CN104770779B - Machine for knotting sea-tangle and knotting method - Google Patents
Machine for knotting sea-tangle and knotting method Download PDFInfo
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- CN104770779B CN104770779B CN201510178539.0A CN201510178539A CN104770779B CN 104770779 B CN104770779 B CN 104770779B CN 201510178539 A CN201510178539 A CN 201510178539A CN 104770779 B CN104770779 B CN 104770779B
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Abstract
The invention belongs to field of food processing machinery and equipment, specifically, are related to a kind of machine for knotting sea-tangle and knotting method using kelp processing operation.Including rack, PLC control system and atmospheric control are provided with feeding device, device for transporting objects, knotting device and cutter device in rack.It knots to refer to present invention employs the disc type feeding device of original creation driven by stepping motor, three pairs and kelp knotting, cutting quickly and easily unique cutter structure is completed by close fit simulating hand knotting process, effectively raise knotting efficiency, success rate, continuity.Meanwhile seriation, generalization, standardized principle have been abided by the design of each parts of the invention so that manufacture, installation, maintenance of equipment etc. become simple and fast.
Description
Technical field
The invention belongs to field of food processing machinery and equipment, specifically, are related to a kind of sea using kelp processing operation
Band knot tying machine and knotting method.
Background technology
Kelp at home and abroad has the great market demand as a kind of important cuisines.In China east, north Coast
Area, it is important one of the export-oriented commodity in this area, only Eastern Shandong coastal area all over the world that the kelp after knotting, which is sold to,
Few hundred thousand tonnes of is reached per annual export volume.The knotting of kelp has great importance for the development of marine product industrial economy.
Currently, kelp, which knots, relies primarily on artificial manually completion, knotting efficiency is low, and recruitment cost is high.Simultaneously as kelp
It is in moist, saline-alkali environment, the environment is extremely serious to the body corrosion attack of worker, works long hours, the finger of worker
It just will appear deformation, loss of finger-nail, influence worker's health, the problem of recruitment hardly possible occur, become and restrict kelp outlet
Major obstacle.Currently, there are mainly three types of machine for knotting sea-tangle, the one of two kinds of types and Fujian development that Harbin Institute of Technology Weihai school district is developed
All there is the low problem of knotting success rate, influence product quality and yield in kind type, the above type.
Invention content
The purpose of the present invention is to provide a kind of knot efficient, success rate is high machine for knotting sea-tangle and knotting method.
The technical scheme is that：Machine for knotting sea-tangle, including rack are provided in rack：
Feeding device, kelp are placed on feeding device, and specified altitude assignment position is transported to by feeding device；
Device for transporting objects, including material conveying clamping refer to, material laying railway track, conveying device push cylinder, leading screw and
Motor is equipped with screw slider on leading screw, conveying device push cylinder is equipped on screw slider；Motor drives leading screw to turn
Dynamic, screw slider can be moved back and forth along leading screw, and conveying device push cylinder is driven to move back and forth, conveying device push cylinder and object
It is connected to expect that conveying clamping refers to, controllable material conveying, which is clamped, refers to up and down motion, and kelp is clamped；Conveying device push cylinder position
In the top of material laying railway track；
Knotting device：Including the first pneumatic gripping device, the second pneumatic gripping device and third pneumatic gripping device；It is described
First pneumatic gripping device is arranged side by side with leading screw and material laying railway track, including moves back and forth plate, moves back and forth plate and is connected with
Plate pushing meanss are moved back and forth, can push and move back and forth plate horizontal and vertical movement in plane of movement；It moves back and forth and pacifies on plate
Refer to equipped with the first Pneumatic clamping component, including the first clamping, is located at the one end of material laying railway track far from feeding device, it can be with past
Multiple maneuvering board all around moves in space, and kelp is clamped, can also move up and down；Second pneumatic gripping device is located at the
The left front of one pneumatic gripping device, including the second clamping refer to, and the second clamping refers to upright position peak and refers to higher than the first clamping
Upright position peak can move forwards, backwards；The third pneumatic gripping device is located at the first pneumatic gripping device and the second gas
Between dynamic clamping device, the upper left side of the first pneumatic gripping device, including third clamping refer to, third clamping refer to can move forward and backward and
Move up and down, third clamping refer to upright position peak positioned at the first clamping refer to upright position peak and the second clamping refer to it is vertical
Between the peak of position；
Cutter device：For cutting the kelp to have knotted, including cutting cylinder and cutter, cut the cylinder rod of cylinder with
Cutter are connected, and cutter device is arranged on the first pneumatic gripping device, the water that the horizontal position of cutter refers to the first clamping
Prosposition horizontalization row；
PLC control devices；For controlling feeding device, device for transporting objects, knotting device and the work of cutter device；
Atmospheric control：Control conveying device push cylinder, the first pneumatic gripping device, the second pneumatic gripping device and
The work of third pneumatic gripping device.
Preferably：Feeding device includes holder, and feeding disk is equipped on holder, and feeding disk is connected with stepping electricity
Machine, stepper motor drive feeding disk rotational；It is provided with notch along the circumferential edges of feeding disk, flexible pressure is installed at notch
Piece；Kelp surrounds disk circumference, is pushed down by notch elastic pressuring plate；Device for transporting objects is located at the side of feeding disk disk.
Preferably：It includes Lateral Thrust Unit and propelled longitudinally device to move back and forth plate pushing meanss, laterally urges dress
It sets including laterally urging cylinder mounted on reciprocating motion plate lateral end；Propelled longitudinally device includes being mounted on to move back and forth plate
The propelled longitudinally cylinder of width side；It laterally urges cylinder and propelled longitudinally cylinder is connected with atmospheric control.
Preferably：It moves back and forth plate to be mounted on motion guide rail, move along motion guide rail is horizontal and vertical.
Preferably：First Pneumatic clamping component includes being mounted on the first clamping push cylinder moved back and forth on plate, the
The cylinder rod of one clamping push cylinder is connected with the first gripper cylinder, the first clamping of the first gripper cylinder connection by connecting plate
Refer to, the first clamping of control, which refers to, completes holding action；The cutting cylinder is mounted on connecting plate, the cutter and the first clamping
1mm is spaced between finger；First clamping push cylinder, the first gripper cylinder, cutting cylinder are connected with atmospheric control.
Preferably：Second clamping device includes the second clamping push cylinder, and the second clamping push cylinder is pacified by column
In rack, the cylinder rod of the second clamping push cylinder is connected with the second gripper cylinder through link, and the second gripper cylinder connects
It connects the second clamping to refer to, the second clamping of control, which refers to, completes holding action；Second clamping push cylinder, the second gripper cylinder are pneumatically controlled
System processed is connected.
Preferably：Third clamping device includes the horizontal push cylinder of third, the vertical push cylinder of third and third clamping
Cylinder, the horizontal push cylinder of third are mounted in rack, and cylinder rod is connected through link with the vertical push cylinder of third, third
The cylinder rod of vertical push cylinder is connected through link with third gripper cylinder, and the connection third clamping of third gripper cylinder refers to, and controls
Third clamping processed, which refers to, completes holding action；The horizontal push cylinder of third, the vertical push cylinder of third and third gripper cylinder with
Atmospheric control is connected.
Kelp knotting method, includes the following steps：
A, kelp is placed on feeding device, feeding device drives kelp to move to designated position；
B, motor drives leading screw rotation, slide block movement is driven, to drive conveying device push cylinder towards feeding device
Direction movement, when moving to feeding device position, conveying device push cylinder control material conveying clamping refers to up and down motion, look for
Quasi- kelp position, be clamped kelp, rear slider move in the opposite direction, kelp is tiled on material laying railway track；
C, the first pneumatic gripping device is laterally moved to close to the position of material laying railway track, longitudinal movement later to material
At laying railway track, the first clamping refers to clamping kelp, and material conveying clamping, which refers to, unclamps kelp, and the first pneumatic gripping device is lateral later
It is moved to the direction far from material laying railway track, crosses the second pneumatic gripping device；
D, the second clamping refers to the surface for moving forward to kelp；
E, the first clamping, which refers to, moves upwards, and moves back and forth dynamic first clamping of strip later and is directed toward close to material laying railway track
Direction moves to third clamping and refers to place；
F, third clamping refers to the kelp taken over during the first clamping refers to, and first moves, moves still further below backward, is worn from kelp downside
It crosses；
G, the direction movement referred to far from third clamping is directed toward in the first clamping, is moved still further below, is located to referring to third clamping
Same level height takes over kelp in referring to from third clamping；
H, the first clamping, which refers to, clamps kelp and moves upwards, then moves downward to the second clamping and refer to place, is clamped with second and refers to position
In same perpendicular, the second clamping, which refers to, clamps kelp, moves, knots backward；
I, cutter move, and cut kelp knot.
The beneficial effects of the invention are as follows：
Use the disc type feeding device of original creation driven by stepping motor, three pairs knot and refer to and pass through close fit
Simulating hand knotting process complete kelp knot, cutting quickly and easily unique cutter structure, effectively raise knotting efficiency,
Success rate, continuity.Meanwhile seriation, generalization, standardized principle have been abided by the design of each parts of the invention,
So that the manufacture of equipment, installation, maintenance etc. become simple and fast.Gather before above-mentioned advantage makes this kelp automatic knot tying machine
Scape is very wide.
Description of the drawings
Fig. 1 is schematic structural view of the invention.
Fig. 2 is main structure diagram of the present invention.
Fig. 3 is overlooking structure diagram of the present invention.
Fig. 4 is left view structural representation of the present invention.
Wherein, 1- feedings disk；2- stepping motors；3- laterally urges cylinder；4- moves back and forth plate；The propelled longitudinally gas of 5-
Cylinder；6- motion guide rails；Push cylinder is clamped in 7- first；8- cuts cylinder；The horizontal push cylinder of 9- thirds；10- thirds push away vertically
It supplies gas cylinder；Push cylinder is clamped in 11- second；12- third gripper cylinders；The first gripper cylinders of 13-；14- conveying devices push gas
Cylinder；15- material laying railway tracks；16- leading screws；17- motor；18- cutter；The clampings of 19- first refer to；The clampings of 20- second refer to；
The clamping of 21- thirds refers to；The second gripper cylinders of 22-；The conveying clamping of 23- materials refers to；24- screw sliders；25- elastic pressuring plates；26- slots
Mouthful.
Specific implementation mode
Below in conjunction with attached drawing, the present invention will be further described in detail.
Machine for knotting sea-tangle, including rack, PLC control system and atmospheric control are provided with feeding device, object in rack
Material conveying device, knotting device and cutter device：
Feeding device, feeding device include that holder is mounted on by holder in the rack of machine for knotting sea-tangle, are installed on holder
There are feeding disk 1, feeding disk 1 to be connected with stepper motor 2, stepper motor 2 drives feeding disk 1 to rotate；Along feeding disk 1
Circumferential edges are provided with notch 26, and elastic pressuring plate 25 is equipped at notch 26；Kelp is placed on feeding device when work, and kelp twines
It is wound on the circumference of feeding disk 1, is pushed down by 26 elastic pressuring plate 25 of notch, it is fixed, specified height is transported to by feeding disk 1
Spend position.
Device for transporting objects is located at the side of 1 disk of feeding disk；Refer to 23, material including material conveying clamping and lays rail
Road 15, conveying device push cylinder 14, leading screw 16 and motor 17, leading screw 16 and material laying railway track 15 are along vertical feeding disk
The direction of 1 disk is arranged side by side, and screw slider 24 is equipped on leading screw 16, and conveying device push gas is equipped on screw slider 24
Cylinder 14；Motor 17 drives leading screw 16 to rotate when work, and screw slider 24 can be moved back and forth along leading screw 16, and conveying device is driven to push away
Cylinder 14 of supplying gas moves back and forth, and conveying device push cylinder 14 refers to 23 with material conveying clamping and is connected, and can control material conveying clamping
Refer to 23 to move up and down, kelp is clamped；Conveying device push cylinder 14 is located at the top of material laying railway track 15.
Knotting device：Including the first pneumatic gripping device, the second pneumatic gripping device and third pneumatic gripping device.
First pneumatic gripping device is arranged side by side with leading screw 16 and material laying railway track 15, including moves back and forth plate 4 and peace
Mounted in the first Pneumatic clamping component moved back and forth on plate 4.It moves back and forth plate 4 and is connected with reciprocating motion plate pushing meanss, can push away
It is dynamic to move back and forth plate horizontal and vertical movement in plane of movement；Plate pushing meanss are moved back and forth to include Lateral Thrust Unit and indulge
To pushing meanss, Lateral Thrust Unit includes laterally urging cylinder 3 mounted on reciprocating motion 4 lateral end of plate；It is propelled longitudinally
Device includes being mounted on the propelled longitudinally cylinder 5 for moving back and forth 4 width side of plate；Laterally urge cylinder 3 and propelled longitudinally
Cylinder 5 is connected with atmospheric control.Plate 4 is moved back and forth to be mounted on motion guide rail 6, it is horizontal and vertical along motion guide rail 6
Movement.
First Pneumatic clamping component, including the first clamping refer to 19, are located at one of material laying railway track 15 far from feeding disk 1
End can all around be moved with plate 4 is moved back and forth in space.
First Pneumatic clamping component includes being mounted on the first clamping push cylinder 7 moved back and forth on plate 4, and the first clamping pushes away
The cylinder rod of cylinder 7 of supplying gas is connected with the first gripper cylinder 13 by connecting plate, and the first clamping of the first gripper cylinder 13 connection refers to 19,
The up and down motion that first clamping push cylinder 7 the first clamping of control refers to, the first clamping of the first gripper cylinder 13 control refer to 19 completions
Holding action.First clamping push cylinder 7, the first gripper cylinder 13 are connected with atmospheric control.
Second pneumatic gripping device is located at the left front of the first pneumatic gripping device, including the second clamping refers to 20, the second folder
It holds 20 upright position peaks of finger and refers to 19 upright position peaks higher than the first clamping, can move forwards, backwards.
Second clamping device includes the second clamping push cylinder 11, and the second clamping push cylinder 11 is mounted on machine by column
On frame, the cylinder rod of the second clamping push cylinder 11 is connected with the second gripper cylinder 22 through link, and the second gripper cylinder 22 connects
It connects the second clamping and refers to 20, the second clamping of control refers to 20 completion holding actions；Second clamping push cylinder 11, the second gripper cylinder 22
Equal atmospheric control is connected.Second clamping refer to 20 move forward and backward by second clamping push cylinder 11 control realize, up and down
Movement is realized by the control of the second gripper cylinder 22.
Third pneumatic gripping device is between the first pneumatic gripping device and the second pneumatic gripping device, the first pneumatic clamps
The upper left side of device is held, including third clamping refers to 21, third clamping, which refers to 21, can move forward and backward and move up and down, and third clamping refers to 21
Upright position peak is located at that the first clamping refers to 19 upright position peaks and the second clamping refers between 20 upright position peaks；
Third clamping device includes the horizontal push cylinder 9 of third, the vertical push cylinder 10 of third and third gripper cylinder 12, and third is horizontal
Push cylinder 9 is mounted in rack, and cylinder rod is connected through link and the vertical push cylinder of third 10, is controlled third and is pushed away vertically
It supplies gas the moving forward and backward of cylinder 10, the cylinder rod of the vertical push cylinder of third 10 connects through link and third gripper cylinder 12, control
The up and down motion of third gripper cylinder 12, third gripper cylinder 12 connect third clamping and refer to 21, and control third clamping refers to 21 completions
Holding action；The horizontal push cylinder 9 of third, the vertical push cylinder 10 of third and third gripper cylinder 12 are and atmospheric control
It is connected.
Cutter device：For cutting the kelp to have knotted, including cutting cylinder 8 and cutter 18, the cylinder of cylinder 8 is cut
Bar is connected with cutter 18, and cutter device is arranged on the first pneumatic gripping device, the horizontal position of cutter 18 and the first folder
The horizontal position for holding finger is parallel；Cut the connection that cylinder 8 is mounted between the first clamping push cylinder 7 and the first gripper cylinder 9
On plate, the clamping of cutter 18 and first is spaced 1mm between referring to 19；Cutting cylinder 8 is connected with atmospheric control.
PLC control devices；For controlling feeding device, device for transporting objects, knotting device and the work of cutter device；
Atmospheric control：Control conveying device push cylinder, the first pneumatic gripping device, the second pneumatic gripping device and
The work of third pneumatic gripping device.
The work step i.e. kelp knotting method of machine for knotting sea-tangle is illustrated as standard using Fig. 1, it is as follows：
(1) start PLC control system and atmospheric control, kelp is placed on feeding disk 1, elastic pressuring plate 25 is consolidated
Surely kelp is lived, stepper motor 2 drives the 1 stepping rotation of feeding disk, to drive kelp to move to specified altitude assignment position；
(2) motor 17 drives leading screw 16 to rotate, and sliding block moves therewith, and conveying device push cylinder 14 is driven to justify towards feeding
The direction of disk 1 moves, and when moving to feeding 1 position of disk, the conveying clamping of 14 control material of conveying device push cylinder refers on 23
Kelp position is found in lower movement accurately, and kelp is clamped, and motor 17 is overturn later, and leading screw 16 is driven to rotate in the opposite direction,
Sliding block moves in the opposite direction, and material conveying clamping refers to 23 and clips kelp to be slipped over from the top of material laying railway track 15, kelp
It is tiled on material laying railway track 15；
(3) first pneumatic gripping devices are laterally moved to close to the position of material laying railway track 15, i.e., justify to close to feeding
The direction of disk 1 moves, and longitudinal movement later is to material laying railway track 15 at, i.e. the direction movement of parallel feeding disk 1, first presss from both sides
It holds push cylinder 7 and controls the first gripper cylinder 13 adjustment upper and lower position, the first clamping refers to 19 and moves to material laying railway track therewith
At 15, the first clamping of the first gripper cylinder 13 control refers to 19 clamping kelps, and material conveying clamping refers to 23 release kelps, and later first
Pneumatic gripping device is laterally moved to the direction far from material laying railway track, crosses the second pneumatic gripping device, from the second clamping
The bottom for referring to 20 is crossed, and the left side that the second clamping refers to 20 is moved to；Material conveying clamping refers to 23 in material device push cylinder 14
Under the action of clamp kelp again；
(4) second clamping push cylinders 11 work, and push the second gripper cylinder 22 to travel forward by link, the second folder
It holds and refers to 20 surfaces for moving forward to kelp；
(5) first clamping push cylinders 7 push the first clamping to refer to 19 and move upwards 20mm, so that the first clamping is referred to 19 vertical high
Degree refers to 20 vertical height higher than the second clamping, laterally urges cylinder 3 later and drives reciprocating motion plate 4 to close to feeding disk 1
Direction move 90mm, drive the first clamping to refer to 19 and moved to close to the direction of feeding disk 1, the first clamping is made to refer to 19 and third
Clamping refers to 21 and is located in same perpendicular；
(6) the horizontal push cylinder 9 of third pushes the vertical push cylinder 10 of third to refer to close first clamping by link
19 direction movement, the vertical pusher cylinder 10 of third push third clamping to refer to 21 up and down motions, the control of third gripper cylinder 12 the
Three clampings refer to 21 and clamp kelp, and the first clamping refers to 19 release kelps；
(7) propelled longitudinally cylinder 5 pushes entire first clamping device to be moved to the direction for referring to 21 far from third clamping, and first
Clamping push cylinder 11 drives the first clamping push cylinder 7 to move downward by link；
(8) the horizontal push cylinder 9 of third drives the vertical push cylinder 10 of third to backward far from the first folder by link
Hold refer to 19 direction movement, the vertical push cylinder 10 of third drives third clamping to refer to 21 and moves downward, the horizontal push cylinder of third 9
The vertical push cylinder 10 of third is driven to be moved to preceding to the direction for referring to 19 close to the first clamping by link, from the downside of kelp
It passes through, the first clamping of the first gripper cylinder 13 control refers to 19 clamping kelps, and third gripper cylinder 12 controls third clamping and refers to release
Kelp；The horizontal push cylinder 9 of third, the vertical push cylinder 10 of third and 12 collective effect of third gripper cylinder drive third folder
It holds device and returns to initial position；
(9) first clamping push cylinders 7 drive the first clamping to refer to 19 and move upwards by link, refer to the second clamping
21 level height is identical, and crosswise pushing cylinder 3 drives entire first clamping device to close to the second folder by moving back and forth plate 4
The direction movement of finger 21 is held, the second clamping of the second gripper cylinder 22 control refers to 20 and clamps kelp, and the second clamping push cylinder 11 leads to
Crossing connecting plate drives the second gripper cylinder 22 to move backward, is moved backward to drive the second clamping to refer to 20, completes to knot；
(10) crosswise pushing cylinder 3 drives entire first clamping device to close to feeding disk 1 by moving back and forth plate 4
Direction moves, and cutting cylinder 8 controls cutter 18 and moves, and cuts kelp knot.
(11) cutting cylinder 8 controls cutter 18 and returns to initial position, and second clamping refers to 21 secondly gripper cylinder 22
Effect is lower to discharge kelp, and knotting work is completed.
(12) it repeats step (1) and arrives step (11), continue kelp knotting work.
Claims (6)
1. machine for knotting sea-tangle, it is characterised in that：Including rack, it is provided in rack：
Feeding device, for kelp to be transported to specified altitude assignment position；
Device for transporting objects, including material conveying clamping refers to, material laying railway track, conveying device push cylinder, leading screw and electronic
Machine is equipped with screw slider on leading screw, conveying device push cylinder is equipped on screw slider；Motor drives leading screw rotation,
Screw slider can be moved back and forth along leading screw, and conveying device push cylinder is driven to move back and forth, conveying device push cylinder and material
Conveying clamping refers to connected, and controllable material conveying clamping refers to ups and down motion, clamping kelp；The conveying device push cylinder is located at
The top of material laying railway track；
Knotting device：Including the first pneumatic gripping device, the second pneumatic gripping device and third pneumatic gripping device；Described first
Pneumatic gripping device is arranged side by side with leading screw and material laying railway track, including moves back and forth plate, moves back and forth plate and is connected with back and forth
Maneuvering board pushing meanss can push and move back and forth plate horizontal and vertical movement in plane of movement；It moves back and forth and is equipped on plate
First Pneumatic clamping component, including the first clamping refer to, and are located at the one end of material laying railway track far from feeding device, can be with reciprocal fortune
Movable plate all around moves in space, and kelp is clamped, can also move up and down；Second pneumatic gripping device is located at the first gas
The left front of clamping device is moved, including the second clamping refers to, the second clamping refers to upright position peak and refers to vertically higher than the first clamping
Position peak can move forwards, backwards；The third pneumatic gripping device is located at the first pneumatic gripping device and the second pneumatic clamps
Between holding device, the upper left side of the first pneumatic gripping device, including third clamping refer to, and third clamping, which refers to, can move forward and backward and up and down
Movement, third clamping refer to upright position peak positioned at first clamping refer to upright position peak and second clamping refer to upright position
Between peak；
Cutter device：For cutting the kelp to have knotted, including cutting cylinder and cutter, cylinder rod and the cutting of cylinder are cut
Knife is connected, and cutter device is arranged on the first pneumatic gripping device, the horizontal position that the horizontal position of cutter refers to the first clamping
Horizontalization row；
PLC control devices；For controlling feeding device, device for transporting objects, knotting device and the work of cutter device；
Atmospheric control：Control conveying device push cylinder, the first pneumatic gripping device, the second pneumatic gripping device and third
The work of pneumatic gripping device；
The feeding device includes holder, and feeding disk is equipped on holder, and feeding disk is connected with stepper motor, stepper motor
Drive feeding disk rotational；It is provided with notch along the circumferential edges of feeding disk, elastic pressuring plate is installed at notch；Kelp is around circle
Disk circumference is pushed down by notch elastic pressuring plate；Device for transporting objects is located at the side of feeding disk disk；
The reciprocating motion plate pushing meanss include Lateral Thrust Unit and propelled longitudinally device, and Lateral Thrust Unit includes peace
Cylinder is laterally urged mounted in reciprocating motion plate lateral end；Propelled longitudinally device includes being mounted on to move back and forth plate width direction
The propelled longitudinally cylinder of side.
2. machine for knotting sea-tangle as described in claim 1, it is characterised in that：It moves back and forth plate to be mounted on motion guide rail, along fortune
The horizontal and vertical movement of dynamic guide rail.
3. machine for knotting sea-tangle as described in claim 1, it is characterised in that：The first Pneumatic clamping component includes mounted on past
The first clamping push cylinder on multiple maneuvering board, the cylinder rod of the first clamping push cylinder are connected with the first clamping by connecting plate
Cylinder, the first clamping of the first gripper cylinder connection refer to, and the first clamping of control, which refers to, completes holding action；The cutting cylinder is mounted on
On connecting plate, the cutter and first clamping refer between be spaced 1mm.
4. machine for knotting sea-tangle as described in claim 1, it is characterised in that：Second clamping device includes that the second clamping pushes
Cylinder, the second clamping push cylinder are mounted on by column in rack, and the cylinder rod of the second clamping push cylinder connects through link
It is connected to the second gripper cylinder, the second clamping of the second gripper cylinder connection refers to, and the second clamping of control, which refers to, completes holding action.
5. machine for knotting sea-tangle as described in claim 1, it is characterised in that：The third clamping device includes the push of third level
The vertical push cylinder of cylinder, third and third gripper cylinder, the horizontal push cylinder of third are mounted in rack, and cylinder rod is through even
It connects frame with the vertical push cylinder of third to be connected, the cylinder rod of the vertical push cylinder of third is through link and third gripper cylinder phase
Even, third gripper cylinder connection third clamping refers to, and control third clamping, which refers to, completes holding action.
6. the kelp knotting method of machine for knotting sea-tangle as described in claim 1, it is characterised in that：Include the following steps：
A, kelp is placed on feeding device, feeding device drives kelp to move to designated position；
B, motor drives leading screw rotation, slide block movement is driven, to drive conveying device push cylinder towards the side of feeding device
To movement, when moving to feeding device position, the conveying clamping of conveying device push cylinder control material refers to up and down motion, finds sea accurately
Band position, be clamped kelp, rear slider move in the opposite direction, kelp is tiled on material laying railway track；
C, the first pneumatic gripping device is laterally moved to close to the position of material laying railway track, and longitudinal movement later to material is laid
At track, the first clamping refers to clamping kelp, and material conveying clamping, which refers to, unclamps kelp, and the first pneumatic gripping device is laterally to remote later
Direction movement from material laying railway track, crosses the second pneumatic gripping device；
D, the second clamping refers to the surface for moving forward to kelp；
E, the first clamping, which refers to, moves upwards, and moves back and forth dynamic first clamping of strip later and is directed toward close to the direction of material laying railway track
It moves to third clamping and refers to place；
F, third clamping refers to the kelp taken over during the first clamping refers to, and first moves, moves still further below backward, is passed through from kelp downside；
G, the direction movement referred to far from third clamping is directed toward in the first clamping, is moved still further below, is referred to third clamping positioned at same
Level height takes over kelp in referring to from third clamping；
H, the first clamping, which refers to, clamps kelp and moves upwards, then moves downward to the second clamping and refer to place, refers to positioned at together with the second clamping
One perpendicular, the second clamping, which refers to, clamps kelp, moves, knots backward；
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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104770779A CN104770779A (en) | 2015-07-15 |
| CN104770779B true CN104770779B (en) | 2018-08-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510178539.0A Active CN104770779B (en) | 2015-04-15 | 2015-04-15 | Machine for knotting sea-tangle and knotting method |
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| CN (1) | CN104770779B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016165549A1 (en) * | 2015-04-15 | 2016-10-20 | 青岛农业大学 | Seaweed knotting machine and knotting method |
| CN105394634B (en) * | 2015-10-22 | 2019-02-01 | 陈炳庆 | Machine for knotting sea-tangle |
| 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 |
| 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 |
| 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 |
| CN113287719B (en) * | 2021-05-26 | 2024-05-24 | 山东傲看自动化科技有限公司 | Automatic knotting equipment for bean products |
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| CN116138470B (en) * | 2022-09-07 | 2024-05-03 | 黄建山 | Kelp knotting device and knotting method thereof |
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