Automatic rope knotting device and method

Abstract

The present invention relates to an automatic rope knotting device, wherein a rope fixing module is fixed to the outer side wall of a chassis, and is used to fix the restraining rope; a rope pulling module is arranged horizontally at intervals from the rope fixing module and can perform translational motion relative to the rope fixing module, and is used to pull the rope to a predetermined position; a rope pressing module cooperates with the rope pulling module to fold the rope in half, and pulls the folded rope to a predetermined position in the direction of the chassis; a hot cutting module is arranged above the rope fixing module and is used to cut off one end of the rope close to the rope fixing module; a knotting module cooperates with the rope pulling module, the rope pressing module and the hot cutting module to spirally knot the rope; and a control module controls the working states of the rope fixing module, the rope pulling module, the rope pressing module, the hot cutting module and the knotting module. The automatic rope knotting device of the present invention integrates the two processes of rope cutting and knotting into one, which not only saves production costs and human resources, but also has a high degree of production automation and stable and reliable knot quality, thereby improving production efficiency and product quality.

Description

Technical Field

[0001] The invention relates to the technical field of rope and belt product manufacturing, and in particular to a rope and belt automatic knotting device and method. Background Art

[0002] With the changes in the market, the demand for ropes and straps for clothing, luggage, outdoor products, etc. is increasing. In order to reduce costs, the industry directly uses knotted ropes and straps to replace the original rope and strap plastic pull heads. The existing rope and strap knotting method generally uses manual knotting. First, the continuous rope and strap are cut, and then the rope and strap are folded, wrapped, interlaced, and tightened into a knot by manual operation. This knotting method requires a lot of human resources, has low production efficiency, high labor intensity, and the quality of the knot is greatly affected by human factors and is unstable, which brings high costs, long production cycles, and unstable knot quality to enterprises. Therefore, the existing technology needs to be developed. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a device and method for automatically tying rope knots which are cost-saving, highly automated and have stable knot quality.

[0004] In order to achieve the above object, the present invention provides the following technical solutions:

[0005] The present invention provides an automatic rope knotting device, comprising a chassis and a rope fixing module, a rope pulling module, a rope pressing module, a hot cutting module, a knotting module, and a control module arranged in the chassis;

[0006] The rope fixing module is fixed to the outer side wall of the chassis and is used to fix the restraining rope belt;

[0007] The rope pulling module is arranged horizontally with respect to the rope fixing module and can perform translational movement relative to the rope fixing module, and is used to pull the rope in the rope fixing module to a predetermined position;

[0008] The rope pressing module is arranged in the chassis and can perform forward and backward telescopic movement and upward and downward translational movement relative to the chassis, and is used to cooperate with the rope pulling module to fold the rope belt in half, and pull the folded rope belt toward the chassis to a predetermined position;

[0009] The hot cutting module is arranged above the rope fixing module and can move up and down relative to the rope fixing module, so as to cut off the end of the rope belt close to the rope fixing module;

[0010] The knotting module is arranged below the rope fixing module and can perform translational movement relative to the rope fixing module to hook the rope belt, and is used to cooperate with the rope pulling module, the rope pressing module and the hot cutting module to spirally knot the rope belt;

[0011] The control module is electrically connected to the rope fixing module, rope pulling module, rope pressing module, hot cutting module and knotting module respectively and controls the working states of the rope fixing module, rope pulling module, rope pressing module, hot cutting module and knotting module.

[0012] Furthermore, the knotting module includes a knotting structure, a rotating structure and a first displacement structure, the knotting structure faces the rope fixing module to knot the rope, the rotating structure is fixedly connected to the knotting structure and drives the knotting structure to rotate, the first displacement structure is slidably connected to the knotting structure and the rotating structure and pushes the rotating structure and the knotting structure to move synchronously, the rotating structure includes a bearing, the bearing includes a rotating lining and an outer lining sleeved on the rotating lining, a cam is provided on one end face of the outer lining, the knotting structure includes a knotting mouth, a movable chuck, a roller and a locking plate, the knotting mouth is fixedly connected to the rotating lining through the cam, the movable chuck is arranged in the knotting mouth and forms a movable clamping opening with the knotting mouth to clamp the rope, the locking plate is fixed to one side of the outer lining and forms a movable space with the cam, the roller is fixedly connected to the tail of the movable chuck and slides in the movable space to realize the opening or closing of the movable clamping opening.

[0013] Further, the first displacement structure includes a first fixed plate, a first guide rail, a first cylinder and a first slider, and the rotation structure also includes a second fixed plate, a first motor, a first synchronous wheel and a second synchronous wheel, the first fixed plate is fixed to the outer side wall of the chassis, the first guide rail is fixed to the first fixed plate, the first slider slides on the first guide rail and is fixedly connected to the second fixed plate, the first cylinder is fixedly connected to the second fixed plate and pushes the second fixed plate and the first slider to slide along the first guide rail;

[0014] The first motor is fixed on the second fixed plate and fixedly connected to the synchronous wheel 1, the synchronous wheel 1 and the synchronous wheel 2 are connected by a belt, the synchronous wheel 2 is fixedly connected to the rotating lining, and the rotation of the first motor drives the synchronous wheel 1 to rotate, thereby driving the synchronous wheel 2, the rotating lining, the knotting nozzle, the movable chuck and the roller to rotate.

[0015] Furthermore, the rope-fixing module includes a rope-fixing seat and a positioning part arranged on the rope-fixing seat, the positioning part includes a rope-fixing rod, an adjusting screw and a first elastic member, the rope-fixing rod is fixed to the upper surface of the rope-fixing seat, the adjusting screw passes through the rope-fixing seat and is fixedly connected to the rope-fixing rod, the first elastic member is sleeved on the adjusting screw and abuts against the lower surface of the rope-fixing seat, the rope-fixing seat is provided with a through groove below the rope-fixing rod, the rope belt passes through the through groove and is held and fixed by the rope-fixing rod.

[0016] Further, the rope pulling module includes a second displacement structure and a rope clamping structure, the second displacement structure includes a second motor, a first gear, a first rack and a second guide rail, the second motor is meshed with the first rack through the first gear, and the second guide rail is fixed to the outer side wall of the chassis;

[0017] The rope clamping structure includes a second slider, a rope clamping seat, a rope clamping plate installed on the rope clamping seat, and a second cylinder. The second slider is slidably matched with the second guide rail and is fixedly connected to the first rack. The rope clamping seat is fixedly connected to the second slider. The rope clamping plate is rotatably installed on the upper surface of the rope clamping seat and forms a rope clamping opening with the rope clamping seat for clamping the rope belt.

[0018] The second motor drives the first rack to translate laterally and drives the second slider to translate, thereby driving the rope clamping structure to move closer to or away from the rope fixing module. The second cylinder is fixedly connected to the rope clamping plate and drives the rope clamping plate to rotate to clamp or loosen the rope, so as to pull the rope clamp in the rope fixing module to a predetermined position.

[0019] Furthermore, the rope clamping seat is provided with a movable block, a fixed rod and a second elastic member, the movable block faces the rope fixing module and is arranged below the rope clamping port, the fixed rod passes through the rope clamping seat and is fixedly connected to the movable block, and the second elastic member is sleeved on the fixed rod and abuts against the movable block and the rope clamping seat respectively.

[0020] Furthermore, a positioning groove is provided on one side of the movable block facing the fixed rope module, and a thimble and a third elastic member are provided in the movable block, one end of the thimble is in contact with the third elastic member, and the other end extends out of the positioning groove.

[0021] Further, the rope pressing module includes a third displacement structure, a fourth displacement structure and a rope pressing rod, the third displacement structure and the fourth displacement structure are installed in the chassis, the rope pressing rod extends from the chassis, the third displacement structure includes a third motor, a second gear, a second rack, a first mounting plate and a third guide rail, the first mounting plate is fixed to the inner side wall of the chassis, the third motor is meshed with the second rack through a second gear, and the third guide rail is fixed to the first mounting plate;

[0022] The fourth displacement structure includes a third slider, a third cylinder and a positioning plate. The third slider slides on the third guide rail. The third cylinder and the positioning plate are installed on the third slider at intervals. The rope pressing rod passes through the positioning plate and is fixedly connected to the third cylinder. The head of the rope pressing rod is provided with a hook-shaped opening, and the hook-shaped opening is directed vertically downward to hook the rope.

[0023] Further, the hot-cut module includes a fifth displacement structure, a hot-cut structure and a temperature control structure, the fifth displacement structure includes a second mounting plate, a fourth cylinder and a fourth guide rail, the second mounting plate is fixed to the outer side wall of the chassis, and the fourth cylinder and the fourth guide rail are respectively fixed to the second mounting plate;

[0024] The hot cutting structure includes a fourth slider, a fixed bracket and a hair dryer. The fourth slider is slidably matched with the fourth guide rail and is fixedly connected to the fourth cylinder. The fixed bracket is fixed to the fourth slider. The hair dryer is fixed to the fixed bracket. A slice is installed at the air outlet of the hair dryer. The temperature control structure is electrically connected to the hair dryer and controls the temperature of the hair dryer. The fourth cylinder drives the hair dryer to move downward, and the slice cuts off the end of the rope close to the fixed rope module.

[0025] The present invention also provides a method for knotting using the aforementioned automatic knotting device for ropes and belts, comprising the following steps:

[0026] S100, fixing the rope belt: passing the rope belt through the through slot and restraining and fixing it with the rope fixing rod;

[0027] S200, pull the rope to a predetermined position: the second cylinder drives the rope clamping plate to rotate to open the rope clamping opening, the second motor drives the first rack to move and drive the rope clamping structure to approach the rope fixing module, the second cylinder drives the rope clamping plate to rotate to close the rope clamping opening to clamp the rope, and the second motor drives the first rack and drives the rope clamping structure away from the rope fixing module;

[0028] S300, folding the rope: the third motor drives the second rack to move and drives the rope pressing rod to move downward, the rope pressing rod presses the rope and drives the rope to move downward, after moving down to a predetermined position, the second motor drives the first rack to move and drives the rope clamping structure to move closer to the rope fixing module, and the rope is folded into a double-strand state;

[0029] S400, pulling the rope obliquely: the first cylinder drives the second fixing plate and the first slider to slide toward the rope fixing module and drives the knotting mouth to hook the rope, and then the third cylinder drives the rope pressing rod to retract toward the chassis to pull the rope obliquely;

[0030] S500, twisting the rope: the first motor drives the bearing to rotate for the first time and drives the knotting mouth, the movable clamp and the roller to rotate. At the same time, the rope pressing rod moves upward under the drive of the third motor, twisting the rope into a spiral circle along the front end of the knotting mouth, and then the roller is squeezed by the outer curved surface of the cam to open the movable clamp, and the spiral circle of the rope slides into the movable clamp mouth;

[0031] S600, forming a rope head: the third cylinder drives the rope pressing rod to extend and reset, and then the fourth cylinder drives the hair dryer and the cutter to move toward the rope fixing module, and cuts off the end of the rope close to the rope fixing module to form a rope head, the second cylinder drives the rope clamping plate to rotate to loosen the rope, and the second motor drives the rope clamping structure to reset;

[0032] S700, tying a knot on the rope: the first motor drives the bearing to rotate for the second time and drives the knotting nozzle, the movable clamp and the roller to rotate. The roller is squeezed by the inner curved surface of the locking plate to close the movable clamp to clamp the rope head. At the same time, the rope pressing rod moves downward under the drive of the third motor, twisting the rope head into the spiral circle to form a knot.

[0033] S800, tighten the knot and disengage it: the first motor drives the bearing to rotate for the third time and drives the knotting mouth, the movable clamp and the roller to rotate. At this time, the opening direction of the knotting mouth and the movable clamp is vertically downward. At the same time, the rope pressing rod moves downward under the drive of the third motor to tighten the knot and drive the knot to squeeze the movable clamp to open, thereby pulling the rope belt out of the movable clamp.

[0034] The technical solution of the present invention has the beneficial effects:

[0035] The automatic rope knotting device of the present invention integrates the two processes of rope cutting and knotting into one by providing a rope fixing module, a rope pulling module, a rope pressing module, a hot cutting module, a knotting module and a control module, which not only saves production costs and human resources, but also has a high degree of production automation and stable and reliable rope knot quality, thereby improving production efficiency and product quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic structural diagram of the automatic rope knotting device of the present invention;

[0037] Figure 2 It is a structural schematic diagram of the rope fixing module of the present invention;

[0038] Figure 3 yes Figure 2 Disassembly diagram of

[0039] Figure 4 It is a structural schematic diagram of the pull rope module of the present invention;

[0040] Figure 5 is a disassembled diagram of the rope clamping structure of the present invention;

[0041] Figure 6 It is a schematic diagram of the installation of the movable block and the rope clamping seat of the present invention;

[0042] Figure 7 It is a structural schematic diagram of the rope pressing module of the present invention;

[0043] Figure 8 yes Figure 7 Disassembly diagram of

[0044] Fig. 9 It is a structural schematic diagram of the hot cutting module of the present invention;

[0045] Fig.10 yes Fig. 9 Disassembly diagram of

[0046] Fig.11 It is a structural schematic diagram of the knotting module of the present invention;

[0047] Fig.12 yes Fig.11 A magnified view of middle;

[0048] Fig.13 It is a structural schematic diagram of the knotting module of the present invention from another angle;

[0049] Fig.14 is a flow chart of the knotting method of the present invention;

[0050] Description of Figure Numbers:

[0051] 100-rope automatic knotting device, 101-chassis, 10-rope fixing module, 11-rope fixing seat bracket, 111-through slot, 12-positioning part, 121-rope fixing rod, 122-adjusting screw, 123-first elastic member, 20-rope pulling module, 21-second displacement structure, 211-second motor, 212-first rack, 213-second guide rail, 214-first gear, 22-rope clamping structure, 221-second slider, 222-rope clamping seat , 2221-movable block, 2222-fixed rod, 2223-second elastic member, 2224-positioning groove, 2225-thimble, 2226-third elastic member, 223-rope clamping plate, 224-second cylinder, 225-rope clamping port, 30-rope pressing module, 31-third displacement structure, 311-third motor, 312-second rack, 313-first mounting plate, 3134-third guide rail, 32-fourth displacement structure, 321-third slide block, 322-third cylinder, 323-positioning plate, 33-rope pressing rod, 331-hook-shaped opening, 34-first induction structure, 40-hot cutting module, 41-fifth displacement structure, 411-second mounting plate, 412-fourth cylinder, 413-fourth guide rail, 42-hot cutting structure, 421-fourth slider, 422-fixed bracket, 423-hair dryer, 424-slice, 50-knotting module, 51-knotting structure, 511-knotting nozzle, 512-movable chuck, 513-roller, 514-locking plate, 52-rotating structure, 521-bearing, 5212-outer lining, 5213-cam, 522-second fixed plate, 523-first motor, 524-synchronous wheel one, 525-synchronous wheel two, 526-belt, 53-first displacement structure, 531-first fixed plate, 532-first guide rail, 533-first cylinder, 534-first slider, 54-second induction structure. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the specific embodiments described here are only used to explain the present invention and are not used to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0054] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0055] In addition, in the present invention, the descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0056] Please refer to Figures 1 to 13 The present invention provides a rope automatic knotting device 100, comprising a chassis 101 and a rope fixing module 10, a rope pulling module 20, a rope pressing module 30, a hot cutting module 40, a knotting module 50, and a control module 60 arranged in the chassis 101;

[0057] The fixed rope module 10 is fixed to the outer wall of the chassis 101 and is used to fix the restraining rope. The exposed length of the rope is about 7 mm, which is convenient for the pull rope module 20 to clamp the rope.

[0058] The rope pulling module 20 is arranged horizontally with the rope fixing module 10 and can move in translation relative to the rope fixing module 10, so as to pull the rope in the rope fixing module 10 to a predetermined position, that is, the rope pulling module 20 and the rope fixing module 10 are fixed at a predetermined distance on the same outer side wall of the chassis 101, and it is preferable to pull the rope to the predetermined position so as to avoid the active area where the rope pressing module 30 moves;

[0059] The rope pressing module 30 is arranged in the chassis 101, and can perform forward and backward telescopic movement and up and down translation movement relative to the chassis 101, and is used to cooperate with the rope pulling module 20 to fold the rope in half, and pull the folded rope to a predetermined position in the direction of the chassis 101; first, the rope is clamped by the rope pulling module 20 and moved laterally to reach a predetermined position, and then the rope pressing module 30 translates downward to contact the rope and drive the rope to move downward, thereby changing the movement trajectory of the rope, and at the same time, the rope pulling module 20 translates in the direction of the rope fixing module 10 to fold the rope in half; the rope pressing rod 33 hooks the rope and retracts toward the chassis 101, and pulls it to a predetermined position.

[0060] The hot cutting module 40 is arranged above the rope fixing module 10 and can move up and down relative to the rope fixing module 10, and is used to cut off the end of the rope belt close to the rope fixing module 10, and melt the fibers at the rope belt cut so that the fibers are melted and bonded to each other, ensuring that the rope belt cut will not be loose;

[0061] The knotting module 50 is disposed below the rope fixing module 10 and can perform translational movement relative to the rope fixing module 10 to hook the rope belt, and is used to cooperate with the rope pulling module 20, the rope pressing module 30 and the hot cutting module 40 to spirally knot the rope belt;

[0062] The control module 60 is electrically connected to the rope fixing module 10, rope pulling module 20, rope pressing module 30, hot cutting module 40 and knotting module 50 respectively, and controls the working states of the rope fixing module 10, rope pulling module 20, rope pressing module 30, hot cutting module 40 and knotting module 50. It can control the operating sequence, operating speed and operating distance of each module without manual operation, thus saving a lot of human resources and facilitating the realization of automated production.

[0063] The automatic rope knotting device 100 of the present invention integrates the two processes of rope cutting and knotting into one by disposing a rope fixing module 10, a rope pulling module 20, a rope pressing module 30, a hot cutting module 40, a knotting module 50 and a control module 60. It has a simple structure and is easy to assemble, which not only saves production costs and human resources, but also has a high degree of production automation and stable and reliable rope knot quality, thereby improving production efficiency and product quality.

[0064] In this embodiment, in order to fix the rope neatly and orderly on the rope fixing module 10, a rope seat bracket and a guide bracket with a round hole can be set in front of the rope fixing module 10, and the rope seat wrapped with the rope is installed on the rope seat bracket. The rope can rotate flexibly and then pass through the round hole of the guide bracket, thereby ensuring that the movement trajectory of the rope is neat and orderly without confusion.

[0065] Please refer to Figures 11 to 13The knotting module 50 includes a knotting structure 51, a rotating structure 52 and a first displacement structure 53. The knotting structure 51 faces the fixed rope module 10 to knot the rope belt. The rotating structure 52 is fixedly connected to the knotting structure 51 and drives the knotting structure 51 to rotate. The first displacement structure 53 is slidably connected to the knotting structure 51 and the rotating structure 52 and pushes the rotating structure 52 and the knotting structure 51 to move synchronously. The rotating structure 52 includes a bearing 521, and the bearing 521 includes a rotating liner and an outer liner 5212 sleeved on the rotating liner. A cam 5213 is provided on one end surface of the outer liner 5212. The knotting structure 51 includes a knotting nozzle 511, a movable chuck 512, a roller 513 and a locking plate 514. The knotting nozzle 5 11 is in the shape of a duckbill with a hook, which limits the movement of the rope in the knotting mouth 511 and ensures that the movement trajectory of the rope is controlled; the knotting mouth 511 passes through the cam 5213 and is fixedly connected to the rotating lining, the movable chuck 512 is arranged in the knotting mouth 511 and forms a movable clamp with the knotting mouth 511 to clamp the rope, the movable chuck 512 is installed in the empty groove of the knotting mouth, and can move with the screw pin as a fulcrum, and forms an open or closed state with the knotting mouth 511 when force is applied, the locking plate 514 is fixed to one side of the outer lining 5213 and forms a movable space with the cam 5213, the roller 513 is fixedly connected to the tail of the movable chuck 512 and slides in the movable space to realize the opening or closing of the movable clamp. When the roller 513 is restricted and squeezed by the locking plate 514, the movable jaw is in a closed state; when the roller 513 is restricted and squeezed by the cam 5213, the movable jaw is in an open state; when the roller is in a free state without force, the movable jaw can be easily squeezed open under the squeezing and pulling force of the rope. The opening or closing of the movable jaw is controlled by the roller 513, and the structure is simple and easy to install.

[0066] In this embodiment, the locking plate 514 is installed on the outer lining 5212 of the bearing 521 through a spring and a screw. When the roller 513 is squeezed, the roller 513 is buffered due to the compression force of the spring and rolls smoothly.

[0067] Preferably, please continue to refer to Fig.11 and Fig.13The first displacement structure 53 includes a first fixed plate 531, a first guide rail 532, a first cylinder 533 and a first slider 534. The rotation structure also includes a second fixed plate 522, a first motor 523, a synchronous wheel 1 524 and a synchronous wheel 2 525. The first fixed plate 531 is fixed to the outer wall of the chassis 101. The first guide rail 532 is fixed to the first fixed plate 531. The first slider 534 slides on the first guide rail 532 and is fixedly connected to the second fixed plate 522. The first cylinder 533 is fixedly connected to the second fixed plate 522 and pushes the second fixed plate 522 and the first slider 534 to slide along the first guide rail 532.

[0068] The first motor 523 is fixed on the second fixed plate 522 and fixedly connected to the synchronous wheel 1 524. The synchronous wheel 1 524 and the synchronous wheel 2 525 are connected by a belt 526. The synchronous wheel 2 525 is fixedly connected to the rotating lining. The rotation of the first motor 523 drives the synchronous wheel 1 524 to rotate, and further drives the synchronous wheel 2 525, the rotating lining, the knotting nozzle 511, the movable chuck 512 and the roller 513 to rotate. Among them, the first motor 523 drives the bearing 521 to rotate for the first time and drives the knotting nozzle 511, the movable clamp 512 and the roller 513 to rotate. At the same time, the rope pressing module 30 moves upward, twists the rope into a spiral circle along the front end of the knotting nozzle 511, and then the roller 513 is squeezed by the outer curved surface of the cam 5213 to open the movable clamp 512, and the spiral circle of the rope slides into the movable clamping mouth; the first motor 523 drives the bearing 521 to rotate for the second time and drives the knotting nozzle 511, the movable clamp 512 and the roller 513 to rotate, and the roller 513 is locked The extrusion of the inner curved surface of the plate 514 closes the movable clamp to clamp the rope head, and at the same time, the rope pressing module 30 moves downward to twist the rope head into the spiral circle to form a knot; the first motor 523 drives the bearing 521 to rotate for the third time and drives the knotting mouth 511, the movable clamp 512 and the roller 513 to rotate. At this time, the opening direction of the knotting mouth 511 and the movable clamp 512 is vertically downward, and at the same time, the rope pressing module 30 moves downward to tighten the knot, and drives the knot to squeeze the movable clamp to open, and then pull the rope out of the movable clamp, so as to complete the production of the knot. The production process has a high degree of automation, the knot quality is stable and reliable, and the length and thickness of the knotted rope are adjustable, which has high practical value.

[0069] In this embodiment, the knotting module 50 further includes a second sensing structure 54 , which is a photoelectric displacement sensor and is used for resetting the knotting module 50 .

[0070] Please refer to Figure 2 and Figure 3The rope fixing module 10 includes a rope fixing seat 11 and a positioning part 12 disposed on the rope fixing seat 11. The positioning part 12 includes a rope fixing rod 121, an adjusting screw 122 and a first elastic member 123. The rope fixing rod 121 is fixed to the upper surface of the rope fixing seat 11. The adjusting screw 122 passes through the rope fixing seat 11 and is fixedly connected to the rope fixing rod 121. The first elastic member 123 is sleeved on the adjusting screw 122 and abuts against the lower surface of the rope fixing seat 11. Under the elastic force of the first elastic member 123, the rope belt is clamped by the rope fixing rod 121, and its clamping force is adjusted by the adjusting screw 122. The rope fixing seat 11 is provided with a through slot 111 below the rope fixing rod 121. The rope belt passes through the through slot 111 and is abutted and fixed by the rope fixing rod 121, so that the rope belt can be clamped and pulled, playing the role of fixing the rope and guiding. The rope fixing rod 121 is cylindrical, and the upper surface of the rope fixing seat 11 is correspondingly configured as an arc surface, which is helpful for pulling the rope.

[0071] Please refer to Figures 4 to 6 The rope pulling module 20 includes a second displacement structure 21 and a rope clamping structure 22. The second displacement structure 21 includes a second motor 211, a first gear 214, a first rack 212 and a second guide rail 213. The second motor 211 is meshed with the first rack 212 through the first gear 214. The second guide rail 213 is fixed to the outer wall of the chassis 101. The second motor 211 is a stepping motor, which has the advantages of adjustable speed, stable operation and low mechanical wear.

[0072] The rope clamping structure 22 includes a second slider 221, a rope clamping seat 222, a rope clamping plate 223 installed on the rope clamping seat 222, and a second cylinder 224. The second slider 221 is slidably matched with the second guide rail 213 and is fixedly connected to the first rack 212. The rope clamping seat 222 is fixedly connected to the second slider 221. The rope clamping plate 223 is rotatably installed on the upper surface of the rope clamping seat 222 and forms a rope clamping opening 225 with the rope clamping seat 222 for clamping the rope. The rope clamping plate 223 is rotatably installed on the upper surface of the rope clamping seat 222 through a pin, one end of which extends toward the rope clamping seat 222 to form an arc-shaped clamping head, which is convenient for clamping the rope, and the other end of which is fixedly connected to the second cylinder 224 to realize the opening and closing of the rope clamping opening 225.

[0073] The second motor 211, the first gear 214, the first rack 212, the second guide rail 213 and the second slider 221 constitute the implementation elements of the lateral movement of the rope clamping structure 22. The second motor 211 drives the first rack 212 to translate laterally and drives the second slider 221 to translate. At the same time, the second slider 221 slides in the second guide rail 213 to guide and stabilize the operation, thereby driving the rope clamping structure 22 to approach or move away from the rope fixing module 10. The second cylinder 224 is fixedly connected to the rope clamping plate 223 and drives the rope clamping plate 223 to rotate to clamp or loosen the rope, so as to pull the rope clamp in the rope fixing module 10 to a predetermined position.

[0074] For further information, please refer to Figure 5 The rope clamping seat 222 is provided with a movable block 2221, a fixed rod 2222 and a second elastic member 2223. The movable block 2221 faces the rope fixing module 10 and is arranged below the rope clamping port 225, and cooperates with the rope fixing seat 11 to clamp the rope to prevent the rope from falling off; the fixed rod 2222 passes through the rope clamping seat 222 and is fixedly connected to the movable block 2221. The second elastic member 2223 is sleeved on the fixed rod 2222 and respectively abuts against the movable block 2221 and the rope clamping seat 222, so that the movable block 2221 has a certain elastic force to clamp the rope.

[0075] Preferably, a positioning groove 2224 is provided on one side of the movable block 2221 facing the rope fixing module 10, which plays a guiding and positioning role; a thimble 2225 and a third elastic member 2226 are provided in the movable block 2221, one end of the thimble 2225 abuts against the third elastic member 2226, and the other end extends from the positioning groove 2224. The thimble 2225 can move under the elastic force of the third elastic member 2226 to prevent the rope from shifting.

[0076] Please refer to Figures 7 and 8The rope pressing module 30 includes a third displacement structure 31, a fourth displacement structure 32 and a rope pressing rod 33. The third displacement structure 31 and the fourth displacement structure 32 are installed in the chassis 101, and the rope pressing rod 33 extends from the chassis 101, so that the entire rope automatic knotting device 100 has a compact structure and a light body. The third displacement structure 31 includes a third motor 311, a second gear 315, a second rack 312, a first mounting plate 313 and a third guide rail 314, wherein the first mounting plate 313 is fixed to the inner wall of the chassis 101, the third motor 311 is meshed with the second rack 312 through the second gear 315, and the third guide rail 314 is fixed to the first mounting plate 313; wherein the rope pressing module 30 is arranged inside the chassis 101 to prevent position conflict with the hot cutting module 40, the rope pulling module 20 and the knotting module 50, thereby saving installation space, wherein the fourth displacement structure 32 realizes the forward and backward telescopic movement of the rope pressing rod 33, so that the rope pressing rod 33 can extend or retract from the chassis 101; the third displacement structure 31 realizes the up and down translation movement of the rope pressing rod 33.

[0077] The fourth displacement structure 32 includes a third slider 321, a third cylinder 322 and a positioning plate 323. The third slider 321 slides on the third guide rail 314. The third cylinder 322 and the positioning plate 323 are installed on the third slider 321 at intervals. The rope pressing rod 33 passes through the positioning plate 323 and is fixedly connected to the third cylinder 322. The third cylinder 322 drives the rope pressing rod 33 to extend or retract. The head of the rope pressing rod 33 is provided with a hook-shaped opening 331. The hook-shaped opening 331 is vertically downward to hook the rope to prevent the rope from detaching from the rope pressing rod 33.

[0078] In this embodiment, the rope pressing module 30 further includes a first sensing structure 34 . The first sensing structure 34 is a photoelectric displacement sensor and is used for resetting the rope pressing module 30 .

[0079] Please refer to Fig. 9 and Fig.10 The hot cutting module 40 includes a fifth displacement structure 41, a hot cutting structure 42 and a temperature control structure. The fifth displacement structure 41 includes a second mounting plate 411, a fourth cylinder 412 and a fourth guide rail 413. The second mounting plate 411 is fixed to the outer wall of the chassis 101. The fourth cylinder 412 and the fourth guide rail 413 are respectively fixed to the second mounting plate 411.

[0080] The hot cutting structure 42 includes a fourth slider 421, a fixed bracket 422 and a hair dryer 423. The fourth slider 421 is slidably matched with the fourth guide rail 413 and is fixedly connected to the fourth cylinder 412. The fixed bracket 422 is fixed to the fourth slider 421. The hair dryer 423 is fixed to the fixed bracket 422. A slice 424 is installed at the air outlet of the hair dryer 423. The temperature control structure is electrically connected to the hair dryer 423 and controls the temperature of the hair dryer 423. The fourth cylinder 412 drives the hair dryer 423 to move downward. The slice 424 cuts off the end of the rope close to the fixed rope module 10. The hair dryer 423 generates heat energy, which is driven by compressed air to blow out hot air to heat the slice 424 so as to cut the rope and melt the fibers of the rope head cut so that the fiber filaments are melted and bonded to each other to ensure that the rope cut will not loosen.

[0081] Among them, the temperature control structure is installed in the internal space of the chassis 101. The temperature control structure controls the temperature of the hair dryer 423 through a temperature sensing line and a temperature meter, and controls the amount of compressed air entering the hair dryer 423 through a regulating valve; the temperature control structure sets and adjusts the hot air temperature of the hair dryer 423 according to the material and thickness of the rope to ensure the hot cutting effect of the hot cutting module 40.

[0082] The present invention also provides a method for knotting using the aforementioned automatic rope knotting device 100, comprising the following steps:

[0083] S100, fixing the rope: passing the rope through the through slot 111 and being constrained and fixed by the rope fixing rod 121, ensuring that the rope can be fixed and pulled, and the exposed length of the rope is about 7 mm, so that the rope pulling module 20 can clamp the rope;

[0084] S200, pull the rope to a predetermined position: the second cylinder 224 drives the rope clamping plate 223 to rotate to open the rope clamping opening 225, the second motor 211 drives the first rack 212 to move and drive the rope clamping structure 22 to approach the rope fixing module 10, the second cylinder 224 drives the rope clamping plate 223 to rotate to close the rope clamping opening 225 to clamp the rope, the second motor 211 drives the first rack 212 and drives the rope clamping structure 22 away from the rope fixing module 10, at this time, the rope is pulled to a straight single strand state, parallel to the horizontal plane of the rope fixing seat 11;

[0085] S300, fold the rope: the third motor 311 drives the second rack 312 to move and drives the rope pressing rod 33 to move downward, the rope pressing rod 33 presses the rope and drives the rope to move downward, the hook-shaped opening 331 of the rope pressing rod 33 constrains the rope and does not fall off, at this time the rope is in a "V" shape, after moving down to a predetermined position, the second motor 211 drives the first rack 212 to move and drives the rope clamping structure 22 to approach the rope fixing module 10, the rope forms a double-strand state, at this time the rope is perpendicular to the horizontal plane of the rope fixing seat 11, and the two ends of the rope are clamped by the movable block 2221 and the rope fixing seat 11 respectively;

[0086] S400, pull the rope obliquely: the first cylinder 533 drives the second fixing plate 522 and the first slider 534 to slide toward the rope fixing module 10 and drive the knotting mouth 511 to hook the rope, and then the third cylinder 322 drives the rope pressing rod 33 to retract toward the chassis 101, pull the rope obliquely, change the force direction of the rope and the spatial angle of the rope, and facilitate the next step;

[0087] S500, twisting the rope: the first motor 523 drives the bearing 521 to rotate for the first time and drives the knotting nozzle 511, the movable clamp 512 and the roller 513 to rotate, twisting the rope into a spiral circle along the front end of the knotting nozzle 511, and at the same time, the rope pressing rod 33 moves upward under the drive of the third motor 311, providing a running path for the rope to be twisted into a spiral circle and maintaining the force on the rope. At this time, the inclination of the rope increases, and the direction of the knotting nozzle 511 and the movable clamp 512 gradually rotates downward from the horizontal direction. Due to the change in inclination and direction, the force direction of the rope changes accordingly, pulling the spiral circle of the rope to gradually tilt and slide downward, and then the roller 513 is squeezed by the outer curved surface of the cam 5213 to open the movable clamp 515, and the spiral circle of the rope slides into the movable clamping mouth;

[0088] S600, forming the rope head: the third cylinder 322 drives the rope pressing rod 33 to extend and reset, at which time the rope is in a vertical shape, and then the fourth cylinder 412 drives the hair dryer 423 and the slicer 424 to move toward the rope fixing module 10, and the slicer 424 cuts off the end of the rope close to the rope fixing module 10 to form the rope head, and the second cylinder 224 drives the rope clamping plate 223 to rotate to loosen the rope, and the second motor 211 drives the rope clamping structure 22 to reset; due to the action of hot air energy and high-temperature heat energy of the slicer 424, the braided fibers at the broken end of the rope are melted together, and the rope head will not loosen.

[0089] S700, tying a knot in the rope: the first motor 523 drives the bearing 521 to rotate for the second time and drives the knotting nozzle 511, the movable clamp 512 and the roller 513 to rotate, the knotting nozzle 511 and the movable clamp 512 further rotate downward, the roller 513 is squeezed by the inner curved surface of the locking plate 514 to close the movable clamp to clamp the rope head, and prevent the rope head from escaping from the spiral ring of the rope, and at the same time, the rope pressing rod 33 moves downward under the drive of the third motor 311, applying tension to the rope, and under the coordinated action of the tension, torsional force and clamping force, the rope head is twisted into the spiral ring to form a knot;

[0090] S800, tighten the knot and disengage it: the first motor 523 drives the bearing 521 to rotate for the third time and drives the knotting mouth 511, the movable clamp 512 and the roller 513 to rotate. At this time, the opening directions of the knotting mouth 511 and the movable clamp 512 are vertically downward, and the roller 513 is in an unrestricted spatial trajectory. The roller 513 is not subjected to force, so the movable clamp 512 can be opened under a very small force. At the same time, the rope pressing rod 33 moves downward under the drive of the third motor 311 to tighten the knot, and drives the knot to squeeze the movable clamp to open, and then pull the rope belt out of the movable clamp.

[0091] The present invention adopts the method of knotting by using the automatic rope knotting device 100, which integrates the two processes of rope cutting and knotting into one, saving production cost and human resources, reducing labor intensity, and has a high degree of production automation, simple operation, stable and reliable knot quality, and improving production efficiency and product quality.

[0092] The above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is impossible to list all the embodiments here. Any obvious changes or modifications derived from the technical solution of the present invention are still within the scope of protection of the present invention.

Claims

1. A rope automatic knotting device, characterized in that: It includes a chassis and a rope fixing module, a rope pulling module, a rope pressing module, a hot cutting module, a knotting module, and a control module arranged in the chassis; The rope fixing module is fixed to the outer side wall of the chassis and is used to fix the restraining rope belt; The rope pulling module is arranged horizontally with respect to the rope fixing module and can perform translational movement relative to the rope fixing module, and is used to pull the rope in the rope fixing module to a predetermined position; The rope pressing module is arranged in the chassis and can perform forward and backward telescopic movement and upward and downward translational movement relative to the chassis, and is used to cooperate with the rope pulling module to fold the rope belt in half, and pull the folded rope belt toward the chassis to a predetermined position; The hot cutting module is arranged above the rope fixing module and can move up and down relative to the rope fixing module, so as to cut off the end of the rope belt close to the rope fixing module; The knotting module is arranged below the rope fixing module and can perform translational movement relative to the rope fixing module to hook the rope belt, and is used to cooperate with the rope pulling module, the rope pressing module and the hot cutting module to spirally knot the rope belt; The control module is electrically connected to the rope fixing module, rope pulling module, rope pressing module, hot cutting module and knotting module respectively and controls the working states of the rope fixing module, rope pulling module, rope pressing module, hot cutting module and knotting module; The knotting module comprises a knotting structure, a rotating structure and a first displacement structure, the knotting structure faces the rope fixing module to knot the rope belt, the rotating structure is fixedly connected to the knotting structure and drives the knotting structure to rotate, the first displacement structure is slidably connected to the knotting structure and the rotating structure and pushes the rotating structure and the knotting structure to move synchronously, the rotating structure comprises a bearing, the bearing comprises a rotating liner and an outer liner sleeved on the rotating liner, one end surface of the outer liner is provided with a cam, the knotting structure comprises a knotting mouth, a movable clamp, a roller and a locking plate, the knotting mouth passes through the cam and is fixedly connected to the rotating liner, the movable clamp is arranged in the knotting mouth and forms a movable clamping opening with the knotting mouth to clamp the rope belt, the locking plate is fixed to one side of the outer liner and forms a movable space with the cam, the roller is fixedly connected to the tail of the movable clamp and slides in the movable space to realize the opening or closing of the movable clamping opening; The rope-fixing module includes a rope-fixing seat and a positioning part arranged on the rope-fixing seat, the positioning part includes a rope-fixing rod, an adjusting screw and a first elastic member, the rope-fixing rod is fixed to the upper surface of the rope-fixing seat, the adjusting screw passes through the rope-fixing seat and is fixedly connected to the rope-fixing rod, the first elastic member is sleeved on the adjusting screw and abuts against the lower surface of the rope-fixing seat, the rope-fixing seat is provided with a through groove below the rope-fixing rod, the rope belt passes through the through groove and is held and fixed by the rope-fixing rod.

2. The automatic rope knotting device according to claim 1, characterized in that: The first displacement structure includes a first fixed plate, a first guide rail, a first cylinder and a first slider, and the rotation structure also includes a second fixed plate, a first motor, a first synchronous wheel and a second synchronous wheel. The first fixed plate is fixed to the outer wall of the chassis, the first guide rail is fixed to the first fixed plate, the first slider slides on the first guide rail and is fixedly connected to the second fixed plate, and the first cylinder is fixedly connected to the second fixed plate and pushes the second fixed plate and the first slider to slide along the first guide rail. The first motor is fixed on the second fixed plate and fixedly connected to the synchronous wheel 1, the synchronous wheel 1 and the synchronous wheel 2 are connected by a belt, the synchronous wheel 2 is fixedly connected to the rotating lining, and the rotation of the first motor drives the synchronous wheel 1 to rotate, thereby driving the synchronous wheel 2, the rotating lining, the knotting nozzle, the movable chuck and the roller to rotate.

3. The automatic rope knotting device according to claim 1, characterized in that: The rope pulling module includes a second displacement structure and a rope clamping structure, the second displacement structure includes a second motor, a first gear, a first rack and a second guide rail, the second motor is meshed with the first rack through the first gear, and the second guide rail is fixed to the outer side wall of the chassis; The rope clamping structure includes a second slider, a rope clamping seat, a rope clamping plate installed on the rope clamping seat, and a second cylinder. The second slider is slidably matched with the second guide rail and is fixedly connected to the first rack. The rope clamping seat is fixedly connected to the second slider. The rope clamping plate is rotatably installed on the upper surface of the rope clamping seat and forms a rope clamping opening with the rope clamping seat for clamping the rope belt. The second motor drives the first rack to translate laterally and drives the second slider to translate, thereby driving the rope clamping structure to move closer to or away from the rope fixing module. The second cylinder is fixedly connected to the rope clamping plate and drives the rope clamping plate to rotate to clamp or loosen the rope, so as to pull the rope clamp in the rope fixing module to a predetermined position.

4. The automatic rope knotting device according to claim 3, characterized in that: The rope clamping seat is provided with a movable block, a fixed rod and a second elastic member. The movable block faces the rope fixing module and is arranged below the rope clamping port. The fixed rod penetrates the rope clamping seat and is fixedly connected to the movable block. The second elastic member is sleeved on the fixed rod and abuts against the movable block and the rope clamping seat respectively.

5. The automatic rope knotting device according to claim 4, characterized in that: A positioning groove is provided on one side of the movable block facing the fixed rope module. A thimble and a third elastic member are arranged in the movable block. One end of the thimble is in contact with the third elastic member, and the other end extends out of the positioning groove.

6. The automatic rope knotting device according to claim 1, characterized in that: The rope pressing module includes a third displacement structure, a fourth displacement structure and a rope pressing rod, the third displacement structure and the fourth displacement structure are installed in the chassis, the rope pressing rod extends from the chassis, the third displacement structure includes a third motor, a second gear, a second rack, a first mounting plate and a third guide rail, the first mounting plate is fixed to the inner side wall of the chassis, the third motor is meshed with the second rack through a second gear, and the third guide rail is fixed to the first mounting plate; The fourth displacement structure includes a third slider, a third cylinder and a positioning plate. The third slider slides on the third guide rail. The third cylinder and the positioning plate are installed on the third slider at intervals. The rope pressing rod passes through the positioning plate and is fixedly connected to the third cylinder. The head of the rope pressing rod is provided with a hook-shaped opening, and the hook-shaped opening is directed vertically downward to hook the rope.

7. The automatic rope knotting device according to claim 1, characterized in that: The hot cutting module includes a fifth displacement structure, a hot cutting structure and a temperature control structure, the fifth displacement structure includes a second mounting plate, a fourth cylinder and a fourth guide rail, the second mounting plate is fixed to the outer side wall of the chassis, and the fourth cylinder and the fourth guide rail are respectively fixed to the second mounting plate; The hot cutting structure includes a fourth slider, a fixed bracket and a hair dryer. The fourth slider is slidably matched with the fourth guide rail and is fixedly connected to the fourth cylinder. The fixed bracket is fixed to the fourth slider. The hair dryer is fixed to the fixed bracket. A slice is installed at the air outlet of the hair dryer. The temperature control structure is electrically connected to the hair dryer and controls the temperature of the hair dryer. The fourth cylinder drives the hair dryer to move downward, and the slice cuts off the end of the rope close to the fixed rope module.

8. A method for knotting using an automatic rope knotting device as claimed in any one of claims 1 to 7, characterized in that: The following steps are involved: S100, fixing the rope belt: passing the rope belt through the through slot and restraining and fixing it with the rope fixing rod; S200, pull the rope to a predetermined position: the second cylinder drives the rope clamping plate to rotate to open the rope clamping opening, the second motor drives the first rack to move and drive the rope clamping structure to approach the rope fixing module, the second cylinder drives the rope clamping plate to rotate to close the rope clamping opening to clamp the rope, and the second motor drives the first rack and drives the rope clamping structure away from the rope fixing module; S300, folding the rope: the third motor drives the second rack to move and drives the rope pressing rod to move downward, the rope pressing rod presses the rope and drives the rope to move downward, after moving down to a predetermined position, the second motor drives the first rack to move and drives the rope clamping structure to move closer to the rope fixing module, and the rope is folded into a double-strand state; S400, pulling the rope obliquely: the first cylinder drives the second fixing plate and the first slider to slide toward the rope fixing module and drives the knotting mouth to hook the rope, and then the third cylinder drives the rope pressing rod to retract toward the chassis to pull the rope obliquely; S500, twisting the rope: the first motor drives the bearing to rotate for the first time and drives the knotting mouth, the movable clamp and the roller to rotate. At the same time, the rope pressing rod moves upward under the drive of the third motor, twisting the rope into a spiral circle along the front end of the knotting mouth, and then the roller is squeezed by the outer curved surface of the cam to open the movable clamp, and the spiral circle of the rope slides into the movable clamp mouth; S600, forming a rope head: the third cylinder drives the rope pressing rod to extend and reset, and then the fourth cylinder drives the hair dryer and the cutter to move toward the rope fixing module, and cuts off the end of the rope close to the rope fixing module to form a rope head, the second cylinder drives the rope clamping plate to rotate to loosen the rope, and the second motor drives the rope clamping structure to reset; S700, tying a knot on the rope: the first motor drives the bearing to rotate for the second time and drives the knotting nozzle, the movable clamp and the roller to rotate. The roller is squeezed by the inner curved surface of the locking plate to close the movable clamp to clamp the rope head. At the same time, the rope pressing rod moves downward under the drive of the third motor, twisting the rope head into the spiral circle to form a knot. S800, tighten the knot and disengage it: the first motor drives the bearing to rotate for the third time and drives the knotting mouth, the movable clamp and the roller to rotate. At this time, the opening direction of the knotting mouth and the movable clamp is vertically downward. At the same time, the rope pressing rod moves downward under the drive of the third motor to tighten the knot and drive the knot to squeeze the movable clamp to open, thereby pulling the rope belt out of the movable clamp.

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