An automatic knot tying machine

Abstract

The application provides an automatic string buckle threading machine, and belongs to the technical field of machinery. The automatic string buckle threading machine comprises a rack, the rack is provided with a workbench, characterized in that a rotatable carrier is arranged on the workbench, a buckle output mechanism for outputting a string buckle is arranged on the rack, a buckle grabbing mechanism for conveying the string buckle to the workbench is arranged on the rack, a sensor for detecting a buckle hole is arranged on the rack, a string pulling mechanism for pulling out a string is arranged on the rack, a string hooking mechanism for bending the string is arranged on the rack, and a buckle threading mechanism for threading the string into the string buckle is arranged on the rack. The automatic string buckle threading machine can automatically feed and grab the elastic string buckle, automatically identify and align the hole position of the elastic string buckle, automatically pull out and cut the string, and realize unmanned automation of the buckle threading action of the string, thereby greatly improving the production efficiency.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of machinery, and relates to an automatic rope and buckle threading machine. BACKGROUND

[0002] Rope and buckle is widely used in the clothing and luggage industry, and the use of rope and buckle is to fold and tighten the rope by folding the cut rope in half, opening the locking hole of the rope and buckle, threading the folded double rope into the locking hole, locking the locking hole of the rope and buckle, and finally merging the two cut ends of the rope.

[0003] A full-automatic rope and buckle threading and knotting device is disclosed in Chinese patent document No. 201621281116.8, which comprises a rack, a base plate provided on the rack, a rope cutting and buckle threading unit, a knotting unit and a discharging unit provided on the base plate from one side to the other side, a material moving unit provided between the rope cutting and buckle threading unit and the knotting unit, a rope and buckle feeding unit provided on the side of the rack close to the rope cutting and buckle threading unit, and a human-machine operation panel provided in front of the knotting unit close to the edge of the base plate.

[0004] The full-automatic rope and buckle threading and knotting device can automatically thread the rope, however, it is inevitable trend of technology development to design an automatic rope and buckle threading machine with higher automation. SUMMARY

[0005] The present application provides an automatic rope and buckle threading machine to solve the above problems in the prior art, and the technical problem to be solved by the present application is how to automatically thread the rope and buckle.

[0006] The object of the present application can be achieved by the following technical solutions:

[0007] The automatic rope and buckle threading machine comprises a rack, the rack has a workbench, the workbench is provided with a rotatable carrier, the rack is provided with a buckle feeding mechanism for outputting the rope and buckle, a buckle grabbing mechanism for transporting the rope and buckle to the workbench, a sensor for detecting the buckle hole, a rope pulling mechanism for pulling out the rope, a rope hooking mechanism for folding the rope, and a buckle threading mechanism for threading the rope into the rope and buckle.

[0008] The working principle is that the sending buckle mechanism sends out the spring rope buckle, the grabbing buckle mechanism sends the rope buckle to the loading table of the workbench, the pressing buckle part presses the rope buckle downward to make the holes on the buckle body and the holes on the buckle cap concentric, the driving source drives the loading table to rotate, the loading table drives the rope buckle to rotate together, when the sensor detects the hole position, the rope buckle continues to rotate to an angle suitable for hole punching, then the rope pulling mechanism pulls the rope downward to a suitable position, the rope is kept in tension during the pulling process, and the rope pulling mechanism clamps the rope; the hooking rope mechanism moves to the direction close to the rope and clamps the upper and lower parts of the rope, then the rope pulling mechanism cuts off the rope, at the same time, the rope pulling mechanism releases the lower end of the rope, the hooking rope mechanism retracts and pulls the rope to move a certain distance, so that the rope is in a folded state and forms a U shape, and the rope is divided into upper and lower parts, when the two parts of the rope are located in front of the buckle holes respectively, the hooking rope mechanism stops moving, and then the buckle inserting mechanism inserts the ends of the rope into the two buckle holes of the rope buckle respectively, at this time, the two ends of the rope are inserted into the two buckle holes of the rope buckle respectively.

[0009] The automatic rope buckle inserting machine can automatically feed and grab the elastic rope buckle, automatically identify and align the hole position of the elastic rope buckle, automatically pull out and cut the rope, and realize unmanned automation of the rope buckle inserting action, thereby greatly improving the production efficiency.

[0010] In the automatic rope buckle inserting machine, the buckle inserting mechanism comprises a mounting seat one and a driving part one for driving the mounting seat one to move, and a push rod is arranged on the mounting seat one.

[0011] The driving part one drives the mounting seat one to move, so that the push rod pushes the rope to move, and when the push rod is inserted into the buckle hole of the rope buckle, the rope is also inserted into the buckle hole.

[0012] As an embodiment, the driving part one comprises a cylinder one, the cylinder one has a sliding table capable of sliding, and the push rod is fixed on the sliding table.

[0013] As another embodiment, the driving part one can also be an oil cylinder or a linear motor.

[0014] In the automatic rope buckle inserting machine, the buckle inserting mechanism further comprises a cylinder two, and a clamp for pulling the rope is arranged on the piston rod of the cylinder two.

[0015] The cylinder two drives the clamp to extend and clamp the rope head passing through the buckle hole, and then the cylinder two resets the clamp two to retract and pull the rope out by a certain distance, thereby improving the convenience of operation.

[0016] In the automatic string buckle threading machine, the mounting seat one comprises a fixed plate, a support one capable of moving horizontally and positioned on the fixed plate is arranged on the fixed plate, a support two capable of moving vertically and positioned on the support one is arranged on the support one, a support three is installed on the support two, a mounting block capable of moving vertically and positioned on the support three is arranged on the support three, a push rod is installed on the mounting block, another push rod is installed on the support three, and the push rods are arranged in parallel.

[0017] The support one can be fixed on the fixed plate by bolts, and after the bolts are loosened, the support one can slide horizontally on the fixed plate to adjust the relative position of the push rod and the carrier in the horizontal direction, thereby well adapting to different carrier positions.

[0018] In the embodiment, the push rod is two and arranged in parallel, the mounting block can be fixed on the support three by bolts, and after the bolts are loosened, the mounting block can slide vertically on the support three to adjust the distance between the two push rods in the height direction, thereby well adapting to string buckles with different hole spacings.

[0019] In the automatic string buckle threading machine, a material collecting mechanism is further arranged on the rack, the material collecting mechanism comprises a cylinder three, a push plate is arranged on the piston rod of the cylinder three, a material collecting box is arranged below the rack, a material collecting pipe is arranged above the material collecting box, the top of the material collecting pipe is open and penetrates through the workbench.

[0020] The cylinder three can drive the push plate to send the threaded string buckle into the material collecting pipe, and the string buckle flows into the storage box along the material collecting pipe, so that the structure can automatically discharge and collect materials, and the degree of automation is further improved.

[0021] In the automatic string buckle threading machine, the buckle feeding mechanism comprises a feeding disc, the feeding disc has a discharging channel, a motor one and a support one are arranged on the rack, two rollers are arranged on the support one, a conveying belt is connected between the rollers in tension, the conveying belt is located below the discharging channel, and one roller is installed on the output shaft of the motor one.

[0022] The feeding disc sends the string buckle to the discharging channel by vibration and then the string buckle falls into the conveying belt, the motor one drives the conveying belt to move through the rollers, and the string buckle is conveyed to the discharging end of the support one.

[0023] In the automatic string buckle threading machine, the second support is arranged on the frame, the second motor and the second gear are arranged on the second support, the output shaft of the second motor is provided with the first gear which is engaged with the second gear, the first and second gears are respectively provided with the first and second blocking pieces, the first and second blocking pieces are located above the discharging channel and can be close to or away from each other, and the discharging end of the first support is provided with a blocking part for blocking the string buckle.

[0024] The second motor drives the second gear to rotate through the first gear, and the rotating first and second gears drive the first and second blocking pieces to swing, respectively.

[0025] When the first and second blocking pieces are close to each other, the two blocking pieces can block the string buckle on the discharging channel, when the string buckle needs to be output, the second motor drives the second gear to rotate reversely, so that the first and second blocking pieces are separated, at this time, the two blocking pieces release the string buckle, and the string buckle falls into the conveying belt from the discharging channel.

[0026] The string buckle in the conveying belt is stopped by the blocking part after being blocked, and is conveyed to the loading table after being grabbed by the buckle grabbing mechanism. As an embodiment, the blocking part is V-shaped.

[0027] The buckle grabbing mechanism comprises a first frame body, the first frame body is installed on the frame, the first frame body is provided with a second mounting seat which can rotate, the second mounting seat is provided with at least one buckle grabbing part, and the first frame body is further provided with a second driving piece for driving the second mounting seat to rotate.

[0028] As an embodiment, the second driving piece comprises a third motor, and the output shaft of the third motor is connected with the second mounting seat.

[0029] The buckle grabbing mechanism is installed on the frame, after the string buckle is output from the feeding disc, the second driving piece drives the second mounting seat to rotate, when the buckle grabbing part rotates to the position of the string buckle, the buckle grabbing part clamps the string buckle, then the second driving piece drives the second mounting seat to rotate again, when the buckle grabbing part moves to the loading table where the string buckle is placed, the buckle grabbing part releases the string buckle and accurately places the string buckle at the required position. The buckle grabbing mechanism drives the second mounting seat to rotate through the second driving piece, so that the buckle grabbing part can accurately place the string buckle on the loading table after clamping the string buckle, and the operation is convenient and the feeding is accurate.

[0030] In the automatic string buckle threading machine, the fourth cylinder is arranged on the first frame body, the piston rod of the fourth cylinder is provided with a fourth support, the fourth support is provided with a buckle pressing part which can rotate, the buckle pressing part is located above the loading table, and a sensor is located on one side of the loading table.

[0031] When the pressing buckle part presses the rope buckle and makes the hole on the buckle body and the hole on the buckle cap concentric, the pressing buckle part can also rotate with the rope buckle. In the process of the rope buckle rotating with the loading platform, the pressing buckle part can always press the rope buckle. When the sensor detects the hole position, the rope buckle continues to rotate by a certain angle to make the hole just face the push rod, so that the buckle hole is opposite to the rope. The loading platform no longer rotates. The sensor can determine the rotation amplitude of the loading platform, accurately position the buckle hole, and greatly improve the convenience of operation and the efficiency of rope threading.

[0032] In the automatic rope buckle threading machine, the rope pulling mechanism includes a second frame body, the second frame body is installed on the rack, and a rotating rope winding disc is arranged on the second frame body. The rack is provided with a rope clamping part one and a driving part three for driving the rope clamping part one to move up and down.

[0033] In the rope pulling mechanism, the rope is wound on the rope winding disc. When the rope needs to be taken, the rope clamping part one clamps the rope, and the driving part three drives the rope clamping part one to move downward. When the rope clamping part one moves with the rope, the rope winding disc rotates. When the set value is reached, the driving part three stops moving.

[0034] As an embodiment, the driving part three includes a cylinder five, the cylinder five is fixed below the workbench, a clearance hole is formed in the workbench, and the rope clamping part one is installed on the piston rod of the cylinder five.

[0035] When the rope needs to be pulled, the cylinder five drives the rope clamping part one to move upward and pass through the clearance hole to clamp the rope above the workbench, and then pull the rope downward until the rope clamping part one is located below the workbench. The cylinder five is located below the workbench, and the rope clamping part one is also located below the workbench after clamping the rope or when it is not working. This structure can avoid interference between the driving part three and the rope clamping part one and other components during operation, thereby improving the convenience of operation.

[0036] As another embodiment, the driving part three can also be an oil cylinder or a linear motor.

[0037] In the automatic rope buckle threading machine, one side of the second frame body is provided with a clamping block one, the other side of the second frame body is provided with a cylinder six, and a clamping block two opposite to the clamping block one is arranged on the piston rod of the cylinder six.

[0038] The clamping block one and the clamping block two form a clamping part. The clamping block one is fixed on one side of the second frame body, and the clamping block two is located on the other side of the second frame body. Under the drive of the cylinder six, the clamping block two can approach the clamping block one and clamp the drooping rope together with the clamping block one.

[0039] In the automatic rope buckle threading machine, one side of the second frame body is provided with a cylinder seven, the other side of the second frame body is provided with a cylinder eight, a cutter one is arranged on the piston rod of the cylinder seven, and a cutter two is arranged on the piston rod of the cylinder eight. The cutter one and the cutter two are oppositely arranged.

[0040] The cutter one and the cutter two constitute a cutting mechanism, the cutter one is located on one side of the frame two, the cutter two is located on the other side of the frame two, under the drive of the cylinder seven and the cylinder eight, the cutter one and the cutter two move towards each other, and the two cut the hanging rope together.

[0041] In the automatic stringing buckle machine, the hooking mechanism includes a mounting seat three, the mounting seat three is movably connected to the frame, the mounting seat three is provided with a cylinder nine and a cylinder ten, the cylinder nine and the cylinder ten can move up and down respectively, and the cylinder nine is located above the cylinder ten, the piston rods of the cylinder nine and the cylinder ten are respectively provided with a rope clamping part two, and the hooking mechanism further includes a rope hooking part for blocking and releasing the rope.

[0042] The two rope clamping parts two of the hooking mechanism are arranged above and below, and under the driving of the mounting seat three, the two rope clamping parts two can pass from above and below the rope hooking part respectively, in work, the rope buckle is exposed after being pressed, the rope is wound on the winding reel, the cylinder five drives the rope clamping part one to rise and clamps the rope, then the rope is pulled down to a suitable position, the rope is kept in tension during the pulling down process, then the clamping part on the frame clamps the rope, the piston rods of the cylinder nine and the cylinder ten extend and move towards the rope, at the same time, the cylinder nine and the cylinder ten move upward and downward respectively, then the cylinder nine and the cylinder ten drive the corresponding rope clamping part two to open and clamp the upper end and the lower end of the rope respectively, after the rope is cut by the cutter, the clamping part at the upper end of the rope and the rope clamping part one at the lower end of the rope are released, the piston rods of the cylinder nine and the cylinder ten retract, at the same time, the cylinder nine and the cylinder ten move towards each other and fold, then the two rope clamping parts two move in the same direction with the one end of the rope clamped respectively, the middle part of the rope is blocked by the rope hooking part, when the rope clamping part two moves a certain distance, the rope is in a folded state and presents a U shape, the rope is divided into two parts, when the two parts of the rope are located in front of the buckle hole respectively, the rope clamping part two stops moving, then the push rod on the frame extends and inserts the end of the rope into the two buckle holes respectively, the rope hooking mechanism releases the middle part of the rope, the clamp two on the side of the rope buckle extends and clamps the rope head at the buckle hole, then the clamp two retracts and pulls out the rope, at this time, the two ends of the rope are respectively threaded on the two buckle holes of the rope buckle.

[0043] The hooking mechanism cooperates with the two horizontally movable rope clamping parts two through the rope hooking part, so that the rope is folded and presents a U shape, the rope is divided into two parts and distributed above and below, the rope can be threaded into the two buckle holes of the rope buckle respectively, the automatic stringing of the rope buckle with two buckle holes is realized, and the working efficiency is high.

[0044] Of course, the hooking mechanism can also string the rope to one buckle hole, and the adaptability is good.

[0045] The vertical guide post is slidably connected with the mounting frame one, the cylinder nine is installed on the mounting frame one, and the driving piece four for driving the mounting frame one to move up and down is arranged on the mounting seat three.

[0046] The driving piece four drives the mounting frame one to move up and down, so that the distance between the two rope clamping parts of the cylinder nine and the cylinder ten can be adjusted, the clamping position of the rope can be adjusted according to requirements, and the adaptability is improved.

[0047] As an embodiment, the driving piece four comprises a motor five, the motor five is installed on one side of the mounting seat three, a synchronous wheel one is arranged on the output shaft of the motor five, a synchronous wheel two is arranged on the bottom of the mounting seat, a synchronous belt is connected between the synchronous wheel one and the synchronous wheel two, and the mounting frame one is installed on the synchronous belt.

[0048] The vertical guide post is slidably connected with the mounting frame one, the cylinder nine is installed on the mounting frame one, and the driving piece four for driving the mounting frame one to move up and down is arranged on the mounting seat three.

[0049] The driving piece four drives the mounting frame one to move up and down, so that the distance between the two rope clamping parts of the cylinder nine and the cylinder ten can be adjusted, the clamping position of the rope can be adjusted according to requirements, and the adaptability is improved.

[0050] As an embodiment, the driving piece four comprises a motor five, the motor five is installed on one side of the mounting seat three, a synchronous wheel one is arranged on the output shaft of the motor five, a synchronous wheel two is arranged on the bottom of the mounting seat, a synchronous belt is connected between the synchronous wheel one and the synchronous wheel two, and the mounting frame one is installed on the synchronous belt.

[0051] The inner end of the swing rod is hinged to the outer end of the blocking rod, the compressed spring makes the outer end of the swing rod abut against the guide rod, and the swing rod and the guide rod block the middle part of the rope; when the swing rod is actuated to separate from the guide rod, the swing rod and the guide rod release the rope.

[0052] In the automatic rope buckle threading machine, the blocking rod is provided with a connecting rod below, a motor four is arranged on the rack, and a pushing piece for pushing the connecting rod to swing is fixed on the output shaft of the motor four.

[0053] The motor four drives the pushing piece to rotate, the pushing piece pushes the connecting rod to swing, so that the swing rod swings and separates from the guide rod, and the structure can realize automatic rope loosening and improve the convenience of operation. The pushing piece can be a cam or a blocking piece.

[0054] Compared with the prior art, the automatic rope buckle threading machine has the following advantages:

[0055] 1. The automatic stringing buckle machine can automatically feed and grab the elastic buckle, automatically identify and align the hole position of the elastic buckle, automatically pull out and cut the string, and realize unmanned automation of the stringing buckle action, greatly improving the production efficiency.

[0056] 2. In the automatic stringing buckle machine, support two can vertically slide on support one, so that the push rod can accurately align the buckle hole of the elastic buckle, adapt to the buckle hole of the elastic buckle of different height, and the mounting block can vertically slide on support three to adjust the distance of the two push rods in the height direction, which well adapts to the elastic buckles with different hole spacing, and is widely used in stringing buckle process production of various elastic buckles. BRIEF DESCRIPTION OF DRAWINGS

[0057] Figure 1 is a structural schematic diagram of the automatic stringing buckle machine;

[0058] Figure 2 is a schematic diagram of the buckle stringing mechanism installed on the rack;

[0059] Figure 3 is Figure 2 the enlarged view of part A in

[0060] Figure 4 is a structural schematic diagram of the feeding mechanism;

[0061] Figure 5 is a structural schematic diagram of the buckle grabbing mechanism;

[0062] Figure 6 is a structural schematic diagram of the string pulling mechanism;

[0063] Figure 7 is a schematic diagram of the string pulling mechanism installed on the rack;

[0064] Figure 8 is a schematic diagram of the string clamping part one installed on the cylinder five;

[0065] Figure 9 is a schematic diagram of the string hooking mechanism installed on the rack;

[0066] Figure 10 Figure 9 the enlarged view of part B in

[0067] Figure 11 is a schematic diagram of the cylinder nine and the cylinder ten installed on the mounting seat three

[0068] Figure 12 is a structural schematic diagram of the string hooking part.

[0069] In the diagram: 1. Frame, 2. Workbench, 3. Platform, 4. Rope buckle, 5. Buckle feeding mechanism, 6. Buckle gripping mechanism, 7. Sensor, 8. Rope pulling mechanism, 9. Rope hooking mechanism, 10. Buckle threading mechanism, 11. Rope, 12. Cylinder 1, 13. Slide table, 14. Mounting base 1, 15. Drive component 1, 16. Push rod, 17. Cylinder 2, 18. Clamp, 19. Fixing plate, 20. Support 1, 21. Support 2, 22. Support 3, 23. Mounting block, 24. Receiving mechanism, 25. Cylinder 3, 26. Push plate, 27. Receiving box, 28. Receiving pipe, 29. Feeding tray, 30. Discharge channel, 31. Motor 1, 32. Support 1, 33. Roller, 34. Conveyor belt, 35. Support 2, 36. Motor 2, 37. Gear 1, 38. Gear 2, 39. Baffle 1, 40. Baffle 2, 41. Blocking part, 42. Frame 1, 43. Mounting base 2 44. Gripper, 45. Drive unit 2, 46. Frame 2, 47. Rope reel, 48. Cylinder 4, 49. Drive unit 3, 50. Cylinder 5, 51. Clearance hole, 52. Support 4, 53. Pressing part, 54. Clamping block 1, 55. Cylinder 6, 56. Clamping block 2, 57. Cylinder 7, 58. Cylinder 8, 59. Cutter 1, 60. Cutter 2, 61. Mounting base 3, 62. Cylinder 9, 63. Cylinder 10, 64. Rope clamping part 2, 65. Rope hooking part, 66. Guide rod, 67. Stop rod, 68. Swing rod, 69. Spring, 70. Connecting rod, 71. Motor 3, 72. Motor 4, 73. Pushing part, 74. Cam, 75. Rope clamping part 1, 76. Guide post, 77. Mounting bracket 1, 78. Drive unit 4, 79. Mounting bracket 2, 80. Drive unit 5, 81. Motor 5, 82. Synchronous pulley 1, 83. Synchronous pulley 2, 84. Synchronous belt. Detailed Implementation

[0070] The following are specific embodiments of the present invention, and the technical solutions of the present invention will be further described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0071] like Figures 1-2 As shown, this automatic rope buckle threading machine includes a frame 1, a worktable 2, a rotatable platform 3 on the worktable 2, a buckle feeding mechanism 5 for outputting rope buckles 4, a buckle gripping mechanism 6 for transporting rope buckles 4 to the worktable 2, a sensor 7 for detecting buckle holes, a rope pulling mechanism 8 for pulling out rope 11, a rope hooking mechanism 9 for bending rope 11, and a buckle threading mechanism 10 for threading rope 11 into rope buckles 4.

[0072] The buckle feeding mechanism 5 feeds the rope buckle 4 out, the buckle grabbing mechanism 6 carries the rope buckle 4 to the loading platform 3 of the workbench 2, the buckle pressing part presses the rope buckle down to make the holes on the buckle body and the holes on the buckle cap concentric, the driving source drives the loading platform 3 to rotate, the loading platform 3 drives the rope buckle 4 to rotate together, when the sensor 7 detects the hole position, the rope buckle 4 continues to rotate by a certain angle to make the hole of the rope buckle 4 rotate to an angle suitable for punching, then the rope pulling mechanism 8 pulls the rope 11 down to a suitable position, the rope 11 is kept in tension during the pulling process, and the rope pulling mechanism 8 clamps the rope 11; the rope hooking mechanism 9 moves to the direction close to the rope 11 and clamps the upper and lower parts of the rope 11, then the rope pulling mechanism 8 cuts the rope 11, at the same time, the rope pulling mechanism 8 releases the lower end of the rope 11, the rope hooking mechanism 9 retracts and pulls the rope 11 to move a certain distance, so that the rope 11 is in a folded state and forms a U shape, and the rope 11 is divided into upper and lower two sections, when the two sections of the rope 11 are located in front of the buckle holes respectively, the rope hooking mechanism 9 stops moving, then the buckle threading mechanism 10 inserts the ends of the rope 11 into the two buckle holes of the rope buckle 4 respectively, at this time, the two ends of the rope 11 are threaded on the two buckle holes of the rope buckle 4 respectively.

[0073] As shown in Figure 2 and 3 , in this embodiment, the buckle threading mechanism 10 comprises a mounting seat one 14 and a driving part one 15 for driving the mounting seat one 14 to move, and a push rod 16 is arranged on the mounting seat one 14.

[0074] The driving part one 15 drives the mounting seat one 14 to move, so that the push rod 16 pushes the rope 11 to move, and when the push rod 16 is inserted into the buckle hole of the rope buckle 4, the rope 11 is also threaded into the buckle hole.

[0075] As shown in Figure 3 , as an embodiment, the driving part one 15 comprises a cylinder one 12, the cylinder one 12 has a sliding table 13 which can slide, and the push rod 16 is fixed on the sliding table 13.

[0076] As another embodiment, the driving part one 15 can also be an oil cylinder or a linear motor.

[0077] As shown in Figure 2 , in this embodiment, the buckle threading mechanism 10 further comprises a cylinder two 17, and a clamp 18 for pulling the rope 11 is arranged on the piston rod of the cylinder two 17.

[0078] The cylinder two 17 drives the clamp 18 to extend and clamp the rope end passing through the buckle hole, then the cylinder two 17 resets the clamp 18 to retract and pull the rope 11 out by a certain distance, which greatly improves the convenience of operation.

[0079] As shown in Figure 3As shown, in this embodiment, the mounting seat 14 includes a fixed plate 19, the fixed plate 19 is provided with a support 20 which can move horizontally and be positioned on the fixed plate 19, the support 20 is provided with a support 21 which can move vertically and be positioned on the support 20, the support 21 is provided with a support 22, the support 22 is provided with a mounting block 23 which can move vertically and be positioned on the support 22, the mounting block 23 is provided with a push rod 16, and the other push rod 16 is installed on the support 22, and the two push rods 16 are arranged in parallel.

[0080] The support 20 can be fixed on the fixed plate 19 by bolts, after loosening the bolts, the support 20 can slide horizontally on the fixed plate 19, and the relative position of the push rod 16 and the platform 3 in the horizontal direction can be adjusted as needed, which well adapts to different positions of the platform 3; the support 21 can be fixed on the support 20 by bolts, after loosening the bolts, the support 21 can slide vertically on the support 20, so that the push rod 16 can accurately align the buckle hole of the rope buckle 4, and adapt to the buckle holes of rope buckles 4 of different heights.

[0081] In this embodiment, the push rod 16 is two and arranged in parallel, the mounting block 23 can be fixed on the support 22 by bolts, after loosening the bolts, the mounting block 23 can slide vertically on the support 22 to adjust the distance between the two push rods 16 in the height direction, which well adapts to the rope buckles 4 with different distances between the buckle holes.

[0082] As shown in the drawings, Figure 2 In this embodiment, the rack 1 is further provided with a material collecting mechanism 24, the material collecting mechanism 24 includes a cylinder 25, the piston rod of the cylinder 25 is provided with a push plate 26, the lower portion of the rack 1 is provided with a material collecting box 27, the upper portion of the material collecting box 27 is provided with a material collecting pipe 28, the top portion of the material collecting pipe 28 is open and penetrates the workbench 2.

[0083] The cylinder 25 can drive the push plate 26 to send the worn rope buckle 4 into the material collecting pipe 28, and the rope buckle 4 flows into the storage box along the material collecting pipe, which can automatically discharge and collect materials, and further improves the degree of automation.

[0084] As shown in the drawings, Figure 1 and 4 In this embodiment, the buckle feeding mechanism 5 includes a feeding disc 29, the feeding disc 29 has a discharging channel 30, the rack 1 is provided with a motor 31 and a support 32, the support 32 is provided with two rollers 33, the two rollers 33 are tensioned and connected with a conveying belt 34, the conveying belt 34 is located below the discharging channel 30, and one roller 33 is installed on the output shaft of the motor 31.

[0085] The feeding tray 29 conveys the rope buckle 4 to the discharge channel 30 by vibration and then it falls into the conveyor belt 34. The motor 31 drives the conveyor belt 34 to move through the roller 33. The conveyor belt 34 conveys the rope buckle 4 to the discharge end of the bracket 32.

[0086] like Figure 4 As shown, in this embodiment, a second bracket 35 is provided on the frame 1, and a second motor 36 and a second gear 38 are provided on the second bracket 35. A first gear 37 that meshes with the second gear 38 is installed on the output shaft of the second motor 36. A first baffle 39 and a second baffle 40 are respectively installed on the first gear 37 and the second gear 38. The first baffle 39 and the second baffle 40 are located above the discharge channel 30 and can be close to or far apart. A blocking part 41 for blocking the rope buckle 4 is provided at the discharge end of the first bracket 32.

[0087] Motor 2 36 drives gear 2 38 to rotate via gear 1 37. The rotating gear 1 37 and gear 2 38 respectively drive baffle 1 39 and baffle 2 40 to swing. When baffle 1 39 and baffle 2 40 approach each other, the two baffles can block the rope buckle 4 on the discharge channel 30. When it is necessary to output the rope buckle 4, motor 2 36 drives gear 2 38 to rotate in the opposite direction, causing baffle 1 39 and baffle 2 40 to separate. At this time, the two baffles release the rope buckle 4, allowing the rope buckle 4 to fall from the discharge channel 30 into the conveyor belt 34.

[0088] The rope buckle 4, after falling into the conveyor belt 34, stops moving after being blocked by the blocking part 41, and waits for the gripping mechanism 6 to grab it and transport it to the platform 3. In one embodiment, the blocking part 41 is V-shaped.

[0089] like Figure 5 As shown, in this embodiment, the gripping mechanism 6 includes a frame 42, which is mounted on the frame 1. The frame 42 is provided with a rotatable mounting base 43, which is provided with at least one gripping part 44. The frame 42 is also provided with a driving component 45 for driving the mounting base 43 to rotate.

[0090] As one embodiment, the drive component 2 45 includes a motor 3 71, the output shaft of which is connected to the mounting base 2 43.

[0091] The gripping mechanism 6 is mounted on the frame 1. After the rope buckle 4 is output from the feed tray 29, the driving component 45 drives the mounting base 43 to rotate. When the gripping part 44 rotates to the position of the rope buckle 4, it clamps the rope buckle 4. Then, the driving component 45 drives the mounting base 43 to rotate. When the gripping part 44 moves to the platform 3 where the rope buckle 4 is placed, it releases the rope buckle 4 and accurately places it in the required position. This gripping mechanism 6, by driving the mounting base 43 to rotate via the driving component 45, enables the gripping part 44 to accurately place the rope buckle 4 on the platform 3 after clamping it, making operation convenient and feeding accurate.

[0092] As shown in Figure 2 and 5 In this embodiment, the frame body one 42 is provided with the air cylinder four 48, the piston rod of the air cylinder four 48 is provided with the support four 52, the support four 52 is provided with the rotatable pressing buckle part 53, the pressing buckle part 53 is located above the loading platform 3, and the sensor 7 is located on one side of the loading platform 3.

[0093] The rope buckle 4 includes a buckle body and a buckle cap. After the rope buckle 4 is placed on the loading platform 3, the air cylinder four 48 drives the pressing buckle part 53 to move downward, so that the pressing buckle part 53 presses the buckle cap of the rope buckle 4 downward, thereby making the hole on the buckle body and the hole on the buckle cap concentric, and improving the convenience of threading the rope.

[0094] When the pressing buckle part 53 presses the rope buckle 4 downward and makes the hole on the buckle body and the hole on the buckle cap concentric, the pressing buckle part 53 can also rotate with the rope buckle 4. In the process of rotating the rope buckle 4 with the loading platform 3, the pressing buckle part 53 can always press the rope buckle 4. When the sensor 7 detects the hole position, the rope buckle 4 continues to rotate by a certain angle to make the hole just face the push rod 16, so that the buckle hole is opposite to the rope 11, and the loading platform 3 no longer rotates. The rotation amplitude of the loading platform 3 can be determined through the sensor 7, the buckle hole is accurately positioned, and the convenience of operation and the efficiency of threading the rope are improved.

[0095] As shown in Figures 6-8 In this embodiment, the rope pulling mechanism 8 includes the frame body two 46, the frame body two 46 is installed on the rack 1, the frame body two 46 is provided with the rotatable rope winding disc 47, and the rack 1 is provided with the rope clamping part one 75 and the driving part three 49 for driving the rope clamping part one 75 to move up and down.

[0096] In this rope pulling mechanism 8, the rope 11 is wound on the rope winding disc 47. When the rope 11 needs to be taken, the rope clamping part one 75 clamps the rope 11, and then the driving part three 49 drives the rope clamping part one 75 to move downward. When the rope clamping part one 75 pulls the rope 11 to move, the rope winding disc 47 rotates. When the set value is reached, the driving part three 49 stops moving.

[0097] As shown in Figure 7 and 8 As an embodiment, the driving part three 49 includes the air cylinder five 50, the air cylinder five 50 is fixed below the workbench 2, the workbench 2 is provided with the accommodation hole 51, and the rope clamping part one 75 is installed on the piston rod of the air cylinder five 50.

[0098] When the rope needs to be pulled, the cylinder five 50 drives the rope clamping part one 75 to move upwards and pass through the gap hole 51, clamping the rope 11 above the workbench 2, and then pulling the rope 11 downwards until the rope clamping part one 75 is below the workbench 2. The cylinder five 50 is below the workbench 2, and the rope clamping part one 75 is also below the workbench 2 after clamping the rope 11 or when it is not working. This structure can avoid the interference between the driving part three 49 and the rope clamping part one 75 and the cutter and other components during operation, and improve the convenience of operation.

[0099] As other embodiments, the driving part three 49 can also be an oil cylinder or a linear motor.

[0100] As shown in Figure 6 , in this embodiment, one side of the frame body two 46 is provided with a clamping block one 54, and the other side of the frame body two 46 is provided with a cylinder six 55, and the piston rod of the cylinder six 55 is provided with a clamping block two 56 opposite to the clamping block one 54.

[0101] The clamping block one 54 and the clamping block two 56 form a clamping part. The clamping block one 54 is fixed on one side of the frame body two 46, and the clamping block two 56 is located on the other side of the frame body two 46. Under the drive of the cylinder six 55, the clamping block two 56 can approach the clamping block one 54 and clamp the drooping rope 11 together with the clamping block one 54.

[0102] As shown in Figure 6 , in this embodiment, one side of the frame body two 46 is provided with a cylinder seven 57, and the other side of the frame body two 46 is provided with a cylinder eight 58. The piston rod of the cylinder seven 57 is provided with a cutter one 59, and the piston rod of the cylinder eight 58 is provided with a cutter two 60. The cutter one 59 and the cutter two 60 are oppositely arranged.

[0103] The cutter one 59 and the cutter two 60 form a rope cutting mechanism. The cutter one 59 is located on one side of the frame body two 46, and the cutter two 60 is located on the other side of the frame body two 46. Under the drive of the cylinder seven 57 and the cylinder eight 58, the cutter one 59 and the cutter two 60 move towards each other, and together cut the drooping rope 11.

[0104] As shown in Figures 9-11 , in this embodiment, the hooking mechanism 9 includes a mounting seat three 61 movably connected to the rack 1. The mounting seat three 61 is provided with a cylinder nine 62 and a cylinder ten 63. The cylinder nine 62 and the cylinder ten 63 can move up and down respectively, and the cylinder nine 62 is located above the cylinder ten 63. The piston rods of the cylinder nine 62 and the cylinder ten 63 are respectively provided with a rope clamping part two 64. The hooking mechanism 9 also includes a rope hooking part 65 for blocking and releasing the rope 11.

[0105] The two rope clamping portions two 64 are arranged above and below the hooking portion 65, and can pass above and below the hooking portion 65 under the drive of the mounting seat three 61. In work, the rope buckle 4 exposes two buckle holes after being pressed, the rope 11 is wound on the rope winding disc 47, the cylinder five 50 drives the rope clamping portion one 75 to rise and clamp the rope 11, then the rope 11 is pulled down to a suitable position, the rope 11 is kept in tension during the pulling-down process, then the clamping portion on the rack 1 clamps the rope 11, the piston rods of the cylinder nine 62 and the cylinder ten 63 are extended and move towards the rope 11, at the same time, the cylinder nine 62 and the cylinder ten 63 move upwards and downwards respectively, then the cylinder nine 62 and the cylinder ten 63 drive the corresponding rope clamping portions two 64 to open and clamp the upper end and the lower end of the rope 11 respectively, after the rope 11 is cut by the cutter, the clamping portion at the upper end of the rope 11 and the rope clamping portion one 75 at the lower end of the rope 11 are loosened, the piston rods of the cylinder nine 62 and the cylinder ten 63 are retracted, at the same time, the cylinder nine 62 and the cylinder ten 63 move towards each other and close, then the two rope clamping portions two 64 clamp one end of the rope 11 and move in the same direction, the middle part of the rope 11 is blocked by the hooking portion 65, when the rope clamping portions two 64 move a certain distance, the rope 11 is in a folded state and presents a U shape, the rope 11 is divided into two parts, when the two parts of the rope 11 are located in front of the buckle holes respectively, the rope clamping portions two 64 stop moving, then the push rod 16 on the rack 1 is extended, the ends of the rope 11 are inserted into the two buckle holes respectively, the hooking mechanism 9 loosens the middle part of the rope 11, the clamps 18 two on one side of the rope buckle 4 are extended and clamp the rope heads at the buckle holes, then the clamps 18 two are retracted to pull out the rope 11, at this time, the two ends of the rope 11 are respectively threaded on the two buckle holes of the rope buckle 4.

[0106] The hooking mechanism 9 cooperates with the two horizontally movable rope clamping portions two 64 through the hooking portion 65, so that the rope 11 is folded and presents a U shape, the rope 11 is divided into two parts and is distributed above and below, so that the rope 11 can be threaded into the two buckle holes of the rope buckle 4, and automatic threading of the rope buckle 4 with two buckle holes is realized, and the working efficiency is high.

[0107] Of course, the hooking mechanism 9 can also thread one buckle hole, and the adaptability is good.

[0108] As shown in Figure 11 In this embodiment, the mounting seat three 61 is provided with a vertical guide column 76, the mounting frame one 77 is slidably connected to the guide column 76, the cylinder nine 62 is mounted on the mounting frame one 77, and the mounting seat three 61 is further provided with a driving member four 78 for driving the mounting frame one 77 to move up and down.

[0109] The driving member four 78 drives the mounting frame one 77 to move up and down, so as to adjust the distance between the two rope clamping portions of the cylinder nine 62 and the cylinder ten 63, adjust the clamping position of the rope 11 as needed, and improve the adaptability.

[0110] As an example, the driving member four 78 comprises a motor five 81, the motor five 81 is installed on one side of the mounting seat three 61, a synchronous wheel one 82 is arranged on the output shaft of the motor five 81, a synchronous wheel two 83 is arranged on the bottom of the mounting seat three 61, and a synchronous belt 84 is connected between the synchronous wheel one 82 and the synchronous wheel two 83. The mounting frame one 77 is installed on the synchronous belt 84.

[0111] As shown in Figure 11 , in this embodiment, the guide column 76 is slidably connected with a mounting frame two 79, the air cylinder ten 63 is installed on the mounting frame two 79, and the mounting seat three 61 is further provided with a driving member five 80 for driving the mounting frame two 79 to move up and down.

[0112] The driving member five 80 drives the mounting frame two 79 to move up and down, so as to adjust the distance between the two rope clamping parts on the air cylinder nine 62 and the air cylinder ten 63, and adjust the clamping position of the rope according to the need, thereby improving the adaptability.

[0113] As an example, the driving member five 80 comprises a motor two 81, the motor two 81 is installed on one side of the mounting seat three 61, a synchronous wheel one 82 is arranged on the output shaft of the motor two 81, a synchronous wheel two 83 is arranged on the bottom of the mounting seat three 61, and a synchronous belt 84 is connected between the synchronous wheel one 82 and the synchronous wheel two 83. The mounting frame two 79 is installed on the synchronous belt 84.

[0114] As shown in Figure 10 and 12 , in this embodiment, the rope hooking part 65 comprises a guide rod 66 and a blocking rod 67, the guide rod 66 and the blocking rod 67 are respectively fixed on the rack 1, the outer end of the blocking rod 67 is hinged with a swing rod 68, a spring 69 is connected between the swing rod 68 and the blocking rod 67, the spring 69 is in a compressed state and makes the outer end of the swing rod 68 abut against the guide rod 66.

[0115] The inner end of the swing rod 68 is hinged on the outer end of the blocking rod 67, the compressed spring 69 makes the outer end of the swing rod 68 abut against the guide rod 66, and the swing rod 68 and the guide rod 66 block the middle part of the rope 11. After the swing rod 68 is actuated to separate from the guide rod 66, the swing rod 68 and the guide rod 66 release the rope 11.

[0116] As shown in Figure 12 , in this embodiment, the blocking rod 67 has a connecting rod 70 below, the rack 1 is provided with a motor four 72, and a pushing member 73 for pushing the connecting rod 70 to swing is fixed on the output shaft of the motor four 72.

[0117] After the motor four 72 drives the pushing member 73 to rotate, the pushing member 73 pushes the connecting rod 70 to swing, so as to make the swing rod 68 swing and separate from the guide rod 66. This structure can realize automatic rope loosening and improve the convenience of operation. The pushing member 73 can be a cam 74 or a blocking block.

[0118] The specific embodiments described herein are merely illustrative of the spirit of the application. Various modifications or changes in addition or substitution to the described specific embodiments can be made by those skilled in the art without departing from the spirit of the application or exceeding the scope of the appended claims.

Claims

1. An automatic knot tying machine comprising a frame (1) having a worktable (2), characterized in that, The workbench (2) is provided with a rotatable carrier (3), the rack (1) is provided with a buckle output mechanism (5) for outputting a rope buckle (4), a buckle grabbing mechanism (6) for transporting the rope buckle (4) to the carrier (3), a sensor (7) for detecting the buckle hole, a rope pulling mechanism (8) for pulling out the rope (11), a rope hooking mechanism (9) for bending the rope (11), and a buckle threading mechanism (10) for threading the rope (11) into the rope buckle (4), the rope hooking mechanism (9) comprises a mounting seat three (61), the mounting seat three (61) is movably connected to the rack (1), the mounting seat three (61) is provided with a cylinder nine (62) and a cylinder ten (63), the cylinder nine (62) and the cylinder ten (63) can move up and down respectively, and the cylinder nine (62) is located above the cylinder ten (63), the piston rods of the cylinder nine (62) and the cylinder ten (63) are respectively provided with a rope clamping part two (64), the rope hooking mechanism (9) further comprises a rope hooking part (65) for blocking and releasing the rope (11), the rope hooking part (65) comprises a guide rod (66) and a blocking rod (67), the guide rod (66) and the blocking rod (67) are fixed on the rack (1), the outer end of the blocking rod (67) is hinged with a swing rod (68), the swing rod (68) and the blocking rod (67) are connected with a spring (69), the spring (69) is in a compressed state and makes the outer end of the swing rod (68) abut against the guide rod (66).

2. The automatic knot tying machine according to claim 1, wherein The buckle threading mechanism (10) comprises a mounting seat one (14) and a driving member one (15) for driving the mounting seat one (14) to move, and the mounting seat one (14) is provided with a push rod (16).

3. The automatic knot tying machine of claim 2, wherein, The buckle threading mechanism (10) further comprises a cylinder two (17), and the piston rod of the cylinder two (17) is provided with a clamp (18) for pulling the rope (11).

4. The automatic knot tying machine of claim 2, wherein, The mounting seat one (14) comprises a fixed plate (19), the fixed plate (19) is provided with a support one (20) which can move horizontally and can be positioned on the fixed plate (19), the support one (20) is provided with a support two (21) which can move vertically and can be positioned on the support one (20), the support two (21) is installed with a support three (22), the support three (22) is provided with a mounting block (23) which can move vertically and can be positioned on the support three (22), one push rod (16) is installed on the mounting block (23), another push rod (16) is installed on the support three (22), and the push rods (16) are arranged vertically and parallel to each other.

5. The automatic knot tying machine of claim 1, wherein, The rack (1) is further provided with a material collecting mechanism (24), the material collecting mechanism (24) comprises a cylinder three (25), the piston rod of the cylinder three (25) is provided with a push plate (26), the lower portion of the rack (1) is provided with a material collecting box (27), the upper portion of the material collecting box (27) is provided with a material collecting pipe (28), the top portion of the material collecting pipe (28) is open and penetrates through the workbench (2).

6. The automatic knot tying machine of claim 1, wherein, The feeding buckle mechanism (5) comprises a feeding disc (29) with a discharging channel (30), a motor one (31) and a support one (32) are arranged on the rack (1), two rollers (33) are arranged on the support one (32), a conveying belt (34) is connected between the rollers (33) in tension, the conveying belt (34) is located below the discharging channel (30), and one roller (33) is installed on the output shaft of the motor one (31).

7. The automatic knot tying machine of claim 6, wherein, A support two (35) is arranged on the rack (1), a motor two (36) and a gear two (38) are arranged on the support two (35), a gear one (37) engaged with the gear two (38) is installed on the output shaft of the motor two (36), a baffle one (39) and a baffle two (40) are respectively installed on the gear one (37) and the gear two (38), the baffle one (39) and the baffle two (40) are located above the discharging channel (30) and can approach or move away from each other, and a blocking portion (41) for blocking the rope buckle (4) is arranged at the discharging end of the support one (32).

8. The automatic knot tying machine of claim 1, wherein, The buckle grabbing mechanism (6) comprises a frame one (42) installed on the rack (1), a rotatable mounting seat two (43) is arranged on the frame one (42), at least one buckle grabbing portion (44) is arranged on the mounting seat two (43), and a driving part two (45) for driving the mounting seat two (43) to rotate is further arranged on the frame one (42).

9. The automatic knot tying machine of claim 8, wherein, A cylinder four (48) is arranged on the frame one (42), a support four (52) is arranged on the piston rod of the cylinder four (48), a rotatable buckle pressing portion (53) is arranged on the support four (52), the buckle pressing portion (53) is located above the loading platform (3), and the sensor (7) is located on one side of the loading platform (3).

10. The automatic knot tying machine of claim 1, wherein, The rope pulling mechanism (8) comprises a frame two (46) installed on the rack (1), a rotatable rope winding disc (47) is arranged on the frame two (46), and a rope clamping portion one (75) and a driving part three (49) for driving the rope clamping portion one (75) to move up and down are arranged on the rack (1).

11. An automatic knot tying machine according to any one of claims 1-10, characterized in that, A vertical guide column (76) is arranged on the mounting seat three (61), a mounting frame one (77) is slidably connected to the guide column (76), the cylinder nine (62) is installed on the mounting frame one (77), and a driving part four (78) for driving the mounting frame one (77) to move up and down is further arranged on the mounting seat three (61).

12. The automatic knot tying machine of claim 11, wherein, A mounting frame two (79) is slidably connected to the guide column (76), the cylinder ten (63) is installed on the mounting frame two (79), and a driving part five (80) for driving the mounting frame two (79) to move up and down is further arranged on the mounting seat three (61).

13. An automatic knot tying machine according to any one of claims 1-10, characterized in that, The lower part of the blocking rod (67) is provided with a connecting rod (70), and a motor four (72) is arranged on the frame (1), and the output shaft of the motor four (72) is fixed with a pushing piece (73) for pushing the connecting rod (70) to swing.

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