Full-automatic kelp seedling clamping machine and working method

Abstract

This invention discloses a fully automatic kelp seedling clamping machine and its working method, including a frame, a seedling box, a seedling picking and transferring device, an auxiliary mechanism, a positioning and rotating device, a seedling rope traction mechanism, and an electrical control unit. The frame has an inner mounting plate, and the seedling box is located at the left rear of the frame, with a seedling storage chamber inside. The seedling picking and transferring device includes a double-rod cylinder and a picking rod. The double-rod cylinder is mounted above the seedling box via a horizontal linear module, and the picking rod is vertically positioned on the right side of the seedling box, with its upper end elastically sliding with the actuating end of the double-rod cylinder. A limiting groove is located on the lower rear side wall, and a negative pressure suction port is opened on the inner wall of the limiting groove. The positioning and rotating device includes a rotating disk, a gearbox, a servo motor, and a clamping assembly. The seedling rope traction mechanism includes a first linear cylinder, a moving frame, and a clamping assembly. This invention achieves fully automated operation of the kelp seedling insertion process, greatly reducing manpower, labor intensity, and improving production efficiency.

Description

Technical Field

[0001] This invention relates to the field of marine aquaculture equipment technology, specifically to a fully automatic kelp seedling clamping machine and its working method. Background Technology

[0002] Kelp, as one of the most common algae, has considerable economic benefits in its cultivation and processing industries. In current kelp farming methods, the first step is to select suitable kelp seedlings, then insert them at intervals into the gaps in kelp seedling ropes, and finally place the ropes in near-shore farming areas for further kelp cultivation. In most existing kelp seedling production processes, the entire process is done manually using simple tools. This seedling insertion process is crucial in the entire kelp farming process and is highly seasonal, often resulting in tight deadlines and heavy workloads. This leads to workers frequently experiencing red and swollen hands, blistered and bleeding fingers, and peeling skin due to the heavy and repetitive labor. Furthermore, prolonged work in high-salt and high-humidity seedling workshops significantly damages workers' health. Therefore, the current kelp seedling insertion process suffers from difficulties in recruiting workers and high labor costs, hindering the development of the kelp farming industry. Currently, with the rapid development of mechanization and automation, automated machinery can greatly improve production efficiency and reduce labor costs. Therefore, the key to solving the problems related to the kelp seedling insertion process lies in designing and manufacturing automated equipment to replace manual labor. Summary of the Invention

[0003] In view of the shortcomings of the prior art, one objective of the present invention is to propose a fully automatic kelp seedling clamping machine, which solves the problems of existing kelp seedling insertion methods that rely on manual operation using simple tools, resulting in high labor intensity, tight schedules and heavy workloads, high labor costs and low production efficiency.

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

[0005] A fully automatic kelp seedling clamping machine includes a frame, a seedling box, a seedling picking and transferring device, an auxiliary mechanism, a positioning and rotating device, a seedling rope traction mechanism, and an electrical control unit. The inner side of the frame is provided with an installation plate, and the seedling box is arranged at the left rear part of the frame, with its upper part located above the installation plate.

[0006] The seedling box has a seedling storage cavity inside, and a vertically opened strip-shaped slot on its right side wall. The seedling storage cavity is equipped with a seedling support plate. A lifting mechanism is provided on one side of the seedling box. The actuator of the lifting mechanism drives the seedling support plate to rise or fall.

[0007] The seedling transfer device includes a double-rod cylinder and a seedling-taking rod. The double-rod cylinder is set above the seedling box via a horizontal linear module. The seedling-taking rod is vertically set on the right side of the seedling box. Its upper end is elastically slidingly engaged with the execution end of the double-rod cylinder. The lower rear side wall has a limiting groove, and the inner wall of the limiting groove has a negative pressure suction port.

[0008] The auxiliary mechanism includes an auxiliary rod and a cam drive assembly. The auxiliary rod is located behind the seedling picking rod and is arranged parallel to it. The cam drive assembly includes a cam, a square frame, and a stepper motor. The square frame is movably connected to the machine frame, and the auxiliary rod is located on the lower side of the square frame.

[0009] The cam is located inside the square frame. The output shaft of the stepper motor is fixedly connected to the cam. The cam drives the auxiliary rod to make a circular motion in the vertical plane through the square frame. The auxiliary rod can push the root of the kelp seedling into the limiting slot of the seedling picking rod.

[0010] The positioning and rotating device includes a rotating disk, a gearbox, a servo motor, and a clamping assembly. The gearbox is fixed to the rear side of the frame. The rotating disk has a central hole for the seedling rope to pass through and is located in front of the gearbox and rotates in cooperation with it. The clamping assembly is located on the front side wall of the rotating disk. The servo motor drives the rotating disk and the clamping assembly to rotate.

[0011] The seedling rope traction mechanism is located in front of the rotating disc and includes a first linear cylinder, a moving frame, and a clamping assembly. The first linear cylinder is mounted on the frame via a longitudinal linear module. The moving frame slides longitudinally with the frame. The clamping assembly is mounted on the moving frame. The first linear cylinder drives the moving frame and the clamping assembly to move back and forth.

[0012] The electronic control unit includes a camera, an image processing module, and a PLC controller. The camera is mounted on the frame and located between the clamping assembly and the clamping assembly. Its signal terminal is connected to the PLC controller through the image processing module.

[0013] Furthermore, the frame is a square steel frame structure made of metal profiles, with a top plate installed on its top, and a side plate installed on the upper part of each of the four sides of the frame.

[0014] The mounting plate is an L-shaped flat plate, which is horizontally arranged and fixedly installed at the middle of the entire frame height. The seedling box is a rectangular box body, which is detachably and fixedly connected to the frame.

[0015] Furthermore, the top of the seedling storage cavity is open, and the strip-shaped groove communicates with the seedling storage cavity. The upper end of the strip-shaped groove extends to the top of the seedling box. The bottom of the seedling box has two rows of rollers arranged one in front and one behind, and each row of rollers includes multiple rollers arranged horizontally at equal intervals.

[0016] The seedling tray is horizontally arranged inside the seedling storage cavity. One side of the seedling box has two parallel vertical mounting slots, and each vertical mounting slot is equipped with the lifting mechanism.

[0017] The lifting mechanism includes a lead screw, a lead screw seat, a connecting plate, and a second servo motor. The lead screw is arranged vertically inside the vertical mounting groove, and its upper end is rotatably engaged with the seedling box. The output end of the second servo motor is coaxially and fixedly connected to the lower end of the lead screw. The lead screw seat is sleeved on the outside of the lead screw and threadedly engaged with it. The lead screw seat is fixedly connected to the adjacent side of the seedling support plate through the connecting plate.

[0018] Furthermore, the transverse linear module is fixed to the upper surface of the mounting plate, and the cylinder body of the double-rod cylinder is fixedly connected to the execution end of the transverse linear module through the cylinder seat, and the rear ends of its two piston rods are connected as one unit by a fixing block.

[0019] A floating connecting block is provided on the rear side of the fixed block. The upper end of the seedling pole is bolted to the floating connecting block. The front side of the floating connecting block is longitudinally slidably engaged with the fixed block through two parallel guide rods. Each guide rod is fitted with a spring, which is located between the floating connecting block and the fixed block.

[0020] The limiting slot has a semi-circular structure. The rear side wall of the part of the seedling rod located below the limiting slot is recessed to form a strip-shaped planar area. The upper and lower ends of this planar area are chamfered. The negative pressure suction port is connected to the vacuum generator through a pipeline.

[0021] Furthermore, the square frame is vertically arranged above the floating connecting block, and its inner side has a square opening that runs through the left and right sides. The circumferential sidewall of the cam contacts and slides into the sidewall of the square opening.

[0022] The upper end of the auxiliary rod is fixedly connected to the rear side of the square frame, and the front side of the lower part of the auxiliary rod has a grooved plane formed by an inward concavity.

[0023] The stepper motor is fixed to the upper part of the frame by a bracket, and its output shaft end is eccentrically fixed to the cam. The left side of the square frame is connected to the frame by a guide sliding assembly.

[0024] Furthermore, the guide sliding assembly includes a second bracket, a guide rail mounting base, a vertical guide rail, and a longitudinal guide rail. The second bracket is located on the left side of the square frame and is fixedly connected to the frame. The guide rail mounting base is vertically arranged between the second bracket and the square frame.

[0025] The vertical guide rail is installed on the left side wall of the guide rail mounting base and is equipped with a first slider. The first slider is fixedly connected to the bracket. In addition, there are two longitudinal guide rails, which are installed parallel to each other on the left side wall of the square frame, one above the other. Each longitudinal guide rail is equipped with a second slider, and all the second sliders are fixedly connected to the guide rail mounting base.

[0026] Furthermore, an inlet tube is provided behind the rotating disk, and the bottom of the inner wall of the inlet tube is an arc-shaped curved surface, the inner side of which communicates with the central hole of the rotating disk.

[0027] The rear side of the rotating disk extends into the interior of the gearbox and rotates with the gearbox through a slewing bearing. A large gear ring coaxial with it is fixed at its rear end, and a small gear meshes with the large gear ring inside the gearbox.

[0028] Servo motor 1 is fixedly mounted on the rear exterior of the gearbox. The end of its output shaft passes through the inside of the gearbox and is coaxially and fixedly connected to the gear shaft of the pinion. In operation, servo motor 1 drives the rotating disk to rotate clockwise or counterclockwise through the pinion and the large gear ring.

[0029] Furthermore, the clamping assembly includes a pad block, a clamping block, and a third linear cylinder. The pad block is located outside the edge of the central hole and is fixedly connected to the front sidewall of the rotating disk. A semi-circular groove is provided on the side of the pad block near the central hole. The geometric center of the semi-circular groove is located on the axis of the central hole, and its radius is smaller than the radius of the central hole.

[0030] There are two third linear cylinders, which are arranged in a V-shape on the side opposite to the semi-circular arc groove. Each third linear cylinder has a clamping block fixed at its actuating end. The clamping block has a V-shaped groove on the side opposite to the inner wall of the semi-circular arc groove.

[0031] In operation, the extension and retraction ends of the two third linear cylinders drive the two clamping blocks to move synchronously and in the same direction, which, together with the pad block, fixes the rear part of the seedling rope.

[0032] Furthermore, the longitudinal linear module is fixed to the upper right surface of the mounting plate, the cylinder body of the first linear cylinder is fixed to the top of the execution end of the longitudinal linear module, and the moving frame is located above the longitudinal linear module, and slides longitudinally with the frame through two parallel linear guide rods.

[0033] The piston rod end of the first linear cylinder is connected to the front side of the moving frame, driving the moving frame to move horizontally back and forth relative to the machine frame.

[0034] The clamping assembly includes a fixed clamp, a movable clamp, and a fourth linear cylinder. The fixed clamp is located on the left side of the movable frame, and its right end is fixedly connected to the corresponding side wall of the movable frame. The left end of the fixed clamp is bent downward to form a limiting part.

[0035] The movable chuck is located directly below the fixed chuck, and its right top end is hinged to the movable frame via a hinge support fixed to the bottom of the movable frame. The top of the movable chuck has an arc-shaped groove structure.

[0036] The fourth linear cylinder is located below the movable frame. The right end of its cylinder body is hinged to the bottom of the movable frame. The piston rod end of the fourth linear cylinder is hinged to the lower part of the movable clamp. The fourth linear cylinder drives the movable clamp to rotate around its connection with the hinge support. The movable clamp cooperates with the fixed clamp to fix the front part of the seedling rope.

[0037] Another objective of this invention is to provide a working method for a fully automatic kelp seedling clamping machine.

[0038] A working method for a fully automatic kelp seedling clamping machine, based on the aforementioned fully automatic kelp seedling clamping machine, includes the following steps:

[0039] Step 1: In the initial state, the moving frame and clamping assembly are located at the front dead center of the moving frame's stroke.

[0040] The rope reel with the seedling rope wound on it is fixedly installed on the damped feeding shaft. One end of the seedling rope is manually pulled through the central hole of the rotating reel from the rear side, and then the other end of the seedling rope is passed through the inside of the clamping assembly of the seedling rope pulling mechanism.

[0041] Continue pulling forward, one end of the seedling rope passes through the front side wall of the kelp seedling clamping machine and is wound around the take-up shaft of the rope take-up device. The seedling rope portion located inside the kelp seedling clamping machine is in a state of constant tension.

[0042] Step 2: Place several kelp seedlings into the seedling storage chamber of the seedling box. All the kelp seedlings are laid in layers in the seedling storage chamber, and the roots of the kelp seedlings extend from the strip-shaped opening to the outside of the seedling box.

[0043] Afterwards, the seedling boxes are manually pushed to the rear of the horizontal straight module and fixedly connected to the frame.

[0044] Step 3: The actuator of the double-rod cylinder drives the seedling-taking rod to move backward to the set position. At this time, the seedling-taking rod is close to the right side wall of the seedling box and adjacent to the root of the kelp seedling. The negative pressure pump connected to the negative pressure air intake starts to work, and the cavity inside the seedling-taking rod is in a negative pressure state.

[0045] When the stepper motor is turned on, its output shaft drives the cam to rotate. The cam, through its external square frame, drives the auxiliary rod located on the right side of the kelp seedling's root to move forward and upward.

[0046] The auxiliary rod moves the kelp seedling roots close to the rear wall of the seedling-retrieving rod and upwards. During the movement, the root of one of the kelp seedlings is sucked into the limiting slot. Under the action of negative pressure, it adheres tightly to the inner wall of the limiting slot, thus completing the seedling retrieval.

[0047] Step 4: The clamping assembly of the positioning and rotating device clamps and fixes the seedling rope. The first linear cylinder drives the moving frame and the clamping assembly to move backward to the rear stop of the moving frame's stroke. The clamping assembly clamps and fixes the seedling rope. Then, the servo motor drives the clamping assembly to rotate around the center of the rotating disk by a set angle through the rotating disk and then stops.

[0048] During the rotation of the rotating disk, the strands of the seedling rope section located between the two fixed points loosen and form a gap that allows the roots of the kelp seedlings to pass through. After the rotating disk stops rotating, the camera collects the status information of the seedling rope section, which is then processed by the image processing module and the result is sent to the PLC controller.

[0049] Step 5: After receiving the instruction from the PLC controller, the horizontal linear module drives the seedling picking rod to move linearly to the right. The kelp seedlings with their roots located in the limiting slot of the seedling picking rod are pulled out of the seedling box through the strip-shaped slot. The root end of the kelp seedling passes through the gap after the seedling rope is broken.

[0050] Afterwards, the servo motor drives the rotating disk to rotate in the opposite direction by the same angle, and the strands of the seedling rope close, clamping and fixing the root of the kelp seedling to the inside of the seedling rope. The negative pressure air intake of the seedling picker stops sucking air, and the execution end of the horizontal linear module drives the seedling picker to move to the left to the initial position.

[0051] Step Six: The clamping assembly of the positioning and rotating device releases the fixing of the seedling rope, while the clamping assembly keeps clamping the seedling rope. The first linear cylinder drives the moving frame and the clamping assembly to move forward to the front stop of the moving frame's stroke. At the same time, the take-up shaft of the rope take-up device tightens the forward-moving part of the seedling rope, and the clamping assembly releases the fixing of the seedling rope.

[0052] Step 7: Repeat steps 3 to 6 to secure the remaining kelp seedlings inside the seedling box to the seedling rope in the same way as described above.

[0053] By adopting the above technical solution, the beneficial technical effects of the present invention are as follows: The present invention can accurately control the moving distance of the seedling rope and make the seedling rope twist and open. The seedling picking and transfer device can continuously separate individual kelp seedlings from the pile of kelp seedlings in the seedling box and accurately insert the root of the individual kelp seedling into the opening of the seedling rope. The seedling rope is controlled to close to realize the seedling clamp. The present invention combines the seedling insertion process to realize the full automation of the kelp seedling insertion process, which liberates human labor to a greater extent, greatly reduces labor intensity, and improves production efficiency. Attached Figure Description

[0054] Figure 1This is a three-dimensional structural diagram of a fully automatic kelp seedling clamping machine according to the present invention.

[0055] Figure 2 This is a three-dimensional structural diagram of the seedling box of the present invention.

[0056] Figure 3 This is a side view of the seedling box of the present invention.

[0057] Figure 4 This is a schematic diagram of the combined structure of the seedling tray and the lifting mechanism of the present invention.

[0058] Figure 5 This is a schematic diagram of the internal structure of a fully automatic kelp seedling clamping machine according to the present invention.

[0059] Figure 6 This is a schematic diagram of the combined structure of the seedling transfer device and auxiliary mechanism of the present invention.

[0060] Figure 7 yes Figure 6 The combined structure shown is illustrated from another viewpoint.

[0061] Figure 8 yes Figure 7 A magnified view of part A in the middle.

[0062] Figure 9 This is a schematic diagram of the auxiliary mechanism of the present invention.

[0063] Figure 10 This is a schematic diagram of the combined structure of the positioning and rotating device and the seedling rope traction mechanism of the present invention.

[0064] Figure 11 This is a three-dimensional structural diagram of the positioning and rotating device of the present invention.

[0065] Figure 12 This is a rear view of the positioning and rotating device of the present invention.

[0066] Figure 13 This is a schematic diagram of the positioning and rotating device of the present invention after the clamping components are removed.

[0067] Figure 14 This is a three-dimensional structural diagram of the seedling rope traction mechanism of the present invention. Detailed Implementation

[0068] To make the advantages and technical solutions of the present invention clearer and more explicit, the present invention will be described in detail below with reference to specific embodiments.

[0069] Example 1, combined with Figures 1 to 14A fully automatic kelp seedling clamping machine includes a frame 1, a seedling box 2, a seedling picking and transferring device 3, an auxiliary mechanism 5, a positioning and rotating device 6, a seedling rope traction mechanism 7, and an electrical control unit. The frame 1 is a square steel frame structure made of metal profiles. A side plate 11 is installed on the upper middle part of each of the four sides of the frame 1, and a square top plate 12 is fixedly installed on its top. The four sides of the square top plate 12 are fixedly connected to the upper end of each side plate 11.

[0070] The frame 1 has an inner mounting plate 13, which is an L-shaped flat plate. The mounting plate 13 is horizontally arranged and fixedly installed at the middle of the entire height of the frame 1. An electrical distribution box is fixedly installed on the frame 1. The kelp seedling clamping machine disclosed in this invention is an automated device for the production process of inserting the roots of kelp seedlings into seedling ropes. The seedling ropes, as the foundation for kelp growth in seawater, are usually made of two or three strands of fine nylon rope twisted together.

[0071] The seedling box 2 adopts a rectangular structure. The bottom of the seedling box 2 has two rows of rollers 21 arranged in front and back. Each row of rollers 21 includes multiple rollers 21 that are fixedly installed horizontally at equal intervals. The seedling box 2 can move on the ground through the two rows of rollers 21 at its bottom.

[0072] The left side plate 11 of the frame 1 has a square opening 111 for the seedling box 2 to enter and exit. The seedling box 2 is pushed to the rear left side of the frame 1 through the square opening and is fixedly connected to the frame 1 by a quick-release mechanism, achieving a detachable and fixed connection with the frame 1. This quick-release mechanism adopts an existing quick-release mechanism. When it is necessary to load kelp seedlings, the seedling box 2 is pulled out from the inside of the frame 1. After the seedling storage cavity 22 of the seedling box 2 is filled with kelp seedlings, it can be pushed into the inside of the frame 1 and fixedly connected to the frame 1.

[0073] The seedling box 2 has a seedling storage cavity 22, which is a rectangular cavity with an open top. A vertically oriented slot 28 is located on the right side wall of the seedling box 2, communicating with the seedling storage cavity 22 and extending to the top of the seedling box 2. Inside the seedling storage cavity 22 is a seedling support plate 23 adapted to its projected area. A lifting mechanism is located on the front side of the seedling box 2, and the actuator of the lifting mechanism drives the seedling support plate 23 to rise or fall.

[0074] Specifically, the seedling tray 23 is horizontally arranged inside the seedling storage cavity 22. The front side wall of the seedling storage cavity 22 has two vertical mounting slots arranged parallel to each other on the left and right, and each vertical mounting slot is provided with a lifting mechanism on its inner side.

[0075] The lifting mechanism includes a lead screw 24, a lead screw seat 25, a connecting plate 27, and a servo motor 26. The lead screw 24 is vertically arranged inside the vertical mounting groove, and its upper end is rotatably engaged with the seedling box 2 via a bearing seat 29. The servo motor 26 is fixedly installed at the bottom of the seedling box 2, and its output end is coaxially and fixedly connected to the lower end of the lead screw 24. The lead screw seat 25 is sleeved on the outside of the lead screw 24 and threadedly engaged with it. A connecting plate 27 is fixedly installed on the top of the lead screw seat 25. The connecting plate 27 has a circular hole, and the lead screw 24 is located in the circular hole of the connecting plate 27 and does not contact the connecting plate 27. The lead screw seat 25 is fixedly connected to the front side of the seedling support plate 23 through the connecting plate 27 to form a whole.

[0076] Each vertical mounting slot has a vertical slide rail fixed on its left and right side walls, and each vertical slide rail is equipped with a guide slider. The left and right sides of the connecting plate 27 are fixedly connected to the two guide sliders in its respective vertical mounting slot. That is, the connecting plate 27 slides vertically with the seedling box 2 through the vertical slide rails and guide sliders. The power distribution box installed on the frame 1 supplies power to the servo motor 26. The output shafts of the two servo motors 26 drive two synchronous and co-rotating lead screws 24 to raise or lower the seedling tray 23 in the seedling storage cavity 22, thereby adjusting the height of the kelp seedlings placed inside the seedling storage cavity 22.

[0077] The transverse linear module 4 is fixed to the upper surface of the mounting plate 13 and is located adjacent to the front side of the installation position of the seedling box 2. The top of the actuating end of the transverse linear module 4 is fixed with a cylinder seat 41. The transverse linear module 4 drives the cylinder seat 41 to move horizontally through its actuating end. The seedling transfer device 3 includes a double-rod cylinder 31 and a seedling rod 32. The double-rod cylinder 31 is set above the seedling box 2 through the transverse linear module 4. Specifically, the cylinder body of the double-rod cylinder 31 is fixedly installed on the right side wall of the cylinder seat 41. The actuating end of the transverse linear module 4 can drive the double-rod cylinder 31 to move horizontally. The rear ends of the two piston rods of the double-rod cylinder 31 are connected as one piece by a fixing block 33.

[0078] A floating connecting block 34 is provided on the rear side of the fixed block 33. The seedling picking rod 32 is vertically arranged on the outside right side of the seedling box 2. Its upper end is elastically slidingly engaged with the execution end of the double-rod cylinder 31. In the working state, the double-rod cylinder 31 drives the fixed block 33, the floating connecting block 34 and the seedling picking rod 32 to move horizontally back and forth through its piston rod, so that the rear side wall of the seedling picking rod 32 can approach or move away from the seedling roots of the kelp seedlings.

[0079] Specifically, the upper end of the seedling stem 32 is bolted to the right rear end of the floating connecting block 34. Two guide rods 35, one high and one low, are arranged parallel to each other on the front side of the floating connecting block 34. The rear end of each guide rod 35 is fixedly connected to the front side wall of the floating connecting block 34. Two through holes corresponding to the positions of the guide rods 35 are provided on the fixing block 33. The rear ends of the guide rods 35 pass through the through holes in the fixing block 33 and are fixedly installed with limit heads 351. The floating connecting block 34 slides longitudinally with the fixing block 33 through the two guide rods 35. A spring 36 is sleeved on the outside of each guide rod 35, and the spring 36 is located between the floating connecting block 34 and the fixing block 33.

[0080] A limiting groove 321 is provided on the lower rear side wall of the seedling taking rod 32. The limiting groove 321 has a semi-circular structure. The rear side wall of the portion of the seedling taking rod 32 located below the limiting groove 321 is recessed to form a strip-shaped planar area. The upper and lower ends of this planar area are both chamfered. In addition, a negative pressure suction port 322 is provided on the inner wall of the limiting groove 321 near the axis of the seedling taking rod 32. The negative pressure suction port 322 communicates with the negative pressure chamber inside the seedling taking rod 32. The negative pressure chamber is connected to a vacuum generator through a pipeline. The negative pressure suction port 322 adsorbs and fixes the roots of the kelp seedlings that enter the limiting groove 321 to the inner side of the seedling taking rod 32.

[0081] The auxiliary mechanism 5 includes an auxiliary rod 51 and a cam 52 drive assembly. The auxiliary rod 51 is located behind the seedling-picking rod 32 and is arranged parallel to it. The cam 52 drive assembly includes a cam 52, a square frame 53, and a stepper motor 54. The square frame 53 is movably connected to the frame 1, and the auxiliary rod 51 is located on the lower side of the square frame 53. Specifically, the stepper motor 54 is fixed to the upper part of the frame 1 by a bracket 541. The cam 52 is located at the end of the output shaft of the stepper motor 54. The square frame 53 is vertically arranged above the floating connecting block 34, and has a square opening that extends from left to right on its inner side. The left side of the square frame 53 is connected to the frame 1 by a guide sliding assembly.

[0082] The guide sliding assembly includes a second bracket 55, a guide rail mounting base 56, a vertical guide rail 57, and a longitudinal guide rail 58. The second bracket 55 is located on the left side of the square frame 53 and is fixedly connected to the frame 1. The guide rail mounting base 56 is vertically arranged between the second bracket 55 and the square frame 53. The vertical guide rail 57 is mounted on the left side wall of the guide rail mounting base 56 and is equipped with a first slider 571, which is fixedly connected to the second bracket 55. In addition, there are two longitudinal guide rails 58, which are installed parallel to each other on the left side wall of the square frame 53, one above the other. Each longitudinal guide rail 58 is equipped with a second slider 581, and all second sliders 581 are fixedly connected to the guide rail mounting base 56.

[0083] The cam 52 is located inside the square frame 53. The output shaft of the stepper motor 54 is eccentrically and fixedly connected to the cam 52. The circumferential sidewall of the cam 52 contacts and slides against the sidewall of the square opening. The upper end of the auxiliary rod 51 is fixedly connected to the rear side of the square frame 53. The front side of the lower end of the auxiliary rod 51 has a recessed groove. The cam 52 drives the auxiliary rod 51 to make a circular motion in the vertical plane through the square frame 53. The auxiliary rod 51 can push the root of the kelp seedling into the limiting slot 321 of the seedling picking rod 32.

[0084] The positioning and rotating device 6 includes a rotating disk 61, a gearbox 62, a servo motor 63, and a clamping assembly. The gearbox 62 is fixedly mounted on the rear side plate 11 of the frame 1 in an embedded manner. The rotating disk 61 is located in front of the gearbox 62, and the rear side of the rotating disk 61 has a hollow rotating shaft 611 that is coaxial with and fixedly connected to it. The center of the rotating disk 61 has a central hole 612 for the seedling rope to pass through, and the gearbox 62 has through holes that correspond to the front and rear of the central hole.

[0085] An inlet pipe 14 is provided behind the rotating disk 61. The front end of the inlet pipe 14 is fixed to the rear side plate 11 of the frame 1. The bottom of the inner wall of the inlet pipe 14 is an arc-shaped curved surface, and its inner side communicates with the central hole of the rotating disk 61. An outlet pipe 15 with the same structure as the inlet pipe 14 and positioned opposite each other is installed on the outer wall of the front side plate of the frame 1. The rear end of the outlet pipe 15 is fixedly connected to the front side plate. In the working state, the seedling rope passes through the rear end of the inlet pipe 14 into its inner side, passes through the central hole and exits from the front end of the central hole, passes through the inside of the outlet pipe 15 and exits the frame 1, and is wound around the take-up shaft of the rope take-up device located in front of the frame 1.

[0086] The rear part of the hollow shaft 611 extends into the interior of the gearbox 62 and rotates with the gearbox 62 through a slewing bearing or a bearing. A large gear ring coaxial with the rear end of the hollow shaft 611 is fixedly provided, and a small gear meshing with the large gear ring is provided inside the gearbox 62.

[0087] Servo motor 63 is fixedly installed on the rear side of gearbox 62. The end of its output shaft passes through the inside of gearbox 62 and is coaxially and fixedly connected to the gear shaft of the pinion. In operation, servo motor 63 drives the rotating disk 61 to rotate clockwise or counterclockwise through the pinion and the large gear ring.

[0088] The clamping assembly is mounted on the front sidewall of the rotating disk 61, and a servo motor 63 drives the rotating disk 61 and the clamping assembly to rotate. Specifically, the clamping assembly includes a pad 64, a clamping block 65, and a third linear cylinder 66. The pad 64 is located outside the edge of the central hole and is fixedly connected to the front sidewall of the rotating disk 61. A semi-circular groove is formed on the side of the pad 64 near the central hole. The geometric center of the semi-circular groove is located on the axis of the central hole, and its radius is smaller than the radius of the central hole.

[0089] There are two third linear cylinders 66, arranged in a V-shape on one side opposite the semi-circular groove. Each third linear cylinder 66 has a clamping block 65 fixed to its actuating end. The clamping block 65 has a V-shaped groove on the side opposite the inner wall of the semi-circular groove. In operation, the telescopic ends of the two third linear cylinders 66 drive the two clamping blocks 65 to move synchronously and in the same direction, cooperating with the pad block 64 to fix the rear part of the seedling rope.

[0090] The seedling rope traction mechanism 7 is located in front of the rotating disk 61 and includes a first linear cylinder 71, a moving frame 72 and a clamping assembly. The first linear cylinder 71 is mounted on the frame 1 via a longitudinal linear module 8. The moving frame 72 slides longitudinally with the frame 1. The clamping assembly is mounted on the moving frame 72. The first linear cylinder 71 drives the moving frame 72 and the clamping assembly to move back and forth.

[0091] The longitudinal linear module 8 is fixed to the upper right surface of the mounting plate 13. The cylinder body of the first linear cylinder 71 is fixedly mounted on the top of the execution end of the longitudinal linear module 8 through the cylinder seat 2. The moving frame 72 is located above the longitudinal linear module 8 and is longitudinally slidably engaged with the frame 1 through two parallel linear guide rods 73. The piston rod end of the first linear cylinder 71 is connected to the upright plate 78 on the front side of the moving frame 72, driving the moving frame 72 to move horizontally back and forth relative to the frame 1.

[0092] The clamping assembly includes a fixed clamp 74, a movable clamp 75, and a fourth linear cylinder 76. The fixed clamp 74 is located on the left side of the movable frame 72, and its right end is fixedly connected to the corresponding side wall of the movable frame 72. The left end of the fixed clamp 74 is bent downward to form a limiting part. The movable clamp 75 is located directly below the fixed clamp 74, and its top right end is hinged to the movable frame 72 through a hinge support 77 fixed to the bottom of the movable frame 72. The top of the movable clamp 75 has an arc-shaped groove structure.

[0093] The fourth linear cylinder 76 is arranged below the movable frame 72. The right end of its cylinder body is hinged to the bottom of the movable frame 72. The piston rod end of the fourth linear cylinder 76 is hinged to the lower part of the movable clamp 75. The fourth linear cylinder 76 drives the movable clamp 75 to rotate around its connection with the hinge support 77. The movable clamp 75 cooperates with the fixed clamp 74 to fix the front part of the seedling rope.

[0094] The electrical control unit includes a camera, an image processing module, and a PLC controller. The camera is mounted on the frame 1 and located between the clamping assembly and the clamping assembly. Its signal terminal is connected to the PLC controller through the image processing module. The image processing module and the PLC controller are installed inside the power distribution box.

[0095] Example 2, combined with Figures 1 to 13 A working method for a fully automatic kelp seedling clamping machine, based on the fully automatic kelp seedling clamping machine described in Example 1, includes the following steps:

[0096] Step 1: In the initial state, the moving frame 72 and the clamping assembly are located at the front dead center of the travel of the moving frame 72;

[0097] The rope reel with the seedling rope wound on it is fixedly installed on the damped wire feeding shaft. One end of the seedling rope is manually pulled through the central hole of the rotating disc 61 from the rear side, and then the other end of the seedling rope is passed through the inside of the clamping assembly of the seedling rope pulling mechanism 7.

[0098] Continue pulling forward, one end of the seedling rope passes through the front side wall of the kelp seedling clamping machine and is wound around the take-up shaft of the rope take-up device. The seedling rope part located inside the kelp seedling clamping machine is in a constant tension state.

[0099] Step 2: Place several kelp seedlings into the seedling storage chamber 22 of the seedling box 2. All the kelp seedlings are laid in layers in the seedling storage chamber 22, and the roots of the kelp seedlings extend to the outside of the seedling box 2 through the strip-shaped opening.

[0100] Afterwards, the seedling box 2 is manually pushed to the rear of the horizontal straight module 4 and fixedly connected to the frame 1;

[0101] Step 3: The actuator of the double-rod cylinder 31 drives the seedling-taking rod 32 to move backward to the set position. At this time, the seedling-taking rod 32 is close to the right side wall of the seedling box 2 and is arranged adjacent to the root of the kelp seedling. The negative pressure pump connected to the negative pressure suction port 322 starts to work, and the cavity inside the seedling-taking rod 32 is in a negative pressure state.

[0102] When the stepper motor 54 is turned on, the output shaft of the stepper motor 54 drives the cam 52 to rotate. The cam 52 drives the auxiliary rod 51 located on the right side of the root of the kelp seedling to move forward and upward through the square frame 53 outside it.

[0103] The auxiliary rod 51 moves the kelp seedling root close to the rear side wall of the seedling picking rod 32 and upwards. During the movement, the root of one of the kelp seedlings is sucked into the limiting slot 321. Under the action of negative pressure, it sticks tightly to the inner side wall of the limiting slot 321, thus completing the seedling picking.

[0104] Step 4: The clamping assembly of the positioning and rotating device 6 clamps and fixes the seedling rope. The first linear cylinder 71 drives the moving frame 72 and the clamping assembly to move backward to the rear stop point of the stroke of the moving frame 72. The clamping assembly clamps and fixes the seedling rope. After that, the servo motor 63 drives the clamping assembly to rotate around the center of the rotating disk 61 by a set angle through the rotating disk 61 and then stops.

[0105] During the rotation of the rotating disk 61, the strands of the seedling rope section located between the two fixed points loosen and form a gap that allows the roots of the kelp seedlings to pass through. After the rotating disk 61 stops rotating, the camera collects the status information of the seedling rope section, and after processing by the image processing module, the result is sent to the PLC controller.

[0106] Step 5: After receiving the instruction from the PLC controller, the horizontal linear module 4 drives the seedling picking rod 32 to move straight to the right. The kelp seedling with its root located in the limiting slot 321 of the seedling picking rod 32 is pulled out of the seedling box 2 through the strip slot. The seedling root end of the kelp seedling passes through the gap after the seedling rope is broken.

[0107] Afterwards, the servo motor 63 drives the rotating disk 61 to rotate in the opposite direction by the same angle, and the strands of the seedling rope close to fix the root of the kelp seedling to the inside of the seedling rope. The negative pressure air intake 322 of the seedling picker 32 stops sucking air, and the execution end of the horizontal linear module 4 drives the seedling picker 32 to move to the left to the initial position.

[0108] Step 6: The clamping assembly of the positioning and rotating device 6 releases the fixing of the seedling rope, the clamping assembly keeps clamping the seedling rope, the first linear cylinder 71 drives the moving frame 72 and the clamping assembly to move forward to the front stop of the stroke of the moving frame 72, at the same time, the take-up shaft of the rope take-up device tightens the part of the seedling rope that has moved forward, and the clamping assembly releases the fixing of the seedling rope.

[0109] Step 7: Repeat steps 3 to 6 to secure the remaining kelp seedlings inside seedling box 2 to the seedling rope in the same manner as described above.

[0110] For any parts not mentioned in this invention, existing technologies can be used or referenced.

[0111] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0112] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0113] Of course, the above description is not intended to limit the present invention, and the present invention is not limited to the examples given above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. A fully automatic kelp seedling clamping machine, characterized in that, It includes a frame, a seedling box, a seedling taking and transferring device, an auxiliary mechanism, a positioning and rotating device, a seedling rope traction mechanism, and an electrical control unit. The inner side of the frame is provided with a mounting plate, and the seedling box is arranged at the left rear part of the frame, with its upper part located above the mounting plate. The seedling box has a seedling storage cavity inside, and a vertically opened strip-shaped slot on its right side wall. The seedling storage cavity is equipped with a seedling support plate. A lifting mechanism is provided on one side of the seedling box. The actuator of the lifting mechanism drives the seedling support plate to rise or fall. The seedling transfer device includes a double-rod cylinder and a seedling-taking rod. The double-rod cylinder is set above the seedling box through a horizontal linear module. The seedling-taking rod is vertically set on the right side of the seedling box. Its upper end is elastically slidingly engaged with the execution end of the double-rod cylinder. The lower rear side wall has a limiting groove, and the inner wall of the limiting groove has a negative pressure air intake port. The auxiliary mechanism includes an auxiliary rod and a cam drive assembly. The auxiliary rod is located behind the seedling picking rod and is arranged parallel to it. The cam drive assembly includes a cam, a square frame, and a stepper motor. The square frame is movably connected to the machine frame, and the auxiliary rod is located on the lower side of the square frame. The cam is located inside the square frame. The output shaft of the stepper motor is fixedly connected to the cam. The cam drives the auxiliary rod to make a circular motion in the vertical plane through the square frame. The auxiliary rod can push the root of the kelp seedling into the inner side of the limiting slot of the seedling picking rod. The positioning and rotating device includes a rotating disk, a gearbox, a servo motor, and a clamping assembly. The gearbox is fixed to the rear side of the frame. The rotating disk has a central hole for the seedling rope to pass through, is located in front of the gearbox and rotates in cooperation with it. The clamping assembly is located on the front side wall of the rotating disk. The servo motor drives the rotating disk and the clamping assembly to rotate. The seedling rope traction mechanism is located in front of the rotating disc and includes a first linear cylinder, a moving frame, and a clamping assembly. The first linear cylinder is mounted on the frame via a longitudinal linear module. The moving frame slides longitudinally with the frame. The clamping assembly is mounted on the moving frame. The first linear cylinder drives the moving frame and the clamping assembly to move back and forth. The electronic control unit includes a camera, an image processing module, and a PLC controller. The camera is mounted on the frame and located between the clamping assembly and the clamping assembly. Its signal terminal is connected to the PLC controller through the image processing module.

2. The fully automatic kelp seedling clamping machine according to claim 1, characterized in that, The frame is a square steel frame structure made of metal profiles, with a top plate installed on top and a side plate installed on the upper part of each of the four sides of the frame. The mounting plate is an L-shaped flat plate, which is horizontally arranged and fixedly installed at the middle of the entire frame height. The seedling box is a rectangular box body, which is detachably and fixedly connected to the frame.

3. The fully automatic kelp seedling clamping machine according to claim 2, characterized in that, The top of the seedling storage chamber is open, and the strip-shaped groove communicates with the seedling storage chamber. The upper end of the strip-shaped groove extends to the top of the seedling box. The bottom of the seedling box has two rows of rollers arranged in front and back, and each row of rollers includes multiple rollers arranged horizontally at equal intervals. The seedling tray is horizontally arranged inside the seedling storage cavity. One side of the seedling box has two parallel vertical mounting slots, and each vertical mounting slot is equipped with the lifting mechanism. The lifting mechanism includes a lead screw, a lead screw seat, a connecting plate, and a second servo motor. The lead screw is vertically arranged inside the vertical mounting groove, and its upper end is rotatably engaged with the seedling box. The output end of the second servo motor is coaxially and fixedly connected to the lower end of the lead screw. The lead screw seat is sleeved on the outside of the lead screw and threadedly engaged with it. The lead screw seat is fixedly connected to the adjacent side of the seedling support plate through the connecting plate.

4. The fully automatic kelp seedling clamping machine according to claim 1, characterized in that, The transverse linear module is fixed to the upper surface of the mounting plate. The cylinder body of the double-rod cylinder is fixedly connected to the execution end of the transverse linear module through the cylinder seat. The rear ends of its two piston rods are connected as one unit by a fixing block. A floating connecting block is provided on the rear side of the fixed block. The upper end of the seedling pole is bolted to the floating connecting block. The front side of the floating connecting block is longitudinally slidably engaged with the fixed block through two parallel guide rods. Each guide rod is fitted with a spring, which is located between the floating connecting block and the fixed block. The limiting slot has a semi-circular structure. The rear side wall of the part of the seedling rod located below the limiting slot is recessed to form a strip-shaped planar area. The upper and lower ends of this planar area are chamfered. The negative pressure suction port is connected to the vacuum generator through a pipeline.

5. The fully automatic kelp seedling clamping machine according to claim 4, characterized in that, The square frame is vertically arranged above the floating connecting block, and its inner side has a square opening that runs through the left and right sides. The circumferential sidewall of the cam contacts and slides with the sidewall of the square opening. The upper end of the auxiliary rod is fixedly connected to the rear side of the square frame, and the front side of the lower part of the auxiliary rod has a grooved plane formed by an inward concavity. The stepper motor is fixed to the upper part of the frame by a bracket, and its output shaft end is eccentrically fixed to the cam. The left side of the square frame is connected to the frame by a guide sliding assembly.

6. The fully automatic kelp seedling clamping machine according to claim 5, characterized in that, The guide sliding assembly includes a second bracket, a guide rail mounting base, a vertical guide rail, and a longitudinal guide rail. The second bracket is located on the left side of the square frame and is fixedly connected to the frame. The guide rail mounting base is vertically arranged between the second bracket and the square frame. The vertical guide rail is installed on the left side wall of the guide rail mounting base and is equipped with a first slider. The first slider is fixedly connected to the bracket. In addition, there are two longitudinal guide rails, which are installed parallel to each other on the left side wall of the square frame, one above the other. Each longitudinal guide rail is equipped with a second slider, and all the second sliders are fixedly connected to the guide rail mounting base.

7. The fully automatic kelp seedling clamping machine according to claim 1, characterized in that, An inlet tube is provided behind the rotating disk. The bottom of the inner wall of the inlet tube is an arc-shaped curved surface, and its inner side is connected to the central hole of the rotating disk. The rear side of the rotating disk extends into the interior of the gearbox and rotates with the gearbox through a slewing bearing. A large gear ring coaxial with it is fixed at its rear end, and a small gear meshing with the large gear ring is provided inside the gearbox. Servo motor 1 is fixedly mounted on the rear exterior of the gearbox. The end of its output shaft passes through the inside of the gearbox and is coaxially and fixedly connected to the gear shaft of the pinion. In operation, servo motor 1 drives the rotating disk to rotate clockwise or counterclockwise through the pinion and the large gear ring.

8. The fully automatic kelp seedling clamping machine according to claim 1, characterized in that, The clamping assembly includes a pad block, a clamping block, and a third linear cylinder. The pad block is located outside the edge of the central hole and is fixedly connected to the front side wall of the rotating disk. A semi-circular groove is provided on the side of the pad block near the central hole. The geometric center of the semi-circular groove is located on the axis of the central hole, and its radius is smaller than the radius of the central hole. There are two third linear cylinders, which are arranged in a V-shape on the side opposite to the semi-circular arc groove. Each third linear cylinder has a clamping block fixed at its actuating end. The clamping block has a V-shaped groove on the side opposite to the inner wall of the semi-circular arc groove. In operation, the extension and retraction ends of the two third linear cylinders drive the two clamping blocks to move synchronously and in the same direction, which, together with the pad block, fixes the rear part of the seedling rope.

9. The fully automatic kelp seedling clamping machine according to claim 1, characterized in that, The longitudinal linear module is fixed to the upper right surface of the mounting plate. The cylinder body of the first linear cylinder is fixed to the top of the execution end of the longitudinal linear module. The moving frame is located above the longitudinal linear module and slides longitudinally with the frame through two parallel linear guide rods. The piston rod end of the first linear cylinder is connected to the front side of the moving frame, driving the moving frame to move horizontally back and forth relative to the frame; The clamping assembly includes a fixed clamp, a movable clamp, and a fourth linear cylinder. The fixed clamp is located on the left side of the movable frame, and its right end is fixedly connected to the corresponding side wall of the movable frame. The left end of the fixed clamp is bent downward to form a limiting part. The movable chuck is located directly below the fixed chuck, and its right top end is hinged to the movable frame via a hinge support fixed to the bottom of the movable frame. The top of the movable chuck has an arc-shaped groove structure. The fourth linear cylinder is located below the movable frame. The right end of its cylinder body is hinged to the bottom of the movable frame. The piston rod end of the fourth linear cylinder is hinged to the lower part of the movable clamp. The fourth linear cylinder drives the movable clamp to rotate around its connection with the hinge support. The movable clamp cooperates with the fixed clamp to fix the front part of the seedling rope.

10. A working method for a fully automatic kelp seedling clamping machine, characterized in that, The fully automatic kelp seedling clamping machine as described in any one of claims 1-9, the working method includes the following steps: Step 1: In the initial state, the moving frame and clamping assembly are located at the front dead center of the moving frame's stroke; The rope reel with the seedling rope wound on it is fixedly installed on the damped wire feeding shaft. One end of the seedling rope is manually pulled through the central hole of the rotating reel from the back side, and then the other end of the seedling rope is passed through the inside of the clamping assembly of the seedling rope pulling mechanism. Continue pulling forward, one end of the seedling rope passes through the front side wall of the kelp seedling clamping machine and is wound around the take-up shaft of the rope take-up device. The seedling rope part located inside the kelp seedling clamping machine is in a constant tension state. Step 2: Place several kelp seedlings into the seedling storage chamber of the seedling box. All the kelp seedlings are laid in layers in the seedling storage chamber, and the roots of the kelp seedlings extend to the outside of the seedling box through the strip-shaped opening. Afterwards, the seedling boxes are manually pushed to the rear of the horizontal straight module and fixedly connected to the frame; Step 3: The actuator of the double-rod cylinder drives the seedling-taking rod to move backward to the set position. At this time, the seedling-taking rod is close to the right side wall of the seedling box and adjacent to the root of the kelp seedling. The negative pressure pump connected to the negative pressure air intake starts to work, and the cavity inside the seedling-taking rod is in a negative pressure state. When the stepper motor is turned on, the output shaft of the stepper motor drives the cam to rotate. The cam drives the auxiliary rod located on the right side of the root of the kelp seedling to move forward and upward through its external square frame. The auxiliary rod moves the kelp seedling roots close to the back wall of the seedling retrieval rod and upwards. During the movement, the roots of one of the kelp seedlings are sucked into the limiting slot. Under the action of negative pressure, they stick tightly to the inner wall of the limiting slot, thus completing the seedling retrieval. Step 4: The clamping assembly of the positioning and rotating device clamps and fixes the seedling rope. The first linear cylinder drives the moving frame and the clamping assembly to move backward to the rear stop point of the moving frame's stroke. The clamping assembly clamps and fixes the seedling rope. After that, the servo motor drives the clamping assembly to rotate around the center of the rotating disk by a set angle through the rotating disk and then stops. During the rotation of the rotating disk, the strands of the seedling rope section located between the two fixed points loosen and form a gap that allows the roots of the kelp seedlings to pass through. After the rotating disk stops rotating, the camera collects the status information of the seedling rope section, which is then processed by the image processing module and sent to the PLC controller. Step 5: After receiving the instruction from the PLC controller, the horizontal linear module drives the seedling picking rod to move linearly to the right. The kelp seedling with its root located in the limiting slot of the seedling picking rod is pulled out of the seedling box through the strip slot. The seedling root end passes through the gap after the seedling rope is broken. Afterwards, the servo motor drives the rotating disk to rotate in the opposite direction by the same angle, and the strands of the seedling rope close, clamping and fixing the root of the kelp seedling to the inside of the seedling rope. The negative pressure air intake of the seedling rod stops sucking air, and the execution end of the horizontal linear module drives the seedling rod to move to the left to the initial position. Step 6: The clamping assembly of the positioning and rotating device releases the fixing of the seedling rope, while the clamping assembly keeps clamping the seedling rope. The first linear cylinder drives the moving frame and the clamping assembly to move forward to the front stop of the moving frame's stroke. At the same time, the take-up shaft of the rope take-up device tightens the forward-moving part of the seedling rope, and the clamping assembly releases the fixing of the seedling rope. Step 7: Repeat steps 3 to 6 to secure the remaining kelp seedlings inside the seedling box to the seedling rope in the same way as described above.

Images