Automatic rope winding knotting machine suitable for large-size flexible bag and knotting method

Abstract

The invention discloses an automatic rope winding and knotting machine suitable for a large-size flexible bag and a knotting method, and relates to the technical field of packaging machines.The automatic rope winding and knotting machine comprises the steps that firstly, a rope is folded into two to form a main rope, an auxiliary rope and a first rope ring; the first rope is wound around an object to be knotted; the first rope ring is rotated by 90 degrees and pulled between the main rope and the auxiliary rope; the main rope is pulled down to penetrate through the first rope ring to form a second rope ring; the auxiliary rope is pulled forwards to form a third rope ring and penetrates through the second rope ring, if a slipknot needs to be tied, the rope head of the auxiliary rope does not penetrate through the second rope ring, and then the main rope is tightened; if a hard knot needs to be tied, the rope head of the auxiliary rope penetrates through the second rope ring, and then the main rope is tightened. The knotting method is improved, so that the knotting method is suitable for mechanical execution, and slipknot tying or dead knot tying can be selected according to requirements.

Description

Technical Field

[0001] The invention relates to the technical field of packaging machinery, in particular to an automatic rope winding and knotting machine and a knotting method suitable for large-size flexible bags. Background Art

[0002] In the process of liquor production, grain crushing is a key step. When the grains are crushed to an appropriate degree, it is conducive to gelatinization and subsequent fermentation, thereby speeding up the fermentation speed, shortening the fermentation cycle and improving production efficiency.

[0003] In the existing grain crushing production line of brewing enterprises, the crushed grains are usually shipped in large flexible bags such as sacks and woven bags, which need to be tied with ropes. Nowadays, it is mostly done manually. In order to reduce the labor intensity of workers, it is necessary to develop mechanical equipment that can achieve knotting. Summary of the invention

[0004] It is time-consuming and laborious to tie and knot a large-sized flexible bag. The purpose of the present invention is to overcome the shortcomings of the prior art and provide an automatic rope winding and knotting machine and a knotting method suitable for large-sized flexible bags. The target rope knot is the Highwayman's Hitch, and the knotting method is improved to make it suitable for mechanical execution, and it is possible to choose whether to tie a loose knot or a dead knot according to needs.

[0005] The object of the present invention is achieved through the following technical solution: a rope knotting method suitable for large-sized flexible bags, the method comprising the following steps:

[0006] S1. Fold the rope in half to form the main rope, the auxiliary rope and the first rope loop.

[0007] S2. Wrap the first rope around the object to be tied.

[0008] S3. Rotate the first rope loop 90° and pull it between the main rope and the auxiliary rope.

[0009] S4. Pull the main rope down through the first rope loop to form a second rope loop.

[0010] S5. Pull the auxiliary rope forward to form the third rope ring and pass it through the second rope ring. If you need to tie a loose knot, do not let the rope end of the auxiliary rope pass through the second rope ring, and then tighten the main rope. If you need to tie a dead knot, let the rope end of the auxiliary rope pass through the second rope ring, and then tighten the main rope.

[0011] An automatic rope winding and knotting machine suitable for large-sized flexible bags, the knotting machine includes a machine body, the machine body is provided with a drawstring assembly, a rope releasing assembly, a double folding assembly, a rope pushing assembly, a rope pulling assembly, a rope winding assembly, a rope threading assembly, a rope grabbing assembly and a rope cutting assembly, the drawstring assembly includes a drawstring plate, the drawstring plate includes several drawstring triangular plates and a drawstring bottom plate that can rotate forward and reverse, the center of the drawstring bottom plate is provided with a circular hole, the drawstring bottom plate is provided with several slide grooves along the edge of the circular hole, each drawstring triangular plate is provided with a sliding block, the sliding block can slide along the slide groove, and the drawstring bottom plate that rotates forward and reverse can drive several drawstring triangular plates to spread or gather along the slide groove.

[0012] The rope-releasing assembly comprises a rope-releasing drum, and the double-folding assembly comprises a baffle and a rotatable manipulator mounting rod, on which a manipulator for clamping the rope is arranged.

[0013] The push rope assembly includes a push rod that can move forward and backward, and the push rod head is provided with a notch for hooking the rope. The pull rope assembly includes a pull rod that can move forward and backward and rotate, and the pull rod includes a pull rod front end, and the pull rod front end is provided with a hook claw and a torsion spring for limiting the hook claw.

[0014] The rope winding assembly includes a rope winding fork, the rope threading assembly includes a rope threading head that can move forward and backward, the rope threading head is hollow, and a top rod is arranged on the rope threading head, the rope grabbing assembly includes a second base and a rope grabbing connecting rod, the second base is provided with a slide rail, the rope grabbing connecting rod can move along the slide rail, and the head of the rope grabbing connecting rod is provided with a second manipulator for clamping the rope, and the rope cutting assembly includes a rope cutting knife for cutting the rope.

[0015] The cuff assembly also includes a first motor, a gear rack and a first cylindrical gear. The cuff plate also includes a cuff cover and a second cylindrical gear. The gear rack is sleeved on the rotor of the first motor, the first cylindrical gear is sleeved on the gear rack, and the second cylindrical gear is sleeved on the cuff bottom plate. The teeth of the first cylindrical gear and the second cylindrical gear are meshed with each other. The cuff cover is connected to the cuff bottom plate, and several cuff triangle plates are arranged between the cuff cover and the cuff bottom plate. A circular hole is also arranged through the center of the cuff cover. The first motor is also provided with a first reducer.

[0016] The rope-releasing assembly also includes a front baffle, a rear baffle, a mounting frame, a rope-releasing ratchet and a second motor. The rear baffle and the second motor are fixed by the mounting frame. The rope-releasing ratchet is sleeved on the rotor of the second motor. The rope-releasing drum is arranged between the front baffle and the rear baffle, and passes through the rear baffle to be connected with the rope-releasing ratchet.

[0017] The double-folding component also includes a first base, and the third motor and the baffle are both arranged on the first base. The manipulator mounting rod is sleeved on the rotor of the third motor. Two manipulators for clamping the rope are symmetrically arranged on the manipulator mounting rod, and each manipulator is controlled by a fourth motor to clamp or release. The manipulator includes an upper clamp, a lower clamp and a fixed frame. One end of the first upper bracket and the second upper bracket are respectively connected to the upper clamp, and the other end is respectively movably connected to the fixed frame, and the other end of the first upper bracket is also fixedly connected to the upper gear, one end of the first lower bracket and the second lower bracket are respectively connected to the lower clamp, and the other end is respectively movably connected to the fixed frame, and the other end of the first lower bracket is also fixedly connected to the lower gear. The rotor of the fourth motor is provided with a thread, and the gear teeth of the upper gear and the lower gear are respectively engaged with the thread.

[0018] The push rope assembly also includes a second cylinder seat, a second cylinder is arranged inside the second cylinder seat, the tail of the push rod is connected to the piston rod of the second cylinder, and the head of the push rod is provided with a main rope hook plate and a secondary rope hook plate, the main rope hook plate is provided with an upper notch for hooking the main rope, and the secondary rope hook plate is provided with a lower notch for hooking the secondary rope.

[0019] The pull rope assembly also includes a third cylinder seat and a rotating guide cylinder, a third cylinder is arranged inside the third cylinder seat, the pull rod also includes a pull rod rear end and a rotating joint, one end of the pull rod rear end is connected to the piston rod of the third cylinder, one end of the rotating joint is connected to the other end of the pull rod rear end through a bearing, the other end of the rotating joint is connected to the front end of the pull rod, the rotating guide cylinder is sleeved on the outside of the front end of the pull rod and is connected to the third cylinder seat, the rotating guide cylinder is provided with a guide groove, the front end of the pull rod is provided with a protrusion, and the protrusion can slide along the guide groove.

[0020] The rope winding assembly also includes a rope winding rocker, a fifth motor and a motor mounting seat, the fifth motor is arranged on the motor mounting seat, the rope winding rocker is sleeved on the rotor of the fifth motor, the rope winding rod is sleeved on the rope winding rocker, the rope winding fork is connected to the rope winding rod, and the fifth motor is also provided with a second reducer.

[0021] The rope threading assembly also includes a rope threading rod base, on which a sixth motor is arranged, the bottom of the rope threading donkey head is sleeved on the rotor of the sixth motor, and the sixth motor is provided with a third reducer.

[0022] The rope grabbing connecting rod is composed of several diamond structures connected in sequence, the tail end of the rope grabbing connecting rod is connected to the second base, and the symmetrical end of the diamond structure where the tail end is located is connected to one end of the rope grabbing slider, the other end of the rope grabbing slider is connected to the rotating arm, and the rotating arm is connected to the third cylindrical gear, the gear teeth of the third cylindrical gear are meshed with the gear teeth of the fourth cylindrical gear, and the fourth cylindrical gear is sleeved on the rotor of the seventh motor. The rope grabbing assembly also includes a rotatable small square shaft, and the small square shaft controls the clamping or loosening of the second manipulator.

[0023] The rope-cutting knife comprises an upper rope-cutting knife and a lower rope-cutting knife, an upper cam is arranged below the tail of the upper rope-cutting knife, and a lower cam is arranged above the tail of the lower rope-cutting knife, a transmission shaft sequentially passes through the D-type turntable, the lower cam, and the upper cam and is fixedly connected thereto, the transmission shaft is connected to the rotor of the eighth motor, a D-type slide groove is arranged in the middle of the D-type turntable, a sliding shaft is arranged on the rope-cutting transmission rod, one end of the sliding shaft is inserted into the D-type slide groove, and the other end is connected to the connecting shaft, the connecting shaft passes through the upper rope-cutting knife and the lower rope-cutting knife, the rope-cutting slider is sleeved on the connecting shaft, and is arranged between the rope-cutting transmission rod and the rope-cutting knife, and the rope-cutting slider is slidably connected to the slide groove base.

[0024] A support assembly is arranged under the machine body, and the support assembly includes a support seat, and the top of the support seat is provided with three panels, a support plate and a sliding bottom plate, the support plate is arranged on the inner side of the three panels, and the sliding bottom plate is arranged between the three panels and the support plate, and a first cylinder seat is arranged on the support plate, and a first cylinder is arranged in the first cylinder seat, the sliding bottom plate is connected to the piston rod of the first cylinder, and the sliding bottom plate can slide along the inner side of the three panels.

[0025] The beneficial effects of the present invention are:

[0026] 1. The automatic rope winding and knotting machine of the present invention is suitable for knotting and sealing various large-sized flexible bags such as sacks and woven bags, and causes less damage to the flexible bags, which is convenient for subsequent recycling and reuse of the flexible bags.

[0027] 2. The knot structure made by the automatic rope winding and knotting machine of the present invention is reliable and not easy to loosen naturally, and can be switched between a slipknot and a dead knot according to needs.

[0028] 3. The present invention has high efficiency and strong applicability, and can effectively replace manual labor to achieve automation and save labor costs; it can flexibly switch between tying loose knots and tying tight knots, so if there are more requirements, it is only necessary to upgrade and improve this equipment to tie knots for other items. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the knotting principle of the present invention;

[0030] Figure 2 It is a structural schematic diagram of the knotting machine of the present invention;

[0031] Figure 3 for Figure 2 A magnified view of the structure of part I;

[0032] Figure 4 A schematic diagram of the structure of the drawstring assembly closing the mouth of the flexible bag;

[0033] Figure 5 The exploded structure diagram of the tie plate;

[0034] Figure 6 It is a structural schematic diagram of the rope-releasing assembly;

[0035] Figure 7 It is a structural schematic diagram of the folding double component;

[0036] Figure 8 It is the structural diagram of the robot;

[0037] Fig. 9 It is a schematic diagram of the structure of the push rope assembly and the pull rope assembly;

[0038] Fig.10 is a schematic diagram of the structure of the push rod;

[0039] Fig.11 is a schematic diagram of the structure of the pull rod;

[0040] Fig.12 is a schematic diagram of the structure of the rope winding assembly;

[0041] Fig.13 It is a structural schematic diagram of the rope threading assembly;

[0042] Fig.14 It is a schematic diagram of the structure of the rope grab assembly;

[0043] Fig.15 Schematic diagram of the structure of the rope cutting assembly Figure 1 ;

[0044] Fig.16 Schematic diagram of the structure of the rope cutting assembly Figure 2 ;

[0045] Fig.17 is a schematic diagram of the structure of the support assembly;

[0046] In the figure: 1-body, 2-cuff assembly, 3-rope release assembly, 4-folding double assembly, 5-rope push assembly, 6-rope pull assembly, 7-rope winding assembly, 8-rope threading assembly, 9-rope grabbing assembly, 10-rope cutting assembly, 11-support assembly, 201-first cylindrical gear, 202-first reducer, 203-gear frame, 204-first motor, 205-cuff plate, 2051-cuff cover plate, 2052-cuff triangle plate, 2053-cuff bottom plate, 2054-second cylindrical gear, 301-front baffle, 302-rope release drum, 303-rear baffle, 304-mounting frame, 305-rope release ratchet, 306- The second motor, 401-manipulator, 402-baffle, 403-manipulator mounting rod, 404-fourth motor, 405-third motor, 406-first base, 4011-upper clamp, 4012-lower clamp, 4013-fixed frame, 4014-first upper bracket, 4015-second upper bracket, 4016-first lower bracket, 4017-second lower bracket, 4018-upper gear, 4019-lower gear, 501-second cylinder seat, 502-push rod, 601-third cylinder seat, 602-rotating guide cylinder, 603-pull rod, 6031-torsion spring, 6032-hook claw, 6033-pull rod front end, 6034-rotating joint, 6035-rear end of the pull rod, 701-rope winding fork, 702-rope winding rod, 703-rope winding rocker, 704-second reducer, 705-fifth motor, 706-motor mounting seat, 801-rope threading rod base, 802-rope threading donkey head, 803-top rod, 805-third reducer, 806-sixth motor, 901-second manipulator, 902-rope grabbing connecting rod, 903-sliding pin, 904-second base, 905-rope grabbing slider, 906-second motor mounting seat, 907-ninth motor, 908-rotating arm, 909-seventh motor, 910-fourth cylindrical gear, 911 -The third motor seat, 913-the third cylindrical gear, 914-the second hollow square shaft, 915-the first hollow square shaft, 916-the small hollow square shaft, 917-the small square shaft, 1001-the second spring, 1002-the D-type turntable, 1003-the lower cam, 1004-the rope shearing knife, 1005-the rope shearing transmission rod, 1006-the connecting shaft, 1007-the slide base, 1008-the transmission shaft, 1009-the rope shearing slider, 1010-the fourth motor seat, 1011-the sliding shaft, 1012-the eighth motor, 1101-the support seat, 1102-the sliding bottom plate, 1103-the first cylinder seat, 1104-the first cylinder. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0048] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0049] In one embodiment of the present application:

[0050] like Figures 1 to 17 As shown, a rope knotting method suitable for large-sized flexible bags comprises the following steps:

[0051] S1. Fold the rope in half to form the first rope loop, with the upper half of the rope loop being the main rope and the lower half being the auxiliary rope.

[0052] S2. Wrap the first rope around the object to be tied.

[0053] S3. Rotate the first rope loop 90° and pull it between the main rope and the auxiliary rope.

[0054] S4. Pull the main rope down through the first rope loop to form a second rope loop.

[0055] S5. Pull the auxiliary rope forward to form the third rope ring and pass it through the second rope ring. If you need to tie a loose knot, do not let the rope end of the auxiliary rope pass through the second rope ring, and then tighten the main rope; if you need to tie a dead knot, let the rope end of the auxiliary rope pass through the second rope ring, and then tighten the main rope to complete the knot.

[0056] In another embodiment of the present application:

[0057] On the basis of the previous embodiment, an automatic rope winding and knotting machine suitable for large-sized flexible bags is designed, which includes a body 1 (i.e. a workbench, which is the main working area and provides support and positioning for the remaining components), and the body 1 is provided with a cinch assembly 2, a rope release assembly 3, a double folding assembly 4, a rope pushing assembly 5, a rope pulling assembly 6, a rope winding assembly 7, a rope threading assembly 8, a rope grabbing assembly 9 and a rope cutting assembly 10, wherein the cinch assembly 2 is used to close the bag mouth; the rope release assembly 3 is used to release and tighten the rope; the double folding assembly 4 is used to position and fold the rope; the rope pushing assembly 5, the rope pulling assembly 6, and the rope winding assembly 7 are used to wrap the rope around the flexible bag; the rope threading assembly 8 is used to form the second rope ring and interlace between the rope rings; the rope grabbing assembly 9 is used to grab and interlace the third rope ring, so that a knot can be formed when the rope release assembly is tightened; and the rope cutting assembly 10 is used to cut the rope after the knot is formed. The cuff assembly 2 includes a cuff disc 205, which includes several cuff triangles 2052 and a cuff bottom plate 2053 that can rotate forward and backward. A circular hole is set through the center of the cuff bottom plate 2053, and several protrusions are evenly set counterclockwise along the tangent direction of the circular hole on the cuff bottom plate 2053. A slide groove is set on the protrusion block, and each cuff triangle plate 2052 is provided with a sliding block, which can slide along the slide groove. The cuff bottom plate 2053 that rotates forward and backward can drive several cuff triangles 2052 to spread or gather along the slide groove; the rope release assembly 3 includes a rope release drum 302, and the double folding assembly 4 includes a baffle 402 and a rotatable manipulator mounting rod 403, and the manipulator mounting rod 403 is provided with a manipulator 401 for clamping the rope; the rope pushing assembly 5 includes a push rod 50 that can move forward and backward 2. A notch for hooking a rope is provided at the head of the push rod 502. The rope pulling assembly 6 includes a pull rod 603 which can move forward and backward and rotate. The pull rod 603 includes a pull rod front end 6033. The pull rod front end 6033 is provided with a hook claw 6032 and a torsion spring 6031 for limiting the hook claw 6032. The rope winding assembly 7 includes a rope winding fork 701. The rope threading assembly 8 includes a rope threading donkey head 802 which can move forward and backward. The rope threading donkey head 802 is hollow and a top rod 803 is provided on the rope threading donkey head 802. The rope grabbing assembly 9 includes a second base 904 and a rope grabbing connecting rod 902. A slide rail is provided on the second base 904. The rope grabbing connecting rod 902 can move along the slide rail. The head of the rope grabbing connecting rod 902 is provided with a second manipulator 901 for clamping the rope. The rope cutting assembly 10 includes a rope cutting knife 1004 for cutting the rope.

[0058] The cuff assembly 2 also includes a first motor 204, a gear rack 203 and a first cylindrical gear 201 (with a diameter of 47 mm and a height of 22 mm). The cuff disc 205 also includes a cuff cover plate 2051 and a second cylindrical gear 2054 (with a diameter of 90 mm and a height of 22 mm). The gear rack 203 is sleeved on the rotor of the first motor 204, the first cylindrical gear 201 is sleeved on the gear rack 203, and the second cylindrical gear 2054 is sleeved on the cuff bottom plate 2053. The teeth of the first cylindrical gear 201 and the second cylindrical gear 2054 are meshed with each other. The cuff cover plate 2051 is movably connected to the cuff bottom plate 2053, and several cuff triangle plates 2052 are all arranged between the cuff cover plate 2051 and the cuff bottom plate 2053. A round hole is also arranged through the center of the cuff cover plate 2051. The first motor 204 is also provided with a first reducer 202. When working, the rotor of the first motor 204 starts to rotate, driving the gear rack 203 to rotate, the gear rack 203 drives the first cylindrical gear 201 to rotate, the first cylindrical gear 201 drives the second cylindrical gear 2054 to rotate by meshing with the gear teeth of the second cylindrical gear 2054, the second cylindrical gear 2054 drives the bottom plate 2053 to rotate counterclockwise, and the plurality of triangle plates 2052 are subjected to the rotational force and move along the plurality of slide grooves on the bottom plate 2053 to the direction close to the round hole. After the flexible bag opening is tied with a rope, the rotor of the first motor 204 starts to rotate in the opposite direction, and the second cylindrical gear 2054 drives the bottom plate 2053 to rotate clockwise, so that the several triangle plates 2052 are subjected to the rotational force and slide along the several grooves on the bottom plate 2053 in the direction away from the round hole, so that the several triangle plates 2052 are spread out to release the flexible bag.

[0059] The rope-releasing assembly 3 also includes a front baffle 301, a rear baffle 303, a mounting frame 304, a rope-releasing ratchet 305 and a second motor 306. The front baffle 301 and the rear baffle 303 are arranged on the machine body 1, and the rear baffle 303 and the second motor 306 are fixed by the mounting frame 304. The driving pawl of the rope-releasing ratchet 305 is sleeved on the rotor of the second motor 306. The rope-releasing drum 302 is arranged between the front baffle 301 and the rear baffle 303, and passes through the rear baffle 303 to be connected with the rope-releasing ratchet 305. A rope is wound around the rope-releasing drum 302. When working, one end of the rope is pulled When the rope is tightened, the second motor 306 drives the rope-releasing drum 302 to rotate forward through the rope-releasing ratchet 305 to achieve tightening.

[0060] The double-folding component 4 also includes a first base 406, which is arranged on the body 1, and the third motor 405 and the baffle 402 are both arranged on the top of the first base 406. At the same time, the rotor of the third motor 405 passes through the first base 406, and the middle part of the manipulator mounting rod 403 is sleeved on the rotor of the third motor 405. Two manipulators 401 for clamping ropes are symmetrically arranged on the manipulator mounting rod 403, and each manipulator 401 is respectively controlled by a fourth motor 404 to clamp or release, and each manipulator 401 includes an upper clamp 4011, a lower clamp 4012 and two fixing frames 4013, and one end of the two first upper brackets 4014 and the two second upper brackets 4015 are respectively connected to the left and right ends of the upper clamp 4011 The two sides are connected, and the other end is movably connected to the two fixing frames 4013, and the other end of the two first upper brackets 4014 is also fixedly connected to the left and right sides of the upper gear 4018, and the upper gear 4018 is arranged between the two fixing frames 4013. One end of the two first lower brackets 4016 and the two second lower brackets 4017 are respectively connected to the left and right sides of the lower clamp 4012, and the other end is movably connected to the two fixing frames 4013, and the other end of the two first lower brackets 4016 is also fixedly connected to the left and right sides of the lower gear 4019, and the lower gear 4019 is arranged between the two fixing frames 4013. A thread is arranged on the rotor of the fourth motor 404, and the gear teeth of the upper gear 4018 and the lower gear 4019 are respectively engaged with the thread. During operation, the rotor of the fourth motor 404 rotates forward, driving the upper gear 4018 to rotate clockwise and the lower gear 4019 to rotate counterclockwise. The clockwise rotation of the upper gear 4018 drives the first upper bracket 4014 to rotate clockwise around the connection point movably connected to the fixing bracket 4013, driving the upper clamp 4011 to extend forward. The counterclockwise rotation of the lower gear 4019 drives the first lower bracket 4016 to rotate counterclockwise around the connection point movably connected to the fixing bracket 4013, driving the lower clamp 4012 to extend forward, achieving The upper clamp 4011 and the lower clamp 4012 extend forward and close to clamp the rope. The third motor 405 rotates, driving the robot mounting rod 403 to rotate. The robot mounting rod 403 drives the robot 401 clamping the rope to rotate 180° counterclockwise around the baffle 402, and wraps the rope around the baffle 402 to complete the double folding of the rope. At the same time, the other robot 401 that does not clamp the rope arrives at the original clamping position and remains vacant, so as to clamp the rope to complete the next rope continuation after the rope is tightened and before the main rope is cut.

[0061] The push rope assembly 5 also includes a second cylinder seat 501, a second cylinder is arranged inside the second cylinder seat 501, the tail of the push rod 502 is connected to the piston rod of the second cylinder, the head of the push rod 502 is provided with a main rope hook plate and a secondary rope hook plate (the head of the push rod 502 is a fork structure), the upper notch of the main rope hook plate is used for inserting the main rope, and the lower notch of the secondary rope hook plate is used for clamping the secondary rope. When working, the second cylinder pushes the piston rod forward, and the piston rod drives the push rod 502 to extend forward, and the head of the push rod 502 can fork out the rope wrapped around the baffle 402.

[0062] The pull rope assembly 6 also includes a third cylinder seat 601 and a rotating guide cylinder 602. A third cylinder is arranged inside the third cylinder seat 601. The pull rod 603 also includes a pull rod rear end 6035 and a rotating joint 6034. One end of the pull rod rear end 6035 is connected to the piston rod of the third cylinder, and one end of the rotating joint 6034 is connected to the other end of the pull rod rear end 6035 through a bearing, so that the rotating joint 6034 can rotate along the axial direction on the pull rod rear end 6035, and the other end of the rotating joint 6034 is connected to the pull rod front end 6033. The rotating guide cylinder 602 is sleeved on the outside of the pull rod front end 6033 and is connected to the third cylinder seat 601. The rotating guide cylinder 602 is provided with a guide groove, and the pull rod front end 6033 is provided with a protrusion, which can slide along the guide groove. During operation, the piston rod of the third cylinder pushes the rear end 6035 of the pull rod forward, and the protrusion slides along the guide groove and drives the front end 6033 of the pull rod to rotate 90°. The front end 6033 of the pull rod drives the rotating joint 6034 to rotate 90°. Then the front end 6033 of the pull rod reaches the rope pulling position so that the hook 6032 is located inwardly on the right side of the flexible bag. After waiting for the rope winding assembly 7 to send the first rope ring, pull the first rope ring back to the bottom of the rope threading head 802 of the rope threading assembly 8 to realize the winding of the rope around the flexible bag, and at the same time let the first rope ring rotate 90° parallel to the main rope and the auxiliary rope.

[0063] The rope winding assembly 7 also includes a rope winding rocker 703, a fifth motor 705 and a motor mounting seat 706. The motor mounting seat 706 is arranged on the body 1, and the fifth motor 705 is arranged on the motor mounting seat 706. The rope winding rocker 703 is sleeved on the rotor of the fifth motor 705. The rope winding rod 702 is a hollow square shaft. The rope winding rod 702 is sleeved on the rope winding rocker 703 to form a retractable transmission rocker structure. The rope winding fork 701 is connected to the rope winding rod 702. The front end of the rope winding fork 701 is in the shape of a sheep fork. The fifth motor 705 is also provided with a second reducer 704. During operation, the rotor of the fifth motor 705 rotates, and the rope winding rocker 703 and the rope winding rod 702 rotate accordingly. The rope winding fork 701 extends forward along the track on the draw-mouth assembly 2 and the body 1, so that its fork-shaped front end can pass between the main rope hook plate and the auxiliary rope hook plate of the push rod 502 and insert the rope on the head of the push rod 502 and send it to the pull rod 603. After the pull rod 603 pulls away the rope, the rotor of the fifth motor 705 reverses and the entire assembly is reset.

[0064] The rope threading assembly 8 also includes a rope threading rod base 801, which is arranged on the machine body 1, and a sixth motor 806 is arranged on the rope threading rod base 801. The bottom of the rope threading donkey head 802 is sleeved on the rotor of the sixth motor 806, and the sixth motor 806 is provided with a third reducer 805. When working, the rotor of the sixth motor 806 drives the rope threading donkey head 802 to rotate counterclockwise to insert the main rope from the upper notch of the push rod 502, and the head of the rope threading donkey head 802 moves to the bottom of the rope grabbing assembly 9 to form a second rope ring, and at the same time, the top rod 803 is clamped into the inner side of the hook claw 6032 by pressing the torsion spring 6031, and at this time, the hollow part of the rope threading donkey head 802 can be equivalent to the second rope ring. After the rope grabbing assembly 9 pulls out the third rope ring, it resets, releases the second rope ring so that it is naturally sleeved on the third rope ring, and at the same time, the top rod 803 pushes the torsion spring 6031 that limits the hook claw 6032, so that the pull rod 603 releases the first rope ring.

[0065] The rope grabbing link 902 is composed of several diamond structures connected in sequence by sliding pins 903. The tail end of the rope grabbing link 902 is connected to the second base 904, and the symmetrical end of the diamond structure where the tail end is located is connected to one end of the rope grabbing slider 905. The other end of the rope grabbing slider 905 is connected to the rotating arm 908, and the rotating arm 908 is connected to the third cylindrical gear 913. The teeth of the third cylindrical gear 913 (with a diameter of 17 mm and a height of 1.5 mm) are meshed with the teeth of the fourth cylindrical gear 910 (with a diameter of 34 mm and a height of 1.5 mm). The fourth cylindrical gear 910 is sleeved on the rotor of the seventh motor 909, and the seventh motor 909 is arranged on the third motor seat 911. The rope grabbing assembly 9 also includes a rotatable small square shaft 917, which controls the clamping or loosening of the second manipulator 901 (the structure of the second manipulator 901 is consistent with the structure of the manipulator 401, and the function of the small square shaft 917 is consistent with the function of the rotor of the fourth motor 404). In the initial position, the rope grabbing link 902 contracts, and the second manipulator 901 is located in the initial shortest stroke position. The small square shaft 917 is sleeved with a small hollow square shaft 916 on the outside, the small hollow square shaft 916 is sleeved with a first hollow square shaft 915 on the outside, and the first hollow square shaft 915 is sleeved with a second hollow square shaft 914 on the outside. The second hollow square shaft 914 is connected to the rotor of the ninth motor 907, and the ninth motor 907 is mounted on the second motor mounting seat 906. The rotor of the ninth motor 907 rotates, driving the second hollow square shaft 914, the first hollow square shaft 915, the small hollow square shaft 916, and the small square shaft 917 to rotate, thereby controlling the clamping or release of the second manipulator 901. During operation, the rotor of the seventh motor 909 rotates forward, driving the fourth cylindrical gear 910 to rotate forward, the fourth cylindrical gear 910 drives the third cylindrical gear 913 to rotate forward, the third cylindrical gear 913 drives the rotating arm 908 to rotate forward, the rotating arm 908 drives the rope grabbing slider 905 to move forward, and the rope grabbing slider 905 makes the diamond structure at the tail end of the rope grabbing connecting rod 902 extend horizontally and shorten vertically. Since the diamond structures of the rope grabbing connecting rod 902 affect each other, the horizontal extension and vertical shortening of one diamond structure will affect the horizontal extension and vertical shortening of the other diamond structures, thereby achieving the rope grabbing. The purpose of extending the connecting rod 902 is to make the second manipulator 901 move forward through the hollow part of the rope threading donkey head 802 and arrive at the lower notch of the push rod 502. The rotor of the ninth motor 907 rotates forward, driving the second hollow square shaft 914, the first hollow square shaft 915, the small hollow square shaft 916, and the small square shaft 917 to rotate, so that the second manipulator 901 closes and grabs the auxiliary rope. At this time, the manipulator 401 releases the clamped rope, and the rotor of the seventh motor 909 reverses to drive the rope grabbing connecting rod 902 to contract, so that the second manipulator 901 pulls the third rope ring through the hollow part of the rope threading donkey head 802.At this time, if a slipknot is required, the rope grabbing link 902 is not completely retracted, so that the second manipulator 901 reaches the middle of the rope pulling assembly 9, so that the rope head of the auxiliary rope cannot pass through the hollow part of the rope threading donkey head 802, and the main rope is tightened to obtain a slipknot; if a dead knot is required, the rope grabbing link 902 is completely retracted, so that the second manipulator 901 reaches the initial shortest stroke position, so that the rope head of the auxiliary rope passes through the hollow part of the rope threading donkey head 802, and a dead knot is obtained when the main rope is tightened. After tightening, the rotor of the ninth motor 907 is reversed to make the second manipulator 901 release the third rope ring to complete the knotting.

[0066] The rope cutting knife 1004 includes an upper rope cutting knife and a lower rope cutting knife, the rear ends of the upper rope cutting knife and the lower rope cutting knife are connected by a second spring 1001, an upper cam is arranged below the tail of the upper rope cutting knife, and a lower cam 1003 is arranged above the tail of the lower rope cutting knife. The transmission shaft 1008 passes through the D-shaped turntable 1002, the lower cam 1003, and the upper cam in sequence and is fixedly connected thereto, and the transmission shaft 1008 is connected to the rotor of the eighth motor 1012, and the eighth motor 1012 is arranged on the fourth motor seat 1010. The fourth motor seat 1010 is arranged on the body 1, a D-shaped slide groove is arranged in the middle of the D-shaped turntable 1002, a sliding shaft 1011 is arranged on the rope-cutting transmission rod 1005, one end of the sliding shaft 1011 is inserted into the D-shaped slide groove, and the other end is connected to the connecting shaft 1006, and the connecting shaft 1006 passes through the upper rope-cutting knife and the lower rope-cutting knife. The rope-cutting slider 1009 is sleeved on the connecting shaft 1006 and is arranged between the rope-cutting transmission rod 1005 and the rope-cutting knife 1004, and the rope-cutting slider 1009 is slidably connected to the slide groove base 1007. During operation, the eighth motor 1012 rotates forward through the transmission shaft 1008 to drive the D-shaped turntable 1002, the lower cam 1003, and the upper cam to rotate forward, and one end of the rope-cutting transmission rod 1005 slides along the D-shaped slide to the arc area of ​​the D-shaped slide. Due to the increase in the rotation radius, the rope-cutting transmission rod 1005 drives the rope-cutting slider 1009 to move forward, and the rope-cutting slider 1009 drives the rope-cutting knife 1004 to move forward through the connecting shaft 1006. At this time, the lower cam 1003 and the upper cam rotate with the transmission shaft 1008 to push open the rope-cutting knife 1004 to swing back, so that the blade closes and cuts the rope, and the eighth motor 1012 continues to rotate until one end of the rope-cutting transmission rod 1005 slides along the D-shaped slide to the straight area of ​​the D-shaped slide to complete the reset.

[0067] A support assembly 11 is provided below the body 1. The support assembly 11 is used to support the flexible bag during the knotting process and for transportation after knot formation. The support assembly 11 includes a support base 1101. At the top of the support base 1101, there are a three-panel board, a support plate, and a sliding bottom plate 1102. The three-panel board is a "U"-shaped board. A circular outlet is also provided in the middle of the support base 1101. The support plate is arranged inside the three-panel board, and the sliding bottom plate 1102 is arranged between the three-panel board and the support plate. A first cylinder seat 1103 is provided on the support plate, and a first cylinder 1104 is arranged inside the first cylinder seat 1103. The sliding bottom plate 1102 is connected to the piston rod of the first cylinder 1104, and the sliding bottom plate 1102 can slide along the inner side of the three-panel board. During operation, when the first cylinder 1104 moves forward, the piston rod advances, and the piston rod drives the sliding bottom plate 1102 to advance along the inner side of the three-panel board until the sliding bottom plate 1102 blocks the circular outlet of the support base 1101. The sliding bottom plate 1102 is used to support the flexible bag throughout the knotting process. After knotting is completed, the first cylinder 1104 moves backward to pull back the piston rod, and the piston rod drives the sliding bottom plate 1102 to reset, and the circular outlet of the support base 1101 is exposed again to release the knotted flexible bag.

[0068] During operation, the sliding bottom plate 1102 closes and supports the flexible bag, the first motor 204 of the drawstring assembly 2 rotates to drive the drawstring triangle plate 2052 to tighten the bag mouth, the rope-releasing drum 302 releases the rope, the manipulator 401 clamps the released rope and rotates 180° counterclockwise around the baffle 402 to the bottom to complete the rope folding, the push rod 502 moves forward in a straight line, and the middle section of the rope is pushed out to form the first rope ring at the front end, the upper half of the rope of the push rod 502 is the main rope, and the lower half of the rope is the auxiliary rope, and the pull rod 603 moves forward in a straight line The front end 6033 of the pull rod and the rotating joint 6034 rotate 90° along the track of the rotating guide cylinder 602, so that the hook 6032 of the pull rod 603 reaches the right side of the flexible bag inward, and the fifth motor 705 rotates, driving the rope winding fork 701 to fork the first rope ring and send it to the pull rod 603. The pull rod 603 moves linearly and drives the hook 6032 to pull the first rope ring backward, completing the winding of the rope around the flexible bag and allowing the first rope ring to rotate 90° to be level with the main rope and the auxiliary rope. The rope winding assembly 7 is reset, and the sixth motor The rotor of 806 rotates, driving the rope threading head 802 to fork the main rope from the upper notch of the push rod 502 and pass through the first rope ring. At this time, the hollow part of the rope threading head 802 can be equivalent to the second rope ring. The seventh motor 909 moves through the rope grabbing connecting rod 902 to transmit the second manipulator 901 through the hollow part of the rope threading head 802 to the auxiliary rope position of the lower notch of the push rod 502. The ninth motor 907 rotates to drive the second manipulator 901 to clamp the auxiliary rope. At this time, the manipulator 401 releases the auxiliary rope. Clamping, the seventh motor 909 rotates to make the second manipulator 901 pull the auxiliary rope through the second rope ring equivalent to the hollow part of the rope threading donkey head 802; the rope threading assembly 8 is reset, and when resetting, the top rod 803 pushes open the pull rod hook 6032 connected by the torsion spring 6031, allowing it to release the first rope ring, the second motor 306 rotates to tighten the knot, the rope cutting assembly 10 moves to cut the main rope, and the second manipulator 901 releases the third rope ring to complete the knot; the rope pushing assembly 5 is reset; the support assembly 11 releases the knotted flexible bag. Among them, when the rope grabbing assembly 9 pulls out the third rope opening, the return stroke of the second manipulator 901 can be adjusted as needed to realize the switching between a slipknot and a dead knot. If a slipknot is required, the rope grabbing connecting rod 902 is not completely retracted, so that the second manipulator 901 reaches the middle of the rope grabbing assembly 9, so that the rope head of the auxiliary rope cannot pass through the third rope ring, and a slipknot is obtained by tightening the main rope; if a dead knot is required, the rope grabbing connecting rod 902 is completely retracted, so that the second manipulator 901 reaches the initial shortest stroke position, so that the rope head of the auxiliary rope passes through the third rope ring, and a dead knot is obtained when the main rope is tightened.

[0069] The above is only an embodiment of the present invention. It should be understood that the present invention is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the concept described herein through the above teachings or the technology or knowledge of the relevant field. The changes and modifications made by those skilled in the art shall not deviate from the spirit and scope of the present invention, and shall be within the scope of protection of the claims attached to the present invention.

Claims

1. A method for knotting a rope suitable for large-sized flexible bags, characterized in that: The following steps are involved: S1. Fold the rope in half to form the main rope, the auxiliary rope and the first rope loop; S2, wrap the first rope around the object to be tied; S3, rotate the first rope ring 90 degrees and pull it between the main rope and the auxiliary rope; S4. Pull the main rope down through the first rope ring to form a second rope ring; S5. Pull the auxiliary rope forward to form the third rope ring and pass it through the second rope ring. If you need to tie a loose knot, do not let the rope end of the auxiliary rope pass through the second rope ring, and then tighten the main rope. If you need to tie a dead knot, let the rope end of the auxiliary rope pass through the second rope ring, and then tighten the main rope.

2. An automatic rope winding and knotting machine suitable for large-sized flexible bags, characterized in that: The invention comprises a machine body (1), wherein the machine body (1) is provided with a drawstring assembly (2), a rope releasing assembly (3), a double folding assembly (4), a rope pushing assembly (5), a rope pulling assembly (6), a rope winding assembly (7), a rope threading assembly (8), a rope grabbing assembly (9) and a rope cutting assembly (10), wherein the drawstring assembly (2) comprises a drawstring plate (205), wherein the drawstring plate (205) comprises a plurality of drawstring triangular plates (2052) and a drawstring bottom plate (2053) which can rotate forwards and backwards, wherein a circular hole is provided through the center of the drawstring bottom plate (2053), wherein the drawstring bottom plate (2053) is provided with a plurality of sliding grooves along the circumference of the edge of the circular hole, wherein each drawstring triangular plate (2052) is provided with a sliding block, wherein the sliding block can slide along the sliding groove, and the drawstring bottom plate (2053) which can rotate forwards and backwards can drive the plurality of drawstring triangular plates (2052) to spread out or gather along the sliding groove; The rope-releasing assembly (3) comprises a rope-releasing drum (302), and the double-folding assembly (4) comprises a baffle (402) and a rotatable manipulator mounting rod (403), wherein a manipulator (401) for clamping a rope is arranged on the manipulator mounting rod (403); The push rope assembly (5) comprises a push rod (502) that can move forward and backward, and a notch for hooking a rope is arranged at the head of the push rod (502); the pull rope assembly (6) comprises a pull rod (603) that can move forward and backward and rotate, and the pull rod (603) comprises a pull rod front end (6033), and the pull rod front end (6033) is provided with a hook claw (6032) and a torsion spring (6031) for limiting the hook claw (6032); The rope winding assembly (7) comprises a rope winding fork (701), the rope threading assembly (8) comprises a rope threading head (802) which can move forward and backward, the rope threading head (802) is hollow, and a top rod (803) is arranged on the rope threading head (802), the rope grabbing assembly (9) comprises a second base (904) and a rope grabbing connecting rod (902), the second base (904) is provided with a slide rail, the rope grabbing connecting rod (902) can move along the slide rail, and the head of the rope grabbing connecting rod (902) is provided with a second manipulator (901) for clamping the rope, and the rope cutting assembly (10) comprises a rope cutting knife (1004) for cutting the rope.

3. The automatic rope winding and knotting machine suitable for large-sized flexible bags according to claim 2, characterized in that: The tie-mouth assembly (2) further comprises a first motor (204), a gear rack (203) and a first cylindrical gear (201); the tie-mouth plate (205) further comprises a tie-mouth cover plate (2051) and a second cylindrical gear (2054); the gear rack (203) is sleeved on the rotor of the first motor (204); the first cylindrical gear (201) is sleeved on the gear rack (203); and the second cylindrical gear (2054) is sleeved on the tie-mouth bottom plate (2051). 3), the teeth of the first cylindrical gear (201) and the second cylindrical gear (2054) are meshed with each other, the neck cover plate (2051) is connected to the neck bottom plate (2053), and a plurality of neck triangle plates (2052) are arranged between the neck cover plate (2051) and the neck bottom plate (2053), a circular hole is also arranged through the center of the neck cover plate (2051), and the first motor (204) is also provided with a first reducer (202).

4. The automatic rope winding and knotting machine suitable for large-sized flexible bags according to claim 2, characterized in that: The rope-releasing assembly (3) further comprises a front baffle (301), a rear baffle (303), a mounting frame (304), a rope-releasing ratchet (305) and a second motor (306); the rear baffle (303) and the second motor (306) are fixed via the mounting frame (304); the rope-releasing ratchet (305) is sleeved on the rotor of the second motor (306); the rope-releasing drum (302) is arranged between the front baffle (301) and the rear baffle (303), and passes through the rear baffle (303) to be connected with the rope-releasing ratchet (305); The double folding assembly (4) further comprises a first base (406), the third motor (405) and the baffle (402) are both arranged on the first base (406), the manipulator mounting rod (403) is sleeved on the rotor of the third motor (405), two manipulators (401) for clamping the rope are symmetrically arranged on the manipulator mounting rod (403), each manipulator (401) is respectively controlled by a fourth motor (404) to clamp or release, the manipulator (401) comprises an upper clamp (4011), a lower clamp (4012) and a fixing frame (4013), a first upper bracket (4014), a second upper bracket (401 5), one end of each of which is connected to the upper clamp (4011), and the other end of each of which is movably connected to the fixing frame (4013), and the other end of each of which is fixedly connected to the upper gear (4018), one end of each of which is connected to the lower clamp (4012), and the other end of each of which is movably connected to the fixing frame (4013), and the other end of each of which is fixedly connected to the lower gear (4019), a thread is provided on the rotor of the fourth motor (404), and the gear teeth of the upper gear (4018) and the lower gear (4019) are respectively engaged with the thread.

5. The automatic rope winding and knotting machine suitable for large-sized flexible bags according to claim 2, characterized in that: The push rope assembly (5) also includes a second cylinder seat (501), a second cylinder is arranged inside the second cylinder seat (501), the tail of the push rod (502) is connected to the piston rod of the second cylinder, and the head of the push rod (502) is provided with a main rope hook plate and a secondary rope hook plate, the main rope hook plate is provided with an upper notch for hooking the main rope, and the secondary rope hook plate is provided with a lower notch for hooking the secondary rope.

6. The automatic rope winding and knotting machine suitable for large-sized flexible bags according to claim 2, characterized in that: The pull rope assembly (6) also includes a third cylinder seat (601) and a rotating guide cylinder (602), wherein a third cylinder is arranged inside the third cylinder seat (601), and the pull rod (603) also includes a pull rod rear end (6035) and a rotating joint (6034), wherein one end of the pull rod rear end (6035) is connected to the piston rod of the third cylinder, and one end of the rotating joint (6034) is connected to the other end of the pull rod rear end (6035) through a bearing, and the other end of the rotating joint (6034) is connected to the pull rod front end (6033), and the rotating guide cylinder (602) is sleeved on the outside of the pull rod front end (6033) and connected to the third cylinder seat (601), and the rotating guide cylinder (602) is provided with a guide groove, and the pull rod front end (6033) is provided with a protrusion, and the protrusion can slide along the guide groove.

7. The automatic rope winding and knotting machine suitable for large-sized flexible bags according to claim 2, characterized in that: The rope winding assembly (7) further comprises a rope winding rocker (703), a fifth motor (705) and a motor mounting seat (706); the fifth motor (705) is arranged on the motor mounting seat (706); the rope winding rocker (703) is sleeved on the rotor of the fifth motor (705); the rope winding rod (702) is sleeved on the rope winding rocker (703); the rope winding fork (701) is connected to the rope winding rod (702); and the fifth motor (705) is also provided with a second reducer (704).

8. The automatic rope winding and knotting machine suitable for large-sized flexible bags according to claim 2, characterized in that: The rope threading assembly (8) further comprises a rope threading rod base (801), a sixth motor (806) is arranged on the rope threading rod base (801), the bottom of the rope threading donkey head (802) is sleeved on the rotor of the sixth motor (806), and the sixth motor (806) is provided with a third reducer (805); The rope grabbing connecting rod (902) is formed by connecting a plurality of rhombus structures in sequence. The tail end of the rope grabbing connecting rod (902) is connected to the second base (904), and the symmetrical end of the rhombus structure where the tail end is located is connected to one end of the rope grabbing slider (905). The other end of the rope grabbing slider (905) is connected to a rotating arm (908). The rotating arm (908) is connected to a third cylindrical gear (913). The gear teeth of the third cylindrical gear (913) are meshed with the gear teeth of a fourth cylindrical gear (910). The fourth cylindrical gear (910) is sleeved on the rotor of the seventh motor (909). The rope grabbing assembly (9) also includes a rotatable small square shaft (917). The small square shaft (917) controls the clamping or loosening of the second manipulator (901).

9. The automatic rope winding and knotting machine suitable for large-sized flexible bags according to claim 2, characterized in that: The rope cutting knife (1004) comprises an upper rope cutting knife and a lower rope cutting knife, an upper cam is arranged below the tail of the upper rope cutting knife, and a lower cam (1003) is arranged above the tail of the lower rope cutting knife. The transmission shaft (1008) passes through the D-shaped rotating disk (1002), the lower cam (1003), and the upper cam in sequence and is fixedly connected thereto. The transmission shaft (1008) is connected to the rotor of the eighth motor (1012). The middle part of the D-shaped rotating disk (1002) is provided with a D-shaped slide groove. A sliding shaft (1011) is arranged on the rope transmission rod (1005), one end of the sliding shaft (1011) is inserted into the D-shaped slide groove, and the other end is connected to the connecting shaft (1006), the connecting shaft (1006) passes through the upper rope cutting knife and the lower rope cutting knife, the rope cutting slider (1009) is sleeved on the connecting shaft (1006), and is arranged between the rope cutting transmission rod (1005) and the rope cutting knife (1004), and the rope cutting slider (1009) is slidably connected to the slide groove base (1007).

10. The automatic rope winding and knotting machine suitable for large-sized flexible bags according to claim 2, characterized in that: A support assembly (11) is arranged below the machine body (1), and the support assembly (11) comprises a support seat (1101). The top of the support seat (1101) is provided with three panels, a support plate and a sliding bottom plate (1102), the support plate is arranged on the inner side of the three panels, the sliding bottom plate (1102) is arranged between the three panels and the support plate, a first cylinder seat (1103) is arranged on the support plate, a first cylinder (1104) is arranged in the first cylinder seat (1103), the sliding bottom plate (1102) is connected to the piston rod of the first cylinder (1104), and the sliding bottom plate (1102) can slide along the inner side of the three panels.

Images