Clamping mechanism for kelp knotting machine

Abstract

The utility model discloses a clamping mechanism for a kelp knotting machine, which comprises a pneumatic clamping jaw module arranged on a main body bottom plate, the pneumatic clamping jaw module comprises a first pneumatic clamping jaw and a second pneumatic clamping jaw, the left end of the first pneumatic clamping jaw is connected with a driving mechanism through a first connecting mechanism, and the right end of the second pneumatic clamping jaw is connected with a second connecting mechanism. The right end of the second pneumatic clamping jaw is fixedly connected with a first left claw finger and a first right claw finger through a clamping finger of a first pneumatic finger, and the first left claw finger and the first right claw finger are pushed by the first pneumatic finger to open and close to clamp kelp strips; the right end of the first pneumatic clamping jaw and the right end of the second pneumatic clamping jaw are in a crossed state, the first pneumatic clamping jaw is located above the second pneumatic clamping jaw, the clamping end of the first pneumatic clamping jaw right faces the second clamping mechanism, and the clamping end of the second pneumatic clamping jaw right faces the first clamping mechanism. When the clamping action occurs, the left claw finger and the right claw finger directly clamp the kelp strips from the two sides, and the kelp is effectively prevented from being damaged by insertion thorns.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the kelp knotting technical field, and specifically relates to a clamping mechanism for a kelp knotting machine. BACKGROUND

[0002] At present, kelp knotting is mostly completed by manual work, which is not only inefficient, but also causes corrosion damage to the hands of the workers. Therefore, an automatic device for kelp knotting is proposed to replace manual knotting. However, the existing kelp knotting machine is bulky, and the mechanical gripper for inserting the needle is prone to damage the kelp, even destroying it, which affects the quality of the kelp product. SUMMARY

[0003] The utility model discloses a kind of clamping mechanisms for kelp knotting machine, simple structure, stable clamping kelp, solve the problem of existing mechanical hand insertion needle damage kelp.

[0004] The technical scheme adopted by the utility model is that the clamping mechanism for kelp knotting machine includes pneumatic clamping jaw module installed on the main body bottom plate, the pneumatic clamping jaw module includes first pneumatic clamping jaw and second pneumatic clamping jaw, the left end of the first pneumatic clamping jaw is connected with the driving mechanism through the first connecting mechanism, and the right end is fixedly connected with the first left claw finger and the first right claw finger through the clamping finger of the first pneumatic finger, the first left claw finger and the first right claw finger are opened and closed to clamp the kelp strip under the push of the first pneumatic finger, the structure of the second pneumatic clamping jaw is same as that of the first pneumatic clamping jaw, the right end of the first pneumatic clamping jaw and the second pneumatic clamping jaw is in a crossed state, and the first pneumatic clamping jaw is above the second pneumatic clamping jaw, the clamping end of the first pneumatic clamping jaw is opposite to the second clamping mechanism, and the clamping end of the second pneumatic clamping jaw is opposite to the first clamping mechanism.

[0005] Preferably, the first connecting mechanism includes a first rack, the right end of the first rack is fixedly connected with the first pneumatic clamping jaw through the first connecting block, the left end is connected with the first linear guide rail through the first sliding block on the back, and the front is connected with the output end of the driving mechanism.

[0006] Preferably, the driving mechanism includes a stepper motor, a driving gear and a driven gear, the stepper motor is installed below the motor fixed plate, the both ends of the motor fixed plate are fixedly connected with the first vertical plate and the second vertical plate respectively, the first vertical plate and the second vertical plate are vertically erected on the main body bottom plate, the output shaft of the stepper motor penetrates the motor fixed plate upwards and then connects the driving gear, the driven gear is installed on one side of the driving gear and meshes with the driving gear, and the driving gear and the driven gear are connected with the first rack and the second rack respectively.

[0007] Preferably, the first pneumatic clamping jaw and the second pneumatic clamping jaw are respectively slidably connected to the first sliding groove and the second sliding groove on the clamping jaw support plate through the first supporting bull's eye wheel and the second supporting bull's eye wheel below the first pneumatic clamping jaw and the second pneumatic clamping jaw, and the clamping jaw support plate is vertically arranged on the main body bottom plate.

[0008] Preferably, a notch is arranged in the middle of the clamping jaw support plate, a limiting groove is arranged on the main body bottom plate at a position corresponding to the notch, and a kelp collecting bin is placed on the limiting groove.

[0009] Compared with the prior art, the beneficial effects of the utility model are that the utility model adopts a pneumatic clamping jaw module to clamp kelp winding and knotting, the pneumatic clamping jaw module mainly adopts two crossed pneumatic fingers to drive the left claw finger and the right claw finger of the cantilever structure to close and clamp the kelp strip, the opening formed by the left claw finger and the right claw finger is opposite to the kelp strip on the clamping mechanism, when the clamping action occurs, the left claw finger and the right claw finger directly clamp the kelp strip from both sides, effectively avoiding the damage of the kelp caused by the insertion and piercing; and the first pneumatic clamping jaw and the second pneumatic clamping jaw grab the two ends of the kelp strip to pass through the kelp ring to form a kelp knot, the action is simple, the clamping jaw grabbing speed is fast and stable, the kelp knotting efficiency is improved, and the damage to the kelp strip caused by the redundant action is avoided. BRIEF DESCRIPTION OF DRAWINGS

[0010] Figure 1 It is a structure schematic view of the kelp knotting device;

[0011] Figure 2 It is a top view of the kelp knotting device;

[0012] Figure 3 It is a structure schematic view of the auxiliary knotting mechanism;

[0013] Figure 4 It is a structure schematic view of the first auxiliary vertical plate of the auxiliary knotting mechanism;

[0014] Figure 5 It is a structure schematic view of the first clamping structure;

[0015] Figure 6 It is a structure schematic view of the pneumatic clamping jaw module;

[0016] Figure 7 It is a structure schematic view of the driving mechanism;

[0017] Figure 8 It is a sectional view of the friction wheel one-way shaft module;

[0018] Figure 9 It is an assembly schematic view of the kelp knotting device;

[0019] Figure 10 It is a kelp knotting winding state diagram. DETAILED DESCRIPTION

[0020] The utility model will be further explained in combination with the drawings of the specification, so that the person skilled in the art can better understand.

[0021] Embodiment 1

[0022] As Figures 1-10 The first pneumatic clamping jaw 301 is connected with the driving mechanism 6 through the first connecting mechanism at the left end, and the first pneumatic clamping jaw 301 is fixedly connected with the first left claw finger 304 and the first right claw finger 305 through the clamping fingers of the first pneumatic finger 303 at the right end. The first left claw finger 304 and the first right claw finger 305 are driven to open and close to clamp the kelp strip by the first pneumatic finger 303. The first pneumatic clamping jaw 301 and the right end of the second pneumatic clamping jaw 302 are in a crossed state, and the first pneumatic clamping jaw 301 is located above the second pneumatic clamping jaw 302. The clamping end of the first pneumatic clamping jaw 301 is opposite to the second clamping mechanism 204 of the auxiliary knotting mechanism 2, and the clamping end of the second pneumatic clamping jaw 302 is opposite to the first clamping mechanism 203 of the auxiliary knotting mechanism 2.

[0023] The first connecting mechanism includes a first rack 306. The right end of the first rack 306 is fixedly connected with the first pneumatic clamping jaw 301 through a first connecting block 307. The left end of the first rack 306 is connected with a first linear guide rail 309 through a first sliding block 308 at the back. The front of the first rack 306 is connected with the output end of the driving mechanism 6. The back of the first linear guide rail 309 is connected with a support 5 through an angle adjusting block 310. The angle adjusting block 310 is used for supporting and stabilizing the first linear guide rail 309, so as to ensure that the first rack 306 moves linearly along the first linear guide rail 309.

[0024] The second pneumatic clamping jaw 302 has the same structure as the first pneumatic clamping jaw 301, and is connected to the driving mechanism through a second connecting mechanism, which has the same structure as the first connecting mechanism. The driving mechanism drives the first rack and the second rack to move left or right, thereby driving the first pneumatic clamping jaw and the second pneumatic clamping jaw to move left or right. When the first pneumatic clamping jaw 301 and the second pneumatic clamping jaw 302 move right to the position, the clamping ends of the first pneumatic clamping jaw 301 and the second pneumatic clamping jaw 302 are in a crossed state, and the first pneumatic clamping jaw 301 is above the second pneumatic clamping jaw 302. The clamping end of the first pneumatic clamping jaw 301 is opposite to the second clamping mechanism 204, and the clamping end of the second pneumatic clamping jaw 302 is opposite to the first clamping mechanism 203. When the first pneumatic clamping jaw 301 and the second pneumatic clamping jaw 302 move left to the position, the clamping ends of the first pneumatic clamping jaw 301 and the second pneumatic clamping jaw 302 are separated at a set angle and have a set distance. When the clamping action occurs, the left claw finger and the right claw finger directly clamp the two sides of the kelp strip, effectively avoiding damage to the kelp caused by insertion and piercing. The first pneumatic clamping jaw and the second pneumatic clamping jaw grab the two ends of the kelp strip to pass through the kelp ring to form a kelp knot, the action is simple, the clamping speed of the clamping jaw is fast and stable, the kelp knotting efficiency is improved, and damage to the kelp strip caused by excessive action is avoided. The pneumatic clamping jaw is used as a power source, the clamping jaws overlap each other to clamp the two ends of the kelp to knot, the action is simpler, the clamping speed of the clamping jaw is faster and more stable, the success rate is higher, and the kelp knotting efficiency is improved.

[0025] In order to ensure the stability of the movement of the first pneumatic clamping jaw 301 and the second pneumatic clamping jaw 302, the first pneumatic clamping jaw 301 and the second pneumatic clamping jaw 302 are respectively connected to the first sliding groove 701 and the second sliding groove 702 on the air claw support plate 7 through the first support bull's eye wheel 311 and the second support bull's eye wheel 312. The air claw support plate 7 is vertically arranged on the main body bottom plate 1, a slot 703 is formed in the middle of the air claw support plate 7, a limiting groove 101 is arranged on the main body bottom plate 1 corresponding to the position of the slot 703, and a kelp collecting bin 8 is placed on the limiting groove 101.

[0026] The kelp knotting machine comprises a main body bottom plate 1, an auxiliary knotting module 2, a pneumatic clamping jaw module 3, a feeding module 4, a support 5 and a driving mechanism 6. The support 5 is installed at the left end of the main body bottom plate 1 and is used for installing the pneumatic clamping jaw module 3, the feeding module 4 and the driving mechanism 6. The auxiliary knotting module 2 is installed at the right end of the main body bottom plate 1 and is used for clamping the two ends of the kelp strip and rotating to form a crossed ring. One end of the pneumatic clamping jaw module 3 is installed on the support 5 at the left end of the main body bottom plate 1, and the other end extends to the pneumatic clamping jaw module 2. The pneumatic clamping jaw module 3 is used for clamping the two ends of the ring-shaped kelp strip and moving to make the end of the kelp strip pass through the middle of the ring-shaped kelp strip to be knotted. The feeding module 4 is installed above the pneumatic clamping jaw module 3 and is used for conveying the kelp strip from the left end of the main body bottom plate 1 to the right end opposite to the auxiliary knotting module 2, so that the auxiliary knotting module 2 clamps the two ends of the kelp strip.

[0027] The auxiliary knotting module 2 comprises a first auxiliary vertical plate 201, a second auxiliary vertical plate 202, a first clamping mechanism 203 and a second clamping mechanism 204. The first auxiliary vertical plate 201 is provided with an arc-shaped first gap 2011 at the lower part. The first gap 2011 is provided with a first guide rail 2012. The first guide rail 2012 is slidingly connected with a first slider 2013 matched with the first guide rail 2012. The first slider 2013 is fixedly installed with the first clamping mechanism 203. The first clamping mechanism 203 is connected with a first driver 205. The first driver 205 drives the first clamping mechanism 203 to slide along the first guide rail 2012. The bottom of the first slider 2013 is provided with a T-shaped groove matched with the arc-shaped T-shaped sliding part of the first guide rail 2012, so as to limit the sliding of the first slider 2013 along the first guide rail 2012 and avoid slipping. The upper part of the second auxiliary vertical plate 202 is provided with an arc-shaped second gap 2021. The second gap 2021 is provided with a second guide rail 2022. The second guide rail 2022 is slidingly connected with a second slider 2023 matched with the second guide rail 2022. The second slider 2023 is fixedly installed with the second clamping mechanism 204. The second clamping mechanism 204 is connected with a second driver. The second driver drives the second clamping mechanism 204 to slide along the second guide rail 2022. The bottom of the second slider 2023 is provided with a T-shaped groove matched with the arc-shaped T-shaped sliding part of the second guide rail 2022, so as to limit the sliding of the second slider 2023 along the second guide rail 2022 and avoid slipping. The first guide rail 2012 and the second guide rail 2022 are in a crossed state in space. The top left end of the first guide rail 2012 is opposite to the lower left end of the second guide rail 2022. When the first clamping mechanism 203 is located at the top left end of the first guide rail 2012 and the second clamping mechanism 204 is located at the lower left end of the second guide rail 2022, the openings of the first clamping mechanism 203 and the second clamping mechanism 204 are opposite to the discharge port of the feeding module 4, so as to achieve the purpose of accurately clamping the head end and the tail end of the kelp strip by the first clamping mechanism 203 and the second clamping mechanism 204, respectively. After moving, the kelp strip is driven to form a ring shape with the two ends crossed. The auxiliary knotting mechanism moves along the first guide rail and the second guide rail through the first clamping mechanism and the second clamping mechanism, realizes the stable clamping of the kelp and moves up and down to quickly form a ring, and the kelp ring has a controlled space and the positions of the two ends of the kelp strip are staggered, which is beneficial to the clamping and knotting of the subsequent pneumatic clamping jaw module 3, improves the knotting success rate and knotting efficiency.

[0028] The first driver 205 comprises a first driving wheel 2051, a first head orientation wheel 2052, a first tail orientation wheel 2053 and a first driving rope 2054. The first driving wheel 2051 is installed at the middle part of the outer side of the first auxiliary vertical plate 201 and is connected with the output shaft of the first driving motor 2055. The first driving motor 2055 is installed at the inner side of the first auxiliary vertical plate 201. The first head orientation wheel 2052 and the first tail orientation wheel 2053 are respectively rotationally connected with the first head mounting shaft 2056 and the first tail mounting shaft 2057. The first head mounting shaft 2056 and the first tail mounting shaft 2057 are respectively fixedly installed at the outer side of the first auxiliary vertical plate 201 and are located at the head end and the tail end of the first guide rail 2012. The middle part of the first driving rope 2054 is fixedly connected with the first driving wheel 2051. The two ends of the first driving rope 2051 are respectively wound around the first head orientation wheel 2052 and the first tail orientation wheel 2053 and are then connected with the two sides of the first clamping mechanism 203. The first head orientation wheel 2052 and the first tail orientation wheel 2053 are both provided with grooves for accommodating the first driving rope 2054, so as to prevent the first driving rope 2054 from slipping off. The first driving motor 2055 is rotationally driven to rotate the first driving wheel 2051, so that the first driving rope 2054 on the two sides is retracted or elongated, thereby driving the first clamping mechanism 203 to move upward or downward along the first guide rail 2012. The second driver is the same as the first driver in structure and is installed on the second auxiliary vertical plate 202.Further, the first clamping mechanism 203 comprises a first fixed auxiliary clamping plate 2031, a first movable auxiliary clamping plate 2032 and a first electromagnet 2033. The first fixed auxiliary clamping plate 2031 comprises a first fixed auxiliary clamping plate bottom plate 20311 and first fixed auxiliary clamping plate long side plates 20312 and first fixed auxiliary clamping plate short side plates 20313 vertically arranged upwards at both ends of the first fixed auxiliary clamping plate bottom plate 20311. The first fixed auxiliary clamping plate bottom plate 20311 is fixedly installed on the top end surface of the first sliding block 2013. The first fixed auxiliary clamping plate short side plates 20313 are located outside the first auxiliary vertical plate 201 and a strip-shaped gap 20314 is formed in the lower part of the first fixed auxiliary clamping plate short side plates 20313. The strip-shaped gap 20314 is in a U shape and penetrates through one end of the first fixed auxiliary clamping plate short side plates 20313. The first movable auxiliary clamping plate 2032 comprises a first movable auxiliary clamping plate bottom plate 20321. The first movable auxiliary clamping plate bottom plate 20321 penetrates through the first fixed auxiliary clamping plate short side plates 20313 through the strip-shaped gap 20314 and is provided with a first movable auxiliary clamping plate long side plate 20322 upwards at the inner end and a first movable auxiliary clamping plate short side plate 20323 downwards at the outer end. An opening is formed between the first movable auxiliary clamping plate long side plate 20322 and the first fixed auxiliary clamping plate long side plate 20312 for clamping the kelp strips. The first movable auxiliary clamping plate long side plate 20322 is fixedly connected with a first clamping plate left mounting shaft 2034 and a first clamping plate right mounting shaft 2035 outside. The other ends of the first clamping plate left mounting shaft 2034 and the first clamping plate right mounting shaft 2035 penetrate through the first fixed auxiliary clamping plate short side plates 20313 and are movably connected therewith. A first left tension spring 2036 and a first right tension spring 2037 are respectively sleeved on the first clamping plate left mounting shaft 2034 and the first clamping plate right mounting shaft 2035. The two ends of the first left tension spring 2036 and the first right tension spring 2037 are fixedly connected with the first fixed auxiliary clamping plate short side plates 20313 and the first movable auxiliary clamping plate long side plate 20322, respectively. The first electromagnet 2033 is fixedly installed outside the first sliding block 2013 and is connected with the first movable auxiliary clamping plate short side plate 20323 through magnetic attraction. The first electromagnet 2033 attracts the first movable auxiliary clamping plate short side plate 20323 when powered on, so that the first movable auxiliary clamping plate long side plate 20322 moves inward and closes the first fixed auxiliary clamping plate long side plate 20312 to clamp the kelp strips. When the first electromagnet 2033 is powered off, the elastic restoring force of the first left tension spring 2036 and the first right tension spring 2037 makes the first movable auxiliary clamping plate short side plate 20323 pop outwards, driving the first movable auxiliary clamping plate long side plate 20322 to move outward and loosen the first fixed auxiliary clamping plate long side plate 20312. The second clamping mechanism 204 has the same structure as the first clamping mechanism 203.

[0029] The feeding module 4 is installed on the support 5 at the left end and extends to the auxiliary knotting module 2 at the right end. The support 5 comprises a first vertical plate 501, a second vertical plate 502, a friction wheel mounting plate 503 and a motor fixing plate 504. The first vertical plate 501 and the second vertical plate 502 are vertically installed in parallel and at intervals on the upper end face of the main body bottom plate 1. The friction wheel mounting plate 503 is fixedly arranged at the top end of the first vertical plate 501 and the second vertical plate 502. The motor fixing plate 504 is installed in the middle part of the first vertical plate 501 and the second vertical plate 502. The driving mechanism 6 of the feeding module 4 and the pneumatic gripper module 3 is integrated, which is installed on the motor fixing plate 504 and the friction wheel mounting plate 503 of the support 5. The driving mechanism 6 not only saves energy, but also improves the continuity of action, reduces the equipment arrangement and improves the compactness of the equipment structure.

[0030] In order to adapt to the production demand and improve the clamping accuracy of the pneumatic gripper module 2 on the kelp strips, the motor fixing plate 504 is symmetrically provided with an arc-shaped first angle adjusting groove 5041 and a second angle adjusting groove outside the driving gear and the driven gear. The bottom end of the first angle adjusting block 309 is embedded into the motor fixing plate through the first angle adjusting groove 5041 and is fixed by bolts. The bottom end of the second angle adjusting block is embedded into the motor fixing plate through the second angle adjusting groove and is fixed by bolts.

[0031] The feeding module 4 comprises a driving friction wheel 401, a driven friction wheel 402 and a kelp conveying plate 403, the driving friction wheel 401 and the driven friction wheel 402 are arranged side by side below a friction wheel mounting plate 503, and a gap for accommodating the passing of the kelp strip exists between the two, the kelp is conveyed by the friction force of the driving friction wheel 401 and the driven friction wheel 402; the inner ring of the driving friction wheel 401 is fixedly connected with a friction wheel one-way shaft module 404 through a shaft coupling, the friction wheel one-way shaft module 404 is provided with a one-way locking structure, and only the driving friction wheel is allowed to rotate in one direction, the friction wheel one-way shaft module 404 is connected with a driving mechanism 6 and rotatably connected with a motor fixed plate 504 at the bottom end through a flange bearing, the top end of the friction wheel one-way shaft module 404 is rotatably connected with the friction wheel mounting plate 503 through a flange bearing and a rotary encoder 405 is installed at the top end, the rotation number of the driving friction wheel is controlled by setting the rotary encoder, so as to control the output length of the kelp strip; the inner ring of the driven friction wheel 402 is fixedly connected with a friction wheel fixed short shaft 406, the top end of the friction wheel fixed short shaft 406 is rotatably connected with the friction wheel mounting plate 503 through a flange bearing, and the lower end penetrates through the kelp conveying plate 403, the head end of the kelp conveying plate 403 is located below the driving friction wheel 401 and the driven friction wheel 402 and extends leftwards to be provided with a feeding port 4031, circular holes 4032 are formed in the kelp conveying plate 403 corresponding to the driving friction wheel 401 and the driven friction wheel 402, so as to prevent interference with the rotation of the two, supporting plates 4033 are outwardly arranged on the two sides of the kelp conveying plate 403 and fixedly connected with the friction wheel mounting plate 503, so as to ensure the structural stability of the kelp conveying plate 403; the tail end of the kelp conveying plate 403 extends to the auxiliary knotting module 2 and is provided with a discharge port 4034, a kelp shearing mechanism 407 is installed at the discharge port 4034, for shearing the kelp, so that the kelp is in the form of a kelp strip with a length of 15-18 cm, the kelp strip is in the form of a straight strip, which is beneficial to the rapid clamping movement of the auxiliary knotting mechanism and improves the knotting efficiency.

[0032] The driving mechanism 6 comprises a stepping motor 601, a driving gear 602 and a driven gear 603, the stepping motor 601 is installed below a motor fixed plate 604, the output shaft of the stepping motor 601 penetrates through the motor fixed plate 504 and is connected with the driving gear 602, so as to drive the rotation of the driving gear 602, the driven gear 603 is installed on one side of the driving gear 602 and meshes with the driving gear 602, the inner ring of the driven gear 803 is fixedly connected with the friction wheel one-way shaft module 404, and the driven gear 803 rotates at the same time, so as to drive the driving friction wheel 401 to rotate synchronously through the friction wheel one-way shaft module 404 (except when the stepping motor reverses) ; the stepping motor 601 is adopted as a power source, the rotation of the stepping motor 601 drives the driving gear 602 to drive the driven gear 603 to rotate synchronously, the synchronous transmission of the mutually meshed driving gear 602 and driven gear 603 supplies power to the feeding module 4 and the pneumatic jaw module 3 at the same time, which not only guarantees the consistency of the action and improves the efficiency, but also enhances the connection compactness between the components and improves the portability of the device.

[0033] The auxiliary knotting module 2, the pneumatic clamping jaw module 3 and the feeding module 4 are provided with a shell 9, the bottom end of the shell 9 is fixedly connected with the main body bottom plate 1 by screws, the device is covered in the shell 9, and the front and side surfaces of the shell 9 are provided with operation openings 901, so that the kelp is fed and taken out of the kelp collecting bin 8.

[0034] Working principle:

[0035] In the first step, initially, the first clamping mechanism 203 is located at the top left end of the first guide rail 2012, and the second clamping mechanism 204 is located at the lower left end of the second guide rail 2022. Both the first clamping mechanism 203 and the second clamping mechanism 204 are kept in an open state. The step motor 601 is turned in the forward direction, and the kelp strip is placed into the gap between the driving friction wheel 401 and the driven friction wheel 402. The kelp strip moves to the right along the kelp conveying plate 403 by the pushing force of the driving friction wheel 401 and the driven friction wheel 402 until the head end of the kelp strip falls between the second fixed auxiliary clamping plate and the second movable auxiliary clamping plate of the second clamping mechanism 204. At this time, the kelp strip has moved a set distance set by the rotary encoder 405, and the tail end of the kelp strip is located between the first fixed auxiliary clamping plate 2031 and the first movable auxiliary clamping plate 2032. The kelp shearing mechanism 407 at the tail end of the kelp conveying plate 203 cuts off the kelp strip;

[0036] At the same time, the first fixed auxiliary clamping plate 2031 and the first movable auxiliary clamping plate 2032 are closed by the magnetic force of the first electromagnet 2033 and clamp the upper end of the kelp strip. Similarly, the second fixed auxiliary clamping plate and the second movable auxiliary clamping plate are closed by the magnetic force of the second electromagnet and clamp the lower end of the kelp strip.

[0037] In the second step, after clamping the two ends of the kelp strip, the first drive motor 2055 serves as a power source to drive the first drive rope 2054 to move the first clamping mechanism 203 along the first guide rail 2012 within the range limited by the first head directional wheel 2052 and the first tail directional wheel 2053, so that the head end of the kelp strip moves upward. Similarly, the second drive motor serves as a power source to drive the second rope to move the second clamping mechanism along the second guide rail within the range limited by the second head directional wheel and the second tail directional wheel, so that the tail end of the kelp strip moves downward. Since the first guide rail and the second guide rail are in a cross shape and are arc-shaped, the kelp strip is twisted into a coil, and the tail end of the kelp strip is located behind the head end and in the lower part.

[0038] Meanwhile, the stepper motor 601 reverses, the first rack 306 and the second rack respectively drive the first sliding block 307 and the second sliding block to move right, thereby driving the first pneumatic gripper 301 and the second pneumatic gripper 302 to move right, and the two have different installation heights; at the end of the second step, the first pneumatic gripper 301 and the second pneumatic gripper 302 form a cross shape, the first pneumatic gripper 301 is above, the second pneumatic gripper is below, the head end of the kelp strip is just moved between the first left gripper fingers 304 and the first right gripper fingers 305 of the first pneumatic gripper 301, and the tail end of the kelp strip is just moved between the second left gripper fingers and the second right gripper fingers of the second pneumatic gripper;

[0039] In the third step, the first pneumatic fingers 303 of the first pneumatic gripper 301 drive the first left gripper fingers 304 and the first right gripper fingers 305 to close and clamp the head end of the kelp strip, and the second pneumatic fingers of the second pneumatic gripper 302 drive the second left gripper fingers and the second right gripper fingers to close and clamp the tail end of the kelp strip; after clamping, the first electric magnet 3055 and the second electric magnet lose magnetic attraction after being powered off, the first dynamic auxiliary clamping plate 2032 moves outward under the action of the pulling force of the first left tension spring 2036 and the first right tension spring 2037, the second dynamic auxiliary clamping plate moves outward under the action of the pulling force of the second left tension spring and the second right tension spring, so that the first clamping mechanism 203 and the second clamping mechanism 204 loosen the clamping of the kelp strip, and then, under the driving of the first driving motor and the second driving motor, the first clamping mechanism 203 returns to the left end of the top of the first guide rail 2012, and the second clamping mechanism 204 returns to the left end of the lower part of the second guide rail 2022; the stepper motor 601 rotates forward, the first rack and the second rack respectively drive the first pneumatic gripper 301 and the second pneumatic gripper 302 to move left, wherein the first pneumatic gripper 301 clamps the head end of the kelp strip to move left through the kelp strip ring, and the second pneumatic gripper clamps the tail end of the kelp strip to move left through the kelp strip ring, and as the distance between the first pneumatic gripper 301 and the second pneumatic gripper 302 is pulled apart, the two ends of the kelp strip are pulled outward to complete the knot;

[0040] In the fourth step, after the kelp knot is completed, the first pneumatic fingers 303 drive the first left gripper fingers 304 and the first right gripper fingers 305 to open, and the second pneumatic fingers drive the second left gripper fingers and the second right gripper fingers to open, and the kelp after knotting will fall into the kelp collection bin 8 for collection for subsequent packaging work;

[0041] In the third step, the second kelp strip can enter the gap between the driving friction wheel 401 and the driven friction wheel 402 according to the first step, so as to prepare for knotting the second kelp, thereby forming a complete cycle rhythm for knotting kelp; when the stepper motor 601 reverses, the driving friction wheel 401 does not rotate due to the use of the friction wheel one-way shaft module 404, and the stepper motor 601 rotates forward to start feeding.

[0042] The above-described embodiments are merely preferred embodiments of the present application, and are not intended to limit the scope of the present application. Without departing from the design spirit and principles of the present application, various modifications and improvements to the technical solutions of the present application made by those skilled in the art shall fall within the protection scope of the present application as defined by the claims.

Claims

1. A clamping mechanism for a kelp knotter, characterized in that, The utility model relates to a kelp cutting device, including the pneumatic claw module (3) installed on the main body bottom plate (1), the pneumatic claw module (3) includes first pneumatic claw (301) and second pneumatic claw (302), first pneumatic claw (301) left end is connected with drive mechanism (6) through first connecting mechanism, and right end is fixedly connected first left claw finger (304) and first right claw finger (305) through the clamping finger of first pneumatic finger (303), and first left claw finger (304) and first right claw finger (305) are driven to open and close the kelp strip of first pneumatic finger (303), and the structure of second pneumatic claw (302) is same with first pneumatic claw (301), and the right end of first pneumatic claw (301) and second pneumatic claw (302) is in the cross state, and first pneumatic claw (301) is located above second pneumatic claw (302), and the clamping end of first pneumatic claw (301) is opposite to second clamping mechanism (204), and the clamping end of second pneumatic claw (302) is opposite to first clamping mechanism (203).

2. The gripping mechanism for the kelp knotter machine according to claim 1, wherein, The first connecting mechanism includes first rack (306), and the right end of first rack (306) is fixedly connected with first pneumatic claw (301) through first connecting block (307), and the left end back is connected with first linear guide (309) through first sliding block (308), and the front is connected with the output end of drive mechanism (6), and the structure of second connecting mechanism is same with first connecting mechanism.

3. The gripping mechanism for the kelp knotter machine according to claim 2, wherein, The drive mechanism (6) includes step motor (601), driving gear (602) and driven gear (603), and step motor (601) is installed below motor fixed plate (504), and motor fixed plate (504) two ends are fixedly connected first vertical plate (501) and second vertical plate (502) respectively, and first vertical plate (501) and second vertical plate (502) are vertically erected on the main body bottom plate (1), and the output shaft of step motor (601) is connected driving gear (602) after being upwardly through motor fixed plate (504), and driven gear (603) is installed on one side of driving gear (602) and is engaged with driving gear (602), and driving gear (602) and driven gear (603) are connected first rack and second rack respectively.

4. The gripping mechanism for the kelp knotter machine according to claim 2, wherein, The first pneumatic claw (301) and second pneumatic claw (302) are slidably connected with first sliding groove (701) and second sliding groove (702) on the claw support plate (7) through first support bull's eye wheel (311) and second support bull's eye wheel respectively, and the claw support plate (7) is vertically erected on the main body bottom plate (1).

5. The gripping mechanism for the kelp knotter machine according to claim 4, wherein, The claw support plate (7) is provided with a slot (703) in the middle, and the main body bottom plate (1) is provided with a limiting groove (101) corresponding to the slot (703), and the limiting groove (101) is provided with a kelp collecting bin (8).

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