A fully automatic device for tying zongzi

Abstract

The present invention belongs to the technical field of automatic zongzi wrapping machines, and particularly relates to a fully automatic device for tying zongzi. The present invention provides a fully automatic device for tying zongzi, which can be used in combination with a rotating wire-releasing tube unit, a telescopic pneumatic clamp, a first telescopic single hook unit, a telescopic pneumatic shear, a telescopic double hook unit, a second telescopic single hook, and a downward pressing cylinder unit, so that: 1. All zongzi tying operations are fully automated, and the operator only needs to add rope consumables; 2. Only one tying is required, and a slipknot is used, ensuring relative convenience when eating zongzi later; 3. The stability of the tying structure is sufficient, and the rope is not easily scattered; 4. The structure of the device itself is relatively simple, and the overall cost is relatively low, only including common telescopic and rotating cylinders.

Description

Technical Field

[0001] The present invention belongs to the technical field of automatic zongzi wrapping machines, and particularly relates to a fully automatic device for tying zongzi. Background Art

[0002] Each station of the automatic zongzi wrapping machine corresponds to each step of manually wrapping zongzi. Therefore, the automatic zongzi wrapping machine can generally be divided into the following four stations: the station for bending and forming zongzi leaves, the station for placing materials, the station for sealing zongzi, and the station for tying zongzi.

[0003] On the other hand, an automatic zongzi wrapping machine generally also sets up a moving zongzi mold to ensure a stable and reliable operating platform for the above steps. In other words, the above-mentioned device for tying zongzi refers to a set of automated structures for tying ropes on the already sealed zongzi.

[0004] The so-called "fully automatic" means that during the entire tying process, no operator intervention is required for the rope, whether it is the start of tying or tying the knot. In other words, the operator only needs to add the exhausted rope material.

[0005] The Chinese utility model patent with the patent publication number CN216709727U and the publication date of June 10, 2022, discloses a high-temperature resistant fully automatic zongzi tying device, which includes a frame, and a conveying and pressing roller device, a tying device, a wire clamping device, and a wire cutting device are arranged on the frame.

[0006] The general usage method of the tying device in this utility model patent is as follows: The staff puts the wrapped zongzi into the conveying and pressing roller device, and through the first conveying roller and the second conveying roller, the zongzi is pressed and conveyed into the support ring of the tying device. First, the front end of the tying wire is fixed by the wire clamping device, then the sliding plate slides circumferentially on the support ring to tie the zongzi multiple times. Then, the rear end of the tying wire is cut off by the wire cutting device, and the front and rear ends of the tying wire are fixed by the hook needle, and the sequential tying work can be completed.

[0007] However, during the actual production and use process of this tying device, there is at least the following deficiency, in other words, it is the technical problem to be solved by the present invention:

[0008] The number of tying times is 3 times. Therefore, the structure of the tying device itself is relatively complex, and it is also relatively troublesome when eating zongzi later, and it is necessary to disassemble the tying ropes 3 times.

[0009] Therefore, in summary, there is an urgent need for a new tying device for making zongzi with a simple structure and capable of tying and fixing in one time. Summary of the Invention

[0010] The present invention provides a fully automatic equipment for tying zongzi. By using a combination of a rotating wire-releasing pipe unit, a telescopic pneumatic clamp, a first telescopic single hook unit, a telescopic pneumatic shear, a telescopic double hook unit, a second telescopic single hook, and a downward pressing cylinder unit, the following effects can be achieved: 1. All zongzi tying operations are fully automated, and the operator only needs to add rope consumables; 2. Only one tying operation is required, and a slipknot is used to ensure relative convenience when eating zongzi later; 3. The stability of the tying structure is sufficient, and the rope is not easily scattered; 4. The structure of the equipment itself is relatively simple, and the overall cost is relatively low, only including common telescopic and rotating cylinders.

[0011] The technical solution adopted by the present invention to solve the above problems is: a fully automatic equipment for tying zongzi, the structure of which includes a rotating wire-releasing pipe unit for winding the rope on the zongzi, a telescopic pneumatic clamp, a first telescopic single hook unit, and a telescopic pneumatic shear arranged at the same side position of the zongzi, a telescopic double hook unit, a second telescopic single hook arranged at the other side position of the zongzi, and a downward pressing cylinder unit arranged on the rotating wire-releasing pipe unit and used for pressing and fixing the rope when the knot is tightened. Among them,

[0012] When the rotating wire-releasing pipe unit winds the rope, the telescopic pneumatic clamp is used to clamp the end of the rope, and the telescopic pneumatic clamp is also used to clamp and pull the second single hook rope segment to tighten the knot;

[0013] The first telescopic single hook unit and the telescopic double hook unit are used to pull and form a first rope loop and a second rope loop;

[0014] The second telescopic single hook is used to pull and form a slipknot rope segment;

[0015] The telescopic pneumatic shear is used to cut and form the slipknot rope segment.

[0016] A further preferred technical solution is that: the rotating wire-releasing pipe unit includes a wire-releasing rotating cylinder, a radial plate arranged on the wire-releasing rotating cylinder, and a protruding pipe arranged on the radial plate and used for passing the rope through.

[0017] A further preferred technical solution is that: the first telescopic single hook unit includes a first telescopic cylinder, a first rotating cylinder arranged on the first telescopic cylinder, and a first single hook arranged on the first rotating cylinder and used for hooking the pipe orifice rope segment and pulling it down after crossing over the pneumatic clamp rope segment.

[0018] A further preferred technical solution is that: the telescopic double hook unit includes a double hook telescopic cylinder, a double hook rotating cylinder arranged on the double hook telescopic cylinder, a main hook arranged on the double hook rotating cylinder and used for retracting and pulling the downstream rope segment of the first single hook, and a sub-hook arranged on the double hook rotating cylinder and used for retracting and pulling the pipe orifice rope segment.

[0019] A further preferred technical solution is that: the pressing cylinder unit includes a mounting post provided on the surface of the wire-releasing rotary cylinder, and an inverted cylinder provided on the mounting post with its cylinder axis facing the wire-releasing rotary cylinder and used to tightly fix the rope.

[0020] A further preferred technical solution lies in the usage method of the equipment for tying zongzi, which successively includes the following steps:

[0021] S1. The telescopic pincers clamp the end of the rope, the wire-releasing rotary cylinder starts to rotate, the rope is released at the protruding pipe, and winds around the zongzi for a complete number of turns ≥ 3 turns;

[0022] S2. The double-hook telescopic cylinder extends, so that the main hook is located between the pipe-mouth rope segment and the pincers rope segment, and the sub-hook is located on the side of the pipe-mouth rope segment far from the pincers rope segment;

[0023] S3. The first single hook extends obliquely upward on the side of the pincers rope segment far from the pipe-mouth rope segment, then rotates the first single hook until the first single hook hooks the pipe-mouth rope segment, and then the first single hook retracts obliquely downward to form a downstream rope segment of the first single hook;

[0024] S4. The double-hook rotary cylinder starts, so that the main hook rotates downward and hooks the downstream rope segment of the first single hook, the sub-hook rotates upward and hooks the pipe-mouth rope segment, and then the double-hook telescopic cylinder retracts, so that the first rope loop is formed;

[0025] S5. The second telescopic single hook extends upward between the two main-hook rope segments and is used to hook the downward-pulling sub-hook-loop rope segment;

[0026] S6. The telescopic double-hook unit first extends and releases, then rotates, and then retracts to leave the rope, and the first telescopic single-hook unit first extends and releases, then retracts to leave the rope;

[0027] S7. The telescopic pincers release the pincers rope segment, extend and clamp the second single-hook rope segment and then retract to tighten the knot;

[0028] S8. The telescopic air shear extends to cut the rope between the telescopic pincers and the second telescopic single hook to form a slip-knot rope segment and the end of the rope for the next tying of zongzi;

[0029] S9. The second telescopic single hook first extends and releases, then retracts, and the complete single operation of tying zongzi is all completed.

[0030] A further preferred technical solution is that: telescopic cylinders that can linearly move are provided on the telescopic pincers, the telescopic air shear, and the second telescopic single hook.

[0031] A further preferred technical solution is that inflation pipes are provided on both the telescopic air clamp and the telescopic air shear.

[0032] A further preferred technical solution is that the rotation angle of the first single hook for hooking the pipe mouth rope segment is 180°.

[0033] A further preferred technical solution is that the rotation angle of the main hook for hooking the rope segment downstream of the first single hook and the auxiliary hook for hooking the pipe mouth rope segment is 90°. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic structural diagram of the present invention from a top view angle.

[0035] Figure 2 It is a state diagram corresponding to S1 in the present invention.

[0036] Figure 3 It is a state diagram corresponding to S2 in the present invention.

[0037] Figure 4 It is a state diagram after S3 in the present invention is completed.

[0038] Figure 5 It is a state diagram after S4 in the present invention is completed.

[0039] Figure 6 It is a state diagram after S5 in the present invention is completed.

[0040] Figure 7 It is a state diagram after S6 in the present invention is completed.

[0041] Figure 8 It is a state diagram after S7 in the present invention is completed.

[0042] Figure 9 It is a schematic position structure diagram of the first rope loop, the second rope loop, the rope knot, and the loose end rope segment in the present invention, that is, the schematic diagram of the principle of the entire binding slipknot.

[0043] Figure 10 It is a schematic position structure diagram of the rotating wire-releasing pipe unit in the present invention.

[0044] Figure 11 It is a schematic position structure diagram of the telescopic air clamp, the first telescopic single hook unit, the telescopic air shear, the telescopic double hook unit, and the second telescopic single hook in the present invention.

[0045] In the drawings, the meanings represented by the respective reference numerals are as follows:

[0046] Zongzi a, rope b, rope knot c, first rope loop d, second rope loop e, rope close to the observer identifier f, air clamp clamping position g, air shear acting position h;

[0047] The second single-hook rope segment b1, the slipknot rope segment b1-1, the pipe orifice rope segment b2, the pipe tongs rope segment b3, the first single-hook downstream rope segment b4, the main hook rope segment b5, the auxiliary hook-ring rope segment b6;

[0048] The rotating wire-releasing pipe unit 1, the telescopic pipe tongs 2, the first telescopic single-hook unit 3, the telescopic air shear 4, the telescopic double-hook unit 5, the second telescopic single-hook 6, the downward pressing air cylinder unit 7;

[0049] The wire-releasing rotating air cylinder 101, the radial plate 102, the protruding pipe 103, the first telescopic air cylinder 301, the first rotating air cylinder 302, the first single-hook 303, the double-hook telescopic air cylinder 501, the double-hook rotating air cylinder 502, the main hook 503, the auxiliary hook 504, the mounting post 701, the inverted air cylinder 702. Specific embodiments

[0050] The following is only a preferred embodiment of the present invention, and does not limit the scope of the present invention.

[0051] As shown in the attached Figures 1-11 As shown, a fully automatic device for tying zongzi includes a rotating wire-releasing pipe unit 1 for winding a rope b around the zongzi a, a telescopic pipe tongs 2, a first telescopic single-hook unit 3, and a telescopic air shear 4 disposed on the same side of the zongzi a, a telescopic double-hook unit 5 and a second telescopic single-hook 6 disposed on the other side of the zongzi a, and a downward pressing air cylinder unit 7 disposed on the rotating wire-releasing pipe unit 1 and used for pressing and fixing the rope b when the knot c is tightened. Among them,

[0052] When the rotating wire-releasing pipe unit 1 winds the rope b, the telescopic pipe tongs 2 are used to clamp the end of the rope b, and the telescopic pipe tongs 2 are also used to clamp and pull the second single-hook rope segment b1 for tightening the knot c;

[0053] The first telescopic single-hook unit 3 and the telescopic double-hook unit 5 are used to pull and form a first rope loop d and a second rope loop e;

[0054] The second telescopic single-hook 6 is used to pull and form a slipknot rope segment b1-1;

[0055] The telescopic air shear 4 is used to cut and form the slipknot rope segment b1-1.

[0056] In this embodiment, the rotating wire-releasing pipe unit 1, the telescopic pipe tongs 2, the first telescopic single-hook unit 3, the telescopic air shear 4, the telescopic double-hook unit 5, and the second telescopic single-hook 6 each have independent mounting posts with appropriate positions, heights, and angles to ensure the effective realization of their respective functions.

[0057] In addition, the zongzi a can also be paired with a horizontally placed zongzi mold. The former is steadily placed on the latter, and the opening of the mold faces the rotating wire-releasing tube unit 1. The rope b is wound and knotted on the exposed part of the zongzi a.

[0058] Furthermore, the knot c is in a U shape and is itself tightened by the rope b. Therefore, when the end of the U shape is pulled, the knot c will open, making the zongzi with a slipknot more convenient to eat. Moreover, the slipknot has relatively high stability and is not likely to come loose during transportation, steaming, and boiling.

[0059] Finally, the slipknot rope segment b1-1, which is the end of the above-mentioned U shape, is a part of the second single-hook rope segment b1. In other words, after the telescopic air scissors 4 cuts the second single-hook rope segment b1, the rope left on the zongzi is the slipknot rope segment b1-1, and the rope left on the telescopic air pliers 2 is the starting point for the bundling operation of the next zongzi.

[0060] The rotating wire-releasing tube unit 1 includes a wire-releasing rotating cylinder 101, a radial plate 102 provided on the wire-releasing rotating cylinder 101, and a protruding tube 103 provided on the radial plate 102 and used for passing through the rope b.

[0061] In this embodiment, the initial position of the protruding tube 103 is higher than the zongzi a, and the protruding tube 103 rotates vertically around the zongzi a to ensure the basic number of rope loops for the bundling operation.

[0062] In addition, the rope b is continuously released outward on the protruding tube 103.

[0063] The first telescopic single-hook unit 3 includes a first telescopic cylinder 301, a first rotating cylinder 302 provided on the first telescopic cylinder 301, and a first single hook 303 provided on the first rotating cylinder 302 and used for hooking the tube mouth rope segment b2 and pulling it down after crossing over the air pliers rope segment b3.

[0064] In this embodiment, the tube mouth rope segment b2 is the part in contact with the protruding tube 103, and the air pliers rope segment b3 is the part in contact with the telescopic air pliers 2. The obliquely downward pulling operation of the first single hook 303 is the key to forming the first rope loop d and the basis for forming the second rope loop e.

[0065] The telescopic double-hook unit 5 includes a double-hook telescopic cylinder 501, a double-hook rotating cylinder 502 provided on the double-hook telescopic cylinder 501, a main hook 503 provided on the double-hook rotating cylinder 502 and used for retracting and pulling the downstream rope segment b4 of the first single hook, and a sub-hook 504 provided on the double-hook rotating cylinder 502 and used for retracting and pulling the tube mouth rope segment b2.

[0066] In this embodiment, the entry position of the telescopic double-hook unit 5 is to clamp the pipe mouth rope segment b2 between the main hook 503 and the sub-hook 504. At this time, the main hook 503 faces away from the rotating wire-releasing pipe unit 1, and the sub-hook 504 faces the rotating wire-releasing pipe unit 1.

[0067] Among them, the main hook 503 is used to complete the first rope loop d, and the sub-hook 504 is also the basis for the second rope loop e.

[0068] The pressing-down air cylinder unit 7 includes a mounting post 701 provided on the surface of the wire-releasing rotating air cylinder 101, and an inverted air cylinder 702 provided on the mounting post 701, with the cylinder shaft facing the wire-releasing rotating air cylinder 101 and used for pressing and fixing the rope b.

[0069] In this embodiment, an anti-slip plate is provided on the cylinder shaft of the inverted air cylinder 702 to increase the friction force required for clamping the rope b.

[0070] The usage method of the equipment for zongzi bundling sequentially includes the following steps:

[0071] S1. The telescopic air clamp 2 clamps the end of the rope b, the wire-releasing rotating air cylinder 101 starts to rotate, the rope b is released at the protruding pipe 103, and winds around the zongzi a for a complete number of turns ≥ 3 turns;

[0072] S2. The double-hook telescopic air cylinder 501 extends, so that the main hook 503 is located between the pipe mouth rope segment b2 and the air clamp rope segment b3, and the sub-hook 504 is located on the side of the pipe mouth rope segment b away from the air clamp rope segment b3;

[0073] S3. The first single hook 303 extends obliquely upward on the side of the air clamp rope segment b3 away from the pipe mouth rope segment b2, then rotates the first single hook 303 until the first single hook 303 hooks the pipe mouth rope segment b2, and then the first single hook 303 retracts obliquely downward to form a first single hook downstream rope segment b4;

[0074] S4. The double-hook rotating air cylinder 502 is turned on, so that the main hook 503 rotates downward and hooks the first single hook downstream rope segment b4, the sub-hook 504 rotates upward and hooks the pipe mouth rope segment b2, and then the double-hook telescopic air cylinder 501 retracts to form the first rope loop d;

[0075] S5. The second telescopic single hook 6 extends upward between the two main hook rope segments b5 and is used to hook the downward-pulling sub-hook-loop rope segment b6;

[0076] S6. The telescopic double-hook unit 5 first extends and releases, then rotates, and then retracts to leave the rope b, and the first telescopic single-hook unit 3 first extends and releases, then retracts to leave the rope b;

[0077] S7. The telescopic pneumatic clamp 2 releases the pneumatic clamp rope segment b3, extends to clamp the second single hook rope segment b1 and then retracts, for tightening the knot c.

[0078] S8. The telescopic pneumatic shear 4 extends to cut the rope b between the telescopic pneumatic clamp 2 and the second telescopic single hook 6, forming a slipknot rope segment b1-1 and the end of the rope b for the next zongzi bundling.

[0079] S9. The second telescopic single hook 6 first extends to release and then retracts, completing the entire single zongzi bundling operation.

[0080] In this embodiment, the shapes of the first single hook 303, the main hook 503, and the sub-hook 504 are all L-shaped. The longer column corresponding to the L-shape is installed on the rotary cylinder, and the shorter column is used to hook the rope. Moreover, the shorter columns of the above three should be appropriately longer to ensure that they can fully touch and rotate to hook the rope.

[0081] In addition, as shown in the appendix Figure 4 After S3 is completed, the initial pipe mouth rope segment b2 has been divided into 4 segments, namely: the current pipe mouth rope segment b2, the rope segment upstream of the first single hook, the rope segment downstream of the first single hook b4, and the rope segment wound around the zongzi at one end.

[0082] Among them, "upstream" refers to being close to the protruding pipe 103, and conversely "downstream" means being far from the protruding pipe 103. The rope segment b4 downstream of the first single hook and the rope segment wound around the zongzi at one end are the first rope loop d.

[0083] Also, the main hook 503 needs to be relatively wide so that there is enough space between the two main hook rope segments b5 for the second telescopic single hook 6 to pass through.

[0084] In S5, it should be particularly noted that the second telescopic single hook 6 cannot hook the current pipe mouth rope segment b2.

[0085] In S6, the reason why the telescopic double hook unit 5 needs to rotate and then retract is that the sub-hook 504 is exactly facing up at this time. Even if it is released, it cannot leave the rope b. It must first rotate to face down. In this process, the main hook 503 is not necessary because it is originally facing down.

[0086] In S7, the second single hook rope segment b1 is essentially the current pipe mouth rope segment b2.

[0087] In S9, the angle at which the second telescopic single hook 6 hooks the rope is at least not facing up. Therefore, it can be released without rotation, which is also the reason why it does not need to be equipped with a rotary cylinder.

[0088] The telescopic pneumatic clamp 2, the telescopic pneumatic shear 4, and the second telescopic single hook 6 are all provided with telescopic cylinders that can move linearly.

[0089] In this embodiment, all cylinders can be equipped with common existing timing switches to ensure that the steps of S1-9 are completed in sequence, which is relatively simple and low-cost.

[0090] Inflatable tubes are provided on both the telescopic pneumatic tongs 2 and the telescopic pneumatic shears 4.

[0091] In this embodiment, the telescopic pneumatic tongs 2 and the telescopic pneumatic shears 4 both adopt commercially available common basic brands and models, and their usage methods and principles are relatively simple.

[0092] The rotation angle of the first single hook 303 for hooking the pipe mouth rope segment b2 is 180°.

[0093] In this embodiment, the starting point of the rotation action of the first single hook 303 is that its shorter column faces away from the rotating wire-releasing tube unit 1, and the end point of the rotation action is that the shorter column faces the rotating wire-releasing tube unit 1, so it is 180°.

[0094] The rotation angle of the main hook 503 for hooking the rope segment b4 downstream of the first single hook and the auxiliary hook 504 for hooking the pipe mouth rope segment b2 is 90°.

[0095] In this embodiment, the rotation action of the main hook 503 is to rotate horizontally downward, so it is 90°.

[0096] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art in the technical field, various modifications can be made without departing from the purpose of the present invention. These are all non-creative modifications and are protected by the Patent Law as long as they are within the scope of the claims of the present invention.

Claims

1. An automatic equipment for tying zongzi, characterized in that: The device includes a rotating wire pay-off tube unit (1) for winding a rope (b) around a zongzi (a), a telescopic pneumatic clamp (2), a first telescopic single-hook unit (3), and a telescopic pneumatic shear (4) disposed at the same side position of the zongzi (a), a telescopic double-hook unit (5), a second telescopic single-hook (6) disposed at the other side position of the zongzi (a), and a downward pressure cylinder unit (7) disposed on the rotating wire pay-off tube unit (1) and used for pressing and fixing the rope (b) when the knot (c) is tightened. Among them, When the rotating wire pay-off tube unit (1) winds the rope (b), the telescopic pneumatic clamp (2) is used to clamp the end of the rope (b), and the telescopic pneumatic clamp (2) is also used to clamp and pull the second single-hook rope segment (b1) for tightening the knot (c); The first telescopic single-hook unit (3) and the telescopic double-hook unit (5) are used to pull the rope (b) to form a first rope loop (d) and a second rope loop (e); The second telescopic single-hook (6) is used to pull the rope (b) to form a slipknot rope segment (b1-1); The telescopic pneumatic shear (4) is used to cut the rope (b) to form the slipknot rope segment (b1-1), The rotating wire pay-off tube unit (1) includes a pay-off rotating cylinder (101), a radial plate (102) disposed on the pay-off rotating cylinder (101), and a protruding tube (103) disposed on the radial plate (102) and used for passing through the rope (b); The first telescopic single-hook unit (3) includes a first telescopic cylinder (301), a first rotating cylinder (302) disposed on the first telescopic cylinder (301), and a first single-hook (303) disposed on the first rotating cylinder (302) and used for hooking the pipe mouth rope segment (b2) to pull it down after crossing over the pneumatic clamp rope segment (b3); The telescopic double-hook unit (5) includes a double-hook telescopic cylinder (501), a double-hook rotating cylinder (502) disposed on the double-hook telescopic cylinder (501), a main hook (503) disposed on the double-hook rotating cylinder (502) and used for retracting and pulling the first single-hook downstream rope segment (b4), and a sub-hook (504) disposed on the double-hook rotating cylinder (502) and used for retracting and pulling the pipe mouth rope segment (b2); The downward pressure cylinder unit (7) includes a mounting post (701) disposed on the surface of the pay-off rotating cylinder (101), and an inverted cylinder (702) disposed on the mounting post (701) with the cylinder shaft facing the pay-off rotating cylinder (101) and used for pressing and fixing the rope (b).

2. The fully automatic zongzi bundling device according to claim 1, wherein: The telescopic pneumatic clamp (2), the telescopic pneumatic shear (4), and the second telescopic single-hook (6) are all provided with telescopic cylinders that can move linearly.

3. The fully automatic zongzi bundling device according to claim 1, wherein: The telescopic pneumatic clamp (2) and the telescopic pneumatic shear (4) are both provided with air charging pipes.

4. An automatic zongzi bundling device according to claim 1, characterized in that: The rotation angle of the first single-hook (303) for hooking the pipe mouth rope segment (b2) is 180°.

5. An automatic zongzi bundling device according to claim 1, characterized in that: The rotation angles of the main hook (503) for hooking the first single-hook downstream rope segment (b4) and the sub-hook (504) for hooking the pipe mouth rope segment (b2) are 90°.

6. A method for using a fully automatic zongzi bundling device as described in claim 1, characterized in that Successively include the following steps: S1. The telescopic clamp (2) clamps the end of the rope (b), the wire-releasing rotary cylinder (101) starts to rotate, the rope (b) is released at the protruding pipe (103), and winds a complete circle around the zongzi (a), where the number of circles ≥ 3; S2. The double-hook telescopic cylinder (501) extends, so that the main hook (503) is located between the pipe-mouth rope segment (b2) and the clamp rope segment (b3), and the sub-hook (504) is located on the side of the pipe-mouth rope segment (b2) away from the clamp rope segment (b3); S3. The first single hook (303) extends obliquely upward on the side of the clamp rope segment (b3) away from the pipe-mouth rope segment (b2), then the first single hook (303) is rotated until the first single hook (303) hooks the pipe-mouth rope segment (b2), and then the first single hook (303) retracts obliquely downward to form the first single-hook downstream rope segment (b4); S4. The double-hook rotary cylinder (502) starts to rotate, so that the main hook (503) rotates downward and hooks the first single-hook downstream rope segment (b4), the sub-hook (504) rotates upward and hooks the pipe-mouth rope segment (b2), and then the double-hook telescopic cylinder (501) retracts to form the first rope loop (d); S5. The second telescopic single hook (6) extends upward between the two main-hook rope segments (b5) and is used to hook the pull-down sub-hook-loop rope segment (b6); S6. The telescopic double-hook unit (5) first extends and releases, then rotates, and then retracts to leave the rope (b), and the first telescopic single-hook unit (3) first extends and releases, then retracts to leave the rope (b); S7. The telescopic clamp (2) releases the clamp rope segment (b3), extends and clamps the second single-hook rope segment (b1) and then retracts to tighten the knot (c); S8. The telescopic gas scissors (4) extends to cut the rope (b) between the telescopic clamp (2) and the second telescopic single hook (6) to form a slipknot rope segment (b1-1) and the end of the rope (b) for the next zongzi bundling; S9. The second telescopic single hook (6) first extends and releases, then retracts, and the complete single zongzi bundling operation is completed.

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