Silk thread knotting method

Abstract

The invention discloses a silk thread knotting method which comprises a first limiting point and a second limiting point used for limiting the two ends of a silk thread and a finger module used for pulling the silk thread to knot, and the finger module comprises a first finger part, a second finger part and a movement module used for driving the first finger part and the second finger part to conduct multi-axis movement. The knotting method comprises the following steps that firstly, the first finger part and the second finger part are conveyed to the position between the first limiting point and the second limiting point through the movement module; secondly, the first finger part and the second finger part are driven by the movement module to hook the silk thread, and the silk thread is pulled to be in a U shape; thirdly, the first finger part and the second finger part are driven by the movement module to turn over by at least 180 degrees, and the silk threads are twisted into a shape like a Chinese character'yi '; fourthly, the movement module drives the first finger part and the second finger part to conduct relative kneading action, and one side of the silk thread is hooked; fifthly, the movement module drives the first finger part and the second finger part to hook one side of the silk thread, bypass the other side of the silk thread, penetrate through the center hole in the shape of the Chinese character'yi 'and pull the center hole of the silk thread in the shape of the Chinese character'yi' to contract to form a knot, and therefore knotting of the silk thread is completed.

Description

Technical Field:

[0001] The present invention relates to the technical field of automatic production, and particularly refers to a method for tying silk threads. Background Art:

[0002] Tying silk threads is a basic operation skill widely used in multiple fields. For example, in the medical industry, suturing threads need to be tied during surgical suturing, and surgical sutures need to be tied and fixed to suturing needles during instrument assembly; in the textile and clothing industry, the broken ends of yarns need to be tied and connected during fabric processing, and tying silk threads is required for sewing clothes, fixing buttons, and making decorations during clothing production; in the home textile products industry, bed sheets, duvet covers, etc. need to be tied to ensure the firmness of the sutures during the production of home textile products, and various tying techniques are required to braid silk threads into various patterns and shapes during the production of handmade home decorations; in the handicraft industry, tying silk threads is often used in processes such as beading and wire braiding during the production of jewelry, and artworks such as Chinese knots and Peruvian knots can be made by tying silk threads; in the packaging industry, silk threads are used for tying and fixing items; in the food production industry, linear products such as rice noodles, konjac flour, and kelp threads usually need to be tied during production for easy classification and storage and transportation. In short, the operation of tying silk threads is used in all walks of life, and most traditional tying methods use manual tying, which has low tying efficiency and is suitable for small-scale auxiliary actions, such as one of the tying steps in the packaging process. For production processes mainly based on tying, such as the production of filamentous products like rice noodles and konjac threads that need to be made into bundles for factory shipment, this kind of tying often involves repeated operations for one step. The traditional manual tying method requires a large amount of labor, is inefficient, and time-consuming and laborious.

[0003] For the invention patent application with the Chinese patent application publication number CN 116420901 A, although it discloses a konjac thread tying machine and a method for tying konjac threads, in the technical solution disclosed in this patent application, a feeding mechanism (1), a cutting mechanism (2), a material taking and moving mechanism (3), a threading and tying mechanism (5), a cutting and clamping mechanism (4), a tying and moving mechanism (6), a tying and winding mechanism (7) and other mechanisms are used in cooperation to realize the tying of konjac threads. Not only are the mechanisms complex and large, with high manufacturing costs, but also the movement flexibility is poor, and it is difficult to achieve rapid adjustment to meet different requirements.

[0004] In view of this, the inventor of the present invention proposes the following technical solutions. Summary of the Invention:

[0005] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a method for tying silk threads.

[0006] To solve the above technical problems, the present invention adopts the following technical solutions: A method for tying a silk thread knot, comprising: a first limiting point and a second limiting point for limiting both ends of the silk thread, and a finger module for pulling the silk thread to tie a knot. The finger module includes a first finger part, a second finger part, and a motion module for driving the first finger part and the second finger part to perform multi-axis motion. The knot-tying method is as follows:

[0007] In the first step, the motion module sends the first finger part and the second finger part between the first limiting point and the second limiting point;

[0008] In the second step, the motion module drives the first finger part and the second finger part to hook the silk thread and pull the silk thread into a "U" shape;

[0009] In the third step, the motion module drives the first finger part and the second finger part to flip at least 180°, twisting the silk thread into a "fork" shape;

[0010] In the fourth step, the motion module drives the first finger part and the second finger part to perform a relative pinching action to hook one side of the silk thread;

[0011] In the fifth step, the motion module drives the first finger part and the second finger part to hook one side of the silk thread, bypass the other side, pass through the central hole of the "fork" shape, and pull the central hole of the "fork" shaped silk thread to contract to form a knot, thus completing the tying of the silk thread.

[0012] Furthermore, in the above technical solution, the motion module includes a multi-axis manipulator for driving the first finger part and the second finger part to synchronously extend into or withdraw from between the first limiting point and the second limiting point, a first rotating device provided at the end of the multi-axis manipulator and for driving the first finger part and the second finger part to flip together, and a second rotating driving device provided on the first rotating device and for the first finger part and the second finger part to synchronously rotate relatively. Among them, the first finger part and the second finger part are juxtaposed and installed on the first rotating device in a manner that can rotate independently.

[0013] Furthermore, in the above technical solution, in the third step, the first rotating device drives the first finger part and the second finger part to flip together to twist the silk thread into a "fork", and the flipping angle includes but is not limited to any angle among 180°, 270°, 360°, 450°.

[0014] Furthermore, in the above technical solution, in the fourth step, the second rotating driving device drives the first finger part and the second finger part to rotate independently and synchronously, so that the arc-shaped ends of the first finger part and the second finger part swing from a separated state to a pinched state to form a closed space capable of hooking one side of the silk thread.

[0015] Furthermore, in the above technical solution, both the first finger part and the second finger part each include at least two movable joints capable of swinging and bending, and the motion module includes a first driving device and a second driving device respectively for driving the first finger part and the second finger part to bend and straighten.

[0016] Furthermore, in the above technical solution, in the first step, when the motion module moves the first finger part and the second finger part between the first limit point and the second limit point, the first driving device and the second driving device respectively drive the first finger part and the second finger part to bend into a hook shape, so as to hook the silk thread and pull it into a "U" shape.

[0017] Furthermore, in the above technical solution, in the fourth step, first, the first driving device and the second driving device drive the first finger part and the second finger part to straighten, so that one side of the silk thread can be located between the first finger part and the second finger part, and then the second rotation driving device drives the first finger part and the second finger part to rotate 90°, so that the bending directions of the first finger part and the second finger part are opposite. Subsequently, after the first driving device and the second driving device drive the first finger part and the second finger part to bend, the first finger part and the second finger part can fit together to hook one side of the silk thread.

[0018] Furthermore, in the above technical solution, in the fifth step, the first finger part and the second finger part cooperate to hook the middle part of one side of the silk thread, and after pulling the silk thread around the other side and passing through the central hole of the "fork"-shaped silk thread, and keeping the end of one side of the silk thread from passing through the central hole of the silk thread, a slip knot is formed.

[0019] Furthermore, in the above technical solution, a cutting device for cutting the silk thread is provided at the first limit point or the second limit point, and a wire supply module for transmitting the silk thread is provided on the side of the first limit point or the second limit point.

[0020] Furthermore, in the above technical solution, the first limit point or the second limit point is driven by an adjustment motion module to adjust the relative distance between the two to cooperate with the stretching of the silk thread, so as to facilitate the first finger part and the second finger part to tie a knot.

[0021] After adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art: In the present invention, the first finger part and the second finger part are used to simulate two fingers of a human, and the motion module drives the first finger part and the second finger part to perform actions such as horizontal movement, vertical flipping, independent rotation, bending and straightening. With the cooperation of the first limit point and the second limit point, the first finger part and the second finger part can twist, tie and bundle a bunch of silk threads together, thereby replacing manual knotting, reducing labor intensity and improving knotting efficiency. BRIEF DESCRIPTION OF THE DRAWINGS:

[0022] Figure 1It is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 In the present invention, Figure 1 It is a schematic diagram of the knotting step with an enlarged view at point G in

[0024] Figure 3 It is a schematic diagram of the internal structure of the knotting step of the present invention Figure 1 ;

[0025] Figure 4 It is a schematic diagram of the internal structure of the knotting step of the present invention Figure 2 ;

[0026] Figure 5 It is a schematic diagram of the internal structure of the knotting step of the present invention Figure 3 ·;

[0027] Figure 6 It is a schematic diagram of the internal structure of the knotting step of the present invention Figure 4 ;

[0028] Figure 7 It is a schematic diagram of the structure of the first rotating device in the present invention;

[0029] Figure 8 It is a schematic diagram of the structure of the second rotation driving device in the present invention;

[0030] Figure 9 It is a schematic diagram of the structure of the first finger part in the present invention;

[0031] Figure 10 It is a schematic diagram of the structure of the multi-axis manipulator in the present invention;

[0032] Figure 11 It is a schematic diagram of the structure for adjusting the movement in the present invention Figure 1 ;

[0033] Figure 12 It is a schematic diagram of the structure of the movement adjustment module in the present invention Figure 2 . Specific embodiments:

[0034] The present invention will be further described below in conjunction with specific embodiments and the accompanying drawings.

[0035] As shown in Figures 1 to 12 , a silk thread knotting method includes: a first limiting point 1 and a second limiting point 2 for limiting both ends of the silk thread A, and a finger module B for pulling the silk thread A to form a knot. The finger module B includes a first finger part 3 and a second finger part 4 and a movement module 5 for driving the first finger part 3 and the second finger part 4 to perform multi-axis movement. The knotting method is as follows:

[0036] First step: The motion module 5 moves the first finger part 3 and the second finger part 4 to between the first limit point 1 and the second limit point 2.

[0037] Second step: The motion module 5 drives the first finger part 3 and the second finger part 4 to hook the silk thread A and pull the silk thread A into a "U" shape.

[0038] Third step: The motion module 5 drives the first finger part 3 and the second finger part 4 to flip at least 180°, twisting the silk thread A into a "fork" shape.

[0039] Fourth step: The motion module 5 drives the first finger part 3 and the second finger part 4 to perform a relative pinching action to hook one side of the silk thread A.

[0040] Fifth step: The motion module 5 drives the first finger part 3 and the second finger part 4 to hook one side of the silk thread A, bypass it around the other side, pass through the central hole of the "fork" shape, and pull the central hole of the "fork" shaped silk thread A to shrink to form a knot, thus completing the knotting of the silk thread A.

[0041] The first finger part 3 and the second finger part 4 simulate two human fingers. The motion module 5 drives the first finger part 3 and the second finger part 4 to perform actions such as horizontal movement, vertical flipping, independent rotation, bending and straightening. With the cooperation of the first limit point 1 and the second limit point 2, the first finger part 3 and the second finger part 4 can twist and tie a bundle of silk threads A together, thus replacing manual knotting, reducing labor intensity and improving knotting efficiency.

[0042] The motion module 5 includes a multi-axis manipulator 51 for driving the first finger part 3 and the second finger part 4 to synchronously extend into or withdraw from between the first limit point 1 and the second limit point 2, a first rotating device 52 arranged at the end of the multi-axis manipulator 51 and used for driving the first finger part 3 and the second finger part 4 to flip together, and a second rotation driving device 53 arranged on the first rotating device 52 and used for the first finger part 3 and the second finger part 4 to rotate relatively synchronously. Among them, the first finger part 3 and the second finger part 4 are arranged side by side on the first rotating device 52 in a manner that can rotate independently.

[0043] The multi-axis manipulator 51 includes a third rotating device 511, a three-section movable arm 512 hingedly mounted on the third rotating device 511, a fourth rotating device 513 provided at the end of the three-section movable arm 512 and used to support the first rotating device 52, and a fifth rotating drive device 514 provided on the third rotating device 511 and used to drive the three-section movable arm 512 to extend. Among them, the third rotating device 511 and the fourth rotating device 513 are horizontally rotating modules, and the first rotating device 52 is a vertically rotating module. The third rotating device 511 includes a U-shaped rotating seat 511A and a third motor 511B for driving the U-shaped rotating seat 511A to rotate. Two of the fifth rotating drive devices 514 are provided and symmetrically located on both sides of the U-shaped rotation 511A, and can simultaneously drive the three-section movable arm 512 to swing. Of course, the multi-axis manipulator 51 can also be other mechanisms, including but not limited to any one of the orthogonal axis structure, the articulated axis structure, and the virtual axis mechanism.

[0044] The three-section movable arm 512 includes a first support arm 512A, a second support arm 512B, a third support arm 512C, a first drive arm 512D, a second drive arm 512E, a first link arm 512F, a second link arm 512G, and a connecting member 512H. Among them, the connecting member 512H is located between the first support arm 512A and the second support arm 512B and is hinged to one end of the first support arm 512A and the second support arm 512B. The middle of the connecting member 512H is hinged to one end of the first link arm 512F and the second link arm 512G. The other end of the first support arm 512A is hingedly mounted on the third rotating device 511. The other end of the second support arm 512B is hinged to one end of the third support arm 512C. The other end of the first drive arm 512D is connected to the fifth rotating drive device 514. The other end of the second drive arm 512E is hinged to the middle of the third support arm 512C, and one end of the second drive arm 512E extends and is hinged to one end of the first link arm 512F. The other end of the first link arm 512F is hinged to one end of the second link arm 512G. The other end of the second link arm 512G is connected to the fifth rotating drive device 514.

[0045] In the third step, the first rotating device 52 drives the first finger portion 3 and the second finger portion 4 to flip together to twist the silk thread A into a "fork" shape. The flipping angles include but are not limited to any angle among 180°, 270°, 360°, 450°. In this embodiment, the first rotating device 52 drives the first finger portion 3 and the second finger portion 4 to rotate integrally by 270° to twist the silk thread A into a "fork" shape cross, as shown in Figure 2As shown in the fifth step, after the first finger part 3 and the second finger part 4 rotate 270° from the horizontal parallel state to the vertical parallel state, both sides of the silk thread A are in a three-dimensional cross state with the central hole, and both sides of the silk thread A are in the plane between the first finger part 3 and the second finger part 4. When the first finger part 3 and the second finger part 4 are straightened, they can just pass through the central hole of the silk thread A and be on both sides of one side of the silk thread A. See Figure 2 As shown in the sixth step, this facilitates the first finger part 3 and the second finger part 4 to pinch and hook one side of the silk thread A.

[0046] In the fourth step, the first finger part 3 and the second finger part 4 are driven by the second rotation driving device 53 to rotate independently and synchronously, so that the arc-shaped ends of the first finger part 3 and the second finger part 4 swing from the separated state to the pinched state to form a closed space capable of hooking one side of the silk thread A.

[0047] Both the first finger part 3 and the second finger part 4 at least include two movable joints that can swing and bend. The motion module 5 includes a first driving device 54 and a second driving device 55 respectively used to drive the first finger part 3 and the second finger part 4 to bend and straighten.

[0048] The first rotating device 52 includes a vertical rotating seat 521 that is rotatably mounted on the third support arm 512C and is used to support and mount the first finger part 3 and the second finger part 4, and a first motor 522 used to drive the vertical rotating seat 521 to rotate. Among them, the second rotation driving device 53, the first driving device 54, and the second driving device 55 are all mounted on the vertical rotating seat 521.

[0049] The second rotation driving device 53 includes a second motor 531, a driving gear 532 arranged on the output shaft of the second motor 531, and a transmission gear 533 that is rotatably mounted on the vertical rotating seat 532 and meshes with the driving gear 532. The first finger part 3 and the second finger part 4 are respectively provided with a first gear part 534 and a second gear part 535 that are respectively matched and meshed with the driving gear 532 and the transmission gear 533.

[0050] The first finger part 3 includes a first movable joint 31, a second movable joint 32 and a third movable joint 33 that are hinged together. Among them, the first movable joint 31 is rotatably mounted on the vertical rotating base 532, the first gear part 543 is located on the first movable joint 31, and both ends of the second movable joint 32 are hinged to the first movable joint 31 and the third movable joint 33 respectively; the second finger part 4 has the same structure as the first finger part 3. The first driving device 54 includes a power unit 541, a first driving rod 542 connecting the power unit 541 and the second movable joint 32, and a second driving rod 543 connecting the second movable joint 32 and the third movable joint 33. Among them, the power unit 541 is a motor and a lead screw module. Of course, the power unit 541 can also be a linear motor.

[0051] In the first step, when the motion module 5 moves the first finger part 3 and the second finger part 4 between the first limit point 1 and the second limit point 2, the first finger part 3 and the second finger part 4 are respectively driven by the first driving device 54 and the second driving device 55 to bend into a hook shape, so as to hook the silk thread A and pull it into a "U" shape.

[0052] In the fourth step, first, the first finger part 3 and the second finger part 4 are driven by the first driving device 54 and the second driving device 55 to straighten, so that one side of the silk thread A can be located between the first finger part 3 and the second finger part 4. Then, the first finger part 3 and the second finger part 4 are driven by the second rotation driving device 53 to rotate 90°, so that the bending directions of the first finger part 3 and the second finger part 4 are opposite. Subsequently, after the first finger part 3 and the second finger part 4 are driven by the first driving device 54 and the second driving device 55 to bend, the first finger part 3 and the second finger part 4 can fit together to hook one side of the silk thread A.

[0053] In the fifth step, the first finger part 3 and the second finger part 4 cooperate to hook the middle part of one side of the silk thread A, and after pulling the silk thread A around the other side, it passes through the central hole of the "fork"-shaped silk thread A, and the end of one side of the silk thread A is kept from passing through the central hole of the silk thread A, thereby forming a slipknot.

[0054] A cutting device 6 for cutting the silk thread A is provided at the first limit point 1 or the second limit point 2, and a wire supply module 7 for conveying the silk thread A is provided on the side of the first limit point 1 or the second limit point 2. The first limit point 1 or the second limit point 2 is driven by an adjustment motion module 8 to adjust the relative distance between the two to cooperate with the stretching of the silk thread A, so as to facilitate the knotting of the first finger part 3 and the second finger part 4.

[0055] The motion module 5 is installed on a frame C. A transfer module D is provided on the frame C and is located below the first finger part 3 and the second finger part 4 for receiving the silk thread A after knotting. Further, a housing E covering the finger module B is also installed on the frame C. Among them, the wire supply module 7 is arranged on the outer wall of the housing E, and a window E1 for the first finger part 3 and the second finger part 4 to extend out is provided on the housing E. The first limit point 1 and the second limit point 2 are located on both sides of the window E1. Among them, the second limit point 2 is arranged on the outer wall of the housing E, the adjustment motion module 8 is arranged on the inner wall of the housing E, and the first limit point 1 is installed on the adjustment motion module 8.

[0056] The adjustment motion module 8 includes a first positioning seat 81 and a second positioning seat 82 installed on the inner wall of the housing E, a sliding rod 83 passing through the first positioning seat 81 and the second positioning seat 82 and used for supporting the first limit point 1, a sixth motor 84 arranged on the inner wall of the housing E and used for driving the sliding rod 83 to move linearly, and a first swing rod 85 and a second swing rod 86 which are arranged between the sixth motor 84 and the sliding rod 83 and are hinged. Among them, two sliding rods 83 are arranged in parallel, and a fixing block 87 is arranged on the two sliding rods 83 for connection. One end of the first swing rod 85 is installed on the output shaft of the sixth motor 84, and one end of the second swing rod 86 is hinged and installed on the fixing block 87.

[0057] In summary, the specific working process of this embodiment is as follows:

[0058] First, manually pass the silk thread A through the wire supply module 7, and then position the silk thread A at the window E1 of the housing E by the first limit point 1 and the second limit point 2, and manually hold the head of the silk thread A. Further, the motion module 5 extends the first finger part 3 and the second finger part 4 out of the window E1 and locates them below the silk thread A. Then, the first driving device 54 and the second driving device 55 push the first finger part 3 and the second finger part 4 to bend upward so that the first finger part 3 and the second finger part 4 can hook the silk thread A. Of course, if the first finger part 3 and the second finger part 4 are initially in a bent state, the second rotation driving device 53 and the multi-axis manipulator 51 cooperate to drive the first finger part 3 and the second finger part 4 to go around to the outside of the silk thread A to facilitate hooking the silk thread A, as shown in Figure 2 Step ① in; further, the multi-axis manipulator 51 drives the first finger part 3 and the second finger part 4 to hook the silk thread A and retract into the housing E, as shown in Figure 2 Step ② in, and then the first finger part 3 and the second finger part 4 are integrally flipped by the first rotation device 52 to twist the silk thread A by 270° into a "fork" shape, as shown in Figure 2In the third, fourth, and fifth steps, of course, the first rotating device 52 can drive the first finger part 3 and the second finger part 4 to rotate either clockwise or counterclockwise; further, the first driving device 54 and the second driving device 55 drive the first finger part 3 and the second finger part 4 to expand and straighten, and the second rotating driving device 53 drives the first finger part 3 and the second finger part 4 to rotate synchronously by 90° to be in an opposite state, as shown in Figure 2 In the sixth step, the first driving device 54 and the second driving device 55 drive the first finger part 3 and the third finger part 4 to bend into a "pinching" state, and hook one side of the silk thread A, as shown in Figure 2 In the seventh step; further, the multi-axis manipulator 51 drives the first finger part 3 and the second finger part 4 to retreat, and pulls one side of the silk thread A through the central hole of the "fork" shape, as shown in Figure 2 In the eighth step, since the head of the silk thread A is always held manually, when the first finger part 3 and the second finger part 4 pull one side of the silk thread A through the central hole, the central hole will continuously shrink, and finally hold one side of the silk thread A and tie a knot together, as shown in Figure 2 In the ninth step; further, the adjustment motion module 8 drives the first limit point 1 to approach the second limit point 2. After the first limit point 1 approaches the second limit point 2, the cutting device 6 at the first limit point 1 cuts off the silk thread A. Then, the motion module 5 moves the knotted silk thread A above the conveying module D, and drives the first finger part 3 and the second finger part 4 to straighten and drop the silk thread A onto the conveying module D; finally, the head of the silk thread A is grabbed manually and pulled to the second limit point 2, and then the adjustment motion module 8 drives the first limit point 1 back to its original position. Immediately, the motion module 5 drives the first finger part 3 and the second finger part 4 to start a new knotting action, so as to realize the rapid knotting of the silk thread A. In this process, the manual only needs to hold the head of the silk thread A at the second limit point 2, without too much operation, which realizes a significant improvement in the knotting efficiency and also reduces the manual labor intensity.

[0059] Of course, the above are only specific embodiments of the present invention, and are not intended to limit the scope of implementation of the present invention. Any equivalent changes or modifications made according to the structure, features, and principles described in the scope of the patent application of the present invention should be included in the scope of the patent application of the present invention.

Claims

1. A silk thread knotting method, characterized in that: Comprising: A first limiting point (1) and a second limiting point (2) for limiting both ends of the wire (A), and a finger module (B) for pulling the wire (A) to tie a knot. The finger module (B) includes a first finger part (3) and a second finger part (4) and a motion module (5) for driving the first finger part (3) and the second finger part (4) to perform multi-axis motion. The knot-tying method is as follows: In the first step, the motion module (5) sends the first finger part (3) and the second finger part (4) between the first limiting point (1) and the second limiting point (2). In the second step, the motion module (5) drives the first finger part (3) and the second finger part (4) to hook the wire (A) and pull the wire (A) into a "U" shape. In the third step, the motion module (5) drives the first finger part (3) and the second finger part (4) to flip at least 180°, twisting the wire (A) into a "fork" shape. In the fourth step, the motion module (5) drives the first finger part (3) and the second finger part (4) to perform a relative pinching action to hook one side of the wire (A). In the fifth step, the motion module (5) drives the first finger part (3) and the second finger part (4) to hook one side of the wire (A), bypass it around the other side, pass through the central hole of the "fork" - shaped wire (A), and pull the central hole of the "fork" - shaped wire (A) to shrink to form a knot, thus completing the knot - tying of the wire (A).

2. A silk thread knotting method according to claim 1, characterized in that: The motion module (5) includes a multi - axis manipulator (51) for driving the first finger part (3) and the second finger part (4) to synchronously extend into or withdraw from between the first limiting point (1) and the second limiting point (2), a first rotating device (52) arranged at the end of the multi - axis manipulator (51) and used for driving the first finger part (3) and the second finger part (4) to flip together, and a second rotation driving device (53) arranged on the first rotating device (52) and used for the first finger part (3) and the second finger part (4) to rotate relatively synchronously. Among them, the first finger part (3) and the second finger part (4) are installed side - by - side on the first rotating device (52) in a manner that can rotate independently.

3. A silk thread knotting method according to claim 2, characterized in that: In the third step, the first rotating device (52) drives the first finger part (3) and the second finger part (4) to flip together to twist the wire (A) into a "fork". The flipping angle includes but is not limited to any angle among 180°, 270°, 360°, 450°.

4. A silk thread knotting method according to claim 3, characterized in that: In the fourth step, the second rotation driving device (53) drives the first finger part (3) and the second finger part (4) to rotate independently and synchronously, so that the arc - shaped ends of the first finger part (3) and the second finger part (4) swing from a separated state to a pinched state to form a closed space capable of hooking one side of the wire (A).

5. A silk thread knotting method according to claim 2, characterized in that: Both the first finger part (3) and the second finger part (4) at least include two movable joints that can swing and bend. The motion module (5) includes a first driving device (54) and a second driving device (55) respectively used for driving the first finger part (3) and the second finger part (4) to bend and straighten.

6. A silk thread knotting method according to claim 5, characterized in that: In the first step, the motion module (5) moves the first finger part (3) and the second finger part (4) to between the first limit point (1) and the second limit point (2), and the first finger part (3) and the second finger part (4) are respectively driven by the first driving device (54) and the second driving device (55) to bend into a hook shape, so as to hook the silk thread (A) and pull it into a "U" shape.

7. A silk thread knotting method according to claim 5, characterized in that: In the fourth step, first, the first finger part (3) and the second finger part (4) are driven by the first driving device (54) and the second driving device (55) to straighten, so that one side of the silk thread (A) can be located between the first finger part (3) and the second finger part (4). Then, the first finger part (3) and the second finger part (4) are driven by the second rotation driving device (53) to rotate 90°, so that the bending directions of the first finger part (3) and the second finger part (4) are opposite. Subsequently, after the first finger part (3) and the second finger part (4) are driven by the first driving device (54) and the second driving device (55) to bend, the first finger part (3) and the second finger part (4) can fit together to hook one side of the silk thread (A).

8. A thread knotting method according to any one of claims 1 to 7, characterized in that: In the fifth step, the first finger part (3) and the second finger part (4) cooperate to hook the middle part of one side of the silk thread (A), and after pulling the silk thread (A) around the other side and passing through the central hole of the "fork-shaped" silk thread (A), the end of one side of the silk thread (A) is kept from passing through the central hole of the silk thread (A), thereby forming a slipknot.

9. A silk thread knotting method according to claim 8, characterized in that: A cutting device (6) for cutting the silk thread (A) is provided at the first limit point (1) or the second limit point (2), and a wire supply module (7) for transmitting the silk thread (A) is provided on the side of the first limit point (1) or the second limit point (2).

10. A silk thread knotting method according to claim 9, characterized in that: The first limit point (1) or the second limit point (2) is driven by an adjustment motion module (5) to adjust the relative distance between the two to cooperate with the expansion and contraction of the silk thread (A), so as to facilitate the knotting of the first finger part (3) and the second finger part (4).

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