Automatic knotting device and method for temporary plugging knots

Abstract

According to the automatic knotting device and method for the temporary blocking rope knots, a rope is guided to penetrate through a shaping component system, and automatic knotting of the temporary blocking rope knots is achieved in combination with sequential separation of all shaping components through a motion control system and tightening of the rope through a tensioning system. Therefore, the problems that a traditional manual knotting process is complex and insufficient in efficiency are effectively solved, the knotting period is shortened, the production efficiency and consistency of the temporary plugging knots are improved, and the requirements of oil fields and shale oil and gas fracturing exploitation for the high-efficiency and reliable temporary plugging knots are met.

Description

Technical Field

[0001] This invention relates to an automatic knot-tying device and method for temporarily blocking rope knots. Background Technology

[0002] In oil and gas extraction, especially in fracturing operations in oilfields and shale oil and gas fields, temporary plugging knots, as a key component, must work in conjunction with bridge plugs to achieve effective temporary plugging or staged fracturing operations. The main structure of temporary plugging knots typically uses a single-line button knot. The knotting process involves multi-dimensional rope threading, precise positioning of intersections, and reliable fixing of the clamping points. The operation is cumbersome and requires extremely high precision. Currently, this knotting process relies entirely on manual labor. Operators must repeatedly perform manual rope threading, adjustment, and tightening in high-pressure, confined working environments, significantly extending the knotting cycle and making it difficult to meet the time-sensitive requirements of large-scale fracturing operations. Furthermore, manual operation is susceptible to fatigue and differences in experience, resulting in unstable or inconsistent knot structures, which in turn affects the reliability and safety of subsequent fracturing effects. In addition, the low efficiency of manual knotting has become a bottleneck restricting the efficient development of oil and gas fields, necessitating the use of automation to simulate the manual process and achieve rapid and precise knotting of temporary plugging knots.

[0003] Therefore, it is evident that whether an improved automatic knot-tying device and method for temporarily blocking rope knots can be provided based on the shortcomings of existing technologies is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the defects in the prior art and provide an automatic knot-tying device and method for temporarily blocking rope knots.

[0005] The present invention solves the above-mentioned technical problems through the following technical solution: An automatic knot-tying device for temporarily blocking rope knots, comprising: The shaping component system includes an upper shaping component, a lower shaping component, an intersection shaping component, and a snap-fit ​​position shaping component. The intersection shaping component is movably installed in a through hole opened in the lower shaping component, and the snap-fit ​​position shaping component is movably installed in a groove opened on the edge of the lower shaping component. The upper shaping component, the lower shaping component, the intersection shaping component, and the snap-fit ​​position shaping component are provided with cavities that completely match the three-dimensional topology of the temporary plug knot, for guiding the rope through a continuous path. Motion control system, including: A first motion control module is connected to the upper shaping component and is configured to control the upper shaping component to move along a first direction to complete the separation action. The second motion control module is connected to the lower shaping component and is configured to control the lower shaping component to move along the second direction to complete the separation action. The third motion control module is connected to the intersection shaping component and is configured to control the layered motion of the intersection shaping component to complete the separation action, wherein the layered motion includes at least two motion stages; The fourth motion control module is connected to the snap-fit ​​position shaping component and is configured to control the movement of the snap-fit ​​position shaping component to complete the separation action; The tensioning system includes multiple tensioning modules, which are used to pull the snap-fit ​​positions on the rope corresponding to the snap-fit ​​positions of the three-dimensional topology of the temporary plug knot after the shaping component system is separated, and control the rope to tighten along a predetermined trajectory to form a temporary plug knot. The operation sequence of the automatic knotting device is as follows: first, the rope is guided through the cavity; then, the upper shaping component, the intersection shaping component, and the snap-fit ​​position shaping component are controlled sequentially by the motion control system to complete the separation action; then, the snap-fit ​​position of the rope is pulled by the tensioning system; then, the lower shaping component is controlled by the third motion control module to complete the separation action; and finally, the tightening system performs the tightening operation.

[0006] Preferably, the first motion control module includes a cylinder configured to control the upper shaping component to move upward by at least 200mm.

[0007] Preferably, the intersection shaping component includes a first part and a second part, each controlled by an independent motion control module; The layered motion of the third motion control module includes a first layer motion and a second layer motion; the first layer motion controls the first and second parts of the intersection point shaping component to tilt downward by 100mm-140mm; the second layer motion controls the first and second parts of the intersection point shaping component to tilt downward by 50mm-70mm.

[0008] Preferably, the tensioning system includes eight tensioning cylinders, each equipped with a gripper configured to extend forward to close and lock the rope, and to open and retract after tensioning.

[0009] Preferably, the second motion control module includes a cylinder configured to control the lower shaping component to move downward by at least 100 mm.

[0010] An automatic knot-tying method for temporarily blocking rope knots, using the aforementioned automatic knot-tying device, the method includes the following steps: Threading steps: Use the cavity of the shaping component system to guide the rope through the threading process; First demolding step: Control the upper shaping component to move along a first direction to complete the separation action, wherein the movement includes moving upward a predetermined distance; The second demolding step involves controlling the movement of the cross-point shaping component to complete the separation action. The layering motion includes at least two motion phases. First layer of motion: Controlling the first and second parts of the intersection shaping component to tilt downwards a first preset distance; Second layer of motion: Controlling the first and second parts of the intersection shaping component to tilt downwards a second preset distance; Third demolding step: Control the movement of the locking and shaping component at the snap-fit ​​position to complete the separation action; Tensioning preparation steps: Control the multiple tensioning modules of the tensioning system to close the grippers and lock them into the snap positions on the rope; Fourth demolding step: Control the lower shaping component to move a third preset distance along the second direction to complete the separation action; Tightening step: The tensioning system controls the rope to tighten along a predetermined trajectory to a preset threshold to form a temporary knot; Retraction step: Control the opening of the gripper and the retraction of the tensioning module.

[0011] Preferably, the predetermined distance is not less than 200mm.

[0012] Preferably, the first preset distance is 100mm-140mm, and the second preset distance is 50mm-70mm.

[0013] Preferably, the third preset distance is not less than 100mm.

[0014] Based on common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain various preferred embodiments of the present invention.

[0015] The significant advantages of this invention are as follows: This application utilizes a shaping component system to guide the rope through the rope, combined with a motion control system for the sequential separation of each shaping component, and a tensioning system for tightening the rope, thus achieving automated knotting of temporary plugging knots. This effectively solves the problems of complexity and inefficiency inherent in traditional manual knotting processes, shortens the knotting cycle, improves the production efficiency and consistency of temporary plugging knots, and meets the demand for high-efficiency and reliable temporary plugging knots in oilfields and shale oil and gas fracturing operations. Attached Figure Description

[0016] Figure 1 The overall structure of the automatic knot-tying device for temporarily blocking rope knots according to a preferred embodiment of this application is shown.

[0017] Figure 2The diagram shows the state of the upper shaping component when it completes the separation process.

[0018] Figure 3 The assembly relationship between the lower shaping component and the intersection shaping component is shown, as well as the structure of the intersection shaping component.

[0019] Figure 4 The process of separating the cross-point shaping component is shown.

[0020] Figure 5 The cross-point shaping component and the third motion control module are shown.

[0021] Figure 6 The diagram shows the state when the upper shaping component, the intersection shaping component, and the snap-fit ​​shaping component have all completed their separation actions.

[0022] Figure 7 This shows the state when the upper shaping component, the intersection shaping component, and the snap-fit ​​shaping component have all completed their separation actions, and the tensioning system is connected to the rope at one snap-fit ​​position.

[0023] Figure 8 This shows the state when the upper shaping component, the intersection shaping component, and the snap-fit ​​shaping component have all completed their separation actions, and the tensioning system is connected to all snap-fit ​​positions of the rope.

[0024] Figure 9 This shows the state when the upper shaping component, the intersection shaping component, the snap-fit ​​shaping component, and the lower shaping component have all completed their separation actions, and the tensioning system is connected to all snap-fit ​​positions of the rope.

[0025] Figure 10 This shows the state when the knot is tied and the tensioning system retracts.

[0026] Explanation of reference numerals in the attached figures: Rope 1 Upper shaping component 2 Lower shaping component 3 Through hole 31 Intersection shaping component 4 Part 1, Chapter 41 Part 2, page 42 5-piece snap-fit ​​positioning component Tensioning system 6 Detailed Implementation The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0027] like Figures 1-10 As shown, this application proposes an automatic knot-tying device for temporary blocking knots. Through the coordinated operation of a shaping component system, a motion control system, and a tensioning system 6, the device achieves automated knot-tying of temporary blocking knots. The shaping component system has a cavity that perfectly matches the three-dimensional topology of the temporary blocking knot, guiding the rope 1 through a continuous path. The motion control system includes a first motion control module, a second motion control module, a third motion control module, and a fourth motion control module, which respectively control the upper shaping component 2, the lower shaping component 3, the intersection shaping component 4, and the snap-fit ​​shaping component 5 to complete the separation action. After the shaping component system separates, the tensioning system 6, through several tensioning modules, grips the snap-fit ​​positions on the rope 1, controlling the rope 1 to tighten along a pre-set trajectory to form a temporary blocking knot. The entire operation sequence has been optimized to ensure high efficiency and reliability in the knot-tying process.

[0028] For ease of understanding, the following explains some key terms in this embodiment: The shaping component system provides a space with a specific structure to guide the rope 1 through a pre-defined three-dimensional topology. This system typically consists of several separable shaping component assemblies to accommodate different stages of the knot formation process.

[0029] The motion control system controls the relative motion of the various shaping components within the shaping component system to achieve the separation of the shaping components and the gradual formation of the knot. This system typically contains independent motion control modules, each responsible for controlling the motion of a designated shaping component.

[0030] The tensioning system 6 is designed to tighten the threaded rope 1 after the shaping component system has separated, causing it to tighten along a pre-set trajectory and ultimately form a stable temporary knot. This system typically consists of several tensioning modules, capable of applying tension to different positions of the rope 1 simultaneously or in stages.

[0031] The upper shaping component 2, the lower shaping component 3, the intersection shaping component 4, and the snap-fit ​​shaping component 5 are the components of the shaping component system. They work together to guide the rope 1 through the internal cavity and complete their respective separation actions at different stages, providing space for the formation of the knot.

[0032] A cavity is a hollow space inside a shaped component system that closely matches the three-dimensional topological structure of a temporary plug knot. Its design purpose is to provide an uninterrupted path for the rope 1 to pass through, ensuring that the rope 1 can be accurately positioned according to the pre-set knot structure.

[0033] The separation action refers to the movement of each shaping component in the shaping component system according to a pre-set sequence and trajectory after the rope 1 has been threaded, thereby detaching from the threaded rope 1 and making room for subsequent tightening and knotting operations.

[0034] Layered motion, specifically refers to the fact that when the cross-point shaping component 4 performs the separation action, its motion trajectory is designed to have at least two independent motion stages, so as to ensure that the rope 1 can be smoothly demolded at the cross-point and prevent tangling or jamming.

[0035] The snap-fit ​​position refers to the designated area of ​​the rope 1 in the three-dimensional topology of the temporary plug knot that needs to be gripped and tensioned by the tensioning system 6. Controlling these positions plays an important role in the final formation of the knot.

[0036] This embodiment provides an automatic knot-tying device for temporarily blocked rope knots, which mainly achieves automated knot-tying of temporarily blocked rope knots through the coordinated work of a shaping component system, a motion control system, and a tensioning system 6.

[0037] The shaping component system includes an upper shaping component 2, a lower shaping component 3, an intersection shaping component 4, and a snap-fit ​​position shaping component 5. The intersection shaping component 4 is movably installed in a through hole 31 opened on the lower shaping component 3, and the snap-fit ​​position shaping component 5 is movably installed in a groove opened on the edge of the lower shaping component 3. The interior of these shaping components is provided with a cavity that closely matches the three-dimensional topology of the temporary plug knot, for guiding the rope 1 through an uninterrupted path.

[0038] The motion control system includes a first motion control module, a second motion control module, a third motion control module, and a fourth motion control module. The first motion control module is connected to the upper shaping component 2 and is configured to control the upper shaping component 2 to move along a first direction to complete the separation action.

[0039] The second motion control module is connected to the lower shaping component 3 and is configured to control the lower shaping component 3 to move along a second direction to complete the separation action. For example, this module can use a hydraulic cylinder or a pneumatic cylinder to drive the lower shaping component 3 to perform linear displacement by controlling fluid pressure.

[0040] The third motion control module is connected to the intersection shaping component 4 and is configured to control the layered motion of the intersection shaping component 4 to complete the separation action, wherein the layered motion includes at least two motion stages.

[0041] The fourth motion control module is connected to the snap-fit ​​position shaping component 5 and is configured to control the movement of the snap-fit ​​position shaping component 5 to complete the separation action.

[0042] The tensioning system 6 includes several tensioning modules, which are used to grab the snap-fit ​​positions on the rope 1 corresponding to the snap-fit ​​position of the shaping component 5 in the three-dimensional topology of the temporary plug knot after the shaping component system is separated, and control the rope 1 to tighten along a pre-set trajectory to form a temporary plug knot.

[0043] The operation sequence of the automatic knotting device is as follows: First, the rope 1 is guided through the cavity. Then, the motion control system sequentially controls the upper shaping component 2, the intersection shaping component 4, and the snap-fit ​​shaping component 5 to complete the separation action. Next, the tensioning system 6 grips the snap-fit ​​position of the rope 1. Then, the third motion control module controls the lower shaping component 3 to complete the separation action. Finally, the tensioning system 6 performs a tightening operation. This operation sequence aims to ensure that after the rope 1 is accurately threaded through the shaping components, each shaping component can complete the separation sequentially and in stages, preventing the rope 1 from tangling or deforming during demolding. Subsequently, the tensioning system 6 grips the snap-fit ​​position of the rope 1 and tightens the rope 1 after all shaping components have separated, ultimately forming a stable temporary knot.

[0044] The automatic knot-tying device for temporary plugging ropes provided in this application guides the rope 1 through a shaping component system, sequentially separates the shaping components using a motion control system, and tightens the rope 1 using a tensioning system 6, thus achieving automated knot-tying of temporary plugging ropes. This effectively solves the problems of complexity and inefficiency associated with traditional manual knot-tying processes, shortens the knot-tying cycle, improves the production efficiency and consistency of temporary plugging ropes, and meets the demand for high-efficiency and reliable temporary plugging ropes in oilfields and shale oil and gas fracturing extraction.

[0045] This application further proposes that the first motion control module includes a cylinder configured to control the upper shaping component 2 to move upward by not less than 200mm, preferably the upper shaping component 2 to move upward by a specific distance of 300mm.

[0046] Specifically, the cylinder included in the first motion control module is an actuator that converts the pressure energy of compressed air into mechanical energy. It features a simple structure, reliable operation, convenient maintenance, and advantages such as fast response, large output force, and ease of automation. In the automatic knot-tying device for temporarily blocking rope knots, the cylinder serves as the driving element of the first motion control module, providing stable and controllable linear motion for the upper shaping component 2. Besides the cylinder, the first motion control module can also employ other types of linear actuators. For example, an electric push rod can be used, driving a screw-nut mechanism via a motor to achieve precise linear displacement; or a hydraulic cylinder can be used, utilizing the pressure of hydraulic oil to drive the piston movement, providing greater thrust or smoother motion. Furthermore, the configuration controls the upper shaping component 2 to move upwards by 300mm. This configuration clearly defines the specific direction and displacement of the upper shaping component 2 during the separation action. The upward movement ensures that the upper shaping component 2 can completely detach from the knot structure, avoiding interference with the already threaded rope 1 or the lower shaping component 3. The preset 300mm movement distance was determined through precise calculation and experimental verification based on the size of the temporary plug knot, the structure of the shaping component system, and the knotting process. It aims to provide sufficient space to ensure that rope 1 can be tightened smoothly in subsequent operations, while avoiding unnecessary excessive stroke, thereby improving knotting efficiency and the compactness of the device.

[0047] This application further proposes a layered motion of the third motion control module, including: a first layer of motion and a second layer of motion. The first layer of motion refers to controlling the first part 41 and the second part 42 of the intersection point shaping component 4 to move downwards at an angle of 100mm-140mm, preferably 100mm; the second layer of motion refers to controlling the first part 41 and the second part 42 of the intersection point shaping component 4 to move downwards at an angle of 50mm-70mm, preferably 50mm, and the first part 41 and the second part 42 are controlled by independent motion control modules (cylinders).

[0048] The first layer of motion is the initial stage of the separation process of the intersection shaping component 4. In this stage, the third motion control module drives the intersection shaping component 4 to move a preset distance of 100mm in the inclined downward direction so that the intersection shaping component 4 disengages from the through hole 31 opened on the lower shaping component 3.

[0049] The second layer of movement is a fine separation stage that follows the first layer of movement. In this stage, the third motion control module further tilts downward and drives the intersection shaping component 4 to move 50mm downward. The purpose of this action is to further separate the first part 41 and the second part 42 of the intersection shaping component 4 completely, based on the initial separation.

[0050] This application further proposes a tensioning system 6, which specifically includes eight tensioning cylinders, each equipped with a gripper configured to extend forward and close to clamp the rope 1, and to open and retract after tightening.

[0051] Specifically, the tensioning system 6 includes an eight-cylinder design, providing multiple independent tensioning points to accommodate the various locking positions within the three-dimensional topology of the temporary knot. The coordinated action of the eight cylinders ensures uniform and stable gripping of the multiple locking positions on the rope 1, preventing damage or uneven tension caused by excessive localized force. Besides cylinder-driven mechanisms, the tensioning mechanism can also employ electric push rods, hydraulic cylinders, or a lead screw mechanism driven by a servo motor to achieve precise telescopic movement. Each cylinder is equipped with a gripper, which, as the direct contacting actuator with the rope 1, provides a firm mechanical gripping force. This direct gripping effectively prevents slippage of the rope 1 during tensioning, ensuring the accuracy and reliability of the knot.

[0052] Through the above technical solution, the tensioning system 6 can accurately, reliably, and efficiently complete the tightening operation of the temporarily blocked knot. The design of eight tightening cylinders allows the device to simultaneously grasp multiple locking positions in the three-dimensional topology of the temporarily blocked knot, ensuring uniform force distribution during the tightening process and effectively avoiding damage caused by local stress concentration in the rope 1. Each tightening cylinder is equipped with a gripper that, through its forward extension and closing action, can firmly mechanically clamp the rope 1, thereby significantly improving the stability of the locking and preventing the rope 1 from slipping during the tightening process. In addition, after tightening, the gripper can promptly open and retract, avoiding secondary damage to the formed knot and facilitating rapid reset and continuous operation of the device. These features work together to ensure that the automatic knot-tying device of this application not only guarantees the quality and accuracy of knot formation when performing tightening tasks, but also significantly improves the efficiency of operation and the reliability of the device, effectively solving the problems of low efficiency, unstable quality, and uncoordinated operation in manual knot-tying.

[0053] This application further proposes that the second motion control module includes a cylinder configured to control the lower shaping component 3 to move downward by not less than 100 mm, preferably 300 mm.

[0054] The downward movement distance of 300mm is set to ensure that the lower shaping component 3 is completely separated from the three-dimensional topology of the temporary plug knot with the rope 1 already threaded through it, providing sufficient space for subsequent tightening and closing operations, and avoiding interference of the shaping component with the knot formation process.

[0055] It should be noted that, in other embodiments, the movement distance of the upper shaping component 2, the lower shaping component 3, the intersection shaping component 4, and the snap-fit ​​shaping component 5 is not limited to the above distance. The movement distance can be flexibly adjusted according to the different sizes of the knots.

[0056] Through the above technical solution, the second motion control module uses a cylinder as the driving element, which can provide stable, repeatable, and responsive power output, effectively avoiding separation failures caused by inaccurate control, thereby significantly improving the reliability of motion control. Simultaneously, the downward movement distance of the lower shaping component 3 is precisely set to 300mm, ensuring the accuracy and consistency of the shaping component's separation action, preventing insufficient or excessive movement, avoiding interference between the shaping component and the knot, and creating the necessary conditions for the successful formation of the temporary knot.

[0057] This application proposes an automatic knot-tying method for temporarily blocked rope knots. The method, using the aforementioned automatic knot-tying device, includes the following steps: The first step is the threading process, which uses the cavity of the shaping component system to guide the rope 1 through the knot. This step aims to accurately place the rope 1 to be knotted into the shaping component system. The cavity of the shaping component system is pre-designed, and its shape perfectly matches the corresponding part of the three-dimensional topology of the temporary plug knot, providing precise path guidance for the threading of the rope 1. For example, the rope 1 can be threaded along the path of the cavity using gas guidance.

[0058] Next is the first demolding step, where the upper shaping component 2 is controlled to move along a first direction to complete the separation action. This movement includes an upward movement of a predetermined distance, not less than 200mm, and preferably 300mm. This step marks the beginning of the separation process of the shaping component system, aiming to first remove the upper shaping component 2 from the knot structure, providing space for subsequent shaping component separation and knot forming. The upward movement of the upper shaping component 2 is the primary way it detaches from the rope 1. The predetermined distance can be adjusted according to the size of the knot and the structure of the shaping component to ensure that the upper shaping component 2 completely detaches from the rope 1.

[0059] The second demolding step involves controlling the movement of the cross-point shaping component 4 to complete the separation action. This layered movement includes at least two phases: a first phase, where the cross-point shaping component 4 is moved along a second direction a first preset distance, which is 100mm-140mm, preferably 100mm; and a second phase, where the cross-point shaping component 4 is moved along the second direction a second preset distance, which is 50mm-70mm, preferably 50mm. This step aims to gradually and layer by layer separate the cross-point shaping component 4 from the intersection of the knot, preventing the rope 1 from getting stuck or deformed at complex intersections. The layered movement allows the shaping component to separate at different distances or speeds at different stages, thus enabling more precise control of the demolding process.

[0060] The third demolding step involves controlling the movement of the locking position shaping component 5 to complete the separation action. This step aims to separate the locking position shaping component 5 from the locking part of the rope 1, creating conditions for the subsequent gripping and tightening operation of the tensioning system 6 on the locking position of the rope 1.

[0061] After the shaping components separate, the tensioning preparation step begins. Multiple tensioning modules of the tensioning system 6 are controlled to close the grippers, locking them at the engagement points on the rope 1. This step aims to secure the critical engagement points of the rope 1 using the tensioning system 6, preparing it for subsequent tightening operations. The closing of the grippers ensures that the rope 1 will not slip during tightening.

[0062] The next step is the fourth demolding step, where the lower shaping component 3 is controlled to move along the second direction a third preset distance to complete the separation action. The third preset distance is not less than 100mm, and preferably 300mm. This step is the final stage of the separation of the shaping component system, aiming to completely remove the lower shaping component 3 from the knot structure, allowing the knot to be tightened freely. The movement direction of the lower shaping component 3 is usually opposite to or perpendicular to the upper shaping component 2 to achieve complete separation.

[0063] The next step is the tightening step, where the tensioning system 6 controls the rope 1 to tighten along a predetermined trajectory to a preset threshold, forming a temporary knot. This step is the core of the temporary knot formation process, aiming to precisely stretch and tighten the rope 1, which is already fixed in the snap-fit ​​position, using the tensioning system 6 to form a stable knot according to a predetermined three-dimensional topological structure. The preset threshold ensures that the tightness and size of the knot meet the requirements. The preset threshold can refer to the tension force, the final size of the knot, or the length of the rope 1 after contraction.

[0064] Finally, the retraction step involves controlling the opening of the grippers and the retraction of the tensioning module. This step concludes the knotting process, aiming to release the formed, temporarily blocked knot and return the tensioning system 6 to its initial position, preparing for the next knotting cycle. The opening of the grippers ensures the knot can be easily removed. The opening of the grippers can be achieved via a pneumatic, electric, or spring-loaded return mechanism. The retraction of the tensioning module can be synchronized with the opening of the grippers or performed independently after the grippers open to optimize cycle time. The entire retraction process can be centrally scheduled by the control system to ensure coordinated and safe operation.

[0065] Through the above technical solution, this application proposes an automatic knot-tying method for temporarily blocked rope knots. This method significantly improves the reliability and efficiency of knot tying by optimizing the separation sequence of the shaping components and the timing of the tension control.

Claims

1. An automatic knot-tying device for temporarily blocking rope knots, characterized in that, include: The shaping component system includes an upper shaping component, a lower shaping component, an intersection shaping component, and a snap-fit ​​position shaping component. The intersection shaping component is movably installed in a through hole opened in the lower shaping component, and the snap-fit ​​position shaping component is movably installed in a groove opened on the edge of the lower shaping component. The upper shaping component, the lower shaping component, the intersection shaping component, and the snap-fit ​​position shaping component are provided with cavities that completely match the three-dimensional topology of the temporary plug knot, for guiding the rope through a continuous path. Motion control system, including: A first motion control module is connected to the upper shaping component and is configured to control the upper shaping component to move along a first direction to complete the separation action. The second motion control module is connected to the lower shaping component and is configured to control the lower shaping component to move along the second direction to complete the separation action. The third motion control module is connected to the intersection shaping component and is configured to control the layered motion of the intersection shaping component to complete the separation action, wherein the layered motion includes at least two motion stages; The fourth motion control module is connected to the snap-fit ​​position shaping component and is configured to control the movement of the snap-fit ​​position shaping component to complete the separation action; The tensioning system includes multiple tensioning modules, which are used to pull the snap-fit ​​positions on the rope corresponding to the snap-fit ​​positions of the three-dimensional topology of the temporary plug knot after the shaping component system is separated, and control the rope to tighten along a predetermined trajectory to form a temporary plug knot. The operation sequence of the automatic knotting device is as follows: first, the rope is guided through the cavity; then, the upper shaping component, the intersection shaping component, and the snap-fit ​​position shaping component are controlled sequentially by the motion control system to complete the separation action; then, the snap-fit ​​position of the rope is pulled by the tensioning system; then, the lower shaping component is controlled by the third motion control module to complete the separation action; and finally, the tightening system performs the tightening operation.

2. The automatic knot-tying device for temporarily blocking rope knots according to claim 1, characterized in that, The first motion control module includes a cylinder configured to control the upper shaping component to move upward by no less than 200mm.

3. The automatic knot-tying device for temporarily blocking rope knots according to claim 1, characterized in that, The intersection shaping component includes a first part and a second part, each controlled by an independent motion control module. The layered motion of the third motion control module includes a first layer motion and a second layer motion; the first layer motion controls the first and second parts of the intersection shaping component to tilt downward by 100mm-140mm; the second layer motion controls the first and second parts of the intersection shaping component to tilt downward by 50mm-70mm.

4. The automatic knot-tying device for temporarily blocking rope knots according to claim 1, characterized in that, The tensioning system includes eight tensioning cylinders, each equipped with a gripper configured to extend forward to close and lock the rope, and to open and retract after tensioning.

5. The automatic knot-tying device for temporarily blocking rope knots according to claim 1, characterized in that, The second motion control module includes a cylinder configured to control the lower shaping component to move downward by at least 100mm.

6. An automatic knot-tying method for temporarily blocking rope knots, characterized in that, Using the automatic knot-tying device as described in any one of claims 1-5, the method includes the following steps: Threading steps: Use the cavity of the shaping component system to guide the rope through the threading process; First demolding step: Control the upper shaping component to move along a first direction to complete the separation action, wherein the movement includes moving upward a predetermined distance; The second demolding step involves controlling the movement of the cross-point shaping component to complete the separation action. The layering motion includes at least two motion phases. First layer of motion: Controlling the first and second parts of the intersection shaping component to tilt downwards a first preset distance; Second layer of motion: Controlling the first and second parts of the intersection shaping component to tilt downwards a second preset distance; Third demolding step: Control the movement of the locking and shaping component at the snap-fit ​​position to complete the separation action; Tensioning preparation steps: Control the multiple tensioning modules of the tensioning system to close the grippers and lock them into the snap positions on the rope; Fourth demolding step: Control the lower shaping component to move a third preset distance along the second direction to complete the separation action; Tightening step: The tensioning system controls the rope to tighten along a predetermined trajectory to a preset threshold to form a temporary knot; Retraction step: Control the opening of the gripper and the retraction of the tensioning module.

7. The automatic knot-tying method for temporary blocking ropes according to claim 6, characterized in that, The predetermined distance is not less than 200mm.

8. The automatic knot-tying method for temporary blocking ropes according to claim 6, characterized in that, The first preset distance is 100mm-140mm, and the second preset distance is 50mm-70mm.

9. The automatic knot-tying method for temporary blocking ropes according to claim 6, characterized in that, The third preset distance is not less than 100mm.

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