CN104770779A - Kelp knot tying machine and knot tying method - Google Patents
Kelp knot tying machine and knot tying method Download PDFInfo
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- CN104770779A CN104770779A CN201510178539.0A CN201510178539A CN104770779A CN 104770779 A CN104770779 A CN 104770779A CN 201510178539 A CN201510178539 A CN 201510178539A CN 104770779 A CN104770779 A CN 104770779A
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Abstract
The invention belongs to the field of food processing mechanical equipment, and particularly relates to a kelp knot tying machine applied to kelp processing operation and a knot tying method. The kelp knot tying machine comprises a rack, a PLC control system and an air actuated control system, wherein a feeding device, a material conveying device, a knot tying device and a cutting device are arranged on the rack. According to the kelp knot tying machine, the disc type feeding device driven by a step motor and three pairs of knot tying fingers, which form a unique cutter structure, are closely matched to simulate the manual knot tying process to complete the kelp knot tying and quick and convenient cutting, so that the knot tying efficiency, the success and the consistency are effectively improved. Meanwhile, the design of the parts abides by the principles of serialization, universalization and standardization, so that the manufacturing, the mounting and the maintenance of the equipment become simple and quick.
Description
Technical field
The invention belongs to field of food processing machinery and equipment, specifically, relate to a kind of machine for knotting sea-tangle and the knotting method of applying kelp processing operation.
Background technology
Sea-tangle, as a kind of important cuisines, has the great market demand at home and abroad.In China east, Coastal Area of Northern, the sea-tangle after knotting is sold to all over the world, and be one of important export-oriented commodity in this area, only the every annual export volume in Eastern Shandong coastal area reaches few hundred thousand tonnes of.The knotting of sea-tangle has great importance for the development of marine product industrial economy.
At present, sea-tangle knotting is main relies on manually free-hand completing, and knotting efficiency is low, and recruitment cost is high.Meanwhile, because sea-tangle is in humidity, saline-alkali environment, the health corrosion attack of this environment to workman is very serious, work long hours, the finger of workman just there will be distortion, loss of finger-nail, affects workman healthy, there is the problem of recruitment difficulty, become the major obstacle of restriction sea-tangle outlet.At present, machine for knotting sea-tangle mainly contains three kinds, and two kinds of types of school district, Harbin Institute of Technology Weihai development and a kind of type of Fujian development, above type has all occurred being knotted into the low problem of power, affects product quality and output.
Summary of the invention
The object of the present invention is to provide a kind of efficiency of tiing a knot is high, success rate is high machine for knotting sea-tangle and knotting method.
Technical scheme of the present invention is: machine for knotting sea-tangle, comprises frame, and frame is provided with:
Feeding device, sea-tangle is placed on feeding device, is transported to specified altitude assignment position by feeding device;
Device for transporting objects, comprises mass transport clamping finger, material laying railway track, conveying device propelling movement cylinder, leading screw and motor, leading screw is provided with screw slider, screw slider is provided with conveying device and pushes cylinder; Motor drives screw turns, and screw slider can move back and forth along leading screw, and drive conveying device to push cylinder and move back and forth, conveying device pushes cylinder and is connected with mass transport clamping finger, can control mass transport clamping finger and move up and down, clamping sea-tangle; Described conveying device pushes the top that cylinder is positioned at material laying railway track;
Knotting device: comprise the first pneumatic gripping device, the second pneumatic gripping device and the 3rd pneumatic gripping device; Described first pneumatic gripping device and leading screw and material laying railway track are arranged side by side, and comprise reciprocating motion plate, move back and forth plate and are connected with and move back and forth plate thrust unit, can promote to move back and forth plate horizontal and vertical motion in plane of movement; Move back and forth on plate and be provided with the first Pneumatic clamping parts, comprise the first clamping finger, be positioned at material laying railway track one end away from feeding device, all around can move in space with reciprocating motion plate, clamping sea-tangle, also can move up and down; Described second pneumatic gripping device is positioned at the left front of the first pneumatic gripping device, comprises the second clamping finger, and the second clamping finger upright position peak, higher than the first clamping finger upright position peak, can move forwards, backwards; Described 3rd pneumatic gripping device is between the first pneumatic gripping device and the second pneumatic gripping device, the upper left side of the first pneumatic gripping device, comprise the 3rd clamping finger, 3rd clamping finger can seesaw and move up and down, and the 3rd clamping finger upright position peak is between the first clamping finger upright position peak and the second clamping finger upright position peak;
Cutter sweep: for cutting the sea-tangle of having tied a knot, comprises cutting cylinder and cutter, and the cylinder rod of cutting cylinder is connected with cutter, and cutter sweep is arranged on the first pneumatic gripping device, and the horizontal level of cutter is parallel with the horizontal level of the first clamping finger;
PLC control device; For controlling the work of feeding device, device for transporting objects, knotting device and cutter sweep;
Atmospheric control: control conveying device and push cylinder, the first pneumatic gripping device, the work of the second pneumatic gripping device and the 3rd pneumatic gripping device.
Preferably: feeding device comprises support, support is provided with material loading disk, material loading disk is connected with stepper motor, and stepper motor drives material loading disk rotational; Circumferential edges along material loading disk has notch, and notch place is provided with elastic pressuring plate; Sea-tangle, around disk circumference, is pushed down by notch elastic pressuring plate; Device for transporting objects is positioned at the side of material loading disk card.
Preferably: move back and forth plate thrust unit and comprise Lateral Thrust Unit and longitudinal thrust unit, Lateral Thrust Unit comprises the transverse direction promotion cylinder being arranged on and moving back and forth plate lateral end; Longitudinal thrust unit comprises the longitudinal direction promotion cylinder being arranged on and moving back and forth plate width side; Laterally promote cylinder to be all connected with atmospheric control with longitudinal cylinder that promotes.
Preferably: move back and forth plate and be arranged on motion guide rail, move along motion guide rail is horizontal and vertical.
Preferably: the first Pneumatic clamping parts comprise the first clamping propelling movement cylinder being arranged on and moving back and forth on plate, the cylinder rod that first clamping pushes cylinder is connected with the first gripper cylinder by connecting plate, first gripper cylinder connects the first clamping finger, controls the first clamping finger and completes holding action; Described cutting cylinder is arranged on connecting plate, interval 1mm between described cutter and the first clamping finger; First clamping propelling movement cylinder, the first gripper cylinder, cutting cylinder are all connected with atmospheric control.
Preferably: the second clamping device comprises the second clamping and pushes cylinder, second clamping pushes cylinder and is arranged in frame by column, the cylinder rod that second clamping pushes cylinder is connected with the second gripper cylinder through link, second gripper cylinder connects the second clamping finger, controls the second clamping finger and completes holding action; Second clamping pushes cylinder, the equal atmospheric control of the second gripper cylinder is connected.
Preferably: the 3rd clamping device comprises the 3rd level and pushes cylinder, the 3rd vertically propelling movement cylinder and the 3rd gripper cylinder, 3rd level pushes cylinder and is arranged in frame, its cylinder rod vertically pushes cylinders through link and the 3rd, 3rd cylinder rod vertically pushing cylinder is connected with the 3rd gripper cylinder through link, 3rd gripper cylinder connects the 3rd clamping finger, controls the 3rd clamping finger and completes holding action; 3rd level pushes cylinder, the 3rd vertical cylinder that pushes all is connected with atmospheric control with the 3rd gripper cylinder.
Sea-tangle knotting method, comprises the following steps:
A, be placed on feeding device by sea-tangle, feeding device drives sea-tangle to move to assigned address;
B, motor drive screw turns, drive slide block movement, thus drive conveying device propelling movement cylinder to move towards the direction of feeding device, when moving to feeding device position, conveying device pushes cylinder control mass transport clamping finger and moves up and down, and finds sea-tangle position accurately, clamping sea-tangle, rear slider move in the opposite direction, sea-tangle is tiled on material laying railway track;
C, the first pneumatic gripping device laterally move near the position of material laying railway track, lengthwise movement is afterwards to material laying railway track place, first clamping finger clamping sea-tangle, mass transport clamping finger unclamps sea-tangle, first pneumatic gripping device laterally moves to the direction away from material laying railway track afterwards, crosses the second pneumatic gripping device;
D, the second clamping finger move forward to directly over sea-tangle;
E, the first clamping finger move upward, and reciprocating motion strip is moved the first clamping finger and moved to the 3rd clamping finger place to the direction near material laying railway track afterwards;
F, the 3rd clamping finger take over the sea-tangle in the first clamping finger, first move backward, then move downward, pass on the downside of sea-tangle;
G, the first clamping finger move to the direction of principle the 3rd clamping finger, then move downward, and be positioned at same level height, from the 3rd clamping finger, take over sea-tangle to the 3rd clamping finger;
H, the first clamping finger are clamped sea-tangle and are moved upward, then move to the second clamping finger place left, and be positioned at same perpendicular with the second clamping finger, the second clamping finger clamps sea-tangle, moves backward, knotting;
I, cutter move, and cut kelp knot.
The invention has the beneficial effects as follows:
Have employed original creation the disc type feeding device driven by stepping motor, three refer to complete sea-tangle knotting, cutting unique cutter structure quickly and easily by close fit simulating hand knotting process to knotting, effectively raise knotting efficiency, success rate, continuity.Meanwhile, seriation, generalization, standardized principle have been observed in the design of each parts of the present invention, make the manufacture of equipment, installation, maintenance etc. become simple and fast.Having gathered above-mentioned advantage makes this kelp automatic knot tying machine prospect very wide.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is the main TV structure schematic diagram of the present invention.
Fig. 3 is plan structure schematic diagram of the present invention.
Fig. 4 is the left TV structure schematic diagram of the present invention.
Wherein, 1-material loading disk; 2-stepping motor; 3-laterally promotes cylinder; 4-moves back and forth plate; 5-longitudinally promotes cylinder; 6-motion guide rail; 7-first clamps and pushes cylinder; 8-cuts cylinder; 9-the 3rd level pushes cylinder; 10-the 3rd vertically pushes cylinder; 11-second clamps and pushes cylinder; 12-the 3rd gripper cylinder; 13-first gripper cylinder; 14-conveying device pushes cylinder; 15-material laying railway track; 16-leading screw; 17-motor; 18-cutter; 19-first clamping finger; 20-second clamping finger; 21-the 3rd clamping finger; 22-second gripper cylinder; 23-mass transport clamping finger; 24-screw slider; 25-elastic pressuring plate; 26-notch.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be further described in detail.
Machine for knotting sea-tangle, comprises frame, PLC control system and atmospheric control, frame is provided with feeding device, device for transporting objects, knotting device and cutter sweep:
Feeding device, feeding device comprises support by support installing in the frame of machine for knotting sea-tangle, and support is provided with material loading disk 1, material loading disk 1 is connected with stepper motor 2, and stepper motor 2 drives material loading disk 1 to rotate; Circumferential edges along material loading disk 1 has notch 26, and notch 26 place is provided with elastic pressuring plate 25; During work, sea-tangle is placed on feeding device, and sea-tangle is wrapped in the circumference of material loading disk 1, is pushed down by notch 26 elastic pressuring plate 25, fixing, is transported to specified altitude assignment position by material loading disk 1.
Device for transporting objects, is positioned at the side of material loading disk 1 card; Comprise mass transport clamping finger 23, material laying railway track 15, conveying device propelling movement cylinder 14, leading screw 16 and motor 17, leading screw 16 is arranged side by side with the direction of material laying railway track 15 along vertical material loading disk 1 card, leading screw 16 is provided with screw slider 24, screw slider 24 is provided with conveying device and pushes cylinder 14; During work, motor 17 drives leading screw 16 to rotate, screw slider 24 can move back and forth along leading screw 16, and drive conveying device to push cylinder 14 and move back and forth, conveying device pushes cylinder 14 and is connected with mass transport clamping finger 23, mass transport clamping finger 23 can be controlled move up and down, clamping sea-tangle; Conveying device pushes the top that cylinder 14 is positioned at material laying railway track 15.
Knotting device: comprise the first pneumatic gripping device, the second pneumatic gripping device and the 3rd pneumatic gripping device.
First pneumatic gripping device and leading screw 16 and material laying railway track 15 are arranged side by side, and comprise and move back and forth plate 4 and be arranged on the first Pneumatic clamping parts moved back and forth on plate 4.Move back and forth plate 4 and be connected with reciprocating motion plate thrust unit, can promote to move back and forth plate horizontal and vertical motion in plane of movement; Move back and forth plate thrust unit and comprise Lateral Thrust Unit and longitudinal thrust unit, Lateral Thrust Unit comprises the transverse direction promotion cylinder 3 being arranged on and moving back and forth plate 4 lateral end; Longitudinal thrust unit comprises the longitudinal direction promotion cylinder 5 being arranged on and moving back and forth plate 4 width side; Laterally promote cylinder 3 to be all connected with atmospheric control with longitudinal cylinder 5 that promotes.Moving back and forth plate 4 is arranged on motion guide rail 6, moves along motion guide rail 6 is horizontal and vertical.
First Pneumatic clamping parts, comprise the first clamping finger 19, are positioned at material laying railway track 15 one end away from material loading disk 1, all around can move with reciprocating motion plate 4 in space.
First Pneumatic clamping parts comprise the first clamping propelling movement cylinder 7 being arranged on and moving back and forth on plate 4, the cylinder rod that first clamping pushes cylinder 7 is connected with the first gripper cylinder 13 by connecting plate, first gripper cylinder 13 connects the first clamping finger 19, first clamping pushes cylinder 7 and controls moving up and down of the first clamping finger, and the first gripper cylinder 13 controls the first clamping finger 19 and completes holding action.First clamping pushes cylinder 7, first gripper cylinder 13 and is all connected with atmospheric control.
Second pneumatic gripping device is positioned at the left front of the first pneumatic gripping device, comprises the second clamping finger 20, second clamping finger 20 upright position peak higher than the first clamping finger 19 upright position peak, can move forwards, backwards.
Second clamping device comprises the second clamping and pushes cylinder 11, second clamping pushes cylinder 11 and is arranged in frame by column, the cylinder rod that second clamping pushes cylinder 11 is connected with the second gripper cylinder 22 through link, second gripper cylinder 22 connects the second clamping finger 20, controls the second clamping finger 20 and completes holding action; Second clamping pushes cylinder 11, second gripper cylinder 22, and all atmospheric control is connected.Seesawing by the second clamping propelling movement cylinder 11 control realization of second clamping finger 20, moves up and down by the control realization of the second gripper cylinder 22.
3rd pneumatic gripping device is between the first pneumatic gripping device and the second pneumatic gripping device, the upper left side of the first pneumatic gripping device, comprise the 3rd clamping finger 21,3rd clamping finger 21 can seesaw and move up and down, and the 3rd clamping finger 21 upright position peak is between the first clamping finger 19 upright position peak and the second clamping finger 20 upright position peak; 3rd clamping device comprises the 3rd level and pushes cylinder 9, the 3rd vertically propelling movement cylinder 10 and the 3rd gripper cylinder 12,3rd level pushes cylinder 9 and is arranged in frame, its cylinder rod vertically pushes cylinder 10 through link and the 3rd and is connected, control the 3rd and vertically push seesawing of cylinder 10,3rd cylinder rod vertically pushing cylinder 10 connects through link and the 3rd gripper cylinder 12, control moving up and down of the 3rd gripper cylinder 12,3rd gripper cylinder 12 connects the 3rd clamping finger 21, controls the 3rd clamping finger 21 and completes holding action; 3rd level pushes cylinder 9, the 3rd vertical cylinder 10 that pushes all is connected with atmospheric control with the 3rd gripper cylinder 12.
Cutter sweep: for cutting the sea-tangle of having tied a knot, comprise cutting cylinder 8 and cutter 18, the cylinder rod of cutting cylinder 8 is connected with cutter 18, and cutter sweep is arranged on the first pneumatic gripping device, and the horizontal level of cutter 18 is parallel with the horizontal level of the first clamping finger; Cutting cylinder 8 is arranged on the connecting plate between the first clamping propelling movement cylinder 7 and the first gripper cylinder 9, interval 1mm between cutter 18 and the first clamping finger 19; Cutting cylinder 8 is connected with atmospheric control.
PLC control device; For controlling the work of feeding device, device for transporting objects, knotting device and cutter sweep;
Atmospheric control: control conveying device and push cylinder, the first pneumatic gripping device, the work of the second pneumatic gripping device and the 3rd pneumatic gripping device.
With Fig. 1 be standard to set forth job step and the sea-tangle knotting method of machine for knotting sea-tangle, as follows:
(1) start PLC control system and atmospheric control, be placed in by sea-tangle on material loading disk 1, elastic pressuring plate 25 is fixed sea-tangle, stepper motor 2 drives material loading disk 1 stepping to rotate, thus drives sea-tangle to move to specified altitude assignment position;
(2) motor 17 drives leading screw 16 to rotate, slide block moves thereupon, drive conveying device to push cylinder 14 to move towards the direction of material loading disk 1, when moving to material loading disk 1 position, conveying device propelling movement cylinder 14 controls mass transport clamping finger 23 and moves up and down, find sea-tangle position accurately, clamping sea-tangle, motor 17 overturns afterwards, leading screw 16 is driven to rotate in the opposite direction, slide block moves in the opposite direction, and mass transport clamping finger 23 clips sea-tangle and slips over from the top of material laying railway track 15, and sea-tangle is tiled on material laying railway track 15;
(3) first pneumatic gripping devices laterally move near the position of material laying railway track 15, namely move near the direction of material loading disk 1, lengthwise movement is afterwards to material laying railway track 15 place, the i.e. direction motion of parallel material loading disk 1, first clamping propelling movement cylinder 7 controls the first gripper cylinder 13 and adjusts upper-lower position, first clamping finger 19 moves to material laying railway track 15 place thereupon, first gripper cylinder 13 controls the first clamping finger 19 and clamps sea-tangle, mass transport clamping finger 23 unclamps sea-tangle, first pneumatic gripping device laterally moves to the direction away from material laying railway track afterwards, cross the second pneumatic gripping device, cross from the bottom of the second clamping finger 20, move to the left side of the second clamping finger 20, mass transport clamping finger 23 again clamps sea-tangle under material device pushes the effect of cylinder 14,
(4) second clampings push cylinder 11 and work, and promote the second gripper cylinder 22 by link and travel forward, the second clamping finger 20 moves forward to directly over sea-tangle;
(5) first clampings push cylinders 7 and promote the first clamping finger 19 and to move upward 20mm, make the first clamping finger 19 vertically highly higher than the vertical height of the second clamping finger 20, laterally promoting cylinder 3 afterwards drives reciprocating motion plate 4 to the direction motion 90mm of close material loading disk 1, drive the first clamping finger 19 to move near the direction of material loading disk 1, make the first clamping finger 19 and the 3rd clamping finger 21 be positioned at same perpendicular;
(6) the 3rd levels are pushed cylinder 9 and are moved near the direction of the first clamping finger 19 by the vertical cylinder 10 that pushes of link promotion the 3rd, 3rd vertical promotion cylinder 10 promotes the 3rd clamping finger 21 and moves up and down, 3rd gripper cylinder 12 controls the 3rd clamping finger 21 and clamps sea-tangle, and the first clamping finger 19 discharges sea-tangle;
(7) longitudinally promote cylinder 5 to promote whole first clamping device and move to the direction away from the 3rd clamping finger 21, the first clamping pushes cylinder 11 and drives the first clamping propelling movement cylinder 7 to move downward by link;
(8) the 3rd levels push cylinder 9 and drive the 3rd vertical cylinder 10 that pushes to move to the backward direction away from the first clamping finger 19 by link, 3rd vertically pushes cylinder 10 drives the 3rd clamping finger 21 to move downward, 3rd level pushes cylinder 9 and drives the 3rd vertical cylinder 10 that pushes to move to the direction of close first clamping finger 19 of forward direction by link, pass from the downside of sea-tangle, first gripper cylinder 13 controls the first clamping finger 19 and clamps sea-tangle, and the 3rd gripper cylinder 12 controls the 3rd clamping finger and unclamps sea-tangle; 3rd level pushes cylinder 9, the 3rd and vertically pushes cylinder 10 and the 3rd gripper cylinder 12 acting in conjunction, drives the 3rd clamping device to return initial position;
(9) first clampings push cylinder 7 and drive the first clamping finger 19 to move upward by link, to identical with the level height of the second clamping finger 21, crosswise pushing cylinder 3 drives whole first clamping device to move near the direction of the second clamping finger 21 by moving back and forth plate 4, second gripper cylinder 22 controls the second clamping finger 20 and clamps sea-tangle, second clamping pushes cylinder 11 and drives the second gripper cylinder 22 to move backward by connecting plate, thus drive the second clamping finger 20 to move backward, complete knotting;
(10) crosswise pushing cylinder 3 drives whole first clamping device to move near the direction of material loading disk 1 by moving back and forth plate 4, and cutting cylinder 8 controls cutter 18 and moves, and cuts kelp knot.
(11) cutting cylinder 8 controls cutter 18 and gets back to initial position, and the second clamping finger 21 discharges sea-tangle under the effect of its two gripper cylinder 22, and knotting work completes.
(12) repeat step (1) to step (11), continue sea-tangle knotting work.
Claims (8)
1. machine for knotting sea-tangle, is characterized in that: comprise frame, and frame is provided with:
Feeding device, for being transported to specified altitude assignment position by sea-tangle;
Device for transporting objects, comprises mass transport clamping finger, material laying railway track, conveying device propelling movement cylinder, leading screw and motor, leading screw is provided with screw slider, screw slider is provided with conveying device and pushes cylinder; Motor drives screw turns, and screw slider can move back and forth along leading screw, and drive conveying device to push cylinder and move back and forth, conveying device pushes cylinder and is connected with mass transport clamping finger, can control mass transport clamping finger and move up and down, clamping sea-tangle; Described conveying device pushes the top that cylinder is positioned at material laying railway track;
Knotting device: comprise the first pneumatic gripping device, the second pneumatic gripping device and the 3rd pneumatic gripping device; Described first pneumatic gripping device and leading screw and material laying railway track are arranged side by side, and comprise reciprocating motion plate, move back and forth plate and are connected with and move back and forth plate thrust unit, can promote to move back and forth plate horizontal and vertical motion in plane of movement; Move back and forth on plate and be provided with the first Pneumatic clamping parts, comprise the first clamping finger, be positioned at material laying railway track one end away from feeding device, all around can move in space with reciprocating motion plate, clamping sea-tangle, also can move up and down; Described second pneumatic gripping device is positioned at the left front of the first pneumatic gripping device, comprises the second clamping finger, and the second clamping finger upright position peak, higher than the first clamping finger upright position peak, can move forwards, backwards; Described 3rd pneumatic gripping device is between the first pneumatic gripping device and the second pneumatic gripping device, the upper left side of the first pneumatic gripping device, comprise the 3rd clamping finger, 3rd clamping finger can seesaw and move up and down, and the 3rd clamping finger upright position peak is between the first clamping finger upright position peak and the second clamping finger upright position peak;
Cutter sweep: for cutting the sea-tangle of having tied a knot, comprises cutting cylinder and cutter, and the cylinder rod of cutting cylinder is connected with cutter, and cutter sweep is arranged on the first pneumatic gripping device, and the horizontal level of cutter is parallel with the horizontal level of the first clamping finger;
PLC control device; For controlling the work of feeding device, device for transporting objects, knotting device and cutter sweep;
Atmospheric control: control conveying device and push cylinder, the first pneumatic gripping device, the work of the second pneumatic gripping device and the 3rd pneumatic gripping device.
2. machine for knotting sea-tangle as claimed in claim 1, it is characterized in that: described feeding device comprises support, support is provided with material loading disk, material loading disk is connected with stepper motor, and stepper motor drives material loading disk rotational; Circumferential edges along material loading disk has notch, and notch place is provided with elastic pressuring plate; Sea-tangle, around disk circumference, is pushed down by notch elastic pressuring plate; Device for transporting objects is positioned at the side of material loading disk card.
3. machine for knotting sea-tangle as claimed in claim 1, is characterized in that: described reciprocating motion plate thrust unit comprises Lateral Thrust Unit and longitudinal thrust unit, and Lateral Thrust Unit comprises the transverse direction promotion cylinder being arranged on and moving back and forth plate lateral end; Longitudinal thrust unit comprises the longitudinal direction promotion cylinder being arranged on and moving back and forth plate width side.
4. machine for knotting sea-tangle as claimed in claim 3, is characterized in that: move back and forth plate and be arranged on motion guide rail, move along motion guide rail is horizontal and vertical.
5. machine for knotting sea-tangle as claimed in claim 1, it is characterized in that: described first Pneumatic clamping parts comprise the first clamping propelling movement cylinder being arranged on and moving back and forth on plate, the cylinder rod that first clamping pushes cylinder is connected with the first gripper cylinder by connecting plate, first gripper cylinder connects the first clamping finger, controls the first clamping finger and completes holding action; Described cutting cylinder is arranged on connecting plate, interval 1mm between described cutter and the first clamping finger.
6. machine for knotting sea-tangle as claimed in claim 1, it is characterized in that: described second clamping device comprises the second clamping and pushes cylinder, second clamping pushes cylinder and is arranged in frame by column, the cylinder rod that second clamping pushes cylinder is connected with the second gripper cylinder through link, second gripper cylinder connects the second clamping finger, controls the second clamping finger and completes holding action.
7. machine for knotting sea-tangle as claimed in claim 1, it is characterized in that: described 3rd clamping device comprises the 3rd level and pushes cylinder, the 3rd vertically propelling movement cylinder and the 3rd gripper cylinder, 3rd level pushes cylinder and is arranged in frame, its cylinder rod vertically pushes cylinders through link and the 3rd, 3rd cylinder rod vertically pushing cylinder is connected with the 3rd gripper cylinder through link, 3rd gripper cylinder connects the 3rd clamping finger, controls the 3rd clamping finger and completes holding action.
8. the sea-tangle knotting method of machine for knotting sea-tangle as claimed in claim 1, is characterized in that: comprise the following steps:
A, be placed on feeding device by sea-tangle, feeding device drives sea-tangle to move to assigned address;
B, motor drive screw turns, drive slide block movement, thus drive conveying device propelling movement cylinder to move towards the direction of feeding device, when moving to feeding device position, conveying device pushes cylinder control mass transport clamping finger and moves up and down, and finds sea-tangle position accurately, clamping sea-tangle, rear slider move in the opposite direction, sea-tangle is tiled on material laying railway track;
C, the first pneumatic gripping device laterally move near the position of material laying railway track, lengthwise movement is afterwards to material laying railway track place, first clamping finger clamping sea-tangle, mass transport clamping finger unclamps sea-tangle, first pneumatic gripping device laterally moves to the direction away from material laying railway track afterwards, crosses the second pneumatic gripping device;
D, the second clamping finger move forward to directly over sea-tangle;
E, the first clamping finger move upward, and reciprocating motion strip is moved the first clamping finger and moved to the 3rd clamping finger place to the direction near material laying railway track afterwards;
F, the 3rd clamping finger take over the sea-tangle in the first clamping finger, first move backward, then move downward, pass on the downside of sea-tangle;
G, the first clamping finger move to the direction of principle the 3rd clamping finger, then move downward, and be positioned at same level height, from the 3rd clamping finger, take over sea-tangle to the 3rd clamping finger;
H, the first clamping finger are clamped sea-tangle and are moved upward, then move to the second clamping finger place left, and be positioned at same perpendicular with the second clamping finger, the second clamping finger clamps sea-tangle, moves backward, knotting;
I, cutter move, and cut kelp knot.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510178539.0A CN104770779B (en) | 2015-04-15 | 2015-04-15 | Machine for knotting sea-tangle and knotting method |
| PCT/CN2016/077475 WO2016165549A1 (en) | 2015-04-15 | 2016-03-28 | Seaweed knotting machine and knotting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510178539.0A CN104770779B (en) | 2015-04-15 | 2015-04-15 | Machine for knotting sea-tangle and knotting method |
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| Publication Number | Publication Date |
|---|---|
| CN104770779A true CN104770779A (en) | 2015-07-15 |
| CN104770779B CN104770779B (en) | 2018-08-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510178539.0A Active CN104770779B (en) | 2015-04-15 | 2015-04-15 | Machine for knotting sea-tangle and knotting method |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105394634A (en) * | 2015-10-22 | 2016-03-16 | 陈炳庆 | Sea-tangle knotting machine |
| CN105410751A (en) * | 2015-12-12 | 2016-03-23 | 重庆市长寿区农产品商贸流通协会 | Sea tangle knotting device |
| CN105533658A (en) * | 2015-12-12 | 2016-05-04 | 重庆市长寿区农产品商贸流通协会 | Shredded konjac knotting method |
| CN105558907A (en) * | 2015-12-12 | 2016-05-11 | 重庆市长寿区农产品商贸流通协会 | Kelp knotting method |
| WO2016165549A1 (en) * | 2015-04-15 | 2016-10-20 | 青岛农业大学 | Seaweed knotting machine and knotting method |
| CN113287719A (en) * | 2021-05-26 | 2021-08-24 | 山东傲看自动化科技有限公司 | Automatic knotting equipment for bean products |
| CN113575889A (en) * | 2021-07-07 | 2021-11-02 | 安康柏盛富硒生物科技有限公司 | Konjac thread knotter |
| CN116138470A (en) * | 2022-09-07 | 2023-05-23 | 黄建山 | Kelp knotting device and knotting method thereof |
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| WO2016165549A1 (en) * | 2015-04-15 | 2016-10-20 | 青岛农业大学 | Seaweed knotting machine and knotting method |
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| CN105394634B (en) * | 2015-10-22 | 2019-02-01 | 陈炳庆 | Machine for knotting sea-tangle |
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| CN105558907A (en) * | 2015-12-12 | 2016-05-11 | 重庆市长寿区农产品商贸流通协会 | Kelp knotting method |
| CN113287719A (en) * | 2021-05-26 | 2021-08-24 | 山东傲看自动化科技有限公司 | Automatic knotting equipment for bean products |
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| CN113575889A (en) * | 2021-07-07 | 2021-11-02 | 安康柏盛富硒生物科技有限公司 | Konjac thread knotter |
| CN116138470A (en) * | 2022-09-07 | 2023-05-23 | 黄建山 | Kelp knotting device and knotting method thereof |
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