leave a gap greater than the thickness of the kelp, close the gripper to clamp the kelp, open the knotting claw body to release the kelp, and move to a position where the feeding claw mechanism and the gripper mechanism are in opposite directions in the Y direction, with the clamping head of the knotting claw body facing up or down. Step 3: The multi-axis robotic arm moves the knotting claw body to the Y-axis position between the feeding claw mechanism and the clamping claw mechanism, pulling the kelp out in the Y-axis 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 wrapped around the knotting claw body and the extension arm. Step 5: The multi-axis robotic arm moves the knotting claw body to the position between the clamping claw mechanism and the cutting mechanism. The knotting claw body clamps the end of the kelp again, the clamping arm of the clamping claw mechanism opens, and the clamping arm of the feeding claw mechanism clamps. Step 6: The multi-axis robotic arm moves the knotting claw body to the Y-axis position between the feeding claw mechanism and the clamping claw mechanism to tighten the kelp knot. The rotating seat rotates to move the cutting mechanism to the position between the feeding claw and the knotting claw body to cut the kelp.

9. The knotting method according to claim 8, characterized in that, In step 4, simultaneously, the first connecting seat moves in the X direction along the first X-direction moving mechanism, and the second connecting seat moves in the opposite direction along the second X-direction moving mechanism. After step 6, the first connecting seat moves in the opposite direction along the first X-axis moving mechanism, and the second connecting seat moves in the X-axis along the second X-axis moving mechanism, returning to the initial state.

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