摘要： 目前筏式海带养殖主要依赖传统人工夹苗方式，为了解决人工海带夹苗过程中劳动强度大、工作环境恶劣等问题，研究设计了一种多工位海带夹苗机，主要由苗绳解旋装置、旋转扩绳装置、气动夹苗装置等组成。采用了30工位同时解旋夹苗方式，实现苗绳快速等距分段解旋和30棵海带苗同时夹苗；设计了一种浮动旋转偏心扩绳夹苗装置，实现扩绳头穿透交织三股绳形成缝隙，夹苗爪夹取海带苗根至苗绳上沿；利用扭矩测量和阻力动态检测系统软件对多工位海带夹苗旋转扩绳结构进行数据理论分析；设计了海带自动夹苗控制系统，实现多工位夹绳、旋转偏心扩绳、成排插苗苗绳解旋等过程的自动控制。结果显示：苗绳的进给长度为2.3 m，30段夹苗平均每段70 mm，同时收缩距离至50 mm，苗绳松弛、缝隙变大，扩绳头椭球d 5×12扩φ16 mm苗绳，最大苗绳扭矩0.44 N·m，插绳阻力为42 N，扩绳电机功率为0.25 kW；夹苗产量为2 450棵/h，夹苗产量是人工夹苗的2.45倍。整根苗绳分段等距解旋夹苗，大幅提高了夹苗工作效率、成功率、降低伤苗率，自动化程度高。该研究有助于藻类养殖装备研发应用提供参考。

关键词: 海带, 夹苗, 多工位, 等距分段解旋, 旋转偏心扩绳, 控制系统

Abstract: Raft cultivation of kelp mainly relies on the traditional manual seedling clamping method. To solve the problems such as high labor intensity and bad working environment in the process of artificial kelp seedling clamping, this research designed a multi-station kelp seedling clamping machine, which is mainly composed of a seedling rope unwinding device, rotary rope expanding device, pneumatic seedling clamping device, etc. The method of simultaneous unscrewing and clamping seedlings at 30 stations is adopted to realize fast equidistant sectional unscrewing of seedling ropes and simultaneous clamping of 30 kelp seedlings; A floating and rotating eccentric rope expanding and clamping device is designed to realize that the rope expanding head penetrates three interlaced ropes to form a gap, and the clamping claw clamps the kelp seedling root to the upper edge of the seedling rope; The torque measurement and pressure dynamic detection system software is used to analyze the data of the rotating rope expanding structure of the multi-station kelp clamping seedlings; The automatic control system of kelp seedling clamping is designed to realize the automatic control of the processes of multi-position rope clamping, eccentric rotation rope expanding, and row planting seedling rope unwinding. The results show that the feeding length of the seedling rope is 2.3 m, the average length of 30 sections of clamping seedlings is 70mm, and the shrinking distance is about 50mm, the seedling rope is loose, the gap becomes larger, and the ellipsoid of the expanding head d5×12 enlarge φ16mm seedling rope, the maximum seedling rope torque is 0.44 N·m, the rope insertion resistance is 10 is 42 N, and the rope expanding motor power is 0.25 kW; The yield of clamping seedlings is 2 450 trees/h, 2.45 times that of manual clamping seedlings. The whole seedling rope is unscrewed at equal intervals, greatly improving the efficiency and success rate of seedling clamping, reducing the rate of injured seedlings, and achieving high automation. This research is helpful for the research and application of algae breeding equipment.

Key words: kelp, clip seedlings, multi-station, isometric piece-wise unscrewing, rotating eccentric expanding rope, control system