A kelp knotting machine based on space variable trajectory cooperation and a knotting method thereof

Abstract

The application discloses a space variable track cooperation based on bionic gripper kelp knotting machine and a knotting method thereof. The clamping knotting device of the kelp knotting machine comprises at least one group of knotting grippers, and each group of knotting grippers comprises two clamping knotting grippers and a conical knotting gripper. The two clamping knotting grippers are movably connected to different pushing plates respectively, oppositely arranged and slid along the sliding groove track of the pushing plate. The conical knotting gripper is movably connected to one of the pushing plates and moves forward and backward relative to the pushing plate. The conical knotting gripper is located above the two clamping knotting grippers and oppositely arranged with one of the clamping knotting grippers. The same number of top rod structures as the conical knotting gripper is connected to the frame and moves up and down relative to the frame. The top rod structure is located at the front end of the conical knotting gripper and can be inserted into the conical knotting gripper with an opening. The knotting process is smooth and efficient, the quality is good, the knotting rate is above 95%, and the kelp knotting machine is suitable for the production and processing of actual kelp.

Description

Technical Field

[0001] This invention relates to the field of kelp knotting machine technology, specifically to a biomimetic gripper kelp knotting machine and knotting method based on spatial variable trajectory coordination. Background Technology

[0002] Currently, no complete kelp knotting equipment has been put into production and use in either the international or domestic market. The kelp knotting market in my country and even globally has long been in a state of supply shortage. In the production process, kelp knotting still relies heavily on manual operation and has not yet achieved mechanization. At the same time, existing research results on kelp knotting equipment are insufficient to fully meet the actual production needs of the market in terms of performance and efficiency.

[0003] Currently, domestic kelp knotting machines still have the following defects: (1) Kelp material itself is slippery and easily damaged, and it is easy to fall off and break during the knotting process; (2) The knotting operation space has a large detour, the action is relatively complex, and the mechanical structure is not easy to realize; (3) The continuity and efficiency of knotting are difficult to guarantee. Traditional kelp knotting methods still rely on manual operation, which is not only inefficient but also costly, with labor shortages, harsh working environment, and difficulty in guaranteeing product quality. Existing research on kelp knotting equipment is limited to realizing the knotting process, and the success rate and efficiency are generally low, the level of automation is poor, and it cannot meet the requirements of market production.

[0004] Therefore, there is an urgent need to develop, promote, and apply kelp knotting equipment that integrates feeding, cutting, knotting, and recycling functions to fill market gaps, increase output value, and meet consumer demand. Summary of the Invention

[0005] The purpose of this invention is to overcome the above-mentioned defects in the existing technology and propose a biomimetic gripper kelp knotting machine and its knotting method based on spatial variable trajectory coordination. It integrates conveying, positioning, knotting, untying and collection into one unit, with a compact structure, high space utilization, good operational stability, high knotting rate and low kelp damage rate.

[0006] The technical solution adopted in this invention is as follows: a biomimetic gripper kelp knotting machine based on spatial variable trajectory cooperation is proposed, comprising a device body, the device body including a frame and a clamping and knotting device disposed on the frame, characterized in that the clamping and knotting device includes: Two push plates are movably connected to the frame and can move linearly relative to the frame; the push plates are provided with sliding grooves. At least one set of knot-tying claws, the set of knot-tying claws includes two knot-holding claws and a conical knot-tying claw; the two knot-holding claws are movably connected to different push plates, are arranged in opposite directions, and can slide along the slide track; the conical knot-tying claw is movably connected to one of the push plates and can move back and forth relative to the push plate, the conical knot-tying claw is located above the two knot-holding claws and is arranged between the two and in the same direction as one of the knot-holding claws; The same number of top rod structures as the conical knotting jaws are connected to the frame and can move up and down relative to the frame. The top rod structures are located at the front end of the conical knotting jaws and can be inserted into the open conical knotting jaws.

[0007] During operation, the two clamping and knotting claws can move in an arc along the slide and move in a straight line synchronously with the push plate, wrapping the kelp strips around the conical knotting claws. The conical knotting claws move to the top rod structure and insert into the open conical knotting claws to knot the kelp. The clamping and knotting claws move to tighten the kelp knot.

[0008] Furthermore, the clamping and knotting device also includes a first loading device for driving the propulsion plate to move, a second loading device for driving the slidable clamping and knotting jaws to move, a third loading device for driving the conical knotting jaws to move, and a fourth loading device for driving the top rod structure to move. The first loading device includes a first motor and a first push screw device, wherein the first motor is connected to the first push screw device and the first push screw device is connected to a push plate. The second loading device includes a second motor, a gear transmission mechanism, and a cross-shaped transmission sleeve. The second motor is connected to the gear transmission mechanism, the gear transmission mechanism is connected to the cross-shaped transmission sleeve, the cross-shaped transmission sleeve is connected to the clamping and knotting claws, and the cross-shaped transmission sleeve passes through the slide groove and slides along the slide groove. The third loading device includes a third motor and a second push screw device. The third motor is connected to the second push screw device, and the second push screw device is connected to a tapered knotting gripper. The fourth loading device includes a cylinder.

[0009] Furthermore, the device body also includes a conveying device, a positioning device, a cutting device, and a knotted kelp recycling device mounted on the frame. The conveying device is used to convey kelp, the positioning device transports the kelp located on the conveying device to the clamping station, the clamping and knotting device clamps the kelp, the cutting device cuts the clamped kelp, the clamping and knotting device knots the cut kelp to form kelp knots, and the knotted kelp recycling device is used for storage.

[0010] Furthermore, the feeding device includes a first lifting drive device mounted on the frame. The first lifting drive device is connected to a tray, and a rotating shaft is rotatably connected to the tray. Multiple feeding nozzles are connected to the upper part of the rotating shaft, and a guide member is fixed to the lower part of the rotating shaft to guide the rotation of the rotating shaft. A vertical plate is also fixed to the tray, and a magnet is installed at the end of the vertical plate near the feeding nozzle. The magnet is used to attract the feeding nozzle.

[0011] Furthermore, the conveying device includes a fourth motor, a driving pulley, a driven pulley, a conveyor belt, and a conveying tray. The conveying tray is fixedly connected to the conveyor belt, and the upper part of the conveying tray is provided with a groove for placing kelp strips. The lower part of the conveying tray has a clearance groove with the same number as the delivery clamps, for the delivery clamps to pass through so that the delivery clamps can easily pick up the kelp.

[0012] Furthermore, the cutting device includes a second lifting device mounted on the frame. The movable end of the second lifting device is connected to a blade holder, and the blade holder is fixedly connected to a cutting blade. The second lifting device drives the blade holder and the cutting blade to move synchronously, cutting the clamped kelp strips into kelp segments to prepare for knotting.

[0013] Furthermore, both the knot-holding gripper and the conical knot-holding gripper are pneumatic mechanical grippers.

[0014] The present invention also proposes a knotting method for a biomimetic gripper kelp knotting machine based on spatial variable trajectory coordination. The method includes two clamping and knotting grippers being driven backward by corresponding push plates to change the clamping of the kelp from a straight direction to an oblique direction. The two clamping and knotting claws move according to the slide track of the push plate. The outer clamping and knotting claw moves to the inner side, and the inner clamping and knotting claw moves to the outer side. At this time, the kelp is spirally wrapped around the conical knotting claw. Then one of the clamping and knotting claws is driven forward by the push plate, at which point the kelp is wrapped around the cone-shaped knotting claw in a crisscross pattern. The cone-shaped knotting jaws open; One of the clamping and knotting claws moves the kelp section it is holding to the front end of the conical knotting claw. Then, the push rod structure moves down, the conical knotting claw moves forward, and the push rod structure pushes the kelp section into the clamping opening of the conical knotting claw. The clamping and knotting claw opens, and the conical knotting claw clamps the kelp section. Finally, another clamping claw moves backward with the push plate, exerting a pulling force on one side of the kelp knot to complete the locking of the kelp knot.

[0015] This invention also proposes an operation method for a biomimetic gripper kelp knotting machine based on spatial variable trajectory cooperation, comprising the following steps: Place the kelp strips onto the conveyor tray of the conveyor device; The conveyor tray moves to the feeding clamp of the feeding device, and the feeding clamp clamps the kelp strip. As the feeding device rises, the guide component at the bottom of the rotating shaft of the feeding device is interfered with by the crossbeam of the frame, thus guiding the rotation of the rotating shaft. The feeding clamp changes from horizontal to vertical and is fixed by a magnet. The feeding device rises to the predetermined position, the clamping and knotting device works, the two push plates are pushed out, synchronously driving the clamping and knotting jaws forward, the clamping and knotting jaws move to clamp the straightened kelp strips, and the feeding device descends back to the initial position. The cutting device moves down, cuts the kelp strips, and then returns to its initial position; The two clamping and knotting claws are driven backward by the corresponding push plates, changing the clamping of the kelp from a straight direction to an oblique direction; The two clamping and knotting claws move along the slide track on the push plate. The outer clamping and knotting claw moves to the inner side, and the inner clamping and knotting claw moves to the outer side. At this time, the kelp is spirally wrapped around the conical knotting claw. Then one of the clamping and knotting claws is driven forward by the push plate, at which point the kelp is wrapped around the cone-shaped knotting claw in a crisscross pattern. The cone-shaped knotting jaws open; One of the clamping and knotting claws moves the kelp section it is holding to the front end of the conical knotting claw. Then, the push rod structure moves down, the conical knotting claw moves forward, and the push rod structure pushes the kelp section into the clamping opening of the conical knotting claw. The clamping and knotting claw opens, and the conical knotting claw clamps the kelp section. Then another clamping claw moves backward with the push plate, exerting a pulling force on one side of the kelp knot to complete the locking of the kelp knot; The clamping claw moves the kelp knot back to the opening above the knotted kelp recycling device, where the kelp knot falls into the device.

[0016] Compared with existing technologies, the technical effects of this invention are as follows: 1. An innovative seaweed knotting machine based on bionic gripper-type knotting path was proposed, and a sequential continuous operation process integrating conveying, positioning, clamping, straightening, cutting, knotting and resetting was constructed.

[0017] 2. In the design of the clamping and knotting device, a structure is adopted that includes two clamping and knotting jaws and one conical knotting jaw. Through the three-jaw coordinated operation process, the kelp can be clamped, straightened, cut, pulled at an angle, knotted crosswise, fed forward, clamped and tightened. The first loading device and the second loading device work together to control the movement of the jaws, improve the success rate and quality of knotting, and improve the overall efficiency.

[0018] 3. In the clamping and knotting device, both the clamping and knotting claws and the conical knotting claws adopt pneumatic mechanical claws, which can not only stably grasp the kelp, but also achieve smooth knotting and avoid tearing the kelp. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of a kelp knotting machine. Figure 1 ; Figure 2 This is a schematic diagram of a kelp knotting machine. Figure 2 ; Figure 3 This is a schematic diagram of a kelp knotting machine. Figure 3 ; Figure 4 yes Figure 2 Enlarged view of a portion of point A in the middle; Figure 5 This is a schematic diagram of the conveying device structure; Figure 6 This is a schematic diagram of the feeding device and the cutting device. Figure 7 This is a schematic diagram of the clamping and knotting device. Figure 8 This is a schematic diagram of a gear transmission mechanism. Figure 9 This is a partial top view of the clamping and knotting device; Figure 10 This is a schematic diagram of the conveying device and the positioning device. Figure 11 yes Figure 3 Enlarged view of section I in the middle.

[0020] In the above diagrams: 1. Frame; 2. Conveying device; 21. Fourth motor; 22. Drive pulley; 23. Driven pulley; 24. Conveyor belt; 25. Conveyor trough; 3. Feeding device; 31. First lifting drive device; 32. Pallet; 321. Vertical plate; 33. Feeding clamp; 34. Rotary shaft; 341. Guide component; 35. Magnet; 4. Clamping and knotting device; 41. Clamping and knotting jaws; 42. Conical knotting jaws; 43. Push plate; 431. Slide groove; 44. Push rod structure; 45. First loading device; 451. First motor; 452. First push screw device; 46. ​​Second loading device; 461. Second motor; 462. Gear transmission mechanism; 4621. Intermediate gear; 4622. Large gear; 4623. Small gear; 463. Cross-shaped transmission sleeve; 47. Third loading device; 471. Third motor; 472. Second push screw device; 48. Fourth loading device; 5. Cutting device; 51. Cutting blade; 6. Kelp recycling device. Detailed Implementation

[0021] To facilitate understanding of the present invention by those skilled in the art, specific embodiments of the present invention will be described below with reference to the accompanying drawings.

[0022] To make the purpose, technical solution, and technical effects of this patent clearer, the embodiments of this patent are described in detail below with reference to the accompanying drawings. Unless otherwise specified, the embodiments and features described in the embodiments of this patent application can be arbitrarily combined to further improve the technical effects of this patent.

[0023] like Figures 1-4 As shown, this invention proposes a biomimetic gripper kelp knotting machine based on spatial variable trajectory coordination. It includes a frame 1, and further includes a conveying device 2, a positioning device 3, a clamping and knotting device 4, a cutting device 5, and a knotted kelp recovery device 6, all mounted on the frame 1. The conveying device 2 is located at the lower right of the frame 1, the positioning device 3 is located in the middle of the frame 1, the clamping and knotting device 4 is divided into two parts, respectively located at the upper left and upper right of the frame 1, the cutting device 5 is located directly above the frame, and the knotted kelp recovery device 6 is located on the left side of the frame. Through the coordinated operation of the conveying device 2, the positioning device 3, the clamping and knotting device 4, the cutting device 5, and the knotted kelp recovery device 6, the kelp knotting is completed smoothly and efficiently. The knotting quality is good and not easily detached, resulting in good quality in subsequent processing. The knotting rate is over 95%, making it suitable for actual kelp production and processing.

[0024] like Figure 5 The conveying device 2 includes a fourth motor 21, a driving pulley 22, a driven pulley 23, a conveyor belt 24, and conveying troughs 25. The fourth motor 21 is connected to the driving pulley 22 via a keyed shaft. The driving pulley 22 is connected to the driven pulley 23 via the conveyor belt 24. The driving pulley 22 and the driven pulley 23 are connected by parallel shafts. The conveyor belt 24 has conveying troughs 25 arranged in a spiral with the same spacing. The conveying troughs 25 are fixedly connected to the conveyor belt. Seaweed strips of suitable size are placed on the top of the conveying troughs, and the bottom of the conveying troughs has clearance grooves equal in number to the number of feeding nozzles.

[0025] The working process of conveying device 2: The fourth motor 21 drives the active pulley 22 to rotate, the transmission belt rotates, the driven pulley 23 rotates, and the conveying tray 25 moves.

[0026] The conveying tray 25 serves as the supporting base for kelp. The upper part of the conveying tray is provided with a groove for placing kelp strips. The lower part of the conveying tray has the same number of clearance slots as the delivery clamps 33 to facilitate subsequent clamping operations.

[0027] like Figure 6The feeding device 3 includes a first lifting drive device 31 mounted on the frame. The first lifting drive device 31 is connected to a pallet 32. A rotating shaft 34 is rotatably connected to the pallet 32. Multiple feeding clamps 33 are connected to the upper part of the rotating shaft 34. A guide member 341 is fixedly connected to the lower part of the rotating shaft 34 to guide the rotation of the rotating shaft. A vertical plate 321 is also fixedly connected to the pallet 32. A magnet 35 is also installed on the end of the vertical plate 321 near the feeding clamps 33. The magnet 35 is used to attract the feeding clamps 33. In this embodiment, the first lifting drive device 31 is a cylinder, and there are two cylinders. The cylinders are connected to the frame 1 through a mounting base. The cylinder telescopic shaft is embedded in the pallet 32. The rotating shaft 34 and the pallet 32 ​​are connected by a bearing. The feeding clamps 33 are fixedly connected to the upper part of the rotating shaft 34. The magnet 35 is embedded in the vertical plate 321. The bottom of the vertical plate 321 is fixedly connected to the pallet, and the magnet 35 is located on the upper part of the vertical plate 321. In this embodiment, the guide member 341 is a vertical rod perpendicular to the rotating shaft 34, and a guide bevel is cut out at the bottom of the vertical rod.

[0028] The working process of the positioning device 3: Initial state of the positioning device (see...) Figure 10 At this point, the feeding clamp 33 is horizontal. After the conveying device 2 transports the kelp to the predetermined position via the conveying tray 25, the feeding clamp 33 clamps the kelp. The first lifting drive device 31 operates, driving the feeding clamp 33 to rise. After rising to a certain height, the guide member 341 at the bottom of the rotating shaft contacts the crossbeam of the frame 1 (see...). Figure 10 Guided by the magnet, it rotates clockwise. When the positioning jaws approach the magnet, the magnet attracts them, and the positioning jaws become vertical (see...). Figure 11 (), waiting for the next working step, the clamping and knotting claw 41 of the clamping and knotting device 4 takes away the seaweed. During the descent of the cylinder, the rotating shaft is guided by the frame 1. The guiding force is greater than the magnetic force of the magnet 35, and the weight of the feeding mouth 33 is greater than the weight of the rotating shaft. The feeding mouth 33 rotates counterclockwise and, in addition, is limited by the support plate 32, returns to the horizontal state.

[0029] like Figure 6 As shown, the cutting device 5 is used to cut kelp strips into kelp segments. It includes a second lifting device, a knife holder, and a cutting knife 52. The second lifting device is installed on the frame. The movable end of the second lifting device is connected to the knife holder. The knife holder is riveted to the cutting knife. The lifting of the second lifting device drives the cutting knife to move synchronously.

[0030] like Figures 1-4 and Figures 7-9As shown, the clamping and knotting device 4 includes two push plates 41, which are movably connected to the frame 1 and can move linearly relative to the frame. The push plates are provided with sliding grooves 431. The clamping and knotting device 4 also includes at least one set of knotting claws. Each set of knotting claws includes two clamping and knotting claws 41 and one conical knotting claw 42. There is one clamping and knotting claw 41 on the outer side and one on the inner side. The conical knotting claw 42 is located above the kelp strip. A gap is reserved between the front end of the outer and inner clamping and knotting claws and the kelp strip located in the feeding device 3. This gap ensures that the claws will not contact the kelp too early during the forward movement, which would cause the kelp to shift or deform. It also ensures that the clamping and knotting claws 41 can quickly and stably clamp the kelp when they close. Driven by the moving push plate 43, the outer and inner clamping and knotting claws advance, at which point the clamping and knotting claws open. After reaching the predetermined clamping position, the two clamping and knotting claws close. In this embodiment, the clamping and knotting device 4 is described using two sets of knotting claws as an example.

[0031] The clamping and knotting device, including the gripper 41, the conical knotting gripper 42, and the feeding nozzle 33, all employ pneumatic mechanical clamps. High-pressure air drives pneumatic components to clamp and release the clamps. Air pressure adjustment controls the magnitude and stability of the clamping force. It should be noted that the air supply and control principles for the opening and closing of the grippers are well-known to those skilled in the art; their specific parameters and working principles can be set according to actual conditions and will not be elaborated upon here.

[0032] The cone-shaped knotting claw 42 has a cone-shaped opening, which makes it easy to untie the kelp knot.

[0033] The working process of the clamping and knotting device 4 mainly consists of clamping the kelp and knotting the kelp. The clamping operation is completed by the clamping and knotting jaws, and the knotting operation is mainly completed by the cooperation of the clamping and knotting jaws 41, the conical knotting jaws 42, and the top rod structure 44. The clamping and knotting jaws 41 can achieve two modes of movement. The first mode is arc motion, specifically, the clamping and knotting jaws 41, which are movably connected to the push plate 43, are driven by the second loading device 46 to slide along the movement trajectory of the slide groove 431 opened on the push plate 43. The second mode is linear motion, specifically, the push plate 43 is driven by the first loading device 45 to move linearly, which synchronously drives the clamping and knotting jaws 41 to move linearly. The conical knotting jaws 42 and the top rod structure 44 both move linearly, which are realized by the third loading device 47 and the fourth loading device, respectively.

[0034] The first loading device 45 includes a first motor 451 and a first push screw device 452. The first motor 451 is connected to the first push screw device 452, and the first push screw device 452 is fixedly connected to the push plate 43. The first motor is fixed on the frame 1 by a mounting base.

[0035] The second loading device 46 includes a second motor 461, a gear transmission mechanism 462, and a cross-shaped transmission sleeve 463. The second motor is connected to the gear transmission mechanism, the gear transmission mechanism is fixedly connected to the cross-shaped transmission sleeve, the cross-shaped transmission sleeve is fixedly connected to the clamping and knotting claw 41, and the cross-shaped transmission sleeve 463 passes through the slide groove 431 and slides along the slide groove.

[0036] Specifically, in this embodiment, such as Figure 8 As shown, the gear transmission mechanism 462 includes two large gears 4622, an intermediate gear 4621, and two small gears 4623. The second motor 461 drives the intermediate gear 4621, which simultaneously transmits power to the left and right large gears 4622. The two gears then transmit power to their meshing small gears 4623. A cross-shaped transmission sleeve 463 is mounted on each small gear. One end of the cross-shaped transmission sleeve is movably connected to a groove 431 in the push plate 43, and due to the restriction of the groove, it can only move along a predetermined path. Figure 8 As shown, the groove trajectory uses a three-quarters circle arc.

[0037] The third loading device 47 includes a third motor 471 and a second push screw device 472. The third motor is connected to the second push screw device, and the second push screw device is connected to a tapered knotting gripper 42. In this embodiment, the second push screw device 472 is inclined and forms a certain angle with the horizontal plane.

[0038] The first push screw device 452 and the second push screw device 472 have the same structure and function to convert the motor rotation into linear motion. The specific model and specifications need to be selected and determined according to the actual specifications of the device. The specific selection calculation method adopts the existing technology in this field, so it will not be described in detail.

[0039] The fourth loading device includes a cylinder. In this embodiment, the push rod structure 44 is mounted on the cutting device 5, meaning the push rod structure 44 and the cutting device 5 use the same loading device; that is, the fourth loading device is the second lifting device, which in this embodiment is a cylinder. Specifically, the push rod structure 44 is mounted on the knife holder, and the push rod structure 44 and the cutting blade 51 are fixed to the same shaft by a bushing. The push rod structure is connected to the knife holder by a torsion spring. During the knotting process, the push rod structure 44 pushes one end of the kelp into the clamping opening of the conical knotting gripper 42.

[0040] The knotting method of the bionic gripper kelp knotting machine is as follows: First, the clamping and knotting gripper 41 straightens the cut kelp, then the kelp is pulled diagonally and wrapped around the conical knotting gripper 42 according to the trajectory of the slide groove 431 of the push plate 43. Then, the clamping and knotting gripper 41 sends one end of the kelp to the front end of the conical knotting gripper opening, and the push rod structure 44 pushes it into the conical knotting gripper opening. The conical knotting gripper 42 clamps it, and then the clamping and knotting gripper 41 tightens and locks the knot.

[0041] The conveying device 2 and the positioning device 3 together form the material conveying and positioning part of the kelp knotting machine. Under the control of the electronic control system, the conveying device 2 sends the kelp conveying tray 25 to the preset material positioning position. Then, the positioning device 3 lifts the kelp conveying tray 25 to the kelp knotting operation position, and the subsequent device completes the knotting operation. In the initial state, the positioning clamp 33 of the positioning device 3 is horizontal. When the conveying device 2 conveys the kelp to the designated position, the positioning clamp 33 clamps the kelp, the cylinder starts to work, and drives the positioning clamp 33 to rise. After rising to a certain height, the rotating shaft contacts the frame and is guided by it to rotate clockwise. When the positioning claw approaches the magnet on the tray, the magnet attracts it, and the positioning claw becomes vertical, waiting to proceed to the next working step.

[0042] The delivery device 3 precisely delivers the kelp to the designated knotting position, and the knotting device clamps the kelp, ready to tie a knot.

[0043] During operation, the clamping and knotting jaws 41 first straighten the kelp, and the cutting blade 51 cuts the kelp under the drive of a cylinder. Subsequently, the clamping and knotting jaws 41, the conical knotting jaws 42, and the top rod structure 44 work together to knot the kelp. This knotting machine solves the problems of low efficiency, high cost, and inaccurate clamping and cutting in traditional kelp processing. It can improve production efficiency, ensure the quality of kelp segments, and improve knotting quality. Moreover, it has a compact structure and is easy to install.

[0044] The kelp knotting machine uses a control system to control the movement of various motors and cylinders, thereby realizing the movement of each component. The control principle of this control system is a technical principle that is well known to those skilled in the art. Its specific parameters and working principle can be set according to the actual situation, and will not be described in detail here.

[0045] The machine works as follows: Place the kelp strips on the conveyor tray 25 of the conveyor device 2; The conveying tray 25 moves to the feeding clamp 33 of the feeding device 3, and the feeding clamp 33 clamps the kelp strip; As the feeding device 3 rises, the guide at the bottom of the rotating shaft of the feeding device 3 is interfered with by the crossbeam of the frame, thus guiding the rotation of the rotating shaft. The feeding clamp 33 changes from horizontal to vertical and is fixed by a magnet. The feeding device 3 rises to the predetermined work position, the clamping and knotting device 4 works, the two push plates are pushed out, and the clamping and knotting claws 41 move forward in sync. The clamping and knotting claws 41 move to clamp the straightened kelp strips, and the feeding device 3 descends back to the initial position. The cutting device 5 moves down, cuts the kelp strips, and then returns to its initial position; The two clamping and knotting claws 41 are driven backward by the corresponding push plates 43, changing the clamping of the kelp from a straight direction to an oblique direction; The two clamping and knotting claws 41 move along the sliding groove trajectory on the push plate 43. The outer clamping and knotting claw moves to the inner side, and the inner clamping and knotting claw moves to the outer side. At this time, the kelp is spirally wrapped around the conical knotting claw. Then one of the clamping and knotting claws is driven forward by the push plate, at which point the kelp is wrapped around the cone-shaped knotting claw in a crisscross pattern. The cone-shaped knotting claw 42 opens; One of the clamping and knotting claws moves the kelp section it is holding to the front end of the conical knotting claw. Then, the top rod structure 44 moves down, the conical knotting claw moves forward, and the top rod structure pushes the kelp section into the clamping opening of the conical knotting claw. The clamping and knotting claw opens, and the conical knotting claw clamps the kelp section. Then another clamping claw moves backward with the push plate, exerting a pulling force on one side of the kelp knot to complete the locking of the kelp knot; The clamping claw 41 moves the kelp knot back to the opening above the knotted kelp recycling device 6, and the kelp knot falls into the knotted kelp recycling device 6.

[0046] The embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A biomimetic gripper kelp knotting machine based on spatial variable trajectory cooperation, characterized in that, The device includes a main body, which comprises a frame (1) and a clamping and knotting device (4) mounted on the frame (1). The clamping and knotting device (4) comprises: Two push plates (43) are movably connected to the frame and can move linearly relative to the frame; the push plates are provided with sliding grooves (431). At least one set of knotting claws, the set of knotting claws includes two knotting claws (41) and a conical knotting claw (42); the two knotting claws (41) are movably connected to different push plates respectively, are arranged in opposite directions, and can slide along the slide track; the conical knotting claw (42) is movably connected to one of the push plates and can move back and forth relative to the push plate, the conical knotting claw (42) is located above the two knotting claws (41) and is arranged in the same direction as one of the knotting claws (41); The same number of top rod structures as the conical knotting jaws (42) are connected to the frame and can move up and down relative to the frame. The top rod structures are located at the front end of the conical knotting jaws (42) and can be inserted into the open conical knotting jaws (42).

2. The biomimetic gripper kelp knotting machine based on spatial variable trajectory coordination according to claim 1, characterized in that, The clamping and knotting device (4) also includes a first loading device (45) for driving the propulsion plate to move, a second loading device (46) for driving the sliding clamping and knotting jaw (41) to move, a third loading device (47) for driving the conical knotting jaw (42) to move, and a fourth loading device (48) for driving the top rod structure to move. The first loading device (45) includes a first motor (451) and a first push screw device (452), wherein the first motor is connected to the first push screw device and the first push screw device is connected to the push plate; The second loading device (46) includes a second motor (461), a gear transmission mechanism (462), and a cross-shaped transmission sleeve (463). The second motor is connected to the gear transmission mechanism, the gear transmission mechanism is connected to the cross-shaped transmission sleeve, and the cross-shaped transmission sleeve is connected to the clamping and knotting claw (41). The cross-shaped transmission sleeve passes through the slide groove (431) and slides along the slide groove. The third loading device (47) includes a third motor (471) and a second push screw device (472). The third motor is connected to the second push screw device, and the second push screw device is connected to a tapered knotting gripper (42). The fourth loading device (48) includes a cylinder.

3. The biomimetic gripper kelp knotting machine based on spatial variable trajectory coordination according to claim 1, characterized in that, The main body of the device also includes a conveying device (2), a feeding device (3), a cutting device (5), and a knotted kelp recycling device (6) installed on the frame (1). The conveying device (2) is used to convey kelp, the feeding device (3) transports the kelp located on the conveying device to the clamping station, the clamping and knotting device (4) clamps the kelp, the cutting device (5) cuts the clamped kelp, the clamping and knotting device (4) knots the cut kelp to form kelp knots, and the knotted kelp recycling device (6) is used for storage.

4. The biomimetic gripper kelp knotting machine based on spatial variable trajectory coordination according to claim 3, characterized in that, The feeding device (3) includes a first lifting drive device (31) installed on the frame (1), the first lifting drive device is connected to a tray (32), a rotating shaft (34) is rotatably connected on the tray (32), a plurality of feeding clamps (33) are connected to the upper part of the rotating shaft, and a guide member (341) is fixedly connected to the lower part of the rotating shaft to guide the rotation of the rotating shaft. A vertical plate (321) is also fixedly connected to the tray (32), and a magnet (35) is installed on the end of the vertical plate near the feeding clamp (33). The magnet (35) is used to attract the feeding clamp (33).

5. A biomimetic gripper kelp knotting machine based on spatial variable trajectory coordination according to claim 3, characterized in that, The conveying device (2) includes a fourth motor (21), a driving pulley (22), a driven pulley (23), a conveyor belt (24), and a conveying tray (25). The conveying tray (25) is fixedly connected to the conveyor belt (24). The upper part of the conveying tray is provided with a groove for placing kelp strips. The lower part of the conveying tray is provided with a number of clearance slots equal to the number of delivery clamps (33).

6. The biomimetic gripper kelp knotting machine based on spatial variable trajectory coordination according to claim 3, characterized in that, The cutting device (5) includes a second lifting device installed on the frame, the movable end of the second lifting device is connected to the blade holder, and the blade holder is fixedly connected to the cutting blade (51).

7. The biomimetic gripper kelp knotting machine based on spatial variable trajectory coordination according to claim 1, characterized in that, Both the knot-holding gripper (41) and the conical knot-holding gripper (42) are pneumatic mechanical grippers.

8. The knotting method of a biomimetic gripper kelp knotting machine based on spatial variable trajectory coordination according to claim 1, characterized in that, The two clamping and knotting claws (41) are driven backward by the corresponding push plate (43) to change the clamping of the kelp from a straight direction to an oblique direction; The two clamping and knotting claws (41) move according to the slide track of the push plate. The outer clamping and knotting claw moves to the inner side, and the inner clamping and knotting claw moves to the outer side. At this time, the kelp is spirally wrapped around the conical knotting claw (42). Then one of the clamping and knotting claws (41) is driven forward by the push plate (43), at which point the kelp is wrapped around the cone-shaped knotting claw (42) in a cross shape; The cone-shaped knotting claw (42) opens; One of the clamping and knotting claws (41) moves the kelp section it is holding to the front end of the conical knotting claw (42), and then the top rod structure (44) moves down, the conical knotting claw moves forward, the top rod structure pushes the kelp section into the clamping opening of the conical knotting claw, the clamping and knotting claw opens, and the conical knotting claw clamps the kelp section. Finally, another clamping claw moves backward with the push plate, exerting a pulling force on one side of the kelp knot to complete the locking of the kelp knot.

9. The operating method of a biomimetic gripper kelp knotting machine based on spatial variable trajectory coordination according to claim 3, characterized in that, Includes the following steps: Place the kelp strips on the conveyor tray (25) of the conveyor device (2); The conveying tray (25) moves to the feeding clamp (33) of the feeding device (3), and the feeding clamp (33) clamps the kelp strip; The feeding device (3) rises. During the rising process, the guide at the bottom of the rotating shaft of the feeding device (3) is interfered with by the crossbeam of the frame, thus guiding the rotation of the rotating shaft. The feeding clamp (33) changes from horizontal to vertical and is fixed by a magnet. The feeding device (3) rises to the predetermined work position, the clamping and knotting device (4) works, the two push plates are pushed out, and the clamping and knotting claw (41) moves forward in sync. The clamping and knotting claw (41) moves to clamp the straightened kelp strips, and the feeding device (3) descends back to the initial position. The cutting device (5) moves down, cuts the kelp strips, and then returns to its initial position; The two clamping and knotting claws (41) are driven backward by the corresponding push plate (43) to change the clamping of the kelp from a straight direction to an oblique direction; The two clamping and knotting claws (41) move along the slide track on the push plate (43). The outer clamping and knotting claw moves to the inner side, and the inner clamping and knotting claw moves to the outer side. At this time, the kelp is spirally wrapped around the conical knotting claw. Then one of the clamping and knotting claws is driven forward by the push plate, at which point the kelp is wrapped around the cone-shaped knotting claw in a crisscross pattern. The cone-shaped knotting claw (42) opens its clamping opening; One of the clamping and knotting claws moves a section of kelp to the front end of the conical knotting claw, and then the top rod structure (44) moves down, the conical knotting claw moves forward, the top rod structure pushes a section of kelp into the opening of the conical knotting claw, the clamping and knotting claw opens, and the conical knotting claw clamps a section of kelp. Then another clamping claw moves backward with the push plate, exerting a pulling force on one side of the kelp knot to complete the locking of the kelp knot; The clamping claw (41) moves the kelp knot back to the opening above the knotted kelp recycling device (6), and the kelp knot falls into the knotted kelp recycling device (6).

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