WO2016165549A1 - 海带打结机及打结方法 - Google Patents

海带打结机及打结方法 Download PDF

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Publication number
WO2016165549A1
WO2016165549A1 PCT/CN2016/077475 CN2016077475W WO2016165549A1 WO 2016165549 A1 WO2016165549 A1 WO 2016165549A1 CN 2016077475 W CN2016077475 W CN 2016077475W WO 2016165549 A1 WO2016165549 A1 WO 2016165549A1
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Prior art keywords
clamping
cylinder
kelp
finger
pneumatic
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PCT/CN2016/077475
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English (en)
French (fr)
Inventor
王东伟
尚书旗
管延华
刘涛
田连祥
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青岛农业大学
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Priority claimed from CN201520227260.2U external-priority patent/CN204579787U/zh
Priority claimed from CN201510178539.0A external-priority patent/CN104770779B/zh
Application filed by 青岛农业大学 filed Critical 青岛农业大学
Publication of WO2016165549A1 publication Critical patent/WO2016165549A1/zh

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  • the invention belongs to the field of food processing machinery and equipment, and in particular relates to a kelp knotting machine and a knotting method for applying kelp processing operations.
  • kelp As an important food, kelp has great market demand at home and abroad. In the eastern and northern coastal areas of China, the knotted kelp is sold to all parts of the world and is one of the important export earning products in the region. The annual export volume of the eastern coastal areas of Shandong alone amounts to several hundred thousand tons. The knotting of kelp is of great significance to the development of the seafood industry economy.
  • kelp knots are mainly done by manual hands, with low knotting efficiency and high labor costs.
  • the environment is very serious to the workers' physical corrosion.
  • the fingers of the workers When working for a long time, the fingers of the workers will be deformed and the nails will fall off, which will affect the health of the workers and cause difficulties in employment. It has become a major obstacle to the export of kelp.
  • the object of the present invention is to provide a kelp knotting machine and a knotting method with high knotting efficiency and high success rate.
  • a kelp knotting machine comprising a rack, and the rack is provided with:
  • the kelp is placed on the loading device, and is transported by the loading device to a designated height position;
  • the material conveying device comprises a material conveying clamping finger, a material laying track, a conveying device pushing cylinder, a screw and a motor, a screw rod slider is mounted on the screw rod, and a conveying device pushing cylinder is mounted on the screw slider; the motor drives When the screw is rotated, the screw slider can reciprocate along the screw, and the conveying device pushes the cylinder to reciprocate.
  • the pushing device push cylinder is connected with the material conveying clamp finger, and can control the material conveying clamping finger to move up and down, and clamp the kelp;
  • the conveying device pushing cylinder is located above the material laying track;
  • Knotting device comprising a first pneumatic clamping device, a second pneumatic clamping device and a third pneumatic clamping device;
  • the first pneumatic clamping device is arranged side by side with the lead screw and the material laying track, including a reciprocating plate, The reciprocating plate is connected with a reciprocating plate pushing device for pushing the reciprocating plate to move laterally and longitudinally in the moving plane;
  • the reciprocating plate is mounted with the first pneumatic clamping member, including the first clamping finger, located at the material laying track Far from the end of the feeding device, the reciprocating plate can move back and forth in the space, and the kelp can be clamped up and down;
  • the second pneumatic clamping device is located at the left front of the first pneumatic clamping device, including the second The clamping finger, the highest position of the second clamping finger is higher than the highest point of the vertical position of the first clamping finger, Moving forward and backward;
  • the third pneumatic clamping device is located between the first pneumatic clamping device and the second pneumatic clamping
  • Cutting device for cutting the knotted kelp, comprising a cutting cylinder and a cutting knife, the cylinder rod of the cutting cylinder is connected with the cutting knife, the cutting device is arranged on the first pneumatic clamping device, the horizontal position of the cutting knife and the first clamp The horizontal position of the fingers is parallel;
  • PLC control device for controlling the loading device, the material conveying device, the knotting device and the cutting device
  • Pneumatic control system control the operation of the conveying device pushing cylinder, the first pneumatic clamping device, the second pneumatic clamping device and the third pneumatic clamping device.
  • the loading device comprises a bracket, the loading disc is mounted on the bracket, the stepping motor is connected with the stepping motor, the stepping motor drives the loading disc to rotate; and the groove is opened along the circumferential edge of the feeding disc
  • the elastic groove is installed at the mouth and the slot; the kelp surrounds the circumference of the disk and is pressed by the elastic pressing piece at the notch; the material conveying device is located at one side of the disk surface of the loading disk.
  • the reciprocating plate pushing device comprises a lateral pushing device and a longitudinal pushing device, the lateral pushing device comprising a lateral pushing cylinder mounted at a lateral end of the reciprocating plate; the longitudinal pushing device comprising a longitudinal pushing cylinder mounted on a side of the width direction of the reciprocating plate
  • the lateral push cylinder and the longitudinal push cylinder are all connected to the pneumatic control system.
  • the reciprocating plate is mounted on the moving rail and moves laterally and longitudinally along the moving rail.
  • the first pneumatic clamping member comprises a first clamping push cylinder mounted on the reciprocating plate, and the cylinder rod of the first clamping pushing cylinder is connected with the first clamping cylinder through the connecting plate, the first clamping cylinder Connecting the first clamping finger, controlling the first clamping finger to complete the clamping action; the cutting cylinder is mounted on the connecting plate, the cutting blade is spaced apart from the first clamping finger by 1 mm; the first clamping push cylinder, The first clamping cylinder and the cutting cylinder are all connected to the pneumatic control system.
  • the second clamping device comprises a second clamping push cylinder
  • the second clamping pushing cylinder is mounted on the frame through the column, and the cylinder rod of the second clamping pushing cylinder is connected to the second clamping cylinder via the connecting frame.
  • the second clamping cylinder is connected to the second clamping finger, and the second clamping finger is controlled to complete the clamping action; the second clamping pushing cylinder and the second clamping cylinder are connected by the pneumatic control system.
  • the third clamping device comprises a third horizontal pushing cylinder, a third vertical pushing cylinder and a third clamping cylinder
  • the third horizontal pushing cylinder is mounted on the frame
  • the cylinder rod is connected to the third vertical column by the connecting rod
  • the straight push cylinder is connected
  • the cylinder rod of the third vertical push cylinder is connected to the third clamping cylinder via the connecting bracket
  • the third clamping cylinder is connected with the third clamping finger
  • the third clamping finger is controlled to complete the clamping action
  • the horizontal push cylinder, the third vertical push cylinder, and the third clamp cylinder are all connected to the pneumatic control system.
  • the kelp knotting method includes the following steps:
  • the kelp is placed on the feeding device, and the loading device drives the kelp to the designated position;
  • the motor drives the screw to rotate, which drives the slider to move, so as to drive the conveying device to push the cylinder to move toward the loading device.
  • the conveying device pushes the cylinder to control the material conveying clamping finger to move up and down.
  • the kelp is located, the kelp is clamped, and then the slider moves in the opposite direction, and the kelp is laid on the material laying track;
  • the first pneumatic clamping device moves laterally to a position near the material laying track, and then moves longitudinally to the material laying track, the first clamping finger holds the kelp, and the material conveying clamping finger releases the kelp, and then the first The pneumatic clamping device moves laterally away from the material laying track, and passes over the second pneumatic clamping device;
  • the second clamp is moved forward to the front of the kelp
  • the first clamping point is moved upward, and then the reciprocating plate drives the first clamping to move to the third clamping finger in a direction close to the material laying track;
  • the third clamping finger passes over the kelp in the first clamping finger, moves backwards first, then moves downwards.
  • the first clamping direction is in the direction of the third clamping finger, and then moves downward to the same level as the third clamping finger, and the kelp is taken from the third clamping finger;
  • the first clamping finger clamps the kelp upward movement, and then moves to the left to the second clamping finger, in the same vertical plane as the second clamping finger, the second clamping finger clamps the kelp and moves backwards, tie;
  • the cutting knife moves and cuts the kelp knot.
  • the original disc-type feeding device driven by the stepping motor and the three pairs of knotting fingers are used to closely match the simulated manual knotting process to complete the unique knives structure of kelp knotting and cutting fast and convenient, which effectively improves the hitting. Knot efficiency, success rate, consistency.
  • the design of each component of the present invention complies with the principles of serialization, generalization, and standardization, making the manufacture, installation, maintenance, and the like of the device simple and quick. The combination of the above advantages makes the kelp automatic knotting machine very promising.
  • Figure 1 is a schematic view of the structure of the present invention.
  • FIG. 2 is a schematic view showing the structure of a front view of the present invention.
  • Figure 3 is a schematic top plan view of the present invention.
  • Figure 4 is a schematic view showing the structure of the left side of the present invention.
  • 1-loading disc 2-stepping motor; 3- lateral pushing cylinder; 4-reciprocating plate; 5-longitudinal pushing cylinder; 6-moving guide; 7-first clamping push cylinder; 8-cut Cylinder; 9-third horizontal push cylinder; 10-third vertical push cylinder; 11-second clamp push cylinder; 12-third clamp cylinder; 13-first clamp cylinder; 14-conveyor push cylinder ; 15 - material placement track; 16-screw; 17-motor; 18-cutting blade; 19-first clamping finger; 20-second clamping finger; 21-third clamping finger; Clamping cylinder; 23-material conveying clamp finger; 24-threaded slider; 25-elastic compression; 26-notch.
  • the kelp knotting machine includes a rack, a PLC control system and a pneumatic control system, and the rack is provided with a feeding device, a material conveying device, a knotting device and a cutting device:
  • the feeding device comprises a bracket mounted on the frame of the kelp knotting machine through the bracket, the loading tray 1 is mounted on the bracket, the stepping motor 2 is connected to the loading disc 1 , and the stepping motor 2 is driven
  • the material disc 1 rotates; a notch 26 is formed along the circumferential edge of the loading disc 1 , and an elastic pressing piece 25 is mounted at the notch 26; the kelp is placed on the loading device during operation, and the kelp is wound around the feeding disc 1
  • the circumference is pressed by the elastic pressing piece 25 at the notch 26, fixed, and conveyed by the loading disc 1 to a specified height position.
  • the material conveying device is located on one side of the disk surface of the loading disc 1; comprises a material conveying clamping finger 23, a material laying rail 15, a conveying device pushing cylinder 14, a screw rod 16 and an electric motor 17, a screw rod 16 and a material laying track 15 is arranged side by side in the direction of the vertical feeding disc 1 disk surface, the screw rod 16 is mounted with a screw slider 24, and the screw slider 24 is mounted with a conveying device pushing cylinder 14; during operation, the motor 17 drives the screw 16 to rotate.
  • the screw slider 24 can reciprocate along the screw rod 16, and drive the conveying device to push the cylinder 14 to reciprocate.
  • the conveying device pushing cylinder 14 is connected with the material conveying clamping finger 23, and can control the material conveying clamping finger 23 to move up and down, and clamp the kelp.
  • the conveyor push cylinder 14 is located above the material placement track 15.
  • Knotting device comprising a first pneumatic clamping device, a second pneumatic clamping device and a third pneumatic clamping device.
  • the first pneumatic gripping device is disposed side by side with the lead screw 16 and the material placement rail 15, and includes a reciprocating plate 4 and a first pneumatic clamping member mounted on the reciprocating plate 4.
  • the reciprocating plate 4 is coupled with a reciprocating plate pushing device for pushing the reciprocating plate to move laterally and longitudinally in the plane of motion;
  • the reciprocating plate pushing device comprises a lateral pushing device and a longitudinal pushing device, and the lateral pushing device comprises a reciprocating plate 4
  • the lateral end pushes the cylinder 3 laterally;
  • the longitudinal pushing means includes a longitudinal pushing cylinder 5 mounted on the side of the width direction of the reciprocating plate 4;
  • the lateral pushing cylinder 3 and the longitudinal pushing cylinder 5 are both connected to the pneumatic control system.
  • the reciprocating plate 4 is mounted on the moving rail 6 to move laterally and longitudinally along the moving rail 6.
  • the first pneumatic clamping member including the first clamping finger 19, is located at an end of the material placement rail 15 away from the loading disc 1 and is movable back and forth in the space with the reciprocating plate 4.
  • the first pneumatic clamping member includes a first clamping push cylinder 7 mounted on the reciprocating plate 4, and the cylinder rod of the first clamping pushing cylinder 7 is connected to the first clamping cylinder 13 through the connecting plate, the first clamping cylinder 13 is connected to the first clamping finger 19, the first clamping pushing cylinder 7 controls the up and down movement of the first clamping finger, and the first clamping cylinder 13 controls the first clamping finger 19 to complete the clamping action.
  • the first clamping push cylinder 7 and the first clamping cylinder 13 are all connected to a pneumatic control system.
  • the second pneumatic clamping device is located at the left front of the first pneumatic clamping device, and includes a second clamping finger 20, and the highest position of the second clamping finger 20 is higher than the highest point of the vertical position of the first clamping finger 19, Exercise back and forth.
  • the second clamping device includes a second clamping and pushing cylinder 11 , and the second clamping and pushing cylinder 11 is mounted on the frame through the column, and the cylinder rod of the second clamping and pushing cylinder 11 is connected to the second clamping cylinder 22 via the connecting frame.
  • the second clamping cylinder 22 is connected to the second clamping finger 20 to control the second clamping finger 20 to complete the clamping action; the second clamping pushing cylinder 11 and the second clamping cylinder 22 are connected by a pneumatic control system.
  • the forward and backward movement of the second gripping finger 20 is controlled by the second gripping push cylinder 11 and the up and down motion is achieved by the control of the second gripping cylinder 22.
  • the third pneumatic clamping device is located between the first pneumatic clamping device and the second pneumatic clamping device.
  • the upper left portion of the first pneumatic clamping device includes a third clamping finger 21, and the third clamping finger 21 can move back and forth. And moving up and down, the highest position of the third clamping finger 21 is located between the highest point of the vertical position of the first clamping finger 19 and the highest point of the vertical position of the second clamping finger 20; the third clamping device comprises a third horizontal pushing cylinder 9.
  • the third vertical pushing cylinder 10 and the third clamping cylinder 12, the third horizontal pushing cylinder 9 is mounted on the frame, and the cylinder rod is connected to the third vertical pushing cylinder 10 via the connecting frame to control the third vertical Pushing the back and forth movement of the cylinder 10, the cylinder rod of the third vertical pushing cylinder 10 is connected to the third clamping cylinder 12 via the connecting frame to control the up and down movement of the third clamping cylinder 12, and the third clamping cylinder 12 is connected to the third clamping cylinder 12 Holding the finger 21, the third clamping finger 21 is controlled to complete the clamping action; the third horizontal pushing cylinder 9, the third vertical pushing cylinder 10 and the third clamping cylinder 12 are all connected to the pneumatic control system.
  • Cutting device for cutting the knotted kelp, comprising a cutting cylinder 8 and a cutting blade 18, the cylinder rod of the cutting cylinder 8 is connected with the cutting blade 18, and the cutting device is arranged on the first pneumatic clamping device, the level of the cutting blade 18 The position is parallel to the horizontal position of the first clamping finger; the cutting cylinder 8 is mounted on the connecting plate between the first clamping push cylinder 7 and the first clamping cylinder 9, between the cutting blade 18 and the first clamping finger 19 The interval is 1 mm; the cutting cylinder 8 is connected to the pneumatic control system.
  • PLC control device for controlling the loading device, the material conveying device, the knotting device and the cutting device
  • Pneumatic control system control the operation of the conveying device pushing cylinder, the first pneumatic clamping device, the second pneumatic clamping device and the third pneumatic clamping device.
  • the motor 17 drives the lead screw 16 to rotate, and the slider moves accordingly to drive the conveying device to push the cylinder 14 to move in the direction of the loading disc 1.
  • the conveying device pushes the cylinder 14 to control the material.
  • the conveying clamp finger 23 moves up and down, finds the position of the kelp, clamps the kelp, and then the motor 17 is turned over, driving the lead screw 16 to rotate in the opposite direction, the slider moves in the opposite direction, and the material conveying clamping finger 23 sandwiches the kelp. Sliding over the material placement track 15, the kelp is tiled on the material placement track 15;
  • the first pneumatic clamping device moves laterally toward the position where the material is laid 15 , that is, moves toward the loading disk 1 , and then moves longitudinally to the material discharging track 15 , that is, the parallel feeding disk
  • the first clamping push cylinder 7 controls the first clamping cylinder 13 to adjust the up and down position
  • the first clamping finger 19 moves to the material laying track 15
  • the first clamping cylinder 13 controls the first clamping Holding the finger 19 to hold the kelp
  • the material conveying clamp finger 23 releases the kelp
  • the first pneumatic clamping device moves laterally away from the material laying track, and passes over the second pneumatic clamping device from the second clamping finger 20 Passing over to the left side of the second gripping finger 20;
  • the material conveying gripper 23 clamps the kelp again under the action of the material device pushing cylinder 14;
  • the first clamping push cylinder 7 pushes the first clamping finger 19 upward by 20 mm, so that the vertical height of the first clamping finger 19 is higher than the vertical height of the second clamping finger 20, and then the cylinder 3 is driven by the lateral direction.
  • the reciprocating plate 4 is moved 90 mm in the direction of the loading disc 1 to move the first clamping finger 19 in the direction of approaching the loading disc 1 so that the first clamping finger 19 and the third clamping finger 21 are in the same direction.
  • a vertical plane In a vertical plane;
  • the third horizontal pushing cylinder 9 pushes the third vertical pushing cylinder 10 to move toward the first clamping finger 19 through the connecting frame, and the third vertical pushing cylinder 10 pushes the third clamping finger 21 to move up and down.
  • the three clamping cylinders 12 control the third clamping fingers 21 to clamp the kelp, and the first clamping fingers 19 release the kelp;
  • the third horizontal pushing cylinder 9 drives the third vertical pushing cylinder 10 to move backwards away from the first clamping finger 19 through the connecting frame, and the third vertical pushing cylinder 10 drives the third clamping finger 21 downward. Movement, the third horizontal pushing cylinder 9 drives the third vertical pushing cylinder 10 to move forward in the direction of approaching the first clamping finger 19 through the connecting frame, passing through the lower side of the kelp, and the first clamping cylinder 13 controls the first The clamping finger 19 holds the kelp, and the third clamping cylinder 12 controls the third clamping finger to release the kelp; the third horizontal pushing cylinder 9, the third vertical pushing cylinder 10 and the third clamping cylinder 12 cooperate to drive the first The three clamping device returns to the initial position;
  • the first clamping push cylinder 7 drives the first clamping finger 19 to move upward by the connecting frame to the same level as the second clamping finger 21, and the lateral pushing cylinder 3 drives the entire first clamping frame through the reciprocating plate 4.
  • the holding device moves in a direction close to the second clamping finger 21, the second clamping cylinder 22 controls the second clamping finger 20 to clamp the kelp, and the second clamping pushing cylinder 11 drives the second clamping cylinder 22 backward through the connecting plate Movement, thereby driving the second clamping finger 20 to move backwards, completing the knotting;
  • the lateral pushing cylinder 3 drives the entire first holding device to move toward the loading tray 1 by the reciprocating plate 4, and the cutting cylinder 8 controls the movement of the cutting blade 18 to cut the kelp knot.
  • the cutting cylinder 8 controls the cutting blade 18 to return to the initial position, and the second clamping finger 21 releases the kelp under the action of its two clamping cylinders 22, and the knotting work is completed.

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Abstract

一种海带打结机及打结方法，海带打结机包括机架、PLC控制装置和气动控制***，机架上设置有上料装置、物料输送装置、打结装置和切割装置。打结装置包括第一气动夹持装置，第二气动夹持装置和第三气动夹持装置。通过打结装置模拟手工实现对海带打结。

Description

海带打结机及打结方法 技术领域
本发明属于食品加工机械设备领域，具体的说，涉及一种应用海带加工作业的海带打结机及打结方法。
背景技术
海带作为一种重要的美食，在国内外具有极大的市场需求。在我国东、北部沿海地区，打结后的海带销往世界各地，是该地区重要的出口创汇产品之一，仅山东东部沿海地区每年出口量达数十万吨。海带的打结对于海产品产业经济的发展具有重要的意义。
目前，海带打结主要依靠人工徒手完成，打结效率低，用工成本高。同时，由于海带处在潮湿、盐碱环境中，该环境对工人的身体腐蚀侵害十分严重，长时间工作，工人的手指就会出现变形、指甲脱落，影响工人身体健康，出现了用工难的问题，成为制约海带出口的主要障碍。目前，海带打结机主要有三种，哈工大威海校区研制的两种机型和福建研制的一种机型，以上机型都出现了打结成功率低的问题，影响产品质量和产量。
发明内容
本发明的目的在于提供一种打结效率高、成功率高的海带打结机和打结方法。
本发明的技术方案是：海带打结机，包括机架，机架上设置有：
上料装置，海带放置在上料装置上，由上料装置将其输送到指定高度位置；
物料输送装置，包括物料输送夹持指、物料铺放轨道、输送装置推送气缸、丝杠和电动机，丝杠上安装有丝杠滑块，丝杠滑块上安装有输送装置推送气缸；电动机带动丝杠转动，丝杠滑块可沿丝杠往复运动，带动输送装置推送气缸往复运动，输送装置推送气缸与物料输送夹持指相连，可控制物料输送夹持指上下运动，夹持海带；所述输送装置推送气缸位于物料铺放轨道的上方；
打结装置：包括第一气动夹持装置，第二气动夹持装置和第三气动夹持装置；所述第一气动夹持装置与丝杠和物料铺放轨道并排设置，包括往复运动板，往复运动板连接有往复运动板推动装置，可推动往复运动板在运动平面内横向和纵向运动；往复运动板上安装有第一气动夹持部件，包括第一夹持指，位于物料铺放轨道远离上料装置的一端，可随往复运动板在空间内前后左右运动，夹持海带，也可上下运动；所述第二气动夹持装置位于第一气动夹持装置的左前方，包括第二夹持指，第二夹持指垂直位置最高点高于第一夹持指垂直位置最高点，可 向前后运动；所述第三气动夹持装置位于第一气动夹持装置和第二气动夹持装置之间，第一气动夹持装置的左上方，包括第三夹持指，第三夹持指可前后运动和上下运动，第三夹持指垂直位置最高点位于第一夹持指垂直位置最高点和第二夹持指垂直位置最高点之间；
切割装置：用于切割打结完的海带，包括切割气缸和切割刀，切割气缸的气缸杆与切割刀相连，切割装置设置在第一气动夹持装置上，切割刀的水平位置与第一夹持指的水平位置平行；
PLC控制装置；用于控制上料装置、物料输送装置、打结装置和切割装置的工作；
气动控制***：控制输送装置推送气缸、第一气动夹持装置，第二气动夹持装置和第三气动夹持装置的工作。
优选的是：上料装置包括支架，支架上安装有上料圆盘，上料圆盘连接有步进电机，步进电机带动上料圆盘转动；沿上料圆盘的圆周边缘开有槽口，槽口处安装有弹性压片；海带围绕圆盘圆周，由槽口处弹性压片压住；物料输送装置位于上料圆盘盘面的一侧。
优选的是：往复运动板推动装置包括横向推动装置和纵向推动装置，横向推动装置包括安装在往复运动板横向末端的横向推动气缸；纵向推动装置包括安装在往复运动板宽度方向侧面的纵向推动气缸；横向推动气缸和纵向推动气缸均与气动控制***相连。
优选的是：往复运动板安装在运动导轨上，沿运动导轨横向和纵向运动。
优选的是：第一气动夹持部件包括安装在往复运动板上的第一夹持推送气缸，第一夹持推送气缸的气缸杆通过连接板连接有第一夹持气缸，第一夹持气缸连接第一夹持指，控制第一夹持指完成夹持动作；所述切割气缸安装在连接板上，所述切割刀与第一夹持指之间间隔1mm；第一夹持推送气缸、第一夹持气缸、切割气缸均与气动控制***相连。
优选的是：第二夹持装置包括第二夹持推送气缸，第二夹持推送气缸通过立柱安装在机架上，第二夹持推送气缸的气缸杆经连接架连接有第二夹持气缸，第二夹持气缸连接第二夹持指，控制第二夹持指完成夹持动作；第二夹持推送气缸、第二夹持气缸均气动控制***相连。
优选的是：第三夹持装置包括第三水平推送气缸、第三竖直推送气缸和第三夹持气缸，第三水平推送气缸安装在机架上，其气缸杆经连接架与第三竖直推送气缸相连，第三竖直推送气缸的气缸杆经连接架与第三夹持气缸相连，第三夹持气缸连接第三夹持指，控制第三夹持指完成夹持动作；第三水平推送气缸、第三竖直推送气缸和第三夹持气缸均与气动控制***相连。
海带打结方法，包括以下步骤：
A、将海带置于上料装置上，上料装置带动海带运动到指定位置；
B、电动机带动丝杠转动，带动滑块运动，从而带动输送装置推送气缸朝上料装置的方向运动，运动到上料装置位置时，输送装置推送气缸控制物料输送夹持指上下运动，找准海带所在位置，夹持海带，之后滑块向相反的方向运动，海带被平铺在物料铺放轨道上；
C、第一气动夹持装置横向向靠近物料铺放轨道的位置运动，之后纵向运动到物料铺放轨道处，第一夹持指夹持海带，物料输送夹持指松开海带，之后第一气动夹持装置横向向远离物料铺放轨道的方向运动，越过第二气动夹持装置；
D、第二夹持指向前运动到海带的正上方；
E、第一夹持指向上运动，之后往复运动板带动第一夹持指向靠近物料铺放轨道的方向运动到第三夹持指处；
F、第三夹持指接过第一夹持指中的海带，先向后运动，再向下运动，
从海带下侧穿过；
G、第一夹持指向原理第三夹持指的方向运动，再向下运动，到与第三夹持指位于同一水平高度，从第三夹持指中接过海带；
H、第一夹持指夹住海带向上运动，再向左运动到第二夹持指处，与第二夹持指位于同一竖直平面，第二夹持指夹住海带，向后运动，打结；
I、切割刀运动，切下海带结。
本发明的有益效果是：
采用了独创的的由步进电动机带动的圆盘式上料装置、三对打结指通过密切配合模拟手工打结过程完成海带打结、切割快速方便的独特割刀结构，有效的提高了打结效率、成功率、连贯性。同时，本发明的各个零部件的设计遵守了系列化、通用化、标准化的原则，使得设备的制造、安装、维修等变得简单快捷。集合了上述优势使得该款海带自动打结机前景十分广阔。
附图说明
图1为本发明结构示意图。
图2为本发明主视结构示意图。
图3为本发明俯视结构示意图。
图4为本发明左视结构示意图。
其中，1-上料圆盘；2-步进电动机；3-横向推动气缸；4-往复运动板；5-纵向推动气缸；6-运动导轨；7-第一夹持推送气缸；8-切割气缸；9-第三水平推送气缸；10-第三竖直推送气缸；11-第二夹持推送气缸；12-第三夹持气缸；13-第一夹持气缸；14-输送装置推送气缸；15-物料铺放轨道；16-丝杠；17-电动机；18-切割刀；19-第一夹持指；20-第二夹持指；21-第三夹持指；22-第二夹持气缸；23-物料输送夹持指；24-丝杠滑块；25-弹性压片；26-槽口。
具体实施方式
以下结合附图对本发明做进一步详细的说明。
海带打结机，包括机架，PLC控制***和气动控制***，机架上设置有上料装置、物料输送装置、打结装置和切割装置：
上料装置，上料装置包括支架通过支架安装在海带打结机的机架上，支架上安装有上料圆盘1，上料圆盘1连接有步进电机2，步进电机2带动上料圆盘1转动；沿上料圆盘1的圆周边缘开有槽口26，槽口26处安装有弹性压片25；工作时海带放置在上料装置上，海带缠绕在上料圆盘1的圆周，由槽口26处弹性压片25压住，固定，由上料圆盘1将其输送到指定高度位置。
物料输送装置，位于上料圆盘1盘面的一侧；包括物料输送夹持指23、物料铺放轨道15、输送装置推送气缸14、丝杠16和电动机17，丝杠16和物料铺放轨道15沿垂直上料圆盘1盘面的方向并排设置，丝杠16上安装有丝杠滑块24，丝杠滑块24上安装有输送装置推送气缸14；工作时电动机17带动丝杠16转动，丝杠滑块24可沿丝杠16往复运动，带动输送装置推送气缸14往复运动，输送装置推送气缸14与物料输送夹持指23相连，可控制物料输送夹持指23上下运动，夹持海带；输送装置推送气缸14位于物料铺放轨道15的上方。
打结装置：包括第一气动夹持装置，第二气动夹持装置和第三气动夹持装置。
第一气动夹持装置与丝杠16和物料铺放轨道15并排设置，包括往复运动板4和安装在往复运动板4上的第一气动夹持部件。往复运动板4连接有往复运动板推动装置，可推动往复运动板在运动平面内横向和纵向运动；往复运动板推动装置包括横向推动装置和纵向推动装置，横向推动装置包括安装在往复运动板4横向末端的横向推动气缸3；纵向推动装置包括安装在往复运动板4宽度方向侧面的纵向推动气缸5；横向推动气缸3和纵向推动气缸5均与气动控制***相连。往复运动板4安装在运动导轨6上，沿运动导轨6横向和纵向运动。
第一气动夹持部件，包括第一夹持指19，位于物料铺放轨道15远离上料圆盘1的一端，可随往复运动板4在空间内前后左右运动。
第一气动夹持部件包括安装在往复运动板4上的第一夹持推送气缸7，第一夹持推送气缸7的气缸杆通过连接板连接有第一夹持气缸13，第一夹持气缸13连接第一夹持指19，第一夹持推送气缸7控制第一夹持指的上下运动，第一夹持气缸13控制第一夹持指19完成夹持动作。第一夹持推送气缸7、第一夹持气缸13均与气动控制***相连。
第二气动夹持装置位于第一气动夹持装置的左前方，包括第二夹持指20，第二夹持指20垂直位置最高点高于第一夹持指19垂直位置最高点，可向前后运动。
第二夹持装置包括第二夹持推送气缸11，第二夹持推送气缸11通过立柱安装在机架上，第二夹持推送气缸11的气缸杆经连接架连接有第二夹持气缸22，第二夹持气缸22连接第二夹持指20，控制第二夹持指20完成夹持动作；第二夹持推送气缸11、第二夹持气缸22均气动控制***相连。第二夹持指20的前后运动通过第二夹持推送气缸11控制实现，上下运动通过第二夹持气缸22的控制实现。
第三气动夹持装置位于第一气动夹持装置和第二气动夹持装置之间，第一气动夹持装置的左上方，包括第三夹持指21，第三夹持指21可前后运动和上下运动，第三夹持指21垂直位置最高点位于第一夹持指19垂直位置最高点和第二夹持指20垂直位置最高点之间；第三夹持装置包括第三水平推送气缸9、第三竖直推送气缸10和第三夹持气缸12，第三水平推送气缸9安装在机架上，其气缸杆经连接架与第三竖直推送气缸10相连，控制第三竖直推送气缸10的前后运动，第三竖直推送气缸10的气缸杆经连接架与第三夹持气缸12连，控制第三夹持气缸12的上下运动，第三夹持气缸12连接第三夹持指21，控制第三夹持指21完成夹持动作；第三水平推送气缸9、第三竖直推送气缸10和第三夹持气缸12均与气动控制***相连。
切割装置：用于切割打结完的海带，包括切割气缸8和切割刀18，切割气缸8的气缸杆与切割刀18相连，切割装置设置在第一气动夹持装置上，切割刀18的水平位置与第一夹持指的水平位置平行；切割气缸8安装在第一夹持推送气缸7与第一夹持气缸9之间的连接板上，切割刀18与第一夹持指19之间间隔1mm；切割气缸8与气动控制***相连。
PLC控制装置；用于控制上料装置、物料输送装置、打结装置和切割装置的工作；
气动控制***：控制输送装置推送气缸、第一气动夹持装置，第二气动夹持装置和第三气动夹持装置的工作。
以图1为标准来阐述海带打结机的工作步骤即海带打结方法，如下：
(1)启动PLC控制***和气动控制***，将海带置于上料圆盘1上，将弹性压片25固定住海带，步进电机2带动上料圆盘1步进转动，从而带动海带运动到指定高度位置；
(2)电动机17带动丝杠16转动，滑块随之运动，带动输送装置推送气缸14朝上料圆盘1的方向运动，运动到上料圆盘1位置时，输送装置推送气缸14控制物料输送夹持指23上下运动，找准海带所在位置，夹持海带，之后电动机17翻转，带动丝杠16向相反的方向转动，滑块向相反的方向运动，物料输送夹持指23夹着海带从物料铺放轨道15的上方滑过，海带被平铺在物料铺放轨道15上；
(3)第一气动夹持装置横向向靠近物料铺放轨道15的位置运动，即向靠近上料圆盘1的方向运动，之后纵向运动到物料铺放轨道15处，即平行上料圆盘1的方向运动，第一夹持推送气缸7控制第一夹持气缸13调整上下位置，第一夹持指19随之运动到物料铺放轨道15处，第一夹持气缸13控制第一夹持指19夹持海带，物料输送夹持指23松开海带，之后第一气动夹持装置横向向远离物料铺放轨道的方向运动，越过第二气动夹持装置，从第二夹持指20的底部越过，运动到第二夹持指20的左侧；物料输送夹持指23在物料装置推送气缸14的作用下再次夹紧海带；
(4)第二夹持推送气缸11工作，通过连接架推动第二夹持气缸22向前运动，第二夹持指20向前运动到海带的正上方；
(5)第一夹持推送气缸7推动第一夹持指19向上运动20mm，使第一夹持指19竖直高度高于第二夹持指20的竖直高度，之后横向推动气缸3带动往复运动板4向靠近上料圆盘1的方向运动90mm，带动第一夹持指19向靠近上料圆盘1的方向运动，使第一夹持指19与第三夹持指21位于同一竖直平面内；
(6)第三水平推送气缸9通过连接架推动第三竖直推送气缸10向靠近第一夹持指19的方向运动，第三竖直推动气缸10推动第三夹持指21上下运动，第三夹持气缸12控制第三夹持指21夹住海带，第一夹持指19释放海带；
(7)纵向推动气缸5推动整个第一夹持装置向远离第三夹持指21的方向运动，第一夹持推送气缸11通过连接架带动第一夹持推送气缸7向下运动；
(8)第三水平推送气缸9通过连接架带动第三竖直推送气缸10向后向远离第一夹持指19的方向运动，第三竖直推送气缸10带动第三夹持指21向下运动，第三水平推送气缸9通过连接架带动第三竖直推送气缸10向前向靠近第一夹持指19的方向运动，从海带的下侧穿过，第一夹持气缸13控制第一夹持指19夹持海带，第三夹持气缸12控制第三夹持指松开海带；第三水平推送气缸9、第三竖直推送气缸10和第三夹持气缸12共同作用，带动第三夹持装置返回初始位置；
(9)第一夹持推送气缸7通过连接架带动第一夹持指19向上运动，到与第二夹持指21的水平高度相同，横向推送气缸3通过往复运动板4带动整个第一夹持装置向靠近第二夹持指21的方向运动，第二夹持气缸22控制第二夹持指20夹住海带，第二夹持推送气缸11通过连接板带动第二夹持气缸22向后运动，从而带动第二夹持指20向后运动，完成打结；
(10)横向推送气缸3通过往复运动板4带动整个第一夹持装置向靠近上料圆盘1的方向运动，切割气缸8控制切割刀18运动，切下海带结。
(11)切割气缸8控制切割刀18回到初始位置，第二夹持指21在其二夹持气缸22的作用下释放海带，打结工作完成。
(12)重复步骤(1)到步骤(11)，继续海带打结工作。

Claims (8)

  1. 海带打结机，其特征在于：包括机架，机架上设置有：
    上料装置，用于将海带输送到指定高度位置；
    物料输送装置，包括物料输送夹持指、物料铺放轨道、输送装置推送气缸、丝杠和电动机，丝杠上安装有丝杠滑块，丝杠滑块上安装有输送装置推送气缸；电动机带动丝杠转动，丝杠滑块可沿丝杠往复运动，带动输送装置推送气缸往复运动，输送装置推送气缸与物料输送夹持指相连，可控制物料输送夹持指上下运动，夹持海带；所述输送装置推送气缸位于物料铺放轨道的上方；
    打结装置：包括第一气动夹持装置，第二气动夹持装置和第三气动夹持装置；所述第一气动夹持装置与丝杠和物料铺放轨道并排设置，包括往复运动板，往复运动板连接有往复运动板推动装置，可推动往复运动板在运动平面内横向和纵向运动；往复运动板上安装有第一气动夹持部件，包括第一夹持指，位于物料铺放轨道远离上料装置的一端，可随往复运动板在空间内前后左右运动，夹持海带，也可上下运动；所述第二气动夹持装置位于第一气动夹持装置的左前方，包括第二夹持指，第二夹持指垂直位置最高点高于第一夹持指垂直位置最高点，可向前后运动；所述第三气动夹持装置位于第一气动夹持装置和第二气动夹持装置之间，第一气动夹持装置的左上方，包括第三夹持指，第三夹持指可前后运动和上下运动，第三夹持指垂直位置最高点位于第一夹持指垂直位置最高点和第二夹持指垂直位置最高点之间；
    切割装置：用于切割打结完的海带，包括切割气缸和切割刀，切割气缸的气缸杆与切割刀相连，切割装置设置在第一气动夹持装置上，切割刀的水平位置与第一夹持指的水平位置平行；
    PLC控制装置；用于控制上料装置、物料输送装置、打结装置和切割装置的工作；
    气动控制***：控制输送装置推送气缸、第一气动夹持装置，第二气动夹持装置和第三气动夹持装置的工作。
  2. 如权利要求1所述的海带打结机，其特征在于：所述上料装置包括支架，支架上安装有上料圆盘，上料圆盘连接有步进电机，步进电机带动上料圆盘转动；沿上料圆盘的圆周边缘开有槽口，槽口处安装有弹性压片；海带围绕圆盘圆周，由槽口处弹性压片压住；物料输送装置位于上料圆盘盘面的一侧。
  3. 如权利要求1所述的海带打结机，其特征在于：所述的往复运动板推动装置包括横向推动装置和纵向推动装置，横向推动装置包括安装在往复运动板横向末端的横向推动气缸；纵向推动装置包括安装在往复运动板宽度方向侧面的纵向推动气缸。
  4. 如权利要求3所述的海带打结机，其特征在于：往复运动板安装在运动导轨上，沿运动导轨横向和纵向运动。
  5. 如权利要求1所述的海带打结机，其特征在于：所述第一气动夹持部件包括安装在往复运动板上的第一夹持推送气缸，第一夹持推送气缸的气缸杆通过连接板连接有第一夹持气缸，第一夹持气缸连接第一夹持指，控制第一夹持指完成夹持动作；所述切割气缸安装在连接板上，所述切割刀与第一夹持指之间间隔1mm。
  6. 如权利要求1所述的海带打结机，其特征在于：所述第二夹持装置包括第二夹持推送气缸，第二夹持推送气缸通过立柱安装在机架上，第二夹持推送气缸的气缸杆经连接架连接有第二夹持气缸，第二夹持气缸连接第二夹持指，控制第二夹持指完成夹持动作。
  7. 如权利要求1所述的海带打结机，其特征在于：所述第三夹持装置包括第三水平推送气缸、第三竖直推送气缸和第三夹持气缸，第三水平推送气缸安装在机架上，其气缸杆经连接架与第三竖直推送气缸相连，第三竖直推送气缸的气缸杆经连接架与第三夹持气缸相连，第三夹持气缸连接第三夹持指，控制第三夹持指完成夹持动作。
  8. 如权利要求1所述的海带打结机的海带打结方法，其特征在于：包括以下步骤：
    A、将海带置于上料装置上，上料装置带动海带运动到指定位置；
    B、电动机带动丝杠转动，带动滑块运动，从而带动输送装置推送气缸朝上料装置的方向运动，运动到上料装置位置时，输送装置推送气缸控制物料输送夹持指上下运动，找准海带所在位置，夹持海带，之后滑块向相反的方向运动，海带被平铺在物料铺放轨道上；
    C、第一气动夹持装置横向向靠近物料铺放轨道的位置运动，之后纵向运动到物料铺放轨道处，第一夹持指夹持海带，物料输送夹持指松开海带，之后第一气动夹持装置横向向远离物料铺放轨道的方向运动，越过第二气动夹持装置；
    D、第二夹持指向前运动到海带的正上方；
    E、第一夹持指向上运动，之后往复运动板带动第一夹持指向靠近物料铺放轨道的方向运动到第三夹持指处；
    F、第三夹持指接过第一夹持指中的海带，先向后运动，再向下运动，从海带下侧穿过；
    G、第一夹持指向原理第三夹持指的方向运动，再向下运动，到与第三夹持指位于同一水平高度，从第三夹持指中接过海带；
    H、第一夹持指夹住海带向上运动，再向左运动到第二夹持指处，与第二夹持指位于同一竖直平面，第二夹持指夹住海带，向后运动，打结；
    I、切割刀运动，切下海带结。
PCT/CN2016/077475 2015-04-15 2016-03-28 海带打结机及打结方法 WO2016165549A1 (zh)

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