Kelp knotting machine and knotting method thereof

Abstract

The present application relates to kelp processing equipment technical field, specifically to a kind of kelp knotter and its knotting method, kelp knotter includes: rack;First knotting claw mechanism, the first knotting claw mechanism includes first main clamp jaw and the side clamp jaw being arranged in the vertical side of first main clamp jaw to clamping direction, and support located in the clamping direction side of first main clamp jaw;First knotting claw mechanism is rotatably connected to rack;XYZ three-axis movement module, the XYZ three-axis movement module is connected to rack;Second knotting claw mechanism, the second knotting claw mechanism is rotatably connected to XYZ three-axis movement module, and second knotting claw mechanism is oppositely arranged with corresponding first knotting claw mechanism;Through the mutual cooperation of above mechanism, the quality level and efficiency of knotting can be considered.

Description

Technical Field

[0001] This invention relates to the field of kelp processing equipment technology, specifically to a kelp knotting machine and its knotting method. Background Technology

[0002] The development of kelp knotting machines stemmed from a core contradiction: the conflict between huge industrial demand and the harsh manual operation methods. Manual knotting by hand is inefficient. Furthermore, long-term seawater corrosion causes workers' fingernails to fall off and their fingers to deform. Therefore, there was an urgent need to develop a kelp knotting machine that mimics the coordinated movements of human hand knotting, breaking down the process into steps such as feeding, winding, knotting, and cutting. However, the knotting quality of existing kelp knotting machines still falls short compared to skilled manual labor, mainly in the flatness of the knotted area and the overall efficiency of knotting, which still needs improvement. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a kelp knotting machine and a knotting method that takes into account both the quality and efficiency of knotting.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: A kelp knotting machine, comprising: frame; The first knotting claw mechanism includes a first main gripper and a side gripper disposed on the side of the first main gripper perpendicular to the gripping direction, and a support member located on the side of the first main gripper in the gripping direction; the first knotting claw mechanism is rotatably connected to the frame. XYZ three-axis moving module, the XYZ three-axis moving module is connected to the frame; The second knotting claw mechanism is rotatably connected to the XYZ three-axis moving module, and the second knotting claw mechanism is arranged opposite to the corresponding first knotting claw mechanism. In the first state, the first main gripper holds the first end of the kelp strip, the support is located above the first main gripper, the second knotting claw mechanism holds the second end of the kelp strip, and the second knotting claw mechanism is located on the X-direction side of the first knotting claw mechanism. In the second state, the first knotting claw mechanism rotates, so that the support member is located in the X direction of the first main gripper. While the second knotting claw mechanism rotates, it revolves around the first knotting claw mechanism to the bottom of the first knotting claw mechanism. At the same time, the second knotting claw mechanism moves in the Y direction, so that the kelp strips are spirally wrapped between the support member and the first main gripper. In the third state, the side gripper holds the middle part of the kelp strip, the second knotting claw mechanism releases the grip, moves away from the Y direction until it is separated from the kelp strip, and the part of the kelp strip near the first end hangs down under the action of gravity. In the fourth state, the second knotting claw mechanism extends from the upper part of the kelp segment near the first end, clamping the second end of the kelp segment. The first knotting claw mechanism rotates until the support is above the first main clamping claw. The support moves in the Y direction, disengaging from the kelp segment, and the side clamping claws release. In the fifth state, the second knotting claw mechanism moves away from the Y direction, causing a kelp knot to form in the middle of the kelp segment. The first main gripper and the second knotting mechanism loosen, causing the kelp knot to fall and be collected.

[0005] Furthermore, in the above-mentioned kelp knotting machine structure, there are two or more first knotting claw mechanisms arranged in a straight line along the X direction, and there are two or more corresponding second knotting claw mechanisms arranged in a straight line along the X direction. The kelp knotting machine also includes a feeding mechanism and a cutting mechanism. The feeding mechanism includes a feeding trough and a feeding drive assembly for driving the feeding trough to move. The feeding trough is a straight trough extending in the X direction. The feeding trough is provided with a clearance notch corresponding to the position of each first knotting claw mechanism. The feeding mechanism is used to feed the kelp strips to the clamping part of each first knotting claw mechanism. The cutting mechanism includes a cutter body, which is connected to the frame through a telescopic drive component. Two or more cutting mechanisms are located below each first knotting claw mechanism. The segmenting mechanism is used to cut the kelp strips into multiple kelp segments.

[0006] Furthermore, the above-mentioned kelp knotting machine structure also includes a kelp knot positioning mechanism. The kelp knot positioning mechanism is connected to the XYZ three-axis moving module through a Y-axis moving mechanism. The kelp knot positioning mechanism is located above the second knotting claw mechanism. The kelp knot positioning mechanism includes a hook claw for hooking the kelp knot part. In the fifth state, while the second knotting claw mechanism moves away from the Y direction, the hook of the kelp knot positioning mechanism hooks the kelp knot part. The kelp knot positioning mechanism, through the action of the Y direction moving mechanism, makes the stroke of the kelp knot positioning mechanism moving away from the Y direction less than the stroke of the second knotting claw mechanism.

[0007] Furthermore, in the above-mentioned kelp knotting machine structure, the first main gripper includes a first support arm and a first movable arm. The end of the first support arm is pivotally connected to a movable clamping member, and the pivot axis of the movable clamping member is perpendicular to the clamping direction of the first movable arm.

[0008] Furthermore, in the above-mentioned kelp knotting machine structure, the support member includes two support rods, and the stroke path of the first movable arm is located between the two support rods.

[0009] Furthermore, in the above-mentioned kelp knotting machine structure, the second knotting claw mechanism includes a second support arm and a second movable arm. The end of the second movable arm is pivotally connected to a movable clamping member, and the pivot axis of the movable clamping member is perpendicular to the clamping direction of the second movable arm.

[0010] Furthermore, in the above-mentioned kelp knotting machine structure, the kelp knot positioning mechanism includes a bracket, a lifting seat, a limiting wheel, and a hook. The lifting seat is raised and lowered above the bracket, and the two limiting wheels are rotatably connected to the bracket. The hook is made of elastic material, and the upper part of the hook is connected to the lifting seat. The middle parts of the two arms of the hook abut against the inner side of the limiting wheel. In the fifth state, the lifting seat moves downward, causing the two arms of the hook to elastically deform inward under the limiting action of the limiting wheel, hooking onto the kelp knot.

[0011] This invention also relates to a knotting method using a kelp knotting machine. Based on the aforementioned kelp knotting machine, the knotting method includes the following steps: S1: The first main gripper holds the first end of the kelp strip, the support is located above the first main gripper, the second knotting claw mechanism holds the second end of the kelp strip, and the second knotting claw mechanism is located on the X-direction side of the first knotting claw mechanism. S2: The first knotting claw mechanism rotates, so that the support member is located in the X direction of the first main gripper. While the second knotting claw mechanism rotates, it revolves around the first knotting claw mechanism to the bottom of the first knotting claw mechanism. At the same time, the second knotting claw mechanism moves in the Y direction, so that the kelp strips are spirally wrapped between the support member and the first main gripper. S3: The side gripper holds the middle part of the kelp strip, and the second knotting claw mechanism releases the grip and moves away from the Y direction until it is separated from the kelp strip, so that the part of the kelp strip near the first end hangs down under the action of gravity. S4: The second knotting claw mechanism extends from the upper part of the kelp segment near the first end, clamps the second end of the kelp segment, the first knotting claw mechanism rotates until the support is above the first main clamping claw, the support moves in the Y direction, disengages from the kelp segment, and the side clamping claw is released. S5: The second knotting claw mechanism moves away from the Y direction, causing a kelp knot to form in the middle of the kelp segment. The first main gripper and the second knotting mechanism loosen, causing the kelp knot to fall and be collected.

[0012] The above knotting method includes the following steps before S1: S0: The feeding mechanism delivers the kelp strips to the positions of the first knotting claw mechanisms. The first knotting claw mechanism and the second knotting claw mechanism clamp the corresponding positions of the kelp strips. The cutting body of the cutting mechanism extends under the action of the telescopic drive to cut the kelp strips into multiple kelp segments. This results in the first main gripper clamping the first end of the kelp segment, the support being located above the first main gripper, and the second knotting claw mechanism clamping the second end of the kelp segment.

[0013] Of the above knotting methods, S5 specifically refers to: As the second knotting claw mechanism moves away from the Y direction, the hook of the kelp knot positioning mechanism hooks onto the kelp knot. Through the action of the Y-direction moving mechanism, the kelp knot positioning mechanism moves away from the Y direction by a distance less than the distance of the knotting claw mechanism, causing a kelp knot to form in the middle of the kelp segment. The first main gripper and the second knotting mechanism then loosen, causing the kelp knot to fall and be collected.

[0014] The beneficial effects of this invention are as follows: Through the cooperation of the first and second knotting claw mechanisms, efficient knotting of kelp is achieved. The first knotting claw mechanism includes a main clamping claw, side clamping claws, and a support component. The support component supports the kelp segment during the knotting process, which is crucial for achieving a smooth knot. The second knotting claw mechanism's movement includes revolution around the first mechanism, rotation, and forward movement along the Y-axis, causing the kelp segment to spiral around. This is also a key factor in achieving a smooth knot, meeting the high-grade requirement of a triangular knot. In the third state, because the second knotting claw mechanism reaches the bottom of the kelp segment, it needs to be withdrawn, allowing the knot to... When the middle of the kelp strip hangs naturally, and the second knotting claw mechanism extends again to clamp the second end of the kelp strip, the second knotting claw mechanism is positioned above the middle of the kelp strip. Thus, when the second knotting claw mechanism pulls the second end of the kelp strip outward, a kelp knot is formed. The side clamping claw is used to position the middle of the kelp strip during the knotting process. In the third state, as mentioned above, the second knotting claw mechanism needs to release the clamp, withdraw, and then re-enter to clamp the second end. During this process, before releasing the clamp, the second knotting claw mechanism needs to temporarily clamp and position the middle of the kelp strip using the side clamping claw, so that the second knotting claw mechanism can accurately position and clamp the second end of the kelp strip again. Through the cooperation of the above mechanisms, both the quality and efficiency of knotting can be taken into account. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of a kelp knotting machine according to a specific embodiment of the present invention; Figure 2 for Figure 1 Enlarged view of part A; Figure 3 for Figure 1 Enlarged view of part B; Label Explanation: 1. Rack; 2. First knotting claw mechanism; 21. First main gripper; 211. First support arm; 212. First movable arm; 213. Movable clamping component; 22. Side gripper; 23. Support component; 3. XYZ three-axis motion module; 4. Second knotting claw mechanism; 41. Second support arm; 42. Second movable arm; 5. Feeding mechanism; 51. Feeding drive assembly; 52. Feeding chute; 521. Clearance notch; 6. Cutting mechanism; 7. Kelp knot positioning mechanism; 71. Hook; 72. Bracket; 73. Lifting seat; 74. Limiting wheel. Detailed Implementation

[0016] To explain in detail the technical content, objectives, and effects of the present invention, the following description is provided in conjunction with the embodiments and accompanying drawings.

[0017] Please refer to Figures 1 to 3 The present invention relates to a kelp knotting machine, comprising: Rack 1; The first knotting claw mechanism 2 includes a first main gripper 21 and a side gripper 22 disposed on the side of the first main gripper 21 perpendicular to the gripping direction, and a support member 23 located on the side of the first main gripper 21 in the gripping direction; the first knotting claw mechanism 2 is rotatably connected to the frame 1. XYZ three-axis moving module 3, which is connected to the frame 1; The second knotting claw mechanism 4 is rotatably connected to the XYZ three-axis moving module 3, and the second knotting claw mechanism 4 is arranged opposite to the corresponding first knotting claw mechanism 2. In the first state, the first main gripper 21 grips the first end of the kelp strip, the support member 23 is located above the first main gripper 21, the second knotting claw mechanism 4 grips the second end of the kelp strip, and the second knotting claw mechanism 4 is located on the X-direction side of the first knotting claw mechanism 2. In the second state, the first knotting claw mechanism 2 rotates, so that the support member 23 is located in the X direction of the first main clamping claw 21. While the second knotting claw mechanism 4 rotates, it revolves around the first knotting claw mechanism 2 to the bottom of the first knotting claw mechanism 2. At the same time, the second knotting claw mechanism 4 moves in the Y direction, so that the kelp strips are spirally wrapped between the support member 23 and the first main clamping claw 21. In the third state, the side gripper 22 grips the middle part of the kelp strip, the second knotting claw mechanism 4 releases the grip, moves away from the Y direction until it is separated from the kelp strip, and the part of the kelp strip near the first end hangs down under the action of gravity. In the fourth state, the second knotting claw mechanism 4 extends from the upper part of the kelp segment near the first end and clamps the second end of the kelp segment. The first knotting claw mechanism 2 rotates until the support member 23 is above the first main clamping claw 21. The support member 23 moves in the Y direction, disengages from the kelp segment, and the side clamping claw 22 is released. In the fifth state, the second knotting claw mechanism 4 moves away from the Y direction, causing a kelp knot to form in the middle of the kelp segment. The first main gripper 21 and the second knotting mechanism loosen, causing the kelp knot to fall and be collected.

[0018] In the above embodiments, the efficient knotting of kelp is achieved through the cooperation of the first knotting claw mechanism 2 and the second knotting claw mechanism 4. The first knotting claw mechanism 2 is designed with a first main clamping claw 21, side clamping claws 22, and a support member 23. The support member 23 supports the kelp segment during the knotting process, which is crucial for achieving a smooth knot. The movement of the second knotting claw mechanism 4 includes revolution around the first knotting claw mechanism 2, rotation, and forward movement along the Y direction, causing the kelp segment to spiral around. This is also a key factor in achieving a smooth knot, meeting the high-grade requirement of a triangular knot. In the third state, because the second knotting claw mechanism 4 has wound under the kelp segment, it needs to be withdrawn. When the middle of the kelp strip hangs naturally, the second knotting claw mechanism 4 extends again to clamp the second end of the kelp strip. The second knotting claw mechanism 4 is located above the middle of the kelp strip. Thus, when the second knotting claw mechanism 4 pulls the second end of the kelp strip outward, a kelp knot is formed. The side clamping claw 22 is used to position the middle of the kelp strip during the knotting process. In the third state, as mentioned above, the second knotting claw mechanism 4 needs to release the clamp, withdraw, and then re-enter to clamp the second end. During this process, before releasing the clamp, the second knotting claw mechanism 4 needs to temporarily clamp and position the middle of the kelp strip through the side clamping claw 22, so that the second knotting claw mechanism 4 can accurately position and clamp the second end of the kelp strip again. Through the cooperation of the above mechanisms, both the quality and efficiency of knotting can be taken into account.

[0019] In a preferred embodiment, there are two or more first knot-tying claw mechanisms 2 arranged in a straight line along the X direction, and there are two or more corresponding second knot-tying claw mechanisms 4 arranged in a straight line along the X direction. The kelp knotting machine also includes a feeding mechanism 5 and a cutting mechanism 6. The feeding mechanism 5 includes a feeding trough 52 and a feeding drive assembly 51 for driving the feeding trough 52 to move. The feeding trough 52 is a straight trough extending in the X direction. The feeding trough 52 is provided with a clearance notch 521 corresponding to the position of each first knotting claw mechanism 2. The feeding mechanism 5 is used to feed the kelp strips to the clamping part of each first knotting claw mechanism 2. The cutting mechanism 6 includes a cutter body. The cutter body is connected to the frame 1 through a telescopic drive component. Two or more cutting mechanisms 6 are located below each first knotting claw mechanism 2. The segmenting mechanism is used to cut the kelp strips into multiple kelp segments.

[0020] In the above embodiments, the cooperation of the feeding mechanism 5 and the cutting mechanism 6, as well as the cooperation of multiple sets of knotting claw mechanisms, enables the automatic feeding and cutting of long kelp strips into multiple kelp segments, and can simultaneously knot and discharge multiple kelp segments, further improving the knotting efficiency.

[0021] In a preferred embodiment, the kelp knotting machine further includes a kelp knot positioning mechanism 7, which is connected to the XYZ three-axis moving module 3 via a Y-axis moving mechanism. The kelp knot positioning mechanism 7 is located above the second knotting claw mechanism 4, and includes a hook claw 71 for hooking the kelp knot part. In the fifth state, while the second knotting claw mechanism 4 moves away from the Y direction, the hook 71 of the kelp knot positioning mechanism 7 hooks the kelp knot part. The kelp knot positioning mechanism 7 moves away from the Y direction by means of the Y direction moving mechanism, so that the stroke of the kelp knot positioning mechanism 7 is less than the stroke of the second knotting claw mechanism 4.

[0022] In the above embodiments, the quality of kelp knotting is further improved by the auxiliary positioning of the kelp knot positioning mechanism 7. In a specific embodiment, the kelp knot positioning mechanism 7 moves away from the Y direction by half the stroke of the second knotting claw mechanism 4, so that the knotting part of the kelp knot is stably controlled in the middle of the kelp strip, and the knotting part is also prevented from deforming during the pulling and knotting process, and a high-grade triangular knotting shape is stably presented.

[0023] In a preferred embodiment, the first main gripper 21 includes a first support arm 211 and a first movable arm 212. The end of the first support arm 211 is pivotally connected to a movable clamping member 213, and the pivot axis of the movable clamping member 213 is perpendicular to the clamping direction of the first movable arm 212.

[0024] In the above embodiments, the end of the first movable arm 212 is provided with a recess, and the movable clamping member 213 is provided with a protrusion that matches the recess. The recess is V-shaped. The first support arm 211 is a fixed part that does not move during the clamping process. The clamping or feeding is achieved by the movement of the first movable arm 212. The first support arm 211 is used to cooperate with the feeding mechanism 5 to support the kelp strip. Specifically, before feeding, the first movable arm 212 is opened and the first support arm 211 forms a support. When the feeding mechanism 5 feeds the kelp strip to the first support arm 211 (corresponding to the avoidance notch 521 of the feeding groove 52) through the feeding groove 52, the kelp is positioned by the clamping of the first movable arm 212. Similarly, the second knotting claw mechanism 4 clamps and positions the kelp strip, which is convenient for subsequent cutting and subsequent actions.

[0025] In a preferred embodiment, the support member 23 includes two support rods, and the travel path of the first movable arm 212 is located between the two support rods.

[0026] In the above embodiments, the two struts of the support member 23 can support the seaweed to be rolled into knots while avoiding interference with the travel path of the first movable arm 212.

[0027] In a preferred embodiment, the second knotting claw mechanism 4 includes a second support arm 41 and a second movable arm 42. The end of the second movable arm 42 is pivotally connected to a movable clamping member 213, and the pivot axis of the movable clamping member 213 is perpendicular to the clamping direction of the second movable arm 42.

[0028] In the above embodiments, similar to the first support arm 211, it is used to cooperate with the feeding mechanism 5 to support the kelp strips, and will not be described in detail again.

[0029] In a preferred embodiment, the kelp knot positioning mechanism 7 includes a bracket 72, a lifting seat 73, a limiting wheel 74, and a hook 71. The lifting seat 73 is raised and lowered above the bracket 72. The two limiting wheels 74 are rotatably connected to the bracket 72. The hook 71 is made of elastic material. The upper part of the hook 71 is connected to the lifting seat 73, and the middle parts of the two arms of the hook 71 abut against the inner side of the limiting wheel 74. In the fifth state, the lifting seat 73 moves downward, causing the two arms of the hook 71 to elastically deform inward under the limiting action of the limiting wheel 74, hooking onto the kelp knot.

[0030] In the above embodiments, the hook 71 is positioned at the knotted part of the kelp through a simple mechanical structure.

[0031] This invention also relates to a knotting method using a kelp knotting machine. Based on the aforementioned kelp knotting machine, the knotting method includes the following steps: S1: The first main gripper 21 grips the first end of the kelp strip, the support member 23 is located above the first main gripper 21, the second knotting claw mechanism 4 grips the second end of the kelp strip, and the second knotting claw mechanism 4 is located on the X-direction side of the first knotting claw mechanism 2. S2: The first knotting claw mechanism 2 rotates, so that the support member 23 is located in the X direction of the first main clamping claw 21. While the second knotting claw mechanism 4 rotates, the second knotting claw mechanism 4 revolves around the first knotting claw mechanism 2 to the bottom of the first knotting claw mechanism 2. At the same time, the second knotting claw mechanism 4 moves in the Y direction, so that the kelp strips are spirally wrapped between the support member 23 and the first main clamping claw 21. S3: The side gripper 22 grips the middle part of the kelp strip, and the second knotting claw mechanism 4 releases the grip and moves away from the Y direction until it is separated from the kelp strip, so that the part of the kelp strip near the first end hangs down under the action of gravity. S4: The second knotting claw mechanism 4 extends from the upper part of the kelp segment near the first end and clamps the second end of the kelp segment. The first knotting claw mechanism 2 rotates until the support member 23 is above the first main clamping claw 21. The support member 23 moves in the Y direction and disengages from the kelp segment. The side clamping claw 22 is released. S5: The second knotting claw mechanism 4 moves away from the Y direction, causing a kelp knot to form in the middle of the kelp segment. The first main clamping claw 21 and the second knotting mechanism loosen, causing the kelp knot to fall and be collected.

[0032] The above knotting method includes the following steps before S1: S0: The feeding mechanism 5 delivers the kelp strips to the positions of the first knotting claw mechanisms 2. The first knotting claw mechanisms 2 and the second knotting claw mechanisms 4 clamp the corresponding positions of the kelp strips. The cutter body of the cutting mechanism extends under the action of the telescopic drive to cut the kelp strips into multiple kelp segments. This results in the first main clamping claw 21 clamping the first end of the kelp segment, the support member 23 being located above the first main clamping claw 21, and the second knotting claw mechanism 4 clamping the second end of the kelp segment.

[0033] In the above knotting method, S5 specifically refers to: While the second knotting claw mechanism 4 moves away from the Y direction, the hook 71 of the kelp knot positioning mechanism 7 hooks the kelp knot part. The kelp knot positioning mechanism 7 moves away from the Y direction by a Y-direction movement mechanism, so that the stroke of the kelp knot positioning mechanism 7 is less than the stroke of the knotting claw mechanism, so that a kelp knot is formed in the middle of the kelp segment. The first main clamping claw 21 and the second knotting mechanism loosen, so that the kelp knot falls and is collected.

[0034] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent modifications made based on the content of the present invention specification and drawings, or direct or indirect applications in related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A kelp knotting machine, characterized in that, include: frame; The first knotting claw mechanism includes a first main jaw and a side jaw disposed on the side of the first main jaw perpendicular to the clamping direction, and a support member located on the side of the first main jaw in the clamping direction. The first knotting claw mechanism is rotatably connected to the frame; XYZ three-axis moving module, the XYZ three-axis moving module is connected to the frame; The second knotting claw mechanism is rotatably connected to the XYZ three-axis moving module, and the second knotting claw mechanism is arranged opposite to the corresponding first knotting claw mechanism. In the first state, the first main gripper holds the first end of the kelp strip, the support is located above the first main gripper, the second knotting claw mechanism holds the second end of the kelp strip, and the second knotting claw mechanism is located on the X-direction side of the first knotting claw mechanism. In the second state, the first knotting claw mechanism rotates, so that the support member is located in the X direction of the first main gripper. While the second knotting claw mechanism rotates, it revolves around the first knotting claw mechanism to the bottom of the first knotting claw mechanism. At the same time, the second knotting claw mechanism moves in the Y direction, so that the kelp strips are spirally wrapped between the support member and the first main gripper. In the third state, the side gripper holds the middle part of the kelp strip, the second knotting claw mechanism releases the grip, moves away from the Y direction until it is separated from the kelp strip, and the part of the kelp strip near the first end hangs down under the action of gravity. In the fourth state, the second knotting claw mechanism extends from the upper part of the kelp segment near the first end, clamping the second end of the kelp segment. The first knotting claw mechanism rotates until the support is above the first main clamping claw. The support moves in the Y direction, disengaging from the kelp segment, and the side clamping claws release. In the fifth state, the second knotting claw mechanism moves away from the Y direction, causing a kelp knot to form in the middle of the kelp segment. The first main gripper and the second knotting mechanism loosen, causing the kelp knot to fall and be collected.

2. The kelp knotting machine according to claim 1, characterized in that, The number of first knot-tying claw mechanisms is more than 2, arranged in a straight line along the X direction; the number of corresponding second knot-tying claw mechanisms is more than 2, arranged in a straight line along the X direction. The kelp knotting machine also includes a feeding mechanism and a cutting mechanism. The feeding mechanism includes a feeding trough and a feeding drive assembly for driving the feeding trough to move. The feeding trough is a straight trough extending in the X direction. The feeding trough is provided with a clearance notch corresponding to the position of each first knotting claw mechanism. The feeding mechanism is used to feed the kelp strips to the clamping part of each first knotting claw mechanism. The cutting mechanism includes a cutter body, which is connected to the frame through a telescopic drive component. Two or more cutting mechanisms are located below each first knotting claw mechanism. The segmenting mechanism is used to cut the kelp strips into multiple kelp segments.

3. The kelp knotting machine according to claim 1, characterized in that, It also includes a kelp knot positioning mechanism, which is connected to the XYZ three-axis moving module via a Y-axis moving mechanism. The kelp knot positioning mechanism is located above the second knotting claw mechanism and includes a hook claw for hooking the kelp knot part. In the fifth state, while the second knotting claw mechanism moves away from the Y direction, the hook of the kelp knot positioning mechanism hooks the kelp knot part. The kelp knot positioning mechanism, through the action of the Y direction moving mechanism, makes the stroke of the kelp knot positioning mechanism moving away from the Y direction less than the stroke of the second knotting claw mechanism.

4. The kelp knotting machine according to claim 1, characterized in that, The first main gripper includes a first support arm and a first movable arm. The end of the first support arm is pivotally connected to a movable clamping member, and the pivot axis of the movable clamping member is perpendicular to the clamping direction of the first movable arm.

5. The kelp knotting machine according to claim 4, characterized in that, The support includes two support rods, and the travel path of the first movable arm is located between the two support rods.

6. The kelp knotting machine according to claim 1, characterized in that, The second knotting claw mechanism includes a second support arm and a second movable arm. The end of the second movable arm is pivotally connected to a movable clamping member, the pivot axis of which is perpendicular to the clamping direction of the second movable arm.

7. The kelp knotting machine according to claim 3, characterized in that, The kelp knot positioning mechanism includes a bracket, a lifting seat, limiting wheels, and hooks. The lifting seat is raised and lowered above the bracket, and the two limiting wheels are rotatably connected to the bracket. The hooks are made of elastic material, with the upper part of the hooks connected to the lifting seat and the middle parts of the two arms of the hooks respectively abutting against the inner side of the limiting wheels. In the fifth state, the lifting seat moves downward, causing the two arms of the hook to elastically deform inward under the limiting action of the limiting wheel, hooking onto the kelp knot.

8. A knotting method for a kelp knotting machine, characterized in that, Based on the kelp knotting machine according to any one of claims 1 to 7, the knotting method includes the following steps: S1: The first main gripper holds the first end of the kelp strip, the support is located above the first main gripper, the second knotting claw mechanism holds the second end of the kelp strip, and the second knotting claw mechanism is located on the X-direction side of the first knotting claw mechanism. S2: The first knotting claw mechanism rotates, so that the support member is located in the X direction of the first main gripper. While the second knotting claw mechanism rotates, it revolves around the first knotting claw mechanism to the bottom of the first knotting claw mechanism. At the same time, the second knotting claw mechanism moves in the Y direction, so that the kelp strips are spirally wrapped between the support member and the first main gripper. S3: The side gripper holds the middle part of the kelp strip, and the second knotting claw mechanism releases the grip and moves away from the Y direction until it is separated from the kelp strip, so that the part of the kelp strip near the first end hangs down under the action of gravity. S4: The second knotting claw mechanism extends from the upper part of the kelp segment near the first end, clamps the second end of the kelp segment, the first knotting claw mechanism rotates until the support is above the first main clamping claw, the support moves in the Y direction, disengages from the kelp segment, and the side clamping claw is released. S5: The second knotting claw mechanism moves away from the Y direction, causing a kelp knot to form in the middle of the kelp segment. The first main gripper and the second knotting mechanism loosen, causing the kelp knot to fall and be collected.

9. The knotting method according to claim 8, characterized in that, Before S1, it also includes: S0: The feeding mechanism delivers the kelp strips to the positions of the first knotting claw mechanisms. The first knotting claw mechanism and the second knotting claw mechanism clamp the corresponding positions of the kelp strips. The cutting body of the cutting mechanism extends under the action of the telescopic drive to cut the kelp strips into multiple kelp segments. This results in the first main gripper clamping the first end of the kelp segment, the support being located above the first main gripper, and the second knotting claw mechanism clamping the second end of the kelp segment.

10. The knotting method according to claim 8, characterized in that, S5 specifically refers to: As the second knotting claw mechanism moves away from the Y direction, the hook of the kelp knot positioning mechanism hooks onto the kelp knot. Through the action of the Y-direction moving mechanism, the kelp knot positioning mechanism moves away from the Y direction by a distance less than the distance of the knotting claw mechanism, causing a kelp knot to form in the middle of the kelp segment. The first main gripper and the second knotting mechanism then loosen, causing the kelp knot to fall and be collected.

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