海带打结机的成结机构及其控制系统设计

doi:10.14012/j.cnki.fjsc.2023.06.009

摘要/Abstract

摘要：

海带结是中国海带养殖省份出口创汇的主要产品,但其缺乏机械加工设备,需投入大量人力进行徒手打结。因此,本文基于仿生学原理,设计了一台海带自动打结机,通过逻辑电路驱动相关的元器件,完成成环和穿环动作,从而实现海带的自动打结。经试验验证,该打结机能够准确完成海带打结的作业,说明其设计合理可行,具备进一步优化后推广应用的价值,为相关的设备设计提供一定的借鉴和参考。

关键词: 海带, 自动打结, 执行机构, 控制系统, 逻辑电路, 设计

Abstract:

The kelp knots are the main product for exporting and earning foreign exchange in Chinese kelp culture provinces, but there are no mechanical processing devices. Therefore, the kelp knots are usually tied manually. Based on the principle of bionics, this paper offered an automatic knotting machine which could make the kelp forming a circle and passing through it to form a knot with the logic circuit. The test verified that this knotting machine was able to complete the operational requirements for kelp knotting accurately, which showed that this design was reasonable and feasible, and had the value of promotion and application after further optimization. It could also provide certain reference for the design and application of relevant knotting equipment.

Key words: kelp, automatic knotting, actuator, control system, logic circuit, design

中图分类号:

S985.4

黄桂芳, 林建伟, 魏观渊, 丁兰, 蔡文鸿, 魏盛军. 海带打结机的成结机构及其控制系统设计[J]. 渔业研究, 2023, 45(6): 585-592.

HUANG Guifang, LIN Jianwei, WEI Guanyuan, DING Lan, CAI Wenhong, WEI Shengjun. Design of actuator and control system for kelp automatic knotting machine[J]. Journal of Fisheries Research, 2023, 45(6): 585-592.

图/表 10

图1 海带自动打结机样机结构示意图注:A.自动送料机构;B. 打结送进机械手;C.成环机构;D.穿环机构;E.切料机构;E1.切断刀片。

Fig.1 Structure of kelp automatic knotting machine Notes: A. Automatic feeding mechanism; B. Knot feeding robot; C. Looped mechanism; D. Looping mechanism; E. Cutting mechanism;E1. Cutting blade.

图2 送料机构结构示意图注:A1.送料夹紧气缸;A2.送料气缸;A3.送料夹爪;A4.送料滑台。

Fig.2 Structure of the feeding mechanism Notes:A1.Feeding clamping cylinder; A2.Feeding cylinder; A3.Feeding gripper; A4.Feeding slide.

图3 打结送进机械手结构示意图注:B1.送料夹紧气缸;B2、B3、B4.驱动气缸;B5.送料夹爪。

Fig.3 Structure of cutting mechanism Notes:B1.Feeding clamping cylinder; B2,B3,B4.Drive cylinder; B5. Feeding gripper.

图4 海带成结机构结构示意图注:X1.滚筒;X2.电磁阀;X3.步进电机;X4.电刷元件;X5.夹爪;X6.红外接收二极管;X7.轴承;Y1.直筒;Y2.电磁阀;Y3.步进电机;Y4.齿轮齿条组件;Y5.夹爪;Y6.红外发射二极管;Y7.微动开关。

Fig.4 Structure of kelp automatic knotting machine Notes: X1.Drum; X2.Solenoid valve; X3.Stepper motor; X4. Electric brush; X5.Clamping jaw; X6.Infrared receiving diode; X7.Bearing; Y1.Straight drum; Y2.Solenoid valve; Y3.Stepper motor; Y4.Rack and pinion assembly; Y5. Clamping jaw; Y6.Infrared emitting diode; Y7.Microswitch.

图5 CH250脉冲分配器引脚连接注:EN为电源正端;J6r、J6L、R1为电源负端;C、J3L、J3r为正反向控制;CL为脉冲输入;R2为复位/工作;VSS为电路公共接地端电压(接地);VDD为器件内部的工作电源电压;A 、B 、A0、B0、C0为输出端。

Fig.5 Pin connection of CH250 pulse distributor Notes:EN was positive end of power supply; J6r, J6L, R1 were negative terminals of power supply; C,J3L, J3r were forward and reverse controls; CL was pulse input; R2was reset/work;VSS was circuit common ground terminal voltage (ground) ; VDD was the working power supply voltage inside the device; A,B,A0,B0,C0 were output terminals.

图6 打结过程

Fig.6 Knotting process

图7 分频网络电路

Fig.7 Frequency division network

图8 步进电机驱动脉冲

Fig.8 Drive pulse of stepper motor

图9 海带成结控制流程图

Fig.9 Control-flow diagram of kelp knot formation

图10 海带打结过程示意图

Fig.10 Schematic diagram of kelp knotting process

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