A slipknot preparation system and method

Abstract

The application relates to a slipknot preparation system and method, and relates to the technical field of precision machining.The system comprises a rack, a wire feeding module, a winding module, a force control module, a collecting module, an interactive module and a control module; wherein the wire feeding module, the winding module, the force control module and the collecting module are connected with the rack respectively, and the force control module is connected with the winding module; the interactive module is used for receiving a slipknot tension input by a user through a user interface; the wire feeding module is used for clamping a wire rope; the control module is used for controlling the wire feeding module to wind the wire rope on the winding module to form a coil; the control module is used for controlling the winding module to hook a tail part of the wire rope of the coil and pull the tail part of the wire rope through the coil; the control module is used for controlling the winding module to cut the wire rope between the winding module and the wire feeding module to obtain a slipknot; the control module is used for controlling the force control module to drive the winding module to move until a force applied to the slipknot reaches the slipknot tension; and the control module is used for controlling the collecting module to collect the slipknot.The application can improve the slipknot preparation efficiency and the slipknot quality.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of precision machining, and more particularly, to a slipknot preparation system and method. BACKGROUND

[0002] As a functional structure capable of sliding tightening and locking, the slipknot is a basic element for fixing, connecting and constraining flexible wires (such as sutures, fiber filaments, cables, etc.) in engineering technology and scientific research.

[0003] At present, the preparation of slipknots mainly relies on manual operation. Manual preparation has inherent defects that cannot be overcome: first, the efficiency is low, which is difficult to meet the needs of large-scale production; second, the consistency is poor, and the geometric shape and final mechanical properties of slipknots prepared by different operators or even the same operator at different times are significantly different; third, there is a lack of standardization, and it is impossible to ensure that each slipknot has the same slipknot tension. These defects make the manually prepared slipknots unable to meet the stringent requirements of high precision and high reliability in the fields of medical device manufacturing, precision instrument assembly and frontier scientific research.

[0004] For example, in the manufacturing of high-end medical devices, the looped suture products used for arthroscopic surgery or the cable system used for orthopedic fixation must have the slipknot tension precisely controlled within the design tolerance range to ensure the safety and effectiveness of clinical use. For another example, in biomechanical research, researchers need to use slipknots with precise slipknot tension to apply quantitative load to cell tissues or biological materials. In these scenarios, the traditional manual preparation method has become a key technical bottleneck restricting the quality of slipknots and the accuracy of scientific research. SUMMARY

[0005] The present application is provided to solve the above problems existing in the prior art. The slipknot preparation system and method provided by the embodiments of the present application can improve the slipknot preparation efficiency and slipknot quality.

[0006] In a first aspect, the embodiments of the present application provide a slipknot preparation system, comprising: a rack, a wire feeding module, a winding module, a force control module, a collection module, an interaction module and a control module; wherein the wire feeding module, the winding module, the force control module and the collection module are connected with the rack respectively, and the force control module is connected with the winding module;

[0007] The interaction module is configured to receive a slipknot tension input by a user through a user interface.

[0008] The wire feeding module is configured to clamp a wire rope.

[0009] The control module is configured to control the wire feeding module to wind the wire on the winding module to form a coil, control the winding module to hook a tail of the wire of the coil and pull the tail of the wire through the coil, control the winding module to cut the wire between the winding module and the wire feeding module to obtain a slip knot, control the force control module to drive the winding module to move until a force applied to the slip knot reaches the slip knot tension, and control the collection module to collect the slip knot.

[0010] Optionally,

[0011] The wire feeding module comprises wire feeding pliers, a wire spool and a clamping jaw.

[0012] The control module is configured to control the clamping jaw to clamp one end of the wire from the wire feeding pliers, control the wire feeding pliers to clamp the other end of the wire, and control the wire feeding pliers to wind the wire on the winding module to form a coil.

[0013] Optionally,

[0014] The winding module comprises a winding tube, a hook needle, a cutting tool and a hook needle telescopic tube.

[0015] The control module is configured to control the winding tube to extend, control the wire feeding pliers to wind the wire on the winding tube to form a coil, control the hook needle to extend from the hook needle telescopic tube, pass through the inside of the winding tube, hook a tail of the wire of the coil at the groove and pull the tail of the wire through the coil, control the hook needle to retract into the hook needle telescopic tube, and control the cutting tool to cut the wire between the winding module and the wire feeding module to obtain a slip knot.

[0016] During the process in which the hook needle pulls the tail of the wire through the coil, a knot between the tail of the wire and the coil moves to the direction of the opening of the winding tube through the gap.

[0017] Optionally,

[0018] The cutting tool is any one of a hot cutting blade, a high-frequency vibration knife and a laser cutting tool.

[0019] Optionally,

[0020] The force control module comprises a tension sensor, a lead screw module and a driving unit.

[0021] The control module is configured to control the driving unit to drive the lead screw module, drive the hook needle to move through the lead screw module, and stop until the tensile force sensor detects that the force applied to the slipknot reaches the slipknot tensile force.

[0022] Optionally,

[0023] The collection module includes a collection bin and a clamp.

[0024] The control module is configured to control the clamp to transfer the slipknot to the collection bin.

[0025] Optionally,

[0026] The clamp is a pneumatic clamping jaw or a vacuum chuck.

[0027] Optionally,

[0028] The driving unit includes any one of a servo motor, a stepper motor, and a pneumatic cylinder.

[0029] Optionally,

[0030] The control module includes any one of a programmable logic controller, a single-chip microcomputer, and a personal computer.

[0031] In a second aspect, the embodiments of the present application provide a slipknot preparation method applied to the slipknot preparation system in any of the above embodiments, and the method includes the following steps.

[0032] The interaction module receives the slipknot tensile force input by a user through a user interface.

[0033] The control module controls the wire feeding module to wind the clamped wire around the wire winding module to form a coil.

[0034] The control module controls the wire winding module to hook the wire tail of the coil and pull the wire tail through the coil.

[0035] The control module controls the wire winding module to cut the wire between the wire winding module and the wire feeding module to obtain a slipknot.

[0036] The control module controls the force control module to drive the wire winding module to move until the force applied to the slipknot reaches the slipknot tensile force.

[0037] The control module controls the collection module to collect the slipknot.

[0038] The embodiments of the present application have the following technical effects: the traditional slipknot preparation mainly depends on manual operation (such as manual winding, threading and breaking), and has the problems of low efficiency, large error and poor consistency. The system realizes full-process automation through multi-module cooperation and centralized scheduling of the control module. The present application can adjust the tightness of the slipknot, that is, the slipknot tension, and is suitable for different scenes. The force control module is connected with the winding module, and can accurately control the force applied to the slipknot, so as to ensure that the tension reaches the user set value, avoid slipknot failure caused by insufficient tension, and prevent wire damage caused by excessive tension. Each module is independently connected with the rack, and when a module has a problem, it can be individually disassembled, repaired or replaced. Full-process automation does not require repeated manual operation, and users only need to input parameters through the interactive module, thereby reducing personnel training costs. BRIEF DESCRIPTION OF DRAWINGS

[0039] In the drawings, which are not necessarily drawn to scale, like numerals can describe similar components in different views. Like numerals having letter suffixes or different letter suffixes can represent different instances of similar components. The drawings illustrate generally by way of example, and not by way of limitation, various embodiments discussed in the present document and with the claims. The same reference numerals are used throughout the drawings and textual description to refer to the same or like parts. Such embodiments are illustrative, and not intended to be exhaustive or exclusive as to the disclosure of the present device or method.

[0040] Figure 1 is a schematic diagram of a slipknot preparation system provided by an embodiment of the present application;

[0041] Figure 2 is a schematic diagram of part of a slipknot preparation system provided by an embodiment of the present application;

[0042] Figure 3 is a schematic diagram of a force control module provided by an embodiment of the present application;

[0043] Figure 4 is a schematic diagram of a winding tube provided by an embodiment of the present application;

[0044] Figure 5 is a schematic diagram of a slipknot provided by an embodiment of the present application;

[0045] Figure 6 is a flowchart of a slipknot preparation method provided by an embodiment of the present application. DETAILED DESCRIPTION

[0046] For those skilled in the art to better understand the technical solutions of the present application, the present application will be described in detail below in conjunction with the drawings and specific embodiments. The embodiments of the present application are further described in detail below in conjunction with the drawings and specific embodiments, but are not as a limitation on the present application. The terms "first", "second" and "third" used in the present application are only intended to distinguish the corresponding features, and do not represent the need for such ordering, nor necessarily represent only the singular form.

[0047] As shown in Figure 1 The present application provides a slipknot preparation system, which comprises a rack 70, a wire feeding module 10, a winding module 40, a force control module 30, a collection module 50, an interactive module 20 and a control module 60; wherein the wire feeding module 10, the winding module 40, the force control module 30 and the collection module 50 are respectively connected with the rack, and the force control module 30 is connected with the winding module 40.

[0048] The interactive module 20 is used for receiving the slipknot tension input by the user through the user interface.

[0049] In actual application scenarios, the user can also input slipknot parameters such as the number of slipknots and the material of the slipknots through the interactive module 20. For the convenience of description, the present application only takes the preparation of one slipknot as an example for description.

[0050] The wire feeding module 10 is used for clamping the wire rope.

[0051] The control module 60 is used for controlling the wire feeding module 10 to wind the wire rope on the winding module 40 to form a coil; controlling the winding module 40 to hook the tail of the wire rope of the coil and to pull the tail of the wire rope through the coil; controlling the winding module 40 to cut off the wire rope between the winding module 40 and the wire feeding module 10 to obtain a slipknot; controlling the force control module 30 to drive the winding module 40 to move until the force applied to the slipknot reaches the slipknot tension; and controlling the collection module 50 to collect the slipknot.

[0052] Traditional slipknot preparation relies on manual operation, which has the problems of low efficiency, large error and poor consistency. The present system realizes full-process automation through the cooperation of multiple modules and the centralized scheduling of the control module 60. Specifically, the control module 60 drives the winding module 40 to complete the core actions of "winding coil → hooking wire tail → threading coil → cutting wire" in sequence, without human intervention, completely replacing manual operation, greatly reducing the preparation time of unit slipknot, and being especially suitable for batch production scenarios. All actions, such as the number of wound coils, the threading position and the wire cutting length, can be accurately controlled by the control module, avoiding problems such as inconsistent winding tightness, deviation in threading position and uneven wire cutting length in manual operation, ensuring that the structure and size of each slipknot are completely uniform, and improving the overall quality stability of the product.

[0053] The traditional slipknot preparation cannot adjust the slipknot tension for different scenes. The system realizes the customization of tension through the linkage of the interactive module 20 and the force control module 30. The user can directly input the slipknot tension (such as 1N, 2N) through the interface of the interactive module 20 without relying on manual experience judgment. After the control module 60 drives the winding module 40 to complete the slipknot, it immediately controls the force control module 30 to drive the winding module 40 to move and apply tension to the slipknot until the set value is reached, ensuring that the actual tension of the slipknot completely matches the user's demand and can flexibly adapt to the use requirements of different industries and different scenes.

[0054] The force control module 30 of the present application is connected with the winding module 40, which can accurately control the force applied to the slipknot, ensuring that the tension reaches the user's set value, avoiding slipknot failure caused by insufficient tension, and preventing wire damage caused by excessive tension. Only when the slipknot tension meets the standard, the control module 60 drives the collection module 50 to collect the slipknot, which is equivalent to adding a quality detection link in the preparation process, eliminating unqualified slipknots from the source and reducing the cost of subsequent rework.

[0055] If different specifications of wire ropes need to be adapted, the present application only needs to replace the corresponding wire feeding module 10 or winding module 40, without the need to replace the entire equipment. If new functions such as slipknot counting and tension data storage need to be added, it can be realized by upgrading the software of the interactive module 20 or the control module 60, reducing the cost of equipment upgrade. The modules of the present application are independently connected with the rack, and when a module has a problem, it can be individually disassembled, repaired or replaced without the need to shut down the entire system for maintenance, reducing equipment downtime and ensuring production continuity.

[0056] The whole process is fully automated without the need for repeated manual operations. The user only needs to input parameters through the interactive module, reducing personnel training costs.

[0057] In an embodiment of the present application, with reference to Figure 2 The wire feeding module 10 includes a wire feeding clamp 11, a wire spool 12, and a jaw 13.

[0058] The control module 60 is used to control the jaw 13 to clamp one end of the wire rope from the wire feeding clamp 11, control the wire feeding clamp 11 to clamp the other end of the wire rope, and wind the wire rope on the winding module 40 to form a coil; wherein the wire rope at the wire feeding clamp 11 comes from the wire spool 12.

[0059] The wire feeding tongs 11 can adopt a pneumatic driving double-claw structure, and rubber non-slip pads can be arranged on the inner sides of the claws to stably clamp the wire rope and avoid damaging the surface of the wire rope. The spool 12 is a cylindrical reel, the wire rope is pre-wound on the spool 12, and the spool 12 is connected with the rack 70 through a bearing and can rotate freely to release the wire rope. The side of the spool 12 is provided with a damping adjustment knob, and the wire release resistance can be adjusted according to the material of the wire rope (such as cotton thread, nylon rope, steel wire) to prevent the wire rope from loosening. The clamping jaw 13 can be a multi-degree-of-freedom mechanical jaw, which is connected with the rack 70 through a sliding rail and can move in the horizontal and vertical directions, and the diameter of the jaw can be adjusted through the control module 60 to adapt to wire ropes of different diameters.

[0060] In the initial state, the wire rope is drawn out from the spool 12, one end passes through the clamping area of the wire feeding tongs 11, and the end of the wire rope naturally falls. The control module 60 issues an instruction to drive the clamping jaw 13 to move to the wire outlet end of the wire feeding tongs 11, and the clamping jaw 13 is closed to clamp the free end of the wire rope. The clamping jaw 13 moves away from the wire feeding tongs 11 until the wire rope is pulled to the preset position. The control module 60 controls the wire feeding tongs 11 to close and clamp the middle section of the wire rope. The control module 60 drives the clamping jaw 13 to cooperate with the winding module 40 to make a circular motion around the axis of the winding module 40, while the wire feeding tongs 11 remain clamped, so that the wire rope is wound on the winding module 40 for a preset number of turns (such as 3-5 turns) to form a loop.

[0061] Through the cooperation of the wire feeding tongs 11, the spool 12 and the clamping jaw 13, stable supply, accurate traction and reliable clamping of the wire rope are realized, which ensures uniform tension of the wire rope during winding and avoids problems such as wire rope loosening and winding disorder.

[0062] In an embodiment of the present application, referring to Figure 3 , the winding module 40 comprises a winding tube 41, a hook needle 43, a cutting tool 44 and a hook needle telescopic tube 45; wherein the winding tube has a groove 42, and the side wall of the winding tube 41 has a notch which is through the groove 42.

[0063] The control module 60 is used for controlling the winding tube 41 to extend out, controlling the wire feeding tongs 11 to wind the wire rope on the winding tube 41 to form a loop, controlling the hook needle 43 to extend out from the hook needle telescopic tube 45, pass through the inside of the winding tube 41, hook the tail of the wire rope of the loop at the groove 42 and pull the tail of the wire rope through the loop, controlling the hook needle 43 to retract into the hook needle telescopic tube 45, and controlling the cutting tool 44 to cut the wire rope between the winding module 40 and the wire feeding module 10 to obtain a live knot.

[0064] In the process of pulling the tail of the wire rope through the loop by the hook needle 43, the knot between the tail of the wire rope and the loop moves to the direction of the mouth of the winding tube 41 through the notch.

[0065] The winding pipe 41 can be a hollow metal pipe body provided with a groove 42 for accommodating the wire rope. The side wall of the winding pipe 41 is provided with a notch which is through the groove 42 to form a wire rope moving channel, as shown in the figure. Figure 4 The winding pipe 41 can be connected with the rack through a telescopic mechanism and can be telescoped in the horizontal direction. The hook needle 43 can be a hard alloy needle with a hook-shaped tip end, which can move forward and backward along the axis direction of the winding pipe 41 and can also swing slightly in the direction perpendicular to the axis direction to adjust the hooking angle. The cutting tool 44 can be a tungsten steel blade driven by air pressure, and the cutting stroke can be accurately controlled by the control module 60.

[0066] The clamping jaw 13 of the wire feeding module 10 clamps the free end of the wire rope, and the wire feeding tongs 11 make circumferential motion with the winding pipe 41 as the center, while the clamping jaw 13 keeps clamping the wire rope and cooperates with the wire feeding to make the wire rope wind along the groove 42 to form a coil. The control module 60 drives the hook needle 43 to stretch out from the inside of the winding pipe 41, and the hook part accurately hooks the tail part of the coil located in the groove 42. The hook needle 43 withdraws with the tail part of the wire rope and passes through the inside of the winding pipe, so that the tail part of the wire rope passes through the coil. In this process, the knot formed by the tail part of the wire rope and the coil moves along the notch to the direction of the pipe opening of the winding pipe 41, and the guiding effect of the notch avoids the knot from being stuck. When the knot moves to the outside of the pipe opening of the winding pipe 41, the control module 60 instructs the cutting tool 44 to cut the wire rope between the winding pipe 41 and the wire feeding tongs 11 to form a complete running knot.

[0067] The winding pipe 41 with the groove 42 and the notch designed in the application ensures that the coil is wound regularly and the knot can move smoothly, which can improve the preparation efficiency.

[0068] In an embodiment of the application, the cutting tool 44 is any one of a hot cutting blade, a high-frequency vibration knife and a laser cutting tool.

[0069] The hot cutting blade can be composed of a blade made of nickel-chromium-nickel-chromium alloy, a heating module and a pneumatic driving device. The blade is directly connected with the heating module, and the temperature can be controlled at 80-300°C.

[0070] When the wire needs to be cut, the control module 60 sets the blade temperature according to the material of the wire rope (such as nylon rope and polyester rope); after the heating module heats the blade to the set value, the pneumatic device drives the blade to close quickly, and when the blade edge contacts the wire rope, the wire rope is locally melted and cut off through high temperature, and at the same time a smooth melting surface is formed at the cut, avoiding the wire rope from being loose.

[0071] The high-frequency vibration knife can be composed of a tungsten carbide blade, a high-frequency vibrator and a servo driving system. The amplitude of the blade can be adjusted by the control module 60. The high-frequency vibrator drives the blade to vibrate at high speed, and at the same time the servo system drives the blade to move in the direction perpendicular to the wire rope; the blade makes the wire rope fibers break quickly through high-frequency mechanical vibration.

[0072] The laser cutting tool can be composed of a fiber laser, a focusing lens and a two-dimensional moving platform. The control module 60 moves the platform according to the wire position instruction, so that the laser beam is focused on the to-be-cut position; the laser emits laser, which melts and breaks the wire through thermal energy in an instant.

[0073] The three cutting tools are respectively adapted to wires of different materials and specifications, and the intelligent matching of the control module 60 (the user can select the wire type on the interactive module, and the system automatically switches the cutting mode) realizes the efficiency of the cutting process and the reliability of the cut quality (no loose silk and no obvious deformation). At the same time, the non-contact laser cutting and the low-contact high-frequency vibration cutting reduce the wear of other parts of the winding module, prolonging the overall service life of the equipment.

[0074] In an embodiment of the present application, the force control module 30 includes a tension sensor 31, a screw module 32 and a driving unit 33; wherein the screw module 32 is connected with the hook needle telescopic pipe 45;

[0075] The control module 60 is used for controlling the driving unit 33 to drive the screw module 32, so that the hook needle 43 is driven to move by the screw module 32 until the tension sensor 31 detects that the force applied to the slip knot reaches the slip knot tension.

[0076] The screw module 32 can be composed of a high-precision ball screw, a linear guide rail and a slider, and the slider can be rigidly connected with the hook needle telescopic pipe 45 through a connecting rod, so as to drive the hook needle 43 to move linearly in the horizontal direction.

[0077] When the winding module 40 completes the preparation of the slip knot, the hook needle 43 still maintains the hooking state of the tail of the slip knot, and the initial reading of the tension sensor 31 is 0N. The control module 60 sends an instruction to the driving unit 33, and the driving unit 33 drives the screw module 32 to operate, so as to drive the hook needle 42 to slowly move away from the main body of the slip knot and apply tension to the slip knot. The tension sensor 31 feeds back the detected tension value to the control module 60 in real time, and the control module 60 dynamically adjusts the output power of the driving unit 33, so that the tension growth rate remains stable, avoiding sudden increase of the tension which may cause damage to the slip knot. When the value detected by the tension sensor 31 reaches the set slip knot tension, the control module 60 immediately instructs the driving unit 33 to stop operating. After confirming that the tension meets the standard, the control module 60 instructs the driving unit 33 to operate in reverse, the screw module 32 drives the hook needle 43 to return to the initial position, and the hook needle 43 releases the slip knot. The value detected by the tension sensor 31 can be displayed on the interactive module 20 in real time.

[0078] Through the closed-loop control of the tension sensor 31 and the screw module 32, the embodiment of the present application realizes the accurate regulation and control of the slip knot tension, and solves the subjective problem of manual judgment of the tension.

[0079] In an embodiment of the present application, the collecting module 50 comprises a collecting bin and a clamp;

[0080] A control module 60 is configured to control the clamp to transfer the slip knot to the collecting bin.

[0081] The collecting bin can be a rectangular box with an open top, and a detachable partition plate is arranged inside the bin to divide the bin into multiple independent areas according to the size of the slip knot. A silica gel pad can be laid at the bottom of the bin to prevent the slip knot from being damaged by impact when falling. An infrared counter can be installed on the side of the bin to count the number of collected slip knots in real time and transmit the data to the interactive module 20 for display. The clamp can be a double-finger pneumatic clamp jaw, and the jaw is wrapped with a food-grade silica gel sleeve, and the clamping force can be adjusted by the control module 60. The clamp is connected to the rack 70 by a multi-axis mechanical arm.

[0082] When the winding module 40 completes the preparation of the slip knot and the force control module 30 confirms that the tension meets the standard, the control module 60 instructs the mechanical arm to move the clamp to the position of the hook needle 43, the clamp is closed, and the middle position of the slip knot is gently clamped. After the hook needle 43 releases the slip knot, the mechanical arm drives the clamp to move along the preset path and finally reaches above the collecting bin. When the clamp moves to a certain height above the collecting bin, it slows down, descends, and the clamp jaw opens to release the slip knot, allowing the slip knot to fall smoothly into the collecting bin; if a partitioned collection mode is used, the mechanical arm will automatically switch to the next partition according to the count.

[0083] The embodiment of the present application realizes the non-destructive transfer of the slip knot by the clamp with adjustable clamping force and the multi-axis mechanical arm, avoiding the deformation or entanglement of the slip knot that may occur during manual collection; the partition design of the collecting bin and the automatic counting function facilitate the classification management and quantity statistics of the slip knot in batch production, reducing the workload of subsequent manual sorting; the silica gel pad and the low-speed release design further ensure the integrity of the slip knot, especially suitable for scenes with high requirements for appearance quality.

[0084] In an embodiment of the present application, the clamp is a pneumatic clamp jaw or a vacuum suction cup.

[0085] The two types of clamps are designed for slip knots of different specifications and materials. The pneumatic clamp jaw provides reliable gripping force through mechanical clamping, suitable for most conventional slip knots; the vacuum suction cup realizes non-destructive gripping through negative pressure adsorption, suitable for delicate or fragile slip knots. The control module 60 can automatically switch the clamp mode according to the user's selection of the rope material in the interactive module 20 (such as enabling the pneumatic clamp jaw when selecting cotton or hemp rope, and enabling the vacuum suction cup when selecting silk thread), improving the versatility and intelligence level of the collecting module, while ensuring the integrity of the slip knot during the transfer process.

[0086] In an embodiment of the present application, the driving unit 33 comprises any one of a servo motor, a stepper motor, and a pneumatic cylinder.

[0087] The three drive units are adapted to different tensile force ranges, accuracy requirements and working environments, and users can select the drive mode through the interactive module.

[0088] In one embodiment of this application, the control module 60 includes any one of a programmable logic controller, a microcontroller, and a personal computer.

[0089] The three control module types cater to different scales and application scenarios. Programmable logic controllers (PLCs) emphasize stability and networking capabilities in industrial environments, microcontrollers highlight low cost and miniaturization, and personal computers emphasize data processing capabilities and flexible control. All three types support unified control logic, such as the timing control algorithm for live junction fabrication, allowing for flexible selection based on production scale, environmental conditions, and functional requirements, thus improving system applicability and economy.

[0090] like Figure 5 The diagram shown is a schematic of a live knot obtained through any of the live knot preparation systems described above.

[0091] like Figure 6 As shown, this application provides a method for preparing a live knot, applied to the live knot preparation system of any of the above embodiments. The method includes:

[0092] Step 601: The interaction module 20 receives the user input of the knot tension through the user interface.

[0093] The operator accesses the settings interface via the touchscreen of the interactive module 20, selects nylon rope in the rope type option, and the system automatically matches the cutting temperature to 180℃ and the clamping force to 1.5N. The operator enters 60N in the slip knot tension input box and selects 4 turns in the winding number option. Clicking the confirmation button transmits the parameters from the interactive module 20 to the control module 60, which then stores the parameters.

[0094] Step 602: The control module 60 controls the wire feeding module 10 to wind the clamped wire onto the winding module 40 to form a coil.

[0095] The control module 60 sends a command to the wire feeding module 10, and the gripper 13 moves to the wire feeding clamp 11, clamping the free end of the nylon rope leading from the spool 12. The wire feeding clamp 11 pulls the rope towards the winding module 40, and the spool releases the rope synchronously. The control module 60 drives the wire feeding clamp 11 to perform a circular motion around the winding tube 41 as the axis, winding the rope 4 times to form a tightly fitted coil.

[0096] Step 603: The control module 60 controls the winding module 40 to hook the end of the coil cord and pull the end of the cord through the coil.

[0097] The control module 60 instructs the hook needle 43 to extend, hook the loop tail at the groove 42, and retract through the loop. The knot formed by the loop tail and the loop moves along the gap to the opening of the winding tube 41.

[0098] Step 604: The control module 60 controls the winding module 40 to cut off the thread between the winding module 40 and the thread feeding module 10 to obtain a slip knot.

[0099] After the control module 60 confirms that the knot reaches the outside of the opening of the winding tube 41, it instructs the hot cutter blade (preheated to 180°C) to quickly close to cut off the thread between the winding tube 41 and the thread feeding pliers 11, forming a preliminary slip knot.

[0100] Step 605: The control module 60 controls the force control module 30 to move the winding module 40 until the force applied to the slip knot reaches the slip knot tension.

[0101] The force control module 30 moves the hook needle 43 away from the main body of the slip knot to start applying tension. The tension sensor 31 feeds back the tension value in real time, and the control module 60 adjusts the motor speed, for example, maintaining a speed of 5 mm / s when the tension is ≤40 N, reducing to 2 mm / s when the tension is 40-55 N, and reducing to 0.5 mm / s when the tension is 55-60 N. When the tension sensor 31 detects that the value stabilizes at 60 N (for 0.5 s), the control module 60 instructs the stepper motor to stop moving.

[0102] Step 606: The control module 60 controls the collection module 50 to collect the slip knot.

[0103] The prepared slip knot is collected into the collection bin of the collection module 50.

[0104] This method ensures the standardization and repeatability of the slip knot preparation process through standardized step design, and parameterized settings allow the same device to quickly switch between different slip knot specifications. The coordinated control of each stage not only ensures the quality of the slip knot, but also improves the preparation efficiency.

[0105] In addition, although exemplary embodiments have been described herein, the scope of their range includes any and all embodiments based on the present application with equivalent elements, modifications, omissions, combinations (for example, solutions that cross various embodiments), adaptations, or variations.

[0106] The elements in the claims are to be construed broadly based on the language employed in the claims, and are not limited to the examples described in the specification or during the prosecution of the application, which examples are to be construed as non-exclusive. Therefore, the specification and examples should be considered as merely exemplary and the true scope and spirit should be indicated by the full scope of the claims, along with equivalents of the claims.

[0107] The order of the steps in this application is merely exemplary and not restrictive. The execution order of the steps can be adjusted without affecting the implementation of this application (without disrupting the logical relationship between the required steps), and the various embodiments obtained after the adjustment still fall within the scope of this application.

[0108] The above description is intended to be illustrative and not restrictive. For example, the above examples (or one or more of them) can be used in combination with each other. Other embodiments may be used by those skilled in the art upon reading the above description. Furthermore, in the above detailed description, various features may be grouped together to simplify the application. This should not be construed as an intention that a disclosed feature not claimed is necessary for any claim. Rather, the subject matter of the invention may be less than all the features of a particular disclosed embodiment. Thus, the claims are incorporated herein by way of example or embodiment, wherein each claim is an independent, separate embodiment, and these embodiments are contemplated as being able to be combined with each other in various combinations or arrangements. The scope of the invention should be determined by reference to the appended claims and the full scope of their equivalents.

Claims

1. A system for preparing a live knot, characterized in that, include: The system comprises a frame, a wire feeding module, a wire winding module, a force control module, a collection module, an interaction module, and a control module; wherein the wire feeding module, the wire winding module, the force control module, and the collection module are respectively connected to the frame, and the force control module is connected to the wire winding module; The interaction module is used to receive the live knot tension input by the user through the user interface; The wire feeding module is used to clamp the wire rope; The control module is used to control the wire feeding module to wind the wire around the winding module to form a coil; to control the winding module to hook the end of the wire in the coil and pull the end of the wire through the coil; to control the winding module to cut the wire between the winding module and the wire feeding module to obtain a slipknot; to control the force control module to drive the winding module to move until the force applied to the slipknot reaches the slipknot tension; and to control the collection module to collect the slipknot. The wire feeding module includes: wire feed clamps, a spool, and clamps; The control module is used to control the gripper to clamp one end of the wire rope from the wire feeder, and to control the wire feeder to clamp the other end of the wire rope, so as to wind the wire rope around the winding module to form a coil; wherein the wire rope at the wire feeder comes from the spool. The winding module includes: a winding tube, a hook, a cutting tool, and a hook telescopic tube; wherein, the winding tube has a groove, and the side wall of the winding tube has a notch, the notch communicating with the groove; The control module is used to control the extension of the winding tube, control the wire feeder to wind the wire around the winding tube to form a coil; control the hook to extend from the hook telescopic tube, pass through the inside of the winding tube, hook the end of the wire in the coil located in the groove, and pull the end of the wire through the coil; control the hook to retract into the hook telescopic tube; and control the cutting tool to cut the wire between the winding module and the wire feeder to obtain a slip knot. During the process of the hook pulling the tail of the rope through the coil, the knot between the tail of the rope and the coil moves towards the opening of the winding tube through the notch.

2. The live-knot preparation system as described in claim 1, characterized in that, in, The cutting tool is any one of a hot-cutting blade, a high-frequency vibrating blade, and a laser cutting tool.

3. The live-knot preparation system as described in claim 1, characterized in that, The force control module includes: a tension sensor, a lead screw module, and a drive unit; wherein, the lead screw module is connected to the hook telescopic tube; The control module is used to control the drive unit to drive the lead screw module, which in turn drives the hook to move until the tension sensor detects that the force applied to the slip knot reaches the slip knot tension.

4. The live-knot preparation system as described in claim 1, characterized in that, The collection module includes: a collection chamber and a clamp; The control module is used to control the clamp to transfer the loose knot to the collection bin.

5. The live-knot preparation system as described in claim 4, characterized in that, in, The clamp is a pneumatic gripper or a vacuum suction cup.

6. The live-knot preparation system as described in claim 3, characterized in that, The drive unit includes any one of a servo motor, a stepper motor, and a cylinder.

7. The live knot preparation system as described in claim 1, characterized in that, The control module includes any one of a programmable logic controller (PLC), a microcontroller, and a personal computer.

8. A method for preparing a live knot, characterized in that, Applied to the live knot preparation system according to any one of claims 1-7, the method comprises: The interactive module receives user input of the knot tension through the user interface; The control module controls the wire feeding module to wind the clamped wire onto the winding module to form a coil; The control module controls the winding module to hook the end of the coil cord and pull the end of the cord through the coil. The control module controls the winding module to cut the rope between the winding module and the feeding module to obtain a slip knot; The control module controls the force control module to drive the winding module to move until the force applied to the live knot reaches the live knot tension. The control module controls the collection module to collect the live knot.

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