Research On Key Technologys Of Kelp-knotted Machine Based On Spiral Clamping Claws

The automatic technology of knotting kelp is the difficult point that is still not solved at present in the worldwide. The kelp-knotted machine that invented by our school based on the principle of knotting with spiral clamping claws achieved the automation homework of kelp knotting. However it can’t meet the industrialized production requirement in knotting stability and success rate, so the research target of this topic is:making deep theoretical analyses, simulations and experimental studies on the main factors that affected the stability and success rate of the kelp-knotted machine, laying the necessary theoretical basis for developing the kelp-knotted machine with success rate of knotting beyond99%.Using topology snarling theory proved the correctness of the knotting principle based on spiral clamping claws. Through the deep analyses of the kelp-knotted machine’s knotting process, got the main factors that affected knotting stability and success rate were the contradiction between deformation and clamping force of the clamping claws, and coordination problems between translation institution and turn institution of knotting. Therefore we built mechanical models of the clamping claws, made researches on deformation and clamping force of the clamping claws by the finite element simulation. We got the ideal cross-section shape of the clamping claws in the premise of ensure the clamping force of the clamping claws and the deformation of the clamping claws would not caused interference. It established comprehensive mechanics models of the translation institution and turn institution. Did simulation analysis to the kinematic and dynamic characteristics of the knotting institutions with MATALAB, and got that we could made the knotting institutions action smoothly by changing damping of institutions. It was found that the matching movement relation of the translation institution and turn institution by combining the movements of translation institution and turn institution of knotting process. The institutions, drive, control system design and assembly, wiring, debugging of the third generation kelp-knotted machine are completed, and the semi-automatic and fully automatic kelp knotting experiments using simulation parameters are done. The experimental results showed that the kelp-knotted machine’s successful rate was more than99%under the premise of using the kelps of higher quality, which demonstrated the correctness of the study on theoretical analyses and simulations.The main problems are solved that affected the stability and success rate of the kelp-knotted machine through the research on the key technologies. The successful development of the prototype has laid a solid base for the industrialized production of the kelp-knotted machine, and had certain guiding significance for the automatic processing research of related flexible materials.