A portunid crab binding apparatus and method of controlling the same

Abstract

The present application relates to a kind of brachyuran binding equipment and control method thereof, and it is related to brachyuran binding technical field, including cutting assembly, clamping jaw moving and loading component, inner support component and expansion binding component, cutting assembly is used to cut rubber tube;Clamping jaw moving and loading component includes the clamping jaw module of clamping rubber tube;Inner support component includes power piece one and mounting bracket, the inner support shaft is equipped on the mounting bracket, power piece two is used to drive inner support shaft and support rubber tube;Expansion binding component is used to open and suit into the forceps of brachyuran of rubber ring.By the setting of inner support shaft and clamping jaw module, inner support shaft and clamping module are cooperated, so that rubber tube is not prone to deformation, so as to facilitate cutter to cut rubber tube, improve the cutting efficiency of rubber tube.Simultaneously by rotary motor two and arc-shaped sliding slot, simple structure, movement process is stable, reduce the situation that the movement process of connecting rod structure in prior art is unstable and leads to influence opening effect.

Description

Technical Field

[0001] This invention relates to the field of swimming crab binding technology, specifically to a swimming crab binding device and its control method. Background Technology

[0002] When transporting or selling swimming crabs, their claws need to be folded and tied together with rubber bands to conserve their energy. Tying them up helps preserve their strength, extends their lifespan, and ensures they remain plump and delicious.

[0003] Existing technology typically uses crab binding equipment to cut rubber tubes into multiple rubber rings, which are then used to bind the crab's claws. For example, the crab binding machine disclosed in Chinese invention patent CN116788568A includes a machine housing with a turntable in the middle. Several rubber band spreading mechanisms are evenly arranged around the turntable. A rubber tube cutting device is installed on the top of the machine housing. The rubber tube cutting device cuts rubber bands that can fall onto the tips of the rubber band spreading mechanisms. As the rubber band spreading mechanisms spread the rubber bands, the tips of the rubber band spreading mechanisms rotate to the windows under the rotation of the turntable. The two large claws of the crab are placed at the two windows respectively. The large claws are bound by pulling the rubber bands off with a lever.

[0004] However, the above-mentioned existing technology has the following problems: (1) When cutting the rubber tube, the rubber tube is relatively soft and is prone to deformation during cutting, which makes it difficult for the cutter to apply force and thus reduces the cutting efficiency.

[0005] (2) In the above-mentioned prior art, the rubber band is opened by a motor driving the lead screw to drive the linkage mechanism to move, so that the opening claw opens the rubber band. The structure is complicated. Moreover, under the premise of only controlling the rotation angle of the motor output end, the movement process of the linkage mechanism is unstable, which can easily affect the opening effect of the rubber band. Summary of the Invention

[0006] The technical solution adopted by this invention to solve its technical problem is: to provide a swimming crab binding device, comprising:

[0007] A cutting assembly, comprising a cutting motor and a cutter, wherein the output end of the cutting motor is provided with a crank-slider structure, and the cutting motor drives the cutter to reciprocate through the crank-slider structure, thereby cutting the rubber tube;

[0008] A gripper transfer assembly includes a rotary motor and a connecting frame connected to the output end of the rotary motor. The connecting frame is provided with a gripper module. The rotary motor is used to drive the connecting frame to rotate the gripper module, thereby clamping the rubber tube.

[0009] An inner support assembly includes a power component and a mounting bracket connected to the output end of the power component. The mounting bracket is provided with an inner support shaft. The power component is used to drive the inner support shaft to move into the rubber tube to support the rubber tube.

[0010] Furthermore, the mounting bracket is also equipped with a power component three, the output end of which is equipped with a lead screw, a slider two is threadedly connected to the lead screw, the slider two is equipped with multiple moving blocks, and the moving blocks are equipped with rollers. The power component three is used to drive the rollers to push the edge of the rubber ring to roll up and press it onto the claw body.

[0011] Furthermore, the mounting bracket is provided with a second power component, the inner support shaft is connected to the output end of the second power component, the inner support shaft is provided with a connecting pipe, the second slider is located inside the connecting pipe, the connecting pipe is provided with a through groove for the moving block to slide, and the roller is provided on one end of the moving block that extends out of the through groove.

[0012] Furthermore, it also includes a conveying assembly, which includes a frame, an active conveying module, a passive conveying module and a drive motor 1 mounted on the frame. The drive motor 1 drives the active conveying module to drive the passive conveying module, thereby moving the rubber tube.

[0013] Furthermore, the frame is equipped with a linear guide rail, and the crank-slider structure includes a crank, a connecting rod, and a sliding block. The crank and the output end of the cutting motor are coaxially fixed. The two ends of the connecting rod are rotatably connected to the crank and the sliding block, respectively. The sliding block is fixedly connected to the cutter. The sliding block is slidably mounted on the linear guide rail. When the cutter is driven to reciprocate, the cutting motor drives the crank to rotate, causing the connecting rod to swing, thereby causing the sliding block to drive the cutter to reciprocate along the linear guide rail to cut the rubber tube.

[0014] Furthermore, the gripper module includes an electromagnet, a protrusion, and two gripper bodies rotatably mounted on a connecting frame. The output end of the electromagnet is connected to the protrusion, and a compression spring is provided between the two gripper bodies. The two ends of the compression spring are respectively fixedly connected to the two gripper bodies. The electromagnet is used to drive the protrusion to slide, thereby pushing the two gripper bodies to rotate to grip the rubber tube.

[0015] Furthermore, it also includes an expansion binding assembly, which is used to expand the rubber band and fit it onto the claws of the swimming crab. The expansion binding assembly includes a second rotary motor and a turntable disposed at the output end of the second rotary motor, as well as a support frame. The turntable is rotatably disposed on the support frame, and multiple expansion blocks are slidably disposed on the turntable. The turntable is provided with arc-shaped grooves corresponding to the expansion blocks, and each expansion block is provided with a slider, which is slidably disposed in the arc-shaped groove. The shape of the arc-shaped groove is adapted to the movement trajectory of the expansion block. The second rotary motor is used to drive the turntable to rotate, thereby causing the multiple expansion blocks to move away from the center of the turntable, thus expanding the rubber band.

[0016] Furthermore, the expansion block is equipped with an electromagnet II, and the output end of the electromagnet II is equipped with an ejector block. The electromagnet II is used to drive the ejector block to push the opened rubber ring onto the claws of the swimming crab.

[0017] Furthermore, it also includes a moving module, which includes a third rotary motor and a third gear connected to the output end of the third rotary motor. The support frame is provided with a moving rack, which meshes with the third gear. The third rotary motor is used to drive the third gear to rotate, thereby driving the moving rack to move and in turn driving the support frame to move.

[0018] In view of the technical problems existing in the prior art, the present invention also provides a control method for the swimming crab binding device described in the above embodiments, the method comprising:

[0019] S1. A control unit is set to control the position of the gripper module and the expansion binding assembly. The control unit includes a detection sensor, an angular displacement encoder, a PLC controller one, and a PLC controller two. The PLC controller one is electrically connected to a rotary motor one, and the PLC controller two is electrically connected to a rotary motor three. The detection sensor is used to detect whether the gripper module rotates to the correct position when the rotary motor one drives the gripper module to transfer the rubber ring, and transmits the signal to the PLC controller one. The angular displacement encoder is used to detect the rotation angle at the output end of the rotary motor three, and transmits the signal to the PLC controller two.

[0020] S2. The PLC controller determines whether the rotary motor drives the gripper module to rotate into position when transferring the rubber ring according to preset parameters. If it is in position, the next process is carried out. If it is not in position, the output end of the rotary motor is controlled to rotate by a corresponding angle so that the rotary motor drives the gripper module to rotate into position.

[0021] S3. The PLC controller 2 determines whether the rotation angle of the output end of the rotary motor 3 is in place according to the preset parameters. If it is in place, the next process is carried out. If it is not in place, the output end of the rotary motor 3 is controlled to rotate by the corresponding angle, so that the rotary motor 3 drive support frame drives the expansion binding assembly to move to correspond with the rubber ring held by the gripper module.

[0022] The beneficial effects of this invention are as follows: By configuring the inner support shaft and the gripper module, the inner support shaft and the gripping module work together to support the inner wall and outer periphery of the rubber tube during cutting, respectively. This prevents the rubber tube from deforming during cutting, making it easier for the cutter to apply force to the rubber tube and thus facilitating cutting, thereby improving the cutting efficiency. Simultaneously, the design of the rotary motor and multiple arc-shaped grooves on the turntable results in a simple structure and stable movement. The degree of expansion of the rubber ring by the expansion block can be controlled simply by controlling the rotation angle of the output end of the rotary motor, reducing the impact on the expansion effect caused by the unstable movement of the linkage structure in existing technologies. Attached Figure Description

[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0024] In the picture: Figure 1 This invention provides an overall structural diagram of a swimming crab binding device;

[0025] Figure 2 for Figure 1 The diagram shows the three-dimensional structure of the conveying assembly, cutting assembly, and internal support assembly.

[0026] Figure 3 for Figure 2 A three-dimensional structural diagram of the cutting component and the inner support component from another perspective;

[0027] Figure 4 for Figure 1 The diagram shows a cross-sectional view of the structure when the gripper module rotates to grip the rubber tube.

[0028] Figure 5 for Figure 4 Enlarged view of point A in the middle;

[0029] Figure 6 for Figure 3 A three-dimensional sectional view of the internal support assembly shown.

[0030] Figure 7 for Figure 3 Cross-sectional view of the inner support assembly in the side view shown

[0031] Figure 8 for Figure 1 The diagram shows the three-dimensional structure of the gripper transfer assembly after the hidden portion of the structure is shown.

[0032] Figure 9 for Figure 1 A three-dimensional structural diagram of the mobile module and the expansion bundle assembly is shown.

[0033] Figure 10 for Figure 9 An exploded view of the partial structure of the expansion binding component shown;

[0034] Figure 11 for Figure 9 An exploded view of the expanded bundled component structure from another perspective.

[0035] Explanation of reference numerals in the attached drawings: 100, Crab binding device; 10, Conveying assembly; 11, Frame; 111, Linear guide rail; 112, Guide block; 1121, Guide hole; 12, Active conveying module; 121, Driving wheel; 122, Driven wheel; 123, Conveyor belt; 13, Passive conveying module; 14, Drive motor one; 20, Cutting assembly; 21, Cutting motor; 22, Cutter; 231, Crank one; 232, Connecting rod; 233, Sliding block one; 30, Gripper transfer assembly; 31, Rotary motor one; 32, Connecting frame; 331, Electromagnet one; 332, Protrusion; 3321, Inclined surface one; 333, Claw body; 3331, Inclined surface two; 334, Compression spring; 40, Expansion binding assembly; 41, Rotary motor two; 411, First gear; 42, Turntable; 421 4211 Expansion block; 4212 Sliding block II; 4212 Slider I; 4213 Electromagnet II; 4214 Ejection block; 422 Limiting slide rail; 423 Arc-shaped slide groove; 424 Rotating shaft; 4241 Second gear; 43 Support frame; 431 Moving rack; 50 Moving module; 51 Rotary motor III; 52 Third gear; 60 Inner support assembly; 61 Power component I; 62 Mounting frame; 621 Sliding rail; 6211 Sliding groove I; 6212 Sliding groove II; 622 Insertion groove; 63 Power component II; 64 Inner support shaft; 641 Connecting pipe; 6411 Through groove; 6412 Slider IV; 65 Power component III; 651 Lead screw; 652 Slider II; 653 Moving block; 6531 Roller; 6532 Slider III. Detailed Implementation

[0036] To make the technical problem to be solved, the technical solution, and the beneficial effects of this invention clearer, the invention will now be described in detail with reference to the accompanying drawings. This drawing is a simplified schematic diagram, illustrating only the basic aspects of the invention, and therefore only shows the components relevant to the invention. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0037] Please refer to Figure 1 , Figure 2 and Figure 3 This invention provides a swimming crab binding device 100, including a conveying assembly 10, a cutting assembly 20, a gripper transfer assembly 30, and an expansion binding assembly 40. The conveying assembly 10 includes a frame 11, an active conveying module 12, a passive conveying module 13, and a drive motor 14 disposed on the frame 11. Both the active conveying module 12 and the passive conveying module 13 include a driving wheel 121 and a driven wheel 122, as well as a conveyor belt 123. The driving wheel 121 and the driven wheel 122 are rotatably mounted on the frame. On body 11, a conveyor belt 123 is fitted onto the drive wheel 121 and the driven wheel 122. The drive wheel 121 and the driven wheel 122 rotate synchronously through the conveyor belt 123. The output end of the drive motor 14 is coaxially fixed with the drive wheel 121 of the active conveying module 12. The rubber tube is pressed on the conveyor belt 123 of the active conveying module 12 and the conveyor belt 123 of the driven conveying module. The drive motor 14 drives the active conveying module 12 to drive the driven conveying module to run, thereby driving the rubber tube to move.

[0038] Please refer to Figure 2 and Figure 4 The cutting assembly 20 includes a cutting motor 21 and a cutter 22. The output end of the cutting motor 21 is provided with a crank-slider structure, and the frame 11 is provided with a linear guide rail 111. The cutting motor 21 drives the cutter 22 to reciprocate along the linear guide rail 111 through the crank-slider structure, thereby cutting the rubber tube.

[0039] Specifically, the crank-slider structure includes a crank 231, a connecting rod 232, and a sliding block 233. The crank 231 is coaxially fixed to the output end of the cutting motor 21. The two ends of the connecting rod 232 are rotatably connected to the crank 231 and the sliding block 233, respectively. The sliding block 233 is fixedly connected to the cutter 22 and is slidably mounted on the linear guide rail 111. When the cutter 22 is driven to reciprocate, the cutting motor 21 drives the crank 231 to rotate, causing the connecting rod 232 to swing, which in turn causes the sliding block 233 to drive the cutter 22 to reciprocate along the linear guide rail 111 to cut the rubber tube.

[0040] Specifically, a guide block 112 is connected to the frame 11, and the guide block 112 is provided with a guide hole 1121 corresponding to the rubber tube.

[0041] Please refer to Figure 1 , Figure 4 , Figure 5 and Figure 8 The gripper transfer assembly 30 includes a rotary motor 31 and a connecting frame 32 connected to the output end of the rotary motor 31. A gripper module is mounted on the connecting frame 32. The rotary motor 31 drives the connecting frame 32 to rotate the gripper module. Specifically, the gripper module includes an electromagnet 331, a protrusion 332, and two gripper bodies 333 rotatably mounted on the connecting frame 32. The output end of the electromagnet 331 is connected to the protrusion 332. The protrusion 332 has a first inclined surface 3321, and each of the two gripper bodies 333 has a second inclined surface 3331 corresponding to the first inclined surface 3321. The electromagnet 331 drives the protrusion 332 to slide, thereby pushing the two gripper bodies 333 to rotate and grip the rubber tube. A compression spring 334 is provided between the two gripper bodies 333, with both ends of the compression spring 334 fixedly connected to the two gripper bodies 333 respectively. When the two claws 333 release their grip, the electromagnet 331 drives the protrusion 332 to return to its original position, and the compression spring 334 pushes the two claws 333 away from each other so that the claws 333 return to their original position.

[0042] Specifically, the end of the inclined plane 3321 closest to the opening on the claw body 333 is closer to the center line connecting the two claw bodies 333 than the end of the inclined plane 3321 furthest from the opening on the claw body 333.

[0043] The rubber tube is conveyed through the guide hole 1121 by the active conveying module 12 and the passive conveying module 13. The rotary motor 31 drives the gripper module to rotate to correspond to the front end of the rubber tube, and the electromagnet 331 drives the protrusion 332 to drive the two claws 333 to clamp the front end of the rubber tube. At this time, the cutting motor 21 drives the cutter 22 through the crank-slider structure to cut the rubber tube into multiple rubber rings.

[0044] Because the rubber tubing is relatively soft, simply gripping its outer circumference with the gripper module can easily cause deformation during cutting, making it difficult for the cutter 22 to apply force and thus reducing cutting efficiency. Therefore, while gripping the outer circumference of the rubber tubing with the gripper module, it is also necessary to support the inner wall of the tubing. Please refer to... Figure 4 , Figure 5 and Figure 6To this end, this application also includes an inner support assembly 60, which includes a power component 61 and a mounting bracket 62 connected to the output end of the power component 61. The mounting bracket 62 has an inner support shaft 64, and the power component 61 drives the inner support shaft 64 to move into the rubber tube to support it. Specifically, the power component 61 can be a lead screw drive mechanism or a telescopic cylinder.

[0045] With the inner support shaft 64 in place, the inner support shaft 64 and the claw body 333 cooperate to prevent the rubber tube from deforming during cutting, which makes it easier for the cutter 22 to apply force to the rubber tube and thus makes it easier for the cutter 22 to cut the rubber tube, thereby improving the cutting efficiency of the rubber tube.

[0046] Furthermore, because the width of the rubber band used in a single cut is relatively narrow—that is, the width of the rubber tube corresponding to the claw body 333 and the inner support shaft 64 is relatively narrow—the rubber tube to be cut is easily retracted away from the cutter 22 under force during cutting, thus affecting the cutting efficiency. Please refer to... Figure 2 , Figure 5 and Figure 6 The mounting bracket 62 is also equipped with a power component 65. The output end of the power component 65 has a lead screw 651, and a slider 652 is threaded onto the lead screw 651. The slider 652 has multiple moving blocks 653, and each moving block 653 has a roller 6531. The power component 65 drives the rollers 6531 to push the edge of the rubber ring up and press it onto the claw body 333. Specifically, the power component 65 can be a motor or a rotary cylinder. When the inner support shaft 64 is inserted into the rubber tube to support the inner wall of the rubber tube, the roller 6531 is located on one side of the end of the rubber tube. In this embodiment, the multiple moving blocks 653 are distributed along the outer circumference of the inner support shaft 64. With the configuration of the power component 65 and the roller 6531, when the power component 61 drives the inner support shaft 64 to support the inner wall of the rubber tube, the power component 65 drives multiple moving blocks 653 to drive the roller 6531 to roll, thereby pushing the end of the rubber tube to roll up along the axial direction of the rubber tube and press it onto the claw body 333, so that the rubber tube is in a taut state during cutting and is not easy to retract away from the cutter 22, thereby further improving the cutting efficiency.

[0047] Please refer to Figure 6 and Figure 7The mounting bracket 62 is equipped with a second power component 63. An inner support shaft 64 is connected to the output end of the second power component 63. The inner support shaft 64 has a connecting pipe 641. A second slider 652 is located inside the connecting pipe 641. The connecting pipe 641 has a through groove 6411 for the sliding block 653. A roller 6531 is located on one end of the moving block 653 that extends out of the through groove 6411. The mounting bracket 62 is equipped with a sliding rail 621, which has a first sliding groove 6211 and a second sliding groove 6212. The moving block 653 is equipped with a third slider 6532, and the connecting pipe 641 is equipped with a fourth slider 6412. The third slider 6532 is slidably disposed within the first sliding groove 6211, and the fourth slider 6412 is slidably disposed within the second sliding groove 6212. The second power component 63 drives the inner support shaft 64 to move relative to the mounting bracket 62 and the roller 6531. Specifically, the second power component 63 can be a lead screw drive mechanism or a telescopic cylinder. The sliding rail 621 is located inside the connecting pipe 641, and the mounting bracket 62 is provided with an insertion groove 622 for the connecting pipe 641 to pass through. By setting up the connecting pipe 641 and the sliding rail 621 with bidirectional sliding grooves, the overall space of the inner support component 60 is optimized, reducing the space ratio of the inner support component 60. At the same time, by setting up the second power component 63, when the claw body 333 needs to hold the cut rubber ring and move it, the roller 6531 presses the cut rubber ring onto the claw body 333, and then the second power component 63 causes the inner support shaft 64 to move relative to the roller 6531, so that the inner support shaft 64 is less likely to pull the rubber ring away from the claw body 333 when it disengages from the rubber ring.

[0048] Please refer to Figure 9 , Figure 10 and Figure 11 The expansion and binding assembly 40 includes a second rotary motor 41, a turntable 42 disposed at the output end of the second rotary motor 41, and a support frame 43. The turntable 42 is rotatably mounted on the support frame 43, and multiple expansion blocks 421 are slidably disposed on the turntable 42. The second rotary motor 41 drives the turntable 42 to rotate, thereby causing the multiple expansion blocks 421 to move away from the center of the turntable 42, thus expanding the rubber band. At the same time, the moving distance of the expansion blocks 421 can be controlled by the rotation angle of the second rotary motor 41, thereby controlling the size of the expansion of the rubber band.

[0049] The support frame 43 is provided with multiple limiting slide rails 422 corresponding to the expansion block 421. The expansion block 421 is provided with a second sliding block 4211 corresponding to the limiting slide rails 422. Specifically, the turntable 42 is provided with an arc-shaped groove 423 corresponding to the expansion block 421. The expansion block 421 is provided with a first slider 4212, which is slidably disposed within the arc-shaped groove 423. The shape of the arc-shaped groove 423 is adapted to the movement trajectory of the expansion block 421. The output end of the second rotary motor 41 is provided with a first gear 411. The turntable 42 is provided with a rotating shaft 424. A second gear 4241 is coaxially fixed to the rotating shaft 424. The first gear 411 and the second gear 4241 mesh with each other.

[0050] By setting multiple arc-shaped grooves 423 on the rotary motor 41 and turntable 42, the structure is simple and the movement process is stable. The degree of expansion of the rubber ring by the expansion block 421 can be controlled by controlling the rotation angle of the output end of the rotary motor 41, which reduces the situation in the prior art where the unstable movement process of the connecting rod 232 structure affects the expansion effect.

[0051] Please refer to Figure 10 The expansion block 421 is equipped with an electromagnet 4213, and the output end of the electromagnet 4213 is equipped with an ejector block 4214. The electromagnet 4213 is used to drive the ejector block 4214 to push the opened rubber ring onto the claw of the swimming crab.

[0052] Please refer to Figure 9 The crab binding device 100 also includes a moving module 50, which includes a rotary motor 51 and a third gear 52 connected to the output end of the rotary motor 51. A moving rack 431 is provided on the support frame 43, and the moving rack 431 meshes with the third gear 52. The rotary motor 51 drives the third gear 52 to rotate, thereby moving the moving rack 431 and ultimately the support frame 43. The moving module 50 facilitates the movement of the expansion block 421 by the support frame 43 to a position corresponding to the rotated position of the gripper module. Specifically, the direction of movement of the support frame 43 driven by the moving module 50 is the same as the direction of movement of the rubber tube driven by the conveying assembly 10.

[0053] In view of the technical problems existing in the prior art, the present invention also provides a control method for the crab binding device 100 described in the above embodiments, the method comprising:

[0054] S1. A control unit (not shown in the figure) is set to control the position of the gripper module and the expansion binding assembly 40. The control unit includes a detection sensor, an angular displacement encoder, a PLC controller one, and a PLC controller two. The PLC controller one is electrically connected to the rotary motor one 31, and the PLC controller two is electrically connected to the rotary motor three 51. The detection sensor is used to detect whether the gripper module rotates to the correct position when the rotary motor one 31 drives the gripper module to transfer the rubber ring, and transmits the signal to the PLC controller one. The angular displacement encoder is used to detect the rotation angle at the output end of the rotary motor three 51 and transmit the signal to the PLC controller two.

[0055] Specifically, both the detection sensor and the angular displacement encoder are commercially available components. The detection sensor is an infrared sensor, a technology already in use. The angular displacement encoder is a CANopen magnetoelectric multi-turn absolute encoder manufactured by Shenzhen Breit Technology Co., Ltd. The angular displacement encoder is fixed to the rotary motor 51. The detection sensor is mounted on the support frame 43.

[0056] S2. The PLC controller determines whether the rotary motor 31 drives the gripper module to rotate into position when transferring the rubber ring according to the preset parameters. If it is in position, the next process is carried out. If it is not in position, the output end of the rotary motor 31 is controlled to rotate by a corresponding angle so that the rotary motor 31 drives the gripper module to rotate into position.

[0057] S3. The PLC controller 2 determines whether the rotation angle of the output end of the rotary motor 3 51 is in place according to the preset parameters. If it is in place, the next process is carried out. If it is not in place, the output end of the rotary motor 3 51 is controlled to rotate by the corresponding angle, so that the rotary motor 3 51 drives the support frame 43 to move the expansion binding assembly 40 to correspond to the rubber ring held by the gripper module.

Claims

1. A device for binding swimming crabs, characterized in that, include: The cutting assembly (20) includes a cutting motor (21) and a cutter (22). The output end of the cutting motor (21) is provided with a crank-slider structure. The cutting motor (21) drives the cutter (22) to move back and forth through the crank-slider structure, thereby cutting the rubber tube. The gripper transfer assembly (30) includes a rotary motor (31) and a connecting frame (32) connected to the output end of the rotary motor (31). The connecting frame (32) is provided with a gripper module. The rotary motor (31) is used to drive the connecting frame (32) to rotate the gripper module, thereby clamping the rubber tube. An inner support assembly (60) includes a power component (61) and a mounting bracket (62) connected to the output end of the power component (61). The mounting bracket (62) is provided with an inner support shaft (64). The power component (61) is used to drive the inner support shaft (64) to move into the rubber tube to support the rubber tube. It also includes an expansion binding assembly (40), which is used to expand the rubber band and fit it onto the claws of the swimming crab. The expansion binding assembly (40) includes a second rotary motor (41), a turntable (42) disposed at the output end of the second rotary motor (41), and a support frame (43). The turntable (42) is rotatably disposed on the support frame (43), and a plurality of expansion blocks (421) are slidably disposed on the turntable (42). The turntable (42) is provided with expansion blocks. (421) Corresponding arc-shaped groove (423), the expansion block (421) is provided with a slider one (4212), the slider one (4212) is slidably disposed in the arc-shaped groove (423), the shape of the arc-shaped groove (423) is adapted to the movement trajectory of the expansion block (421), the rotary motor two (41) is used to drive the turntable (42) to rotate, thereby driving multiple expansion blocks (421) to move away from the center of the turntable (42), thereby expanding the rubber ring.

2. The crab binding device according to claim 1, characterized in that: The mounting bracket (62) is also provided with a power component three (65). The output end of the power component three (65) is provided with a lead screw (651). A slider two (652) is threadedly connected to the lead screw (651). A plurality of moving blocks (653) are provided on the slider two (652). A roller (6531) is provided on the moving block (653). The power component three (65) is used to drive the roller (6531) to push the edge of the rubber ring to roll up and press it onto the claw body (333).

3. The crab binding device according to claim 2, characterized in that: The mounting bracket (62) is provided with a second power component (63). The inner support shaft (64) is connected to the output end of the second power component (63). The inner support shaft (64) is provided with a connecting pipe (641). The second slider (652) is located inside the connecting pipe (641). The connecting pipe (641) is provided with a through groove (6411) for the sliding block (653). The roller (6531) is located on one end of the moving block (653) that passes through the through groove (6411).

4. The crab binding device according to claim 1, characterized in that: It also includes a conveying assembly (10), which includes a frame (11), an active conveying module (12), a passive conveying module (13) and a drive motor (14) mounted on the frame (11). The drive motor (14) drives the active conveying module (12) to drive the passive conveying module to run, thereby moving the rubber tube.

5. The crab binding device according to claim 4, characterized in that: The frame (11) is provided with a linear guide rail (111). The crank-slider structure includes a crank (231), a connecting rod (232), and a sliding block (233). The crank (231) and the output end of the cutting motor (21) are coaxially fixed. The two ends of the connecting rod (232) are rotatably connected to the crank (231) and the sliding block (233) respectively. The sliding block (233) and the cutter (22) are fixedly connected. The sliding block (233) is slidably set on the linear guide rail (111). When the cutter (22) is driven to move back and forth, the cutting motor (21) drives the crank (231) to rotate, causing the connecting rod (232) to swing, thereby causing the sliding block (233) to drive the cutter (22) to move back and forth along the linear guide rail (111) to cut the rubber tube.

6. The crab binding device according to claim 1, characterized in that: The gripper module includes an electromagnet (331), a protrusion (332), and two gripper bodies (333) rotatably mounted on a connecting frame (32). The output end of the electromagnet (331) is connected to the protrusion (332), and a compression spring (334) is provided between the two gripper bodies (333). The two ends of the compression spring (334) are fixedly connected to the two gripper bodies (333) respectively. The electromagnet (331) is used to drive the protrusion (332) to slide, thereby pushing the two gripper bodies (333) to rotate to grip the rubber tube.

7. The crab binding device according to claim 1, characterized in that: The expansion block (421) is equipped with an electromagnet two (4213), and the output end of the electromagnet two (4213) is equipped with an ejector block (4214). The electromagnet two (4213) is used to drive the ejector block (4214) to push the opened rubber ring onto the claw of the swimming crab.

8. The crab binding device according to claim 1, characterized in that: It also includes a moving module (50), which includes a rotary motor (51) and a third gear (52) connected to the output end of the rotary motor (51). The support frame (43) is provided with a moving rack (431), which meshes with the third gear (52). The rotary motor (51) is used to drive the third gear (52) to rotate, and drive the moving rack (431) to move, thereby driving the support frame (43) to move.

9. A control method for a swimming crab binding device, characterized in that, Applied to the crab binding device (100) as described in claim 8, the method comprises: S1. Set a control unit to control the position of the gripper module and the expansion binding assembly (40). The control unit includes a detection sensor, an angular displacement encoder, a PLC controller one and a PLC controller two. The PLC controller one is electrically connected to the rotary motor one (31), and the PLC controller two is electrically connected to the rotary motor three (51). The detection sensor is used to detect whether the rotary motor one (31) drives the gripper module to transfer the rubber ring and rotates to the correct position, and transmits the signal to the PLC controller one. The angular displacement encoder is used to detect the rotation angle of the output end of the rotary motor three (51) and transmit the signal to the PLC controller two. S2. The PLC controller determines whether the rotary motor (31) drives the gripper module to rotate into position when transferring the rubber ring according to the preset parameters. If it is in position, the next process is carried out. If it is not in position, the output end of the rotary motor (31) is controlled to rotate at the corresponding angle so that the rotary motor (31) drives the gripper module to rotate into position. S3. The PLC controller 2 determines whether the rotation angle of the output end of the rotary motor 3 (51) is in place according to the preset parameters. If it is in place, the next process is carried out. If it is not in place, the output end of the rotary motor 3 (51) is controlled to rotate at the corresponding angle, so that the rotary motor 3 (51) drives the support frame (43) to move the expansion binding assembly (40) to correspond to the rubber ring held by the gripper module.

Images