A method for tying silk threads

Abstract

The present invention discloses a method for tying a silk thread knot, which includes: 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 movement. The knot-tying method is as follows: 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; 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; in the third step, the motion module drives the first finger part and the second finger part to flip at least 180°, so that the silk thread is twisted into a "fork" shape; 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; 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 to 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 shrink to form a knot, thus completing the tying of the silk thread knot.

Description

Technical fields:

[0001] This invention relates to the field of automated production technology, and specifically to a method for knotting silk threads. Background technology:

[0002] Thread knotting is a fundamental operational skill widely used in many fields. For example, in the medical industry, knotting is required during surgical suturing and for securing surgical sutures and needles during instrument assembly. In the textile and apparel industry, knotting is needed to connect broken yarn ends during fabric processing, and for sewing garments, securing buttons, and creating decorations. In the home textile industry, knotting is used to ensure the strength of seams in sheets and duvet covers, and various knotting techniques are used to weave threads into patterns and shapes in handmade home decorations. In the crafts industry, thread knotting is commonly used in jewelry making for beading and wire weaving, and it can also be used to create artistic works such as Chinese knots and Peruvian knots. In the packaging industry, thread knotting is used to bind and secure items. In the food production industry, knotting is often used in the production of linear products such as rice noodles, konjac noodles, and kelp strips for easy sorting, storage, and transportation. In short, knotting is used in all industries. Traditional knotting methods mostly rely on manual knotting, which is inefficient and suitable for small-scale auxiliary actions, such as a knotting step in the packaging process. However, in production processes that mainly involve knotting, such as the production of rice noodles, konjac noodles, and other fibrous products that need to be bundled for shipment, the knotting process often involves repeated operations on the same step. The traditional manual knotting method consumes a lot of labor, is inefficient, and is time-consuming and labor-intensive.

[0003] Although the Chinese patent application publication number CN 116420901 A discloses a konjac noodle knotting machine and a konjac noodle knotting method, the technical solution disclosed in the patent application uses a feeding mechanism (1), a cutting mechanism (2), a material picking and moving mechanism (3), a knotting mechanism (5), a cutting and clamping mechanism (4), a knotting moving mechanism (6), and a knotting and winding mechanism (7) to knot the konjac noodles. This not only makes the mechanism complex and large, with high manufacturing costs, but also results in poor flexibility of movement, making it difficult to quickly adjust to meet different needs.

[0004] In view of the above, the inventors propose the following technical solution. Summary of the Invention:

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a method for knotting 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, including: 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 movement. 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°, so that the silk thread is twisted 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 to 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 shrink 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 arranged at the end of the multi-axis manipulator and used for driving the first finger part and the second finger part to flip together, and a second rotating driving device arranged on the first rotating device and used 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 installed side by side 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 the separated state to the 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 that can swing and bend, and the motion module includes a first driving device and a second driving device respectively used to drive 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 to form 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 rotary driving device drives the first finger part and the second finger part to rotate 90°, making the bending directions of the first finger part and the second finger part 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 slipknot 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 and contraction of the silk thread, facilitating the knotting of the first finger part and the second finger part.

[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 human fingers, 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 and tie a bunch of silk threads together, thus replacing manual knotting, reducing labor intensity and improving knotting efficiency. Description of the Drawings:

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

[0023] Figure 2 In this invention, Figure 1 The diagram at point G is a magnified view showing the breakdown of the knot-tying steps;

[0024] Figure 3 This is a schematic diagram of the internal structure of the knotting step in this invention. Figure 1 ;

[0025] Figure 4 This is a schematic diagram of the internal structure of the knotting step in this invention. Figure 2 ;

[0026] Figure 5 This is a schematic diagram of the internal structure of the knotting step in this invention. Figure 3 ·;

[0027] Figure 6 This is a schematic diagram of the internal structure of the knotting step in this invention. Figure 4 ;

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

[0029] Figure 8 This is a schematic diagram of the structure of the second rotary drive device in this invention;

[0030] Figure 9 This is a schematic diagram of the structure of the first finger portion in this invention;

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

[0032] Figure 11 This is a schematic diagram of the structure for adjusting motion in this invention. Figure 1 ;

[0033] Figure 12 This is a schematic diagram of the structure of the motion adjustment module in this invention. Figure 2 . Detailed implementation method:

[0034] The present invention will be further described below with reference to specific embodiments and accompanying drawings.

[0035] See Figures 1 to 12 The diagram illustrates a method for tying a thread knot, comprising: a first limiting point 1 and a second limiting point 2 for limiting both ends of a thread A; and a finger module B for pulling the thread A to tie a knot. The finger module B includes a first finger portion 3 and a second finger portion 4, and a motion module 5 for driving the first finger portion 3 and the second finger portion 4 to perform multi-axis movements. The knotting method is as follows:

[0036] First step, the motion module 5 sends the first finger part 3 and the second finger part 4 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 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 tying of the silk thread A.

[0041] The first finger part 3 and the second finger part 4 simulate two fingers of a human. 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 bunch of silk threads A together, thus replacing manual tying, reducing labor intensity and improving tying 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 rotating drive 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并列 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 hinged to 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 horizontal rotating modules, and the first rotating device 52 is a vertical 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 fifth rotating drive devices 514 are provided, symmetrically located on both sides of the U-shaped rotation 511A, and can drive the three-section movable arm 512 to swing simultaneously. 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 joint 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 connector 512H. Among them, the connector 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 part of the connector 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 hinged and installed 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 part 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 part 3 and the second finger part 4 to flip together to twist the silk thread A into a "fork" shape. The flipping angle includes but is not limited to any angle among 180°, 270°, 360°, 450°. In this embodiment, the first rotating device 52 drives the first finger part 3 and the second finger part 4 to rotate integrally by 270° to twist the silk thread A into a "fork" shape cross, as shown in Figure 2As shown in step ⑤, after the first finger 3 and the second finger 4 rotate 270° from horizontal parallel to vertical parallel, the two sides of the thread A intersect the central hole in a three-dimensional state, and the two sides of the thread A lie in the plane between the first finger 3 and the second finger 4. When the first finger 3 and the second finger 4 are straightened, they can pass through the central hole of the thread A and lie on both sides of one side of the thread A. Figure 2 As shown in step 6, this facilitates the pinching of the first finger part 3 and the second finger part 4 to hook one side of the thread A.

[0046] In the fourth step, the first finger part 3 and the second finger part 4 are driven to rotate independently and synchronously by the second rotation drive device 53, 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, so as to form a closed space that can hook one side of the thread A.

[0047] The first finger portion 3 and the second finger portion 4 each include at least two movable joints capable of swinging and bending. The motion module 5 includes a first driving device 54 and a second driving device 55 for driving the first finger portion 3 and the second finger portion 4 to bend and straighten, respectively.

[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 the mounting of the first finger portion 3 and the second finger portion 4, and a first motor 522 for driving the vertical rotating seat 521 to rotate. The second rotating drive device 53, the first drive device 54, and the second drive device 55 are all mounted on the vertical rotating seat 521.

[0049] The second rotary drive device 53 includes a second motor 531, a drive gear 532 disposed on the output shaft of the second motor 531, and a transmission gear 533 rotatably mounted on the vertical rotating seat 532 and meshing with the drive gear 532. The first finger portion 3 and the second finger portion 4 are respectively provided with a first gear portion 534 and a second gear portion 535 that mesh with the drive 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 which are hinged together. Among them, the first movable joint 31 is installed on the vertical rotating base 532 in a rotatable manner, and the first gear part 543 is located on the first movable joint 31. The two ends of the second movable joint 32 are respectively hinged to the first movable joint 31 and the third movable joint 33; 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 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 transmitting 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 expansion and contraction of the silk thread A, so as to facilitate the first finger part 3 and the second finger part 4 to tie a knot.

[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 portion 3 and the second finger portion 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 provided on the outer wall of the housing E, and a window E1 for the first finger portion 3 and the second finger portion 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 provided on the outer wall of the housing E, the adjustment motion module 8 is provided 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 provided 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 provided 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 portion 3 and the second finger portion 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 portion 3 and the second finger portion 4 to bend upward so that the first finger portion 3 and the second finger portion 4 can hook the silk thread A. Of course, if the first finger portion 3 and the second finger portion 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 portion 3 and the second finger portion 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 portion 3 and the second finger portion 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 portion 3 and the second finger portion 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 portion 3 and the second finger portion 4 to rotate either clockwise or counterclockwise. Further, the first driving device 54 and the second driving device 55 drive the first finger portion 3 and the second finger portion 4 to unfold and straighten, and the second rotation driving device 53 drives the first finger portion 3 and the second finger portion 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 portion 3 and the third finger portion 4 to bend into a "pinching" state to 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 portion 3 and the second finger portion 4 to retreat, pulling 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 by a human hand, when the first finger portion 3 and the second finger portion 4 pull one side of the silk thread A through the central hole, the central hole will continuously shrink, and finally tightly hold one side of the silk thread A and knot them 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 portion 3 and the second finger portion 4 to straighten and drop the silk thread A onto the conveying module D; finally, a human hand grabs the head of the silk thread A and pulls it 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 portion 3 and the second finger 4 to start a new knotting action, thereby realizing rapid knotting of the silk thread A. In this process, the human hand only needs to hold the head of the silk thread A at the second limit point 2, without too much operation, achieving a substantial improvement in knotting efficiency and at the same time reducing the labor intensity of the human hand.

[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 structures, features, and principles described in the scope of the patent application of the present invention shall be included in the scope of the patent application of the present invention.

Claims

1. A method for tying knots in silk threads, characterized in that, Comprising: The first limiting point (1) and the 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 movement. 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) to bypass the other side, pass through the central hole of the "fork" shape, and pull the central hole of the "fork" shaped wire (A) to shrink to form a knot, thus completing the knotting of the wire (A).

2. The method for knotting silk threads 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 rotating 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 synchronously rotate relatively. 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.

3. The method for knotting silk threads 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", and the flipping angle includes but is not limited to any angle among 180°, 270°, 360°, 450°; 4. The method for knotting silk threads according to claim 3, characterized in that: In the fourth step, the second rotating 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, forming a closed space capable of hooking one side of the wire (A).

5. A method for knotting silk threads 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, and 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 method for knotting silk threads 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 method for knotting silk threads 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 be fitted to hook one side of the silk thread (A).

8. A method for knotting silk threads according to any one of claims 1-7, 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 method for knotting silk threads 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 delivering the silk thread (A) is provided on the side of the first limit point (1) or the second limit point (2).

10. A method for knotting silk threads 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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