knot tying device

Abstract

The application relates to a knotting and tying device, which comprises a spiral knotting mechanism and a guiding mechanism. The spiral knotting mechanism comprises a spiral fixing part and a first driving assembly. The middle section of the spiral fixing part has a spiral structure. The first driving assembly is connected with one end of the spiral fixing part. The other end of the spiral fixing part is configured as a fixed end. The guiding mechanism is used for cooperating with the spiral fixing part, so that the end of a rope enters the inside of the spiral fixing part from one end of the spiral fixing part close to the fixed end, and is used for guiding the end of the rope to pass out from one side of the middle section of the spiral fixing part and then to be sent to the fixed end after being wound around the bound object for at least one round. Through the knotting and tying device, automatic knotting production can be realized, and the knotting efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of knotting and tying technology, and in particular to knotting and tying devices. Background Technology

[0002] The food industry is developing rapidly in terms of technology and product variety. There are now equipment requirements for knotted food products, such as knotted fortune bags for hot pot. Currently, most of these products are knotted manually, and automated production has not been achieved. Manual knotting has problems such as low efficiency, difficulty in controlling product stability, and difficulty in on-site management. Summary of the Invention

[0003] Therefore, it is necessary to provide a knot-tying device.

[0004] A knotting and tying device, characterized in that it includes a spiral knotting mechanism and a guiding unit. The spiral knotting mechanism includes a spiral fixing member and a first driving assembly. The spiral fixing member has a spiral structure. The first driving assembly is connected to one end of the spiral fixing member, and the other end of the spiral fixing member is configured as a fixed end. The guiding assembly is used to cooperate with the spiral fixing member so that the end of the rope enters the inner side of the spiral fixing member from the end of the spiral fixing member near the fixed end. It is also used to guide the end of the rope to pass out from one side of the middle section of the spiral fixing member and wrap around the object to be tied at least once before being fixed to the fixed end. The first driving assembly is used to drive the spiral fixing member to perform linear and rotational movements to drive the rope to move and achieve knotting.

[0005] The guiding unit works in conjunction with the spiral fixing component to allow the end of the rope to enter the inner side of the spiral fixing component from the end closest to the fixed end. The guiding component also guides the end of the rope to pass through one side of the middle section of the spiral fixing component and wrap around the object to be bound at least once before being delivered to the fixed end for fixation. At this time, the rope is simultaneously wrapped around several threads of the spiral fixing component and the object to be bound. Then, the spiral fixing component rotates and moves linearly under the drive of the first driving component, and the rope moves with the spiral fixing component to achieve knotting. In this way, the above-mentioned knotting and fastening device can realize automated knotting production, improve knotting efficiency, improve knotting stability, and reduce on-site management difficulties.

[0006] In one embodiment, the guiding unit includes a feeding mechanism and a winding mechanism. The feeding mechanism is used to provide a rope and to cooperate with a spiral fastener so that the end of the rope enters the inner side of the spiral fastener from the end of the spiral fastener near the fixed end. The winding mechanism is used to pick up the end of the rope and drive the end of the rope to pass through one side of the middle section of the spiral fastener and wrap around the object to be bound at least once before being sent to be fixed to the fixed end.

[0007] In one embodiment, the winding mechanism includes a first linear driver, a rotating assembly, and a rope-clamping cylinder. The first linear driver is driven to the rotating assembly, and the rotating assembly is driven to the rope-clamping cylinder. The first linear driver is used to drive the rotating assembly and the rope-clamping cylinder to move closer to or away from the feeding mechanism. The rope-clamping cylinder is used to clamp the end of the rope. The rotating assembly is used to drive the rope-clamping cylinder to rotate and cause the rope to wrap around the object being bound at least once.

[0008] In one embodiment, the feeding mechanism includes a pickup component, a feeding cylinder, a ejector pin, a second linear actuator, and a third linear actuator. The pickup component is used to pick up a rope and feed it to the feeding cylinder. The feeding cylinder has a waist-shaped groove along its generatrix. The ejector pin is movably inserted into the waist-shaped groove. The second linear actuator is drivenly connected to the third linear actuator and is used to drive the third linear actuator to move along the generatrix of the feeding cylinder. The third linear actuator is used to drive the ejector pin through the waist-shaped groove and into the interior of the feeding cylinder to hook the rope inside the feeding cylinder. The spiral fixing member is used to be fitted onto or away from the outside of the feeding cylinder under the drive of the first driving component.

[0009] In one embodiment, the spiral fastener includes an opening and closing assembly, a first opening and closing rod, and a second opening and closing rod. The first driving assembly is driven to the opening and closing assembly to drive the opening and closing assembly, the first opening and closing rod, and the second opening and closing rod to perform linear and rotational movements. The first opening and closing rod and the second opening and closing rod are arranged in a corresponding spiral shape. The opening and closing assembly is driven to the first opening and closing rod and the second opening and closing rod respectively, and the opening and closing assembly is used to drive the first opening and closing rod and the second opening and closing rod to move closer to or away from each other.

[0010] In one embodiment, a storage mechanism is further included, which includes a storage clamp, an upper pull pin, and a sequential shifting cylinder. The sequential shifting cylinder is driven to the storage clamp, which has multiple storage slots. The sequential shifting cylinder is used to drive the storage slots of the storage clamp to correspond sequentially with the feeding mechanism.

[0011] In one embodiment, a feeding mechanism is also included, which includes multiple rows of rollers, with a feeding channel formed between every two rows of rollers. The sequential shifting cylinder is also used to drive the storage tank of the storage fixture to correspond to the feeding channel.

[0012] In one embodiment, a cutting mechanism is also included for cutting off the knotted end of the rope.

[0013] In one embodiment, a rack is also included, the guide unit is disposed on the rack, and the first drive assembly is connected to the rack. Attached Figure Description

[0014] Figure 1 A three-dimensional structural schematic diagram of a knot-tying device according to one embodiment;

[0015] Figure 2 A schematic diagram of a knotting and fastening device passing through a spiral fastener, according to one embodiment;

[0016] Figure 3 A three-dimensional structural schematic diagram of a knot-tying device according to one embodiment;

[0017] Figure 4 This is a three-dimensional structural schematic diagram of a knot-tying device according to one embodiment. Detailed Implementation

[0018] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0020] like Figure 1 As shown, in one embodiment, a knotting device is provided, specifically a knotting and fastening device 10, including a spiral knotting mechanism 300 and a guide unit. The spiral knotting mechanism 300 includes a spiral fixing member 310 and a first driving assembly 320. The spiral fixing member 310 has a spiral structure, and the first driving assembly 320 is connected to one end of the spiral fixing member 310. The other end of the spiral fixing member 310 is configured as a fixed end 314.

[0021] Please combine Figure 2As shown, the guiding unit is used to cooperate with the spiral fastener 310 so that the end 810 of the rope 800 enters the inner side 316 of the spiral fastener 310 from the end of the spiral fastener 310 near the fixed end 314, and is also used to guide the end 810 of the rope 800 to pass through one side 317 of the middle section 315 of the spiral fastener 310 and to be delivered to the fixed end 314 after wrapping around the object at least once.

[0022] In this embodiment, the guiding unit includes a feeding mechanism 100 and a winding mechanism 200. The feeding mechanism 100 provides a rope and cooperates with the spiral fixing member 310 so that the end of the rope enters the inner side of the spiral fixing member 310 near the fixed end 314. The winding mechanism 200 picks up the end of the rope and drives it through one side of the middle section of the spiral fixing member 310, around the object being bound at least once, and then delivers it to the fixed end 314 for fixation. In one embodiment, the winding mechanism drives the rope to wind around the object being bound once and then releases the end of the rope, after which the fixed end of the spiral fixing member picks up the end of the rope. In another embodiment, the end of the rope from the winding mechanism is directly released to the vicinity of the spiral fixing member and picked up by the spiral fixing member.

[0023] The guiding unit cooperates with the spiral fixing member 310 so that the end of the rope enters the inner side of the spiral fixing member 310 from the end of the spiral fixing member 310 near the fixed end 314. The guiding component is also used to guide the end of the rope to pass out from one side of the middle section of the spiral fixing member 310 and wrap around the object to be bound at least once before being fixed to the fixed end 314. At this time, the rope is simultaneously wrapped around several threads of the spiral fixing member 310 and the object to be bound. Then, the spiral fixing member rotates and moves linearly under the drive of the first driving component 320, and the rope moves with the spiral fixing member 310 and is knotted. Specifically, the winding mechanism 200 picks up the end of the rope from the feeding mechanism 100 and drives the rope to wrap around the object to be bound at least once. Then, the first drive assembly 320 drives the spiral fixing member 310 to pick up the end of the rope. Then, under the drive of the first drive assembly 320, the spiral fixing member 310 can make linear and rotational movements to drive the end of the rope to make linear and rotational movements, thereby realizing the knotting of the rope. In this way, the above-mentioned knotting and tying device 10 can realize automated knotting production and improve knotting efficiency.

[0024] Please combine Figure 1 and Figure 3In one embodiment, a knotting device is provided, specifically a knotting and fastening device 10, including a feeding mechanism 100, a winding mechanism 200, and a spiral knotting mechanism 300, wherein the guiding unit is the feeding mechanism 100 and the winding mechanism 200. The feeding mechanism 100 is used to provide a rope and cooperate with the spiral fixing member 310 so that the end of the rope enters the inner side of the spiral fixing member 310 from the end near the fixed end; the winding mechanism 200 is used to pick up the end of the rope and drive the end of the rope to pass through one side of the middle section of the spiral fixing member 310 and wrap around the object to be bound at least once before being sent to be fixed to the fixed end 314. The winding mechanism 200 includes a first linear driver, a rotating assembly 220, and a rope-clamping cylinder 230. The first linear driver is driven to the rotating assembly 220, and the rotating assembly 220 is driven to the rope-clamping cylinder 230. The first linear driver drives the rotating assembly 220 and the rope-clamping cylinder 230 to move closer to or further away from the feeding mechanism 100. The rope-clamping cylinder 230 clamps the end of the rope. The rotating assembly 220 drives the rope-clamping cylinder 230 to rotate, causing the rope to wrap around the object being bound at least once. The first driving assembly 320 drives the spiral fixing member 310 to perform linear and rotational movements, thereby moving the rope and achieving knotting.

[0025] In this embodiment, the knotting and tying device 10 further includes a frame 600, on which the guide unit is mounted. Specifically, the knotting and tying device also includes a storage mechanism 400 and a shearing mechanism 500. The feeding mechanism 100, the winding mechanism 200, the storage mechanism 400, and the shearing mechanism 500 are all mounted on the frame 600. The first drive component 320 of the spiral knotting mechanism 300 is connected to the frame 600. In this way, the frame 600 provides installation positions for the feeding mechanism 100, the winding mechanism 200, the spiral knotting mechanism 300, the storage mechanism 400, the feeding mechanism, and the shearing mechanism 500, and makes it easier to arrange the relative positions of each mechanism.

[0026] In one embodiment, the feeding mechanism includes multiple rows of rollers, with a feeding channel formed between every two rows of rollers. A sequential shifting cylinder is also used to drive the storage trough of the storage clamp to correspond with the feeding channel. The feeding mechanism provides ropes to the storage mechanism, which then arranges the rope-like materials one by one and delivers them side-by-side to the feeding station via roller support. Specifically, the feeding mechanism is a parallel roller-supported conveying mechanism, with the rollers spaced apart to neatly deliver the rope-like materials to the feeding position, where they are then sequentially shifted by the storage mechanism for the feeding mechanism to grasp.

[0027] In this embodiment, the storage mechanism 400 includes a storage clamp 410, an upper pull pin 420, and a sequential shift cylinder 430. The sequential shift cylinder 430 is driven to the storage clamp 410. The storage clamp 410 has multiple storage slots 411. The sequential shift cylinder 430 is driven to drive the storage slots 411 of the storage clamp 410 to correspond sequentially with the feeding mechanism 100. After the ropes are neatly arranged, they are placed in the storage troughs 411 of the storage clamp 410. When a storage trough 411 corresponds to the feeding mechanism 100, the rope in the storage trough 411 can enter the feeding mechanism 100 and be supplied to the winding mechanism 200 by the feeding mechanism 100. After the rope in the current storage trough 411 is used up by the feeding mechanism 100, the sequential shift cylinder 430 shifts to drive the storage clamp 410 to shift and make the rope in the next storage trough 411 correspond to the feeding mechanism 100. In this embodiment, the storage mechanism 400 also includes an upper push-pull pin, which is driven to connect with the storage clamp 410. When a storage trough 411 corresponds to the feeding mechanism 100, the upper push-pull pin is inserted into the small hole of the storage clamp 410 to lift the storage clamp 410 and make the storage clamp 410 closer to the feeding mechanism 100. After the rope of the current storage trough 411 is used up, the upper pull pin 420 descends so that the sequential shift cylinder 430 can drive the storage clamp 410 to shift.

[0028] Please refer to this embodiment as well. Figure 4As shown, the feeding mechanism 100 includes a pickup assembly 110, a feeding cylinder 120, a ejector pin 130, a second linear actuator 140, and a third linear actuator 150. The pickup assembly 110 is used to pick up the rope and feed it to the feeding cylinder 120. The feeding cylinder 120 has a waist-shaped groove 121 along the generatrix direction. The ejector pin 130 is movably inserted into the waist-shaped groove 121. The second linear actuator 140 is drivenly connected to the third linear actuator 150 and is used to drive the third linear actuator 150 to move along the generatrix direction of the feeding cylinder 120. The third linear actuator 150 is used to drive the ejector pin 130 to pass through the waist-shaped groove 121 and enter the interior of the feeding cylinder 120 to hook the rope inside the feeding cylinder 120. Specifically, when the third linear actuator 150 drives the ejector pin 130 to hook the rope, the second linear actuator 140 drives the third linear actuator 150 and the ejector pin 130 to move from the side near the storage material to the side near the winding assembly, so as to drive the rope to move from the side near the storage material to the side near the winding assembly in the limiting cylinder, thereby feeding the rope in the storage trough 411 to a position close to the winding assembly, so that the winding assembly can pick up the end of the rope from the feeding cylinder 120. The spiral fixing member is used to be sleeved or moved away from the outside of the feeding cylinder under the drive of the first driving component. When the spiral fixing member is sleeved on the feeding cylinder, the outlet of the feeding cylinder extends into the inside of the spiral fixing member, and the winding mechanism can pick up the end of the rope from the inside of the feeding cylinder and rotate it once before handing it over to the fixed end of the spiral fixing member. Then the first driving component drives the spiral fixing member away from the feeding cylinder and drives the spiral fixing member to rotate, which can drive the rope to rotate and make the rope pass around its own loop position and achieve knotting. Furthermore, by adjusting the feeding length of the rope through the feeding mechanism 100, single knots, double knots, and slip knots can be achieved. In this embodiment, the picking component 110 includes a clamping cylinder 111 for clamping the rope. Specifically, the picking component 110 also includes a second drive component for driving the clamping cylinder 111 to move. In this embodiment, the second drive component includes up-down, front-back, and left-right cylinders; or, more specifically, the second drive component includes an XYZ cylinder assembly 112 for driving the clamping cylinder 111 to move in more positions, allowing the clamping component to better clamp the end of the rope. In other embodiments, the second drive component includes a robotic arm. In this embodiment, the clamping cylinder 111 uses a needle-shaped gripper, with the needle tip of the gripper penetrating the rope to achieve stable feeding. In this way, the clamping cylinder 111 feeds the rope into the feeding cylinder 120 for rope fixing. Then, the second linear actuator 140 and the ejector pin 130 cooperate to hook the rope. The third linear actuator 150 drives the second linear actuator 140 and the ejector pin 130 to pull the rope, thus achieving accurate positioning of the rope feeding. In one embodiment, the second linear actuator 140 and the third linear actuator 150 each include at least one of a cylinder or an electric lead screw. In this embodiment, both the second linear actuator 140 and the third linear actuator 150 are cylinders.In this embodiment, feeding the winding assembly with a feeding cylinder can make the starting position of the rope more uniform, which makes it easier for the winding assembly to pick up the rope and drive the rope to wrap around the object being bound at least once.

[0029] In this embodiment, the winding mechanism 200 includes a first linear actuator 210, a rotating assembly 220, and a rope-clamping cylinder 230. The first linear actuator 210 is driven to the rotating assembly 220, and the rotating assembly 220 is driven to the rope-clamping cylinder 230. The first linear actuator 210 drives the rotating assembly 220 and the rope-clamping cylinder 230 to move closer to or further away from the feeding mechanism 100. The rope-clamping cylinder 230 is used to clamp the end of the rope. The rotating assembly 220 drives the rope-clamping cylinder 230 to rotate and cause the rope to wrap around the object being bound at least once. Specifically, the rotating assembly 220 includes a rotating cylinder or a motor. In one embodiment, the clamp of the rope-clamping cylinder 230 is an eccentric clamp, which can extend out of the rotating shaft to clamp the rope and avoid interference with other mechanisms. In this embodiment, the first linear actuator 210 includes a lifting cylinder, and the drive shaft of the lifting cylinder is correspondingly arranged with the outlet of the feeding cylinder 120 to drive the rope clamping cylinder 230 to approach the outlet of the feeding cylinder 120 and clamp the end of the rope. In this embodiment, the rotating component 220 is connected to the rope clamping cylinder 230 through an eccentric member to drive the rope clamping cylinder 230 to make an eccentric movement relative to the central axis of the rotating component 220. Specifically, the two opposite ends of the eccentric member are provided with a first connecting part and a second connecting part. The rotating component 220 is connected to the first connecting part, and the second connecting part is connected to the rope clamping cylinder 230. The rotation axis of the rotating component 220 is parallel to but does not coincide with the central axis of the rope clamping cylinder 230 to drive the rope clamping cylinder 230 to make an eccentric movement around the outside of the rotation axis of the rotating component 220. In another embodiment, the first linear actuator 210 includes an electric lead screw or a robotic arm to realize the driving function of the first linear actuator 210. It is understood that the connection relationship between the rotating component 220 and the first linear drive component in this embodiment can be arbitrarily interchanged. That is, in one embodiment, the rotating component 220 is driven connected to the first linear drive component, and the first linear drive component is driven connected to the rope clamping cylinder 230. After the relative connections are interchanged, the rotating component 220 can rotate the first linear drive component and the rope clamping cylinder 230, and the first linear drive component directly drives the rope clamping cylinder 230 to move closer to or away from the rope. The rope clamping cylinder 230 is used to clamp the end of the rope and can also be called the clamping cylinder 111.

[0030] In this embodiment, the spiral fastener 310 includes an opening and closing assembly 313 and a spiral clamp. Specifically, the spiral clamp includes a first opening and closing rod 311 and a second opening and closing rod 312. A first driving assembly 320 is driven to the opening and closing assembly 313 to drive the opening and closing assembly 313, the first opening and closing rod 311 and the second opening and closing rod 312 to perform linear and rotational movements. The first opening and closing rod 311 and the second opening and closing rod 312 are arranged in a corresponding spiral shape. The opening and closing assembly 313 is driven to the first opening and closing rod 311 and the second opening and closing rod 312 respectively. The opening and closing assembly 313 is used to drive the first opening and closing rod 311 and the second opening and closing rod 312 to move closer or further away. That is, the opening and closing assembly 313 is used to drive the first opening and closing rod 311 and the second opening and closing rod 312 to open or close. The ends of the first opening and closing rod 311 and the second opening and closing rod 312 are respectively formed as the fixed ends. When the first opening / closing rod 311 and the second opening / closing rod 312 are open, the end of the rope can be inserted between them. When the first opening / closing rod 311 and the second opening / closing rod 312 are closed, they can clamp the end of the rope. In this embodiment, the first opening / closing rod 311 and the second opening / closing rod 312 are respectively configured as spiral structures and are correspondingly arranged. When the first opening / closing rod 311 and the second opening / closing rod 312 are closed, they form an integral spiral shape. After the first opening / closing rod 311 and the second opening / closing rod 312 clamp the end of the rope, under the drive of the first driving component 320, the first opening / closing rod 311 and the second opening / closing rod 312 can perform linear and rotational movements, so that the rope can wrap around the spiral surface of the spiral clamp and around a specific position of the rope itself to achieve knotting. In this embodiment, the first driving component 320 includes a ball screw to achieve rotational and linear motion, which can drive the rope clamped on the spiral fixing member 310 to achieve a fast and stable knotting action. The opening / closing assembly 313 includes an opening cylinder and a spring-loaded closing mechanism. The opening cylinder pushes out the drive arm to open the spiral clamp, and the cylinder retracts, while the spring-loaded closing mechanism closes the spiral clamp to secure the end of the rope. In another embodiment, the first drive assembly 320 includes a robotic arm. In other embodiments, the fixed end is provided with a hook for hooking the rope to achieve fixation. In other embodiments, a clamp is provided only at the fixed end of the spiral fastener for clamping the rope to achieve fixation. In other embodiments, the fixed end is provided with a magnetic attractor, and the end of the rope is provided with an iron plate, so that the fixed end and the end of the rope are fixed when the magnetic attractor and the iron plate are fixed.

[0031] In this embodiment, the cutting mechanism 500 is used to cut the end of the knotted rope, wherein the end of the rope is the end furthest from the end of the rope. The cutting mechanism 500 includes a pneumatic shear and a telescopic cylinder mechanism, wherein the telescopic cylinder is driven by the pneumatic shear to drive the pneumatic shear to approach or move away from the rope. After knotting, the telescopic cylinder drives the pneumatic shear forward, so that the cutting end of the pneumatic shear extends into the rope cutting position, the solenoid valve drives the pneumatic shear to cut the rope, and then it returns to its position to await the next cycle. The cutting mechanism can realize the cutting of the rope. After the cutting is completed, the knotting of the current bundled object ends, and then the next bundled object is processed.

[0032] It is understood that the item being bundled can be food or any other product that needs to be bundled; in one embodiment, the item being bundled is a lucky bag.

[0033] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0034] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A knot tying system comprising: The device comprises a spiral knotting mechanism and a guiding mechanism, the spiral knotting mechanism comprises a spiral fixing part and a first driving assembly, the spiral fixing part has a spiral structure, the first driving assembly is connected with one end of the spiral fixing part, and the other end of the spiral fixing part is configured as a fixed end; the guiding mechanism is used for cooperating with the spiral fixing part, so that the end of the rope enters the inside of the spiral fixing part from one end of the spiral fixing part close to the fixed end, and is used for guiding the end of the rope to pass out from one side of the middle segment of the spiral fixing part and then to be fixed with the fixed end after winding the bound object at least one round; wherein the first driving assembly is used for driving the spiral fixing part to move linearly and rotate, so as to drive the rope to move and realize knotting.

2. The knot tying device of claim 1, wherein, The guiding mechanism comprises a feeding mechanism and a winding mechanism, the feeding mechanism is used for providing the rope and cooperating with the spiral fixing part, so that the end of the rope enters the inside of the spiral fixing part from one end of the spiral fixing part close to the fixed end; the winding mechanism is used for picking up the end of the rope and driving the end of the rope to pass out from one side of the middle segment of the spiral fixing part and then to be fixed with the fixed end after winding the bound object at least one round.

3. The knot tying device of claim 2, wherein, The winding mechanism comprises a first linear driver, a rotating assembly and a rope clamping cylinder, the first linear driver is drivingly connected with the rotating assembly, the rotating assembly is drivingly connected with the rope clamping cylinder, the first linear driver is used for driving the rotating assembly and the rope clamping cylinder to move close to or away from the feeding mechanism, the rope clamping cylinder is used for clamping the end of the rope, and the rotating assembly is used for driving the rope clamping cylinder to rotate and driving the rope to wind the bound object at least one round.

4. The knot tying device of claim 3, wherein, The clamping part of the rope clamping cylinder is eccentric.

5. The knot tying device of claim 2, wherein, The feeding mechanism comprises a picking-up assembly, a feeding cylinder, a needle, a second linear driver and a third linear driver, the picking-up assembly is used for picking up the rope and sending the rope to the feeding cylinder, the feeding cylinder is provided with a waist-shaped slot in the direction of the generatrix, the needle is movably arranged in the waist-shaped slot, the second linear driver is drivingly connected with the third linear driver and is used for driving the third linear driver to move in the direction of the generatrix of the feeding cylinder, and the third linear driver is used for driving the needle to pass through the waist-shaped slot and enter the inside of the feeding cylinder to hook the rope in the feeding cylinder, wherein the spiral fixing part is used for sleeving or moving away from the outside of the feeding cylinder under the driving of the first driving assembly.

6. The knot tying device of claim 1, wherein, The spiral fixing part comprises an opening and closing assembly, a first opening and closing rod and a second opening and closing rod, the first driving assembly is drivingly connected with the opening and closing assembly to drive the opening and closing assembly, the first opening and closing rod and the second opening and closing rod to move linearly and rotate, the first opening and closing rod and the second opening and closing rod are arranged in corresponding spiral shapes, the opening and closing assembly is drivingly connected with the first opening and closing rod and the second opening and closing rod respectively, and the opening and closing assembly is used for driving the first opening and closing rod and the second opening and closing rod to move close to or away from each other.

7. The knot tying device of claim 2, wherein, The device further comprises a storage mechanism, which comprises a storage clamp, an upper top pulling pin and a sequence displacement cylinder, the sequence displacement cylinder is in driving connection with the storage clamp, the storage clamp is provided with a plurality of storage grooves, and the driving of the sequence displacement cylinder is used to drive the storage grooves of the storage clamp to correspond to the feeding mechanism in sequence.

8. The knot tying device of claim 7, wherein, The device further comprises a feeding mechanism, which comprises a plurality of rows of rollers, and a feeding channel is formed between every two rows of rollers, and the sequence displacement cylinder is further used to drive the storage grooves of the storage clamp to correspond to the feeding channel.

9. The knot tying device of claim 1, wherein, The device further comprises a shearing mechanism, which is used to cut the end of the rope after knotting.

10. A knot tying device as defined in any one of claims 1-9, characterized in that The device further comprises a rack, the guide machine group is arranged on the rack, and the first driving assembly is connected with the rack. The device further comprises a shearing mechanism, which is used to cut the end of the rope after knotting.

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