A knotting apparatus

Abstract

A knotting device includes a housing, a thread end fixing mechanism, a robotic arm, a main rotating mechanism, a thread-separating fork mechanism, a knotting mechanism, a wire-throwing mechanism, a wire-breaking mechanism, a knotting result detection mechanism, a wire diameter detection mechanism, and a barcode scanning mechanism. The thread end fixing mechanism secures the thread end protruding from the winding reel. The main rotating mechanism secures the winding reel and keeps the wire between the reel and the thread end fixing mechanism taut. The robotic arm replaces manual labor in transferring the winding reel and the thread end protruding from it. The thread-separating fork mechanism picks up two strands of wire from the winding reel, and the knotting mechanism knots the two strands picked up by the thread-separating fork mechanism. The wire-breaking mechanism breaks the thread end, the wire-throwing mechanism throws the broken thread end into a waste wire spool, and the wire diameter detection mechanism detects the diameter of the taut wire. The knotting result detection mechanism detects the knotting result to determine if the knotting was successful.

Description

Technical Field

[0001] This utility model relates to the field of wire production equipment technology, and in particular to a knotting device. Background Technology

[0002] In the production and processing of steel wire, such as winding and packaging, traditional manual knotting methods are inefficient, costly, and unsuitable for large-scale production. Furthermore, the quality of manual knotting cannot be guaranteed, relying heavily on worker experience. Therefore, there is an urgent need for a knotting machine that can automatically, quickly, and accurately knot the wire, thereby improving production efficiency and reducing costs. Utility Model Content

[0003] In view of the above-mentioned problems of the prior art, this application provides a knotting device that can achieve automatic, fast and accurate knotting, improve production efficiency and reduce production costs.

[0004] To achieve the above objectives, this application provides a knotting device for knotting materials in the form of filaments wound around a winding reel, comprising: a housing; a thread-end fixing mechanism mounted on the upper surface of the housing for fixing the thread end of the material; a robotic arm having a gripper for gripping the thread end of the material and conveying it to the thread-end fixing mechanism for fixing; a main rotating mechanism mounted on the upper surface of the housing, the main rotating mechanism having a connecting shaft for mounting the winding reel and driving the winding reel to rotate, so that the material located between the winding reel and the thread-end fixing mechanism is in a taut state; and a thread-separating fork mechanism. A wire-separating fork mechanism is installed on the upper surface of the housing and has a wire-separating fork. The wire-separating fork is used to enter the middle of the material wound on the winding reel from between the taut material and the reel, and pick up at least two strands of the material. A knotting mechanism is installed on the upper surface of the housing and has a knotting gripper. The knotting gripper is used to clamp the at least two strands of the material picked up by the wire-separating fork and rotate them to knot them. A wire-breaking mechanism is installed on the upper surface of the housing and is located between the wire end fixing mechanism and the knotting mechanism. It is used to break the material at the taut part after the knotting mechanism has completed knotting. A wire-throwing mechanism is used to transfer the broken material to a predetermined position.

[0005] Using the above structure, a gripper on a robotic arm replaces manual labor to clamp the thread ends of material wound on the winding reel located on the connecting shaft and deliver them to the thread end fixing mechanism, which then secures the thread ends. A thread-picking fork enters between the taut material and the winding reel, picking up at least two strands of material. These two strands are then gripped by a knotting gripper and twisted into a knot, thus achieving fast and automatic knotting instead of manual labor. A wire-breaking mechanism breaks the material between the thread end fixing mechanism and the knotting mechanism, reducing the length of the knotted thread and making the winding reel neater and more aesthetically pleasing, avoiding interference with subsequent handling. A wire-throwing mechanism transfers the broken material to a predetermined location for easy collection. Therefore, automatic, fast, and accurate knotting can be achieved, improving production efficiency and reducing production costs.

[0006] In some embodiments, the wire-throwing mechanism includes: a first connecting plate, which is fixedly disposed; a second connecting plate, which is hinged to the first connecting plate; a first driving cylinder, which drives the second connecting plate to rotate on the first connecting plate; and a clamp, which is disposed on the second connecting plate and located between the wire end fixing mechanism and the wire-breaking mechanism; wherein, the first driving cylinder drives the second connecting plate to rotate, thereby causing the clamp to rotate, so that the material enters the clamp through the opening of the clamp and is clamped and fixed; after the material is broken, the first driving cylinder drives the clamp to rotate and remove the broken material.

[0007] With the above structure, the second connecting plate is rotated by the first drive cylinder, allowing the taut material to enter the clamp through the opening of the clamp, where it can be clamped and fixed. After the wire breaking mechanism melts the taut material, the second connecting plate is rotated by the first drive cylinder, and the clamp throws the broken wire ends into, for example, a waste wire spool for collection.

[0008] In some embodiments, the knotting device further includes a wire diameter detection mechanism disposed between the wire throwing mechanism and the knotting mechanism, comprising: a guide rail extending along a direction close to / away from the taut material; a seventh connecting plate disposed on the guide rail and slidably connected to the guide rail; a fifth drive cylinder drivingly connected to the seventh connecting plate and driving the seventh connecting plate to slide on the guide rail; and a diameter gauge disposed on the seventh connecting plate, wherein the diameter gauge detects the diameter of the material after the material enters the diameter gauge through the opening of the diameter gauge.

[0009] With the above structure, the seventh connecting plate and the diameter gauge can be moved along the guide rail by the fifth drive cylinder, so that the material enters the diameter gauge through the opening of the diameter gauge, so as to detect the diameter of the material.

[0010] In some embodiments, the wire breaking mechanism includes: a fuse disposed on the second connecting plate, arranged side-by-side with the clamp along the extension direction of the taut material, located on the side of the clamp away from the wire end fixing mechanism; the first drive cylinder drives the second connecting plate to rotate, so that when the material enters the clamp through the opening of the clamp, the material enters the fuse through the opening of the fuse, and the fuse melts the material; or, the fuse is disposed on the seventh connecting plate, arranged side-by-side with the diameter gauge along the extension direction of the taut material; when the material enters the diameter gauge through the opening of the diameter gauge, the material enters the fuse through the opening of the fuse.

[0011] With the above structure, by setting the fuse on the second or seventh connecting plate, the second or seventh connecting plate can be reused. When the wire throwing mechanism drives the clamp to clamp the taut material, or when the wire diameter detection mechanism detects the diameter of the material, the taut material can simultaneously enter the fuse so as to melt the material.

[0012] In some embodiments, the wire breaking mechanism further includes a first guide member, which has a first guide channel. One end of the first guide channel is connected to the opening of the fuse, and the other end is flared. The taut material enters the first guide channel from the other end of the first guide channel. And / or, the wire throwing mechanism further includes a second guide member, which has a second guide channel. One end of the second guide channel is connected to the opening of the clamp, and the other end is flared. The taut material enters the second guide channel from the other end of the second guide channel.

[0013] With the above structure, by setting the first guide and the second guide, the material can be guided when the fuse and the clamp rotate with the second connecting plate, so that the taut material can enter the fuse and the clamp through the opening of the fuse and the clamp, so that the material can smoothly enter the fuse and the clamp.

[0014] In some embodiments, the length of the knotting gripper is 5 to 10 times the diameter of the material.

[0015] By adopting the above structure, and setting the length of the knotting gripper to 5 to 10 times the diameter of the material, the difficulty of the knotting gripper clamping and fixing the material can be reduced, and the stability of the knotting gripper driving the two strands of material to rotate and knot can be improved.

[0016] In some embodiments, the wire fork mechanism further includes:

[0017] The third connecting plate is rotatably mounted on the main rotating mechanism with the connecting shaft as its axis;

[0018] The second motor is connected to the third connecting plate in a transmission manner, and drives the third connecting plate to rotate;

[0019] The first movable rod extends along the axial direction of the connecting shaft, with one end fixedly connected to the wire fork and the other end passing through the third connecting plate and slidingly connected to the third connecting plate along the axial direction of the connecting shaft. The other end of the first movable rod is provided with a first abutting part, which protrudes from the outer peripheral surface of the first movable rod.

[0020] A spring, which is sleeved on the first moving rod and located between the third connecting plate and the wire fork, drives the wire fork to move in a direction away from the third connecting plate;

[0021] The second movable rod extends axially along the connecting shaft, with one end fixedly connected to the wire-separating fork and the other end passing through the third connecting plate and slidingly connected to the third connecting plate along the connecting shaft. The other end of the second movable rod is provided with a second abutting portion, which protrudes from the outer circumferential surface of the second movable rod. The distance between the first abutting portion and the third connecting plate is greater than the distance between the second abutting portion and the third connecting plate. When the second abutting portion abuts against the third connecting plate, the wire-separating fork is positioned corresponding to the taut material.

[0022] The second drive cylinder has a drive rod extending axially along the connecting shaft. A pressure plate is provided at the end of the drive rod. The second motor drives the third connecting plate to rotate so that when the wire fork is in the position corresponding to the knotting claw, the pressure plate is located between the first abutment part and the third connecting plate.

[0023] With the above structure, the second motor drives the third connecting plate to rotate. When the wire-separating fork is in the position corresponding to the knotting gripper, the second drive rod drives the pressure plate to press down on the first abutment part. This causes the first moving rod and the wire-separating fork to descend, allowing the knotting gripper to hold the two strands of material lifted by the wire-separating fork and then separate them, facilitating the knotting gripper to drive the material to rotate and knot. When the spring drives the wire-separating fork to move upward to the position corresponding to the taut material, the second abutment part abuts against the third connecting plate, thereby positioning the wire-separating fork. This ensures that the wire-separating fork can always rise to a fixed position under the drive of the spring, improving the stability of the wire-separating fork when lifting the two strands of material, and ensuring that the two strands of material remain even and stable during knotting.

[0024] In some embodiments, there are two second movable rods, with the first movable rod positioned between the two second movable rods.

[0025] By adopting the above structure and setting two second moving rods on both sides of the first moving rod, the stability of the sliding connection between the first moving rod, the second moving rod and the third connecting plate can be improved, thereby improving the stability of the wire fork when it moves with the first moving rod and the second moving rod.

[0026] In some embodiments, the knotting device further includes a knotting result detection mechanism, which includes a knotting result detection camera, the camera being positioned toward the rotating knotting position to detect whether the material is successfully knotted.

[0027] Using the above structure, a camera that detects the knotting results captures images of the rotating knotting position, thus automatically detecting whether the material is successfully knotted, replacing manual inspection.

[0028] In some embodiments, the knotting result detection mechanism further includes a knotting result detection backlight panel, which is disposed at a position corresponding to the orientation of the knotting result detection camera and is located on both sides of the main body rotation mechanism, respectively.

[0029] By employing the above structure and adding a backlight panel for knotting result detection, the image of the knotted position of the material becomes clearer and more prominent when the knotting result detection camera captures the rotating knotted position. This improves the success rate and accuracy of detection and identification.

[0030] In some embodiments, the knotting device further includes a wire diameter detection mechanism disposed between the wire end fixing mechanism and the knotting mechanism, for detecting the diameter of the taut material.

[0031] Using the above structure, the diameter of the material can be detected by the wire diameter detection mechanism at the taut position. This improves the accuracy of material diameter detection.

[0032] These and other aspects of this invention will become more readily apparent in the following description of several embodiments. Attached Figure Description

[0033] The various features of this utility model and the relationships between them are further explained below with reference to the accompanying drawings. The drawings are exemplary; some features are not shown to scale, and some drawings may omit conventional features in the field of this application that are not essential to this application, or additional features that are not essential to this application may be shown. The combination of features shown in the drawings is not intended to limit this application. Furthermore, throughout this specification, the same reference numerals refer to the same things. Specific descriptions of the drawings are as follows:

[0034] Figure 1 This is a schematic diagram of the top orthographic projection of the knotting device in this application;

[0035] Figure 2 for Figure 1 A three-dimensional structural diagram of the knotting equipment;

[0036] Figure 3 for Figure 1 A three-dimensional structural diagram of the central rotating mechanism;

[0037] Figure 4 for Figure 1 One of the partial structural diagrams of the center-separation fork mechanism;

[0038] Figure 5 for Figure 1 Partial structural schematic diagram of the middle-line fork mechanism (Part 2);

[0039] Figure 6 A breakdown diagram of the wire-picking action performed by the wire fork;

[0040] Figure 7 for Figure 1 A three-dimensional structural diagram of the center line head fixing mechanism;

[0041] Figure 8 for Figure 1 A schematic diagram of the orthographic projection of one side of the wire-throwing mechanism;

[0042] Figure 9 for Figure 1 A schematic diagram of the orthographic projection of the other side of the wire-throwing mechanism;

[0043] Figure 10 for Figure 1Side view of the wire diameter detection mechanism;

[0044] Figure 11 for Figure 1 A three-dimensional structural diagram of the knotting mechanism.

[0045] Explanation of reference numerals in the attached figures

[0046] 10 Knotting device; 100 Housing; 200 Wire end fixing mechanism; 210 Third drive cylinder; 220 Sliding bracket; 221 Fifth connecting plate; 222 Connecting rod; 223 Sixth connecting plate; 230 First guide rail; 240 Fourth drive cylinder; 250 Outer sleeve; 260 Clamping end; 300 Main body rotation mechanism; 310 Fourth connecting plate; 320 Connecting shaft; 330 Pad; 340 First motor; 350 First reducer; 400 Wire-binding fork mechanism; 410 Wire-binding fork; 411 Plug; 420 Third connecting plate; 430 Second motor; 440 Second reducer; 450 First moving rod; 451 First abutment part; 460 Spring; 470 Second moving rod; 471 Second abutment part; 480 Second drive cylinder; 481 Pressure plate; 500 Knotting mechanism; 510 Third guide rail; 520 Sixth drive cylinder; 530 Eighth connecting plate; 540 Seventh drive cylinder; 550 Knotting gripper; 560 Eighth drive cylinder; 600 Wire throwing mechanism; 610 First connecting plate; 620 Second connecting plate; 630 First drive cylinder; 650 Clamp; 670 Second guide; 700 Knotting result detection mechanism; 710 Knotting result detection camera; 720 Knotting result detection backlight; 800 Wire diameter detection mechanism; 810 Second guide rail; 820 Seventh connecting plate; 830 Fifth drive cylinder; 840 Diameter gauge; 841 Detection component; 900 Barcode scanning mechanism; 1010 Fuse; 1011 Switch; 1020 First guide; 1021 First guide channel; 1030 Switch cylinder. Detailed Implementation

[0047] The terms "first, second, third, etc." or similar terms such as module A, module B, module C, etc., used in the specification and claims are only used to distinguish similar objects and do not represent a specific ordering of objects. It is understood that a specific order or sequence may be interchanged where permitted so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0048] In the following description, the labels of the steps, such as S110, S120, etc., do not necessarily mean that the steps will be executed in this way. The order of the steps can be interchanged or executed simultaneously if permitted.

[0049] The term "comprising" as used in the specification and claims should not be construed as limiting itself to what follows; it does not exclude other elements or steps. Therefore, it should be interpreted as specifying the presence of the mentioned feature, integral, step, or component, but does not exclude the presence or addition of one or more other features, integrals, steps, or components, or groups thereof. Thus, the statement "device comprising means A and B" should not be limited to a device consisting solely of components A and B.

[0050] The terms "an embodiment" or "an embodiment" as used in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in at least one embodiment of the present invention. Therefore, the terms "in one embodiment" or "in an embodiment" appearing throughout this specification do not necessarily refer to the same embodiment, but may refer to the same embodiment. Furthermore, in one or more embodiments, the particular features, structures, or characteristics can be combined in any suitable manner, as will be apparent to those skilled in the art from this disclosure.

[0051] To improve the automation of knotting coiled steel wire, reduce manual labor difficulty, and improve knotting quality, one method involves setting up a steel wire take-up and knotting device, including a frame. At the top of the frame are mounted an advance / retractable cylinder, a rotating assembly, and a wire clamping assembly. The wire clamping assembly straightens the steel wire on the rotating assembly. A lifting assembly is connected to the side of the rotating assembly via a first connecting plate and a second connecting plate. A wire-picking rod is fixed to the top of the lifting assembly. A wire-twisting electric claw and a pressing cylinder are fixed to the output shaft of the advance / retractable cylinder. The wire-twisting part of the electric claw is located on the rotation path of the wire-picking rod. A pressure plate is mounted on the top of the pressing cylinder to press down the lifting assembly. The rotating assembly carries the I-beams wound with steel wire, and one end of the steel wire on the I-beams can be manually pulled to the wire clamping assembly where it is clamped and fixed, thus straightening the steel wire. After the rotating component drives the wire-picking rod to rotate, the wire-picking rod picks up two strands of wire and returns to the initial knotting position. Then, the forward and backward cylinders drive the downward cylinder and the wire-twisting gripper to move, so that the wire-twisting gripper clamps the two strands of wire on the wire-picking rod. The downward cylinder drives the pressure plate to press down the lifting component, so that the two strands of wire are released from the wire-picking rod. Subsequently, the wire-twisting gripper rotates rapidly to tighten the two strands of wire to achieve knot locking. After knotting is completed, the wire-twisting gripper releases the wire, the downward cylinder rises, and the wire-picking rod returns to the wire-picking state under the drive of the spring. The forward and backward cylinders drive the entire wire-twisting gripper and the downward cylinder to return to the waiting position. The knotting action is completed. After the I-beam wheel is knotted, the robot transports it to the conveyor line to complete the unloading.

[0052] However, when using this type of wire take-up and knotting device to knot the wire, the wire pulled out from the I-beam reel is usually quite long for ease of operation. Therefore, after knotting, a very long thread ends are left hanging on the I-beam reel, affecting its neatness and appearance, and making it inconvenient to move. Furthermore, because the wire take-up rod needs to return to its take-up position under the drive of a spring, and the spring's elasticity gradually decreases with use, the position of the take-up rod when returning to its take-up position gradually changes, resulting in uneven and weak knotting.

[0053] Furthermore, the lifting rod relies on a pressing cylinder to depress a spring to achieve its lifting and lowering motion. The installation position of the pressing cylinder occupies the working space for knotting the steel wire, which to some extent affects the normal operation of the device. Moreover, the aforementioned existing technology also suffers from problems such as the lack of a quality inspection process for knotting results and difficulty in unified product management.

[0054] Below, with reference to the accompanying drawings, possible embodiments of the knotting device 10 in this application will be described by way of example.

[0055] This application provides a knotting device 10 for knotting materials in the form of filaments wound around a winding reel. The knotting device 10 includes a housing 100, a thread-end fixing mechanism 200, a robotic arm, a main rotating mechanism 300, a thread-separating fork mechanism 400, a knotting mechanism 500, a thread-breaking mechanism 1000, and a thread-throwing mechanism 600. The thread-end fixing mechanism 200 is mounted on the upper surface of the housing 100 and is used to fix the thread ends of the material. The robotic arm has gripping claws for gripping the thread ends of the material and conveying them to the thread-end fixing mechanism 200 for fixing. The main rotating mechanism 300 is mounted on the upper surface of the housing 100 and has a connecting shaft 320 for mounting the winding reel and driving the winding reel to rotate, thus keeping the material between the winding reel and the thread-end fixing mechanism 200 taut. A wire-separating fork mechanism 400 is mounted on the upper surface of the housing 100 and has a wire-separating fork 410. The wire-separating fork 410 is used to enter the middle of the material wound on the winding reel from between the taut material and the reel, and pick up at least two strands of material. A knotting mechanism 500 is mounted on the upper surface of the housing 100 and has a knotting gripper 550. The knotting gripper 550 is used to clamp the at least two strands of material picked up by the wire-separating fork 410 and rotate them to knot them. A wire-breaking mechanism 1000 is mounted on the upper surface of the housing 100 and is located between the wire-end fixing mechanism 200 and the knotting mechanism 500. It is used to break the material at the taut part after the knotting mechanism 500 has completed knotting. A wire-throwing mechanism 600 is mounted on the upper surface of the housing 100 and is used to transfer the broken material to a predetermined position.

[0056] As described above, the gripper on the robotic arm can replace manual labor to clamp the thread ends of the material wound on the winding reel located on the connecting shaft 320 and send them to the thread end fixing mechanism 200, which then fixes the thread ends. The thread-picking fork 410 enters the middle of the material wound on the winding reel from between the taut material and the reel, picks up at least two strands of material, and then the knotting gripper 550 clamps these two strands and rotates them to tie a knot, thus achieving fast and automatic knotting instead of manual labor. The wire-breaking mechanism 1000 breaks the material between the thread end fixing mechanism 200 and the knotting mechanism 500, thereby reducing the length of the knotted thread ends and making the winding reel neater and more aesthetically pleasing, avoiding interference with subsequent handling. The wire-throwing mechanism 600 transfers the broken material to a predetermined position, facilitating the collection of the broken material. Therefore, automatic, fast, and accurate knotting can be achieved, improving production efficiency and reducing production costs.

[0057] In some embodiments, the wire-throwing mechanism 600 includes a first connecting plate 610, a second connecting plate 620, a first driving cylinder 630, and a clamp 650. The first connecting plate 610 is fixedly disposed, and the second connecting plate 620 is hinged to the first connecting plate 610. The first driving cylinder 630 drives the second connecting plate 620 to rotate on the first connecting plate 610. The clamp 650 is disposed on the second connecting plate 620, located between the wire end fixing mechanism 200 and the wire breaking mechanism 1000. The first driving cylinder 630 drives the second connecting plate 620 to rotate, thereby rotating the clamp 650, allowing material to enter the clamp 650 through its opening and be clamped and fixed. After the material breaks off, the first driving cylinder 630 drives the clamp 650 to rotate, removing the broken material. The first drive cylinder 630 drives the second connecting plate 620 to rotate, allowing the taut material to enter the clamp 650 through its opening. The clamp 650 then clamps and secures the material. Alternatively, after the wire breaking mechanism 1000 breaks the taut material, the first drive cylinder 630 drives the second connecting plate 620 to rotate, and the clamp 650 throws the broken wire ends into, for example, a waste wire spool for collection.

[0058] In some embodiments, the knotting device 10 further includes a wire diameter detection mechanism 800, which is disposed between the wire throwing mechanism 600 and the knotting mechanism 500. The wire diameter detection mechanism 800 includes a second guide rail 810, a seventh connecting plate 820, a fifth drive cylinder 830, and a diameter gauge 840. The second guide rail 810 extends along the direction of approaching / moving away from the taut material. The seventh connecting plate 820 is disposed on the second guide rail 810 and slidably connected to it. The fifth drive cylinder 830 is drively connected to the seventh connecting plate 820, driving the seventh connecting plate 820 to slide on the second guide rail 810. The diameter gauge 840 is disposed on the seventh connecting plate 820. After the material enters the diameter gauge 840 through its opening, the diameter gauge 840 detects the diameter of the material. Therefore, the seventh connecting plate 820 and the diameter gauge 840 can be moved along the second guide rail 810 by the fifth drive cylinder 830, so that the material enters the diameter gauge 840 through the opening of the diameter gauge 840, so as to detect the diameter of the material.

[0059] In some embodiments, the wire breaking mechanism 1000 includes a fuse 1010, which is disposed on the second connecting plate 620, arranged side-by-side with the clamp 650 along the extension direction of the taut material, and located on the side of the clamp 650 away from the wire end fixing mechanism 200. The first drive cylinder 630 drives the second connecting plate 620 to rotate, so that when the material enters the clamp 650 through the opening, the material also enters the fuse 1010 through the opening, and the fuse 1010 melts the material. Alternatively, the fuse 1010 is disposed on the seventh connecting plate 820, arranged side-by-side with the diameter gauge 840 along the extension direction of the taut material. When the material enters the diameter gauge 840 through the opening, the material also enters the fuse 1010 through the opening. Therefore, by setting the fuse 1010 on the second connecting plate 620 or the seventh connecting plate 820, the second connecting plate 620 or the seventh connecting plate 820 can be reused. When the wire throwing mechanism 600 drives the clamp 650 to clamp the taut material, or when the wire diameter detection mechanism 800 detects the diameter of the material, the taut material can simultaneously enter the fuse 1010 so as to fuse the material.

[0060] In some embodiments, the wire breaking mechanism 1000 further includes a first guide member 1020, on which a first guide channel 1021 is provided. One end of the first guide channel 1021 is connected to the opening of the fuse 1010, and the other end is flared. The taut material enters the first guide channel 1021 from the other end of the first guide channel 1021. And / or, the wire throwing mechanism 600 further includes a second guide member 670, on which a second guide channel is provided. One end of the second guide channel is connected to the opening of the clamp 650, and the other end is flared. The taut material enters the second guide channel from the other end of the second guide channel. Therefore, by setting the first guide member 1020 and the second guide member 670, when the fuse 1010 and the clamp 650 rotate with the second connecting plate 620, the taut material is guided to enter the fuse 1010 and the clamp 650 through the openings of the fuse 1010 and the clamp 650, so that the material can smoothly enter the fuse 1010 and the clamp 650.

[0061] In some embodiments, the fuse 1010 may also be replaced by a shear to cut the material.

[0062] In some embodiments, the length of the knotting gripper 550 is 5 to 10 times the diameter of the material. This reduces the difficulty of the knotting gripper 550 in clamping and fixing the material, and improves the stability of the knotting gripper 550 when it drives two strands of material to rotate and knot.

[0063] In some embodiments, the wire-separating fork mechanism 400 further includes a third connecting plate 420, a second motor 430, a first moving rod 450, a spring 460, a second moving rod 470, and a second drive cylinder 480. The third connecting plate 420 is rotatably mounted on the main rotating mechanism 300 about a connecting shaft 320. The second motor 430 is drively connected to the third connecting plate 420, driving the third connecting plate 420 to rotate. The first moving rod 450 extends axially along the connecting shaft 320, with one end fixedly connected to the wire-separating fork 410, and the other end passing through the third connecting plate 420 and slidingly connected to the third connecting plate 420 along the connecting shaft 320. The other end of the first moving rod 450 is provided with a first abutment portion 451, which protrudes from the outer peripheral surface of the first moving rod 450. The spring 460 is sleeved on the first moving rod 450, located between the third connecting plate 420 and the wire-separating fork 410, driving the wire-separating fork 410 to move away from the third connecting plate 420. The second moving rod 470 extends axially along the connecting shaft 320, with one end fixedly connected to the wire guide fork 410, and the other end passing through the third connecting plate 420 and slidingly connected to the third connecting plate 420 along the connecting shaft 320. The other end of the second moving rod 470 is provided with a second abutment portion 471, which protrudes from the outer circumferential surface of the second moving rod 470. The distance between the first abutment portion 451 and the third connecting plate 420 is greater than the distance between the second abutment portion 471 and the third connecting plate 420. When the second abutment portion 471 abuts against the third connecting plate 420, the wire guide fork 410 is positioned corresponding to the taut material. The second drive cylinder 480 has a drive rod extending axially along the connecting shaft 320. The end of the drive rod is provided with a pressure plate 481. The second motor 430 drives the third connecting plate 420 to rotate so that when the wire fork 410 is in the position corresponding to the knotting gripper 550, the pressure plate 481 is located between the first abutment part 451 and the third connecting plate 420.

[0064] As described above, the second motor 430 drives the third connecting plate 420 to rotate. When the wire-separating fork 410 is in the position corresponding to the knotting gripper 550, the second drive rod drives the pressure plate 481 to press down the first abutment part 451. This causes the first moving rod 450 and the wire-separating fork 410 to descend, allowing the knotting gripper 550 to clamp the two strands of material picked up by the wire-separating fork 410 and separate them from the two strands of material, facilitating the knotting gripper 550 to drive the material to rotate and knot. When the spring 460 drives the wire-separating fork 410 to move upward to the position corresponding to the taut material, the second abutment part 471 abuts against the third connecting plate 420, thereby positioning the wire-separating fork 410. This ensures that the wire-separating fork 410 can always rise to a fixed position under the drive of the spring 460, thereby improving the stability of the wire-separating fork 410 when picking up the two strands of material, and ensuring that the two strands of material remain uniform and stable during knotting.

[0065] In some embodiments, two second moving rods 470 are provided, and a first moving rod 450 is located between the two second moving rods 470. Therefore, by providing two second moving rods 470 on both sides of the first moving rod 450, the stability of the sliding connection between the first moving rod 450, the second moving rods 470, and the third connecting plate 420 can be improved, thereby enhancing the stability of the wire fork 410 when it moves with the first moving rod 450 and the second moving rods 470.

[0066] In some embodiments, the knotting device 10 further includes a knotting result detection mechanism 700, which includes a knotting result detection camera 710. The knotting result detection camera 710 is positioned toward the rotating knotting position to detect whether the material is successfully knotted. Thus, by capturing images of the rotating knotting position with the knotting result detection camera 710, the success of the material's rotating knotting can be automatically detected, replacing manual inspection.

[0067] In some embodiments, the knotting result detection mechanism 700 further includes a knotting result detection backlight 720, which is disposed at a position corresponding to the orientation of the knotting result detection camera 710, and is located on both sides of the main rotating mechanism 300, respectively. Therefore, by providing the knotting result detection backlight 720, the knotting position of the material can be more clearly and prominently displayed when the knotting result detection camera 710 captures images of the rotating knotting position. This improves the success rate and accuracy of detection and identification.

[0068] In some embodiments, the knotting device 10 further includes a wire diameter detection mechanism 800, which is disposed between the wire end fixing mechanism 200 and the knotting mechanism 500, and is used to detect the diameter of the taut material. Thus, the diameter of the material can be detected by the wire diameter detection mechanism 800 at the taut position, thereby improving the accuracy of material diameter detection.

[0069] In some embodiments, the wire diameter detection mechanism 800 includes a second guide rail 810, a seventh connecting plate 820, a fifth drive cylinder 830, and a diameter gauge 840. The seventh connecting plate 820 is slidably connected to the second guide rail 810, and the diameter gauge 840 is mounted on the seventh connecting plate 820. The fifth drive cylinder 830 drives the seventh connecting plate 820 to slide on the second guide rail 810, allowing taut material to enter the diameter gauge 840 through its opening, whereby the diameter gauge 840 detects the diameter of the material.

[0070] In some embodiments, the wire diameter detection mechanism 800 is disposed between the wire throwing mechanism 600 and the main body rotation mechanism 300, and the fuse 1010 is disposed on the seventh connecting plate 820. When the taut material enters the diameter measuring instrument 840 through the opening, the taut material also enters the fuse 1010 through the opening. This improves the flexibility of the installation position of the wire breaking mechanism 1000.

[0071] The above description provides an exemplary description of possible embodiments of the knotting device 10. Below, with reference to the accompanying drawings, a detailed description of the specific structure of the knotting device 10 will be provided in specific embodiments.

[0072] Example 1

[0073] Figure 1 This is a schematic diagram of the top orthographic projection of the knotting device 10 in this application; Figure 2 for Figure 1 A three-dimensional structural diagram of the knotting device 10. (See diagram below.) Figure 1 , Figure 2 As shown, the knotting device 10 is used to knot steel wires. The steel wires are wound on a winding reel (in this embodiment, an I-beam reel), and the wire ends extend from the outer circumferential surface of the winding reel. The knotting device 10 includes a housing 100, a wire end fixing mechanism 200, a robotic arm (not shown), a main body rotation mechanism 300, a wire-separating fork mechanism 400, a knotting mechanism 500, a wire-throwing mechanism 600, a knotting result detection mechanism 700, a wire diameter detection mechanism 800, a barcode scanning mechanism 900, and a wire breakage mechanism 1000.

[0074] The thread end fixing mechanism 200, robotic arm, main body rotation mechanism 300, thread-separating fork mechanism 400, knotting mechanism 500, wire-throwing mechanism 600, knotting result detection mechanism 700, wire diameter detection mechanism 800, barcode scanning mechanism 900, and wire breakage mechanism 1000 are fixedly installed on the top of the housing 100. The thread end fixing mechanism 200 is used to fix the thread end protruding from the winding reel. The main body rotation mechanism 300 is used to install the winding reel and drive it to rotate, keeping the steel wire between the winding reel and the thread end fixing mechanism 200 taut. The robotic arm is used to replace manual labor in transferring the winding reel with the steel wire and the thread end protruding from it. Specifically, the robotic arm is equipped with a gripper, which can grip the winding reel, thus replacing manual labor in loading and unloading. The robotic arm can also use a gripper to pick up the wire end, thereby replacing manual labor in pulling the wire end to the wire end fixing mechanism 200 for fixing.

[0075] The knotting mechanism 500 is installed between the winding reel and the wire end fixing mechanism 200 at the corresponding position where the wire extends outward from the winding reel when the wire is kept taut. The wire-separating fork mechanism 400 is mounted on the main rotating mechanism 300. The wire-separating fork mechanism 400 is used to pick up two strands of wire from the winding reel, positioning them at the corresponding position of the knotting mechanism 500. The knotting mechanism 500 is used to rotate and knot the two strands of wire picked up by the wire-separating fork mechanism 400. The wire-throwing mechanism 600 and the wire diameter detection mechanism 800 are positioned between the wire end fixing mechanism 200 and the main rotating mechanism 300, along the extension direction of the taut wire (when the two strands of wire picked up by the wire-separating fork mechanism 400 reach the corresponding position of the knotting mechanism 500). The wire breaking mechanism 1000 is installed on the wire throwing mechanism 600. After the wire throwing mechanism 600 clamps and fixes the steel wire, the wire breaking mechanism 100 melts the taut steel wire between the wire throwing mechanism 600 and the main rotating mechanism 300, and the wire throwing mechanism 600 throws the melted wire end into the waste wire spool. The wire diameter detection mechanism 800 is used to detect the diameter of the taut steel wire. The knotting result detection mechanism 700 is set at the corresponding position in the space between the knotting mechanism 500 and the main rotating mechanism 300 (i.e., the space where the knotting mechanism 500 is located when rotating the winding wheel on the main rotating mechanism 300 to knot), and is used to detect the result of rotation and knotting to determine whether the knotting is successful and whether the knotting effect is qualified.

[0076] Figure 3 for Figure 1 A three-dimensional structural diagram of the central rotating mechanism 300. (See diagram below.) Figure 1 As shown, the main rotating mechanism 300 includes a fourth connecting plate 310, a connecting shaft 320, a pad 330, a first motor 340, and a first reducer 350. The fourth connecting plate 310 is fixedly mounted on the housing 100, and the connecting shaft 320 is vertically mounted on the fourth connecting plate 310, allowing it to rotate on the fourth connecting plate 310 around its axis. The connecting shaft 320 is used to mount a winding reel; specifically, a circular connecting hole is provided at the axis of the winding reel, through which the connecting shaft 320 can pass. The connecting shaft 320 is an air-expansion shaft, allowing for secure connection or separation from the winding reel after installation by changing its diameter. The pad 330 is a circular plate, fixedly mounted in the middle of the connecting shaft 320, with the axis of the connecting shaft 320 perpendicular to the pad 330. After the robotic arm places the winding reel on the connecting shaft 320 (which is inserted into the connecting hole) using its gripper, the winding reel falls onto the pad 330 under its own weight, and the pad 330 positions the winding reel in the vertical direction.

[0077] The first motor 340 is fixedly mounted on the fourth connecting plate 310 via the first reducer 350. The first motor 340 is connected to the connecting shaft 320 via the first reducer 350. The first reducer 350 reduces the output speed of the first motor 340 to drive the connecting shaft 320 to rotate. The first motor 340 is a servo motor, which can drive the connecting shaft 320 to rotate, thereby keeping the steel wire between the main rotating mechanism 300 and the wire end fixing mechanism 200 taut.

[0078] Specifically, the winding reel is mounted on the connecting shaft 320. During the process of the robotic arm gripping the wire and pulling the wire end to the wire end fixing mechanism 200 for fixing, the first motor 340 drives the connecting shaft 320 to rotate, thereby driving the winding reel to release the corresponding length of wire. After the wire end fixing mechanism 200 has completely fixed the wire end, the first motor 340 drives the connecting shaft 320 to rotate, thereby driving the winding reel to coil the wire, thus keeping the wire between the wire end fixing mechanism 200 and the main rotating mechanism 300 taut.

[0079] In addition, during the process of picking up two strands of steel wire on the winding wheel, the wire-picking fork mechanism 400 can drive the connecting shaft 320 to rotate via the first motor 340, thereby driving the winding wheel to release steel wire of a corresponding length. This allows the two strands of steel wire picked up to be separated from the tightly wound steel wire on the winding wheel, thus reducing the difficulty of picking up the wire by the wire-picking fork mechanism 400.

[0080] Figure 4 for Figure 1 One of the partial structural diagrams of the center-separation fork mechanism 400. Figure 5 for Figure 1 The second schematic diagram of the partial structure of the wire-separating fork mechanism 400 shows a part of the structure of the wire-separating fork mechanism 400. The other part of the wire-separating fork mechanism 400 is as follows: Figure 3 As shown. By Figures 3-5 As shown, the wire-blocking fork mechanism 400 includes a wire-blocking fork 410, a third connecting plate 420, a second motor 430, a second reducer 440, a first moving rod 450, a spring 460, a second moving rod 470, and a second drive cylinder 480.

[0081] The third connecting plate 420 is rotatably mounted on the connecting shaft 320 of the main rotating mechanism 300, about the connecting shaft 320, and is located between the pad 330 and the fourth connecting plate 310. The second motor 430 is driven by the third connecting plate 420 and drives the third connecting plate 420 to rotate. The second motor 430 is a servo motor and is fixedly mounted on the fourth connecting plate 310 through the second reducer 440. The second motor 430 is driven by the third connecting plate 420 through the second reducer 440, which reduces the output speed of the second motor 430 to drive the third connecting plate 420 to rotate.

[0082] The first moving rod 450 is vertically mounted on the third connecting plate 420. A wire-retaining fork 410 is fixedly connected to the upper end of the first moving rod 450, and the lower end passes through the third connecting plate 420, slidingly connected to the third connecting plate 420 in the vertical direction. A first abutment portion 451, a circular plate-shaped component, protrudes from the outer circumferential surface of the first moving rod 450. A spring 460 is sleeved on the first moving rod 450, located between the third connecting plate 420 and the wire-retaining fork 410, driving the wire-retaining fork 410 to move away from the third connecting plate 420. Two second moving rods 470 are vertically mounted, located on either side of the first moving rod 450. The upper end of the second moving rod 470 is fixedly connected to the wire-retaining fork 410, and the lower end passes through the third connecting plate 420, slidingly connected to the third connecting plate 420 in the vertical direction. The lower end of the second moving rod 470 is provided with a second abutment portion 471, which is a circular plate-shaped component that protrudes from the outer peripheral surface of the second moving rod 470. The distance between the first abutment portion 451 and the third connecting plate 420 is greater than the distance between the second abutment portion 471 and the third connecting plate 420, so that when the second abutment portion 471 abuts against the third connecting plate 420, a space is left between the first abutment portion 451 and the third connecting plate 420 for the pressure plate 481 to extend into.

[0083] The second drive cylinder 480 is fixedly installed on the top of the housing 100, at the position corresponding to the knotting mechanism 500. The second drive cylinder 480 has a drive rod extending vertically upward, and a horizontal pressure plate 481 is provided at the end of the drive rod. The second motor 430 drives the third connecting plate 420 to rotate, so that when the wire-holding fork 410 on the third connecting plate 420 rotates to the position corresponding to the knotting mechanism 500, the pressure plate 481 is between the first abutment part 451 and the third connecting plate 420. That is, the pressure plate 481 moves downward under the drive of the second drive cylinder 480, which can press the first abutment part 451 to move downward, thereby driving the first moving rod 450 and the wire-holding fork 410 to move downward.

[0084] Figure 6 A breakdown diagram of the wire-picking action performed by the wire fork 410. (See diagram below.) Figure 6As shown, the direction in which the second motor 430 drives the wire-retaining fork 410 to rotate is opposite to the winding direction of the wire wound on the reel. Therefore, by rotating the wire-retaining fork 410 around the connecting shaft 320, the wire-retaining fork 410 can lift the wire in the space between the taut wire and the reel, allowing the wire-retaining fork 410 to enter the wound wire and drive the coil of wire wound on the reel to separate from the reel. The wire-picking fork 410 is fork-shaped with two vertically extending plugs 411, spaced a certain distance apart. When the wire-picking fork 410 rotates to the position corresponding to the knotting mechanism 500, and two strands of wire are picked up between the two plugs 411 (the first strand is the wire located between the two plugs 411 when the wire-picking fork 410 just enters between the wire and the winding reel; the second strand is the wire separated from the winding reel after one rotation of the wire-picking fork 410), the wire-picking step is completed. The knotting gripper 550 of the knotting mechanism 500 can then clamp and fix the two strands of wire between the two plugs 411. After clamping and fixing, the second drive cylinder 480 can drive the first moving rod 450 and the wire-picking fork 410 downwards via the pressure plate 481. After the knotting mechanism 500 has finished clamping the two steel wires, the wire fork 410 is separated from the steel wires to make room for the knotting mechanism 500 to drive the two steel wires to rotate and knot.

[0085] Figure 7 for Figure 1 A three-dimensional structural diagram of the center line head fixing mechanism 200. (See diagram below.) Figure 7As shown, the wire end fixing mechanism 200 includes a third drive cylinder 210, a sliding bracket 220, a first guide rail 230, a fourth drive cylinder 240, an outer sleeve 250, and a clamping end 260. The third drive cylinder 210 is fixedly mounted on the top of the housing 100 and has a drive rod extending along the direction of the taut steel wire. The first guide rail 230 is mounted on the top of the housing 100, located near the third drive cylinder 210, and extends along the direction of the taut steel wire. The sliding bracket 220 is mounted on the first guide rail 230 and slidably connected to it. The sliding bracket 220 is fixedly connected to the drive rod of the third drive cylinder 210, allowing the third drive cylinder 210 to drive the sliding bracket 220 to slide along the first guide rail 230. The fourth drive cylinder 240 is fixedly mounted on the sliding bracket 220 and has a drive rod extending vertically upwards. The outer sleeve 250 is a cylindrical component that is fitted onto the drive rod of the fourth drive cylinder 240, with its lower end fixedly connected to the body of the fourth drive cylinder 240. The drive rod of the fourth drive cylinder 240 protrudes from the upper end of the outer sleeve 250, and the clamping end 260 is fixedly installed on the upper end of the drive rod of the fourth drive cylinder 240. The diameter of the clamping end 260 is the same as the diameter of the outer sleeve 250, that is, larger than the diameter of the drive rod of the fourth drive cylinder 240. The fourth drive cylinder 240 drives the clamping end 260 to descend, thereby clamping and fixing the steel wire located between the outer sleeve 250 and the clamping end 260.

[0086] In use, the robotic arm uses a gripper to hold the wire end and pull it to the corresponding position of the wire end fixing mechanism 200, so that the wire abuts against the drive rod of the fourth drive cylinder 240. After the wire is in the space between the outer sleeve 250 and the clamping end 260, the fourth drive cylinder 240 drives the clamping end 260 to descend, clamping and fixing the wire end. The third drive cylinder 210 can also drive the sliding bracket 220 to slide on the first guide rail 230, so that the position of the wire end fixing can be adjusted as needed.

[0087] like Figure 7As shown, the sliding bracket 220 includes a fifth connecting plate 221, a connecting rod 222, and a sixth connecting plate 223. The fifth connecting plate 221 is vertically arranged, with its lower end slidably connected to the first guide rail 230. The fifth connecting plate 221 is fixedly connected to the end of the drive rod of the third drive cylinder 210, enabling the third drive cylinder 210 to drive the fifth connecting plate 221 to slide along the first guide rail 230. The connecting rod 222 is parallel to the drive rod of the third drive cylinder 210 and offset from the third drive cylinder 210 by a certain position in the horizontal direction. One end of the connecting rod 222 is fixedly connected to the fifth connecting plate 221, and the other end is fixedly connected to the sixth connecting plate 223. The sixth connecting plate 223 is vertically arranged, with a fourth drive cylinder 240 fixedly mounted on its upper end and its lower end slidably connected to the first guide rail 230, allowing the sixth connecting plate 223 to slide along the first guide rail 230 via the connecting rod 222 and the fifth connecting plate 221. The sixth connecting plate 223 and the body of the third drive cylinder 210 are located on the same side of the fifth connecting plate 221, which makes the structure of the wire end fixing mechanism 200 more compact and reduces the space required for the installation of the wire end fixing mechanism 200.

[0088] Figure 8 for Figure 1 A schematic diagram of the orthographic projection of one side of the wire-throwing mechanism 600 and the wire-breaking mechanism 1000. Figure 9 for Figure 1 A schematic diagram of the orthographic projection of the other side of the wire-throwing mechanism 600 and the wire-breaking mechanism 1000. (See attached diagram.) Figure 8 , Figure 9 As shown, the wire-throwing mechanism 600 includes a first connecting plate 610, a second connecting plate 620, a first drive cylinder 630, a clamp 650, and a second guide member 670. The wire-breaking mechanism 1000 includes a fuse 1010, a first guide member 1020, and a switching cylinder 1030. The first connecting plate 610 is vertically fixed to the top of the housing 100. One end of the second connecting plate 620 is hinged to the upper end of the first connecting plate 610. The first drive cylinder 630 is installed at the hinged position between the first connecting plate 610 and the second connecting plate 620, and is used to drive the second connecting plate 620 to rotate on the first connecting plate 610. The fuse 1010 is fixedly installed at the other end of the second connecting plate 620. When the second connecting plate 620 rotates to a horizontal position, so that the other end of the second connecting plate 620 is close to the taut wire, the fuse 1010 is positioned corresponding to the taut wire. Specifically, the opening of the fuse 1010 is set vertically downward. When the fuse 1010 is rotated from top to bottom to a horizontal position with the second connecting plate 620, the taut steel wire can enter the fuse 1010 through the opening so that the steel wire can be melted after the fuse 1010 is opened.

[0089] The switch 1011 of the fuse 1010 is exposed at the corresponding position at the other end of the second connecting plate 620. The switch cylinder 1030 is installed on the second connecting plate 620 and is located at the corresponding position of the switch 1011 of the fuse 1010. The switch cylinder 1030 can press the switch 1011 of the fuse 1010 through the drive rod extending toward the switch 1011, thereby realizing the automatic opening and closing of the fuse 1010.

[0090] The clamp 650 is installed in a similar position to the fuse 1010, except that the clamp 650 and the fuse 1010 are both positioned along the extension direction of the taut steel wire at the other end of the second connecting plate 620, with the clamp 650 located closer to the wire end fixing mechanism 200. This allows the clamp 650 to function similarly to the fuse 1010, enabling the taut steel wire to enter the clamp 650 through its opening when the clamp 650 rotates downwards with the second connecting plate 620 to a horizontal position, thus clamping and fixing the wire end. In addition, since the clamp 650 is located near the wire end fixing mechanism 200, after the fuse 1010 melts the steel wire, the wire end that is separated by the fuse can be clamped and fixed on the clamp 650. By controlling the rotation of the second connecting plate 620, the clamp 650 is rotated to the top of the waste wire drum on the side of the wire throwing mechanism 600 away from the taut steel wire. Thus, after the clamp 650 releases its grip on the separated wire end, the separated wire end falls into the waste wire drum, which facilitates the collection of waste materials.

[0091] like Figure 8 , Figure 9 As shown, the first guide member 1020 and the second guide member 670 are fixedly mounted on the second connecting plate 620. The first guide member 1020 is located on the side corresponding to the fuse 1010, and the second guide member 670 is located on the side corresponding to the clamp 650. The first guide member 1020 is provided with a first guide channel 1021, and the second guide member 670 is provided with a second guide channel. The guide channels on the first guide member 1020 and the second guide member 670 extend along the opening direction of the fuse 1010 and the clamp 650, respectively. One end of the first guide channel 1021 communicates with the opening of the fuse 1010, and the other end is flared and located at the corresponding position of the taut steel wire. One end of the second guide channel communicates with the opening of the clamp 650, and the other end is flared and located at the corresponding position of the taut steel wire. When the fuse 1010 and the clamp 650 rotate from top to bottom to the horizontal position with the second connecting plate 620, the taut steel wire can enter the fuse 1010 and the clamp 650 through the opening under the guidance of the first guide member 1020 and the second guide member 670.

[0092] Figure 10 for Figure 1 A side view of the 800-type wire diameter detection mechanism. Figure 10 As shown, the wire diameter detection mechanism 800 includes a second guide rail 810, a seventh connecting plate 820, a fifth drive cylinder 830, and a diameter gauge 840. The second guide rail 810 is fixedly installed on the top of the housing 100 and is horizontally arranged perpendicular to the extension direction of the taut steel wire. The seventh connecting plate 820 is vertically arranged, with its lower end slidably connected to the second guide rail 810, and the diameter gauge 840 fixedly installed on its upper end facing the taut steel wire. The fifth drive cylinder 830 is fixedly installed on the top of the housing 100 and has a drive rod extending along the second guide rail 810. The drive rod of the fifth drive cylinder 830 is fixedly connected to the seventh connecting plate 820, thereby enabling the fifth drive cylinder 830 to drive the seventh connecting plate 820 and the diameter gauge 840 to move closer to / away from the taut steel wire along the second guide rail 810. The diameter gauge 840 is an ultra-fine wire laser diameter gauge. The diameter gauge 840 is equipped with a detection component 841. The detection component 841 has a channel at a position corresponding to the taut steel wire, and the channel has a flared opening at the end facing the steel wire. Therefore, when the fifth drive cylinder 830 drives the diameter gauge 840 to move towards the steel wire, the taut steel wire can enter the channel through the opening on the detection component 841, allowing the gauge to detect the diameter of the steel wire.

[0093] Figure 11 for Figure 1 A three-dimensional structural diagram of the knotting mechanism 500. (See diagram below.) Figure 11As shown, the knotting mechanism 500 includes a third guide rail 510, a sixth drive cylinder 520, an eighth connecting plate 530, a seventh drive cylinder 540, a knotting gripper 550, and an eighth drive cylinder 560. The third guide rail 510 is horizontally mounted on the top of the housing 100 and extends towards the axis of the connecting shaft 320. The eighth connecting plate 530 is mounted on the third guide rail 510 and slidably connected to it. The sixth drive cylinder 520 is fixedly mounted on the third guide rail 510 and has a drive rod extending along the extension direction of the third guide rail 510. The drive rod of the sixth drive cylinder 520 is fixedly connected to the eighth connecting plate 530, driving the eighth connecting plate 530 to slide on the third guide rail 510. The seventh drive cylinder 540 is mounted on the eighth connecting plate 530 via a horizontally arranged rotating shaft, allowing the seventh drive cylinder 540 to rotate on the eighth connecting plate 530. The knotting gripper 550 is mounted on the seventh drive cylinder 540, positioned corresponding to the two raised steel wires. The seventh drive cylinder 540 drives the knotting gripper 550 to close / open, thereby clamping and releasing the two steel wires. The eighth drive cylinder 560 is fixedly mounted on the eighth connecting plate 530. The eighth drive cylinder 560 is a rotary cylinder with a drive shaft extending along the rotation axis. A small pulley is mounted on the drive shaft, and a large pulley is mounted on the rotation shaft. A belt connects the small pulley and the large pulley, allowing the seventh drive cylinder 540 and the knotting gripper 550 to rotate under the drive of the eighth drive cylinder 560. Thus, after the knotting gripper 550 clamps and fixes the two steel wires, the steel wires can be rotated and knotted under the drive of the eighth drive cylinder 560.

[0094] Furthermore, the length of the knotting gripper 550 is 5 to 10 times the diameter of the material. This reduces the difficulty of the knotting gripper 550 in clamping and fixing the material, and improves the stability of the knotting gripper when it drives two strands of material to rotate and knot.

[0095] like Figure 1 As shown, the knotting result detection mechanism 700 includes a knotting result detection camera 710 and a knotting result detection backlight 720. The knotting result detection camera 710 is positioned facing the rotating knotting location to detect whether the material is successfully knotted. The knotting result detection backlight 720 is positioned corresponding to the orientation of the knotting result detection camera 710, located on both sides of the main rotating mechanism 300. The knotting result detection backlight 720 is a vertically arranged flat plate, and its color is set to a color significantly different from the steel wire. Therefore, by setting the knotting result detection backlight 720, the knotting position of the material is more clearly and prominently displayed when the knotting result detection camera 710 captures the rotating knotting position. This improves the success rate and accuracy of detection and recognition.

[0096] like Figure 1As shown, the barcode scanning mechanism 900 is fixedly installed at the top of the housing 100, near the knotting mechanism 500. After the knotting mechanism 500 completes the rotational knotting of the steel wire, the robotic arm uses its gripper to remove the winding reel from the main rotating mechanism 300 and moves it above the barcode scanning mechanism 900. The barcode scanning mechanism 900 reads the QR code on the winding reel to obtain information such as the reel's model and the steel wire diameter, and uploads the read information to the computer terminal database for management. The steel wire diameter information obtained by scanning the barcode is the production wire diameter set on the wet drawing machine. After obtaining the wire diameter information by scanning the barcode, it can be compared with the wire diameter detected by the wire diameter detection mechanism 800. If the wire diameter exceeds the error range (e.g., ±5%), the robotic arm places the winding reel at an abnormal workstation for manual handling.

[0097] In summary, the specific steps for knotting the steel wire on the winding reel using the knotting device 10 in Example 1 include:

[0098] Step 1: Loading materials.

[0099] In step 1, the robotic arm uses its gripper to pick up a reel from the reel storage area and transport it to the main rotating mechanism 300. The reel is then placed on the connecting shaft 320, which passes through the connecting hole of the reel. The connecting shaft 320 then expands, increasing its diameter, and securely connects to the reel.

[0100] Step 2: Secure the wire ends.

[0101] In step 2, the robotic arm uses its gripper to pick up the end of the wire extending from the winding reel on the main rotating mechanism 300 and pulls it to the corresponding position on the wire end fixing mechanism 200. During this process, the main rotating mechanism 300 drives the winding reel to rotate and release the wire, ensuring the released wire remains taut. Once the wire reaches the space between the outer sleeve 250 and the clamping end 260 at the wire end fixing mechanism 200, the fourth drive rod drives the clamping end 260 to descend, clamping and fixing the wire end.

[0102] Step 3: Picking out the strands.

[0103] In step 3, the wire-picking fork mechanism 400 drives the wire-picking fork 410 to rotate around the winding reel, picking up the wire from between the taut wire and the winding reel. When the wire-picking fork 410 rotates to the position corresponding to the knotting claw 550 of the knotting mechanism 500, so that the wire between the connecting plug 411 of the wire-picking fork 410 reaches two strands (two rotations), the wire-picking fork 410 is stopped.

[0104] Step 4: Wire diameter detection.

[0105] In step 4, the wire diameter detection mechanism 800 drives the diameter gauge 840 to move toward the taut steel wire, so that the steel wire enters the diameter gauge 840 through the channel on the detection component 841, and the diameter gauge 840 detects the diameter of the steel wire. After the detection is completed, the diameter gauge 840 uploads the detection result to the computer terminal database.

[0106] Step 5: Clamp the two steel wires.

[0107] In step 5, the knotting mechanism 500 drives the knotting claw 550 to move toward the winding wheel, so that the knotting claw 550 extends between the two plugs 411 of the wire fork 410 to clamp and fix the two strands of wire.

[0108] Step 6: Wire polishing.

[0109] In step 6, the wire-throwing mechanism 600 drives the second connecting plate 620 to rotate, causing the taut steel wire to enter the fuse 1010 and the clamp 650. The clamp 650 clamps and fixes the steel wire, and the fuse 1010 melts and cuts the steel wire. Then, the second connecting plate 620 rotates to transfer the molten wire end to the top of the waste wire spool, and the clamp 650 is controlled to release the steel wire, allowing the molten wire end to fall into the waste wire spool.

[0110] Step 7: Twist and tie a knot.

[0111] In step 7, the wire-separating fork mechanism 400 controls the wire-separating fork 410 to descend, separating the wire-separating fork 410 from the two strands of wire held by the knotting gripper 550, thus creating space for rotation and knotting. The knotting mechanism 500 drives the knotting gripper 550 to rotate, thereby driving the two strands of wire held by the knotting gripper 550 to rotate and knot. After knotting, the knotting gripper 550 releases the wire and moves away from the winding reel.

[0112] Step 8: Check the knotting effect.

[0113] In step 8, the knotting result detection camera 710 takes a picture of the position of the knot on the winding reel and judges whether the knotting is successful and whether the knotting quality meets the knotting requirements based on the picture.

[0114] Step 9: Unload the material.

[0115] In step 9, the main rotating mechanism 300 controls the connecting shaft 320 to retract, reducing the diameter of the connecting shaft 320 and thus loosening the winding reel. The robotic arm uses a gripper to grasp the winding reel on the main rotating mechanism 300, transferring it above the barcode scanning mechanism 900 to read the QR code on the winding reel and obtain information such as the reel's model and wire diameter. If the error between the wire diameter obtained by scanning and the wire diameter detected by the wire diameter detection mechanism 800 exceeds ±5%, or if the knotting result detection mechanism 700 detects unsuccessful knotting and the knotting quality does not meet the knotting requirements, the robotic arm places the winding reel in an abnormal station, awaiting manual handling. If the error between the wire diameter obtained by scanning and the wire diameter detected by the wire diameter detection mechanism 800 does not exceed ±5%, and the knotting result detection mechanism 700 detects successful knotting and the knotting quality meets the knotting requirements, the robotic arm places the winding reel in a qualified station, awaiting the next process.

[0116] Example 2

[0117] Another knotting device 10 is also provided in Embodiment 2 of this application. The knotting device 10 in Embodiment 2 differs from the knotting device 10 in Embodiment 1 in that the wire breaking mechanism 1000 in Embodiment 2 is installed on the seventh connecting plate 820 of the wire diameter detection mechanism 800, and is arranged along the extension direction of the taut steel wire with the diameter measuring instrument 840. Furthermore, the fuse 1010 in Embodiment 1 is replaced with a shear. The opening orientation of the shear and the first guide member 1020 is the same as the orientation of the opening on the detection component 841. This allows the taut steel wire to enter the shear under the guidance of the first guide member 1020 when the fuse 1010 and the first guide member 1020 move toward the steel wire under the drive of the fifth drive cylinder 830, and the shear cuts the steel wire.

[0118] In another embodiment, the wire fork 410 can be replaced by a fork-shaped component in Embodiment 1, with a gap-shaped component in the middle for the knotting claw 550 to insert and clamp the two wires at that position.

[0119] In another embodiment, the wire fork mechanism removes the second moving rod from Embodiment 1 and places the second abutment at the other end of the first moving rod, so that the second abutment is located between the first abutment and the third connecting plate.

[0120] In another embodiment, the wire-throwing mechanism can be removed, and the waste wire spool can be placed at the point where the broken wire falls, that is, after the shear cuts off the wire end, the wire end can fall directly into the waste wire spool under the action of gravity.

[0121] Note that the above are merely preferred embodiments and the technical principles employed in this application. Those skilled in the art will understand that this utility model is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the protection scope of this utility model. Therefore, although this application has been described in detail through the above embodiments, this utility model is not limited to the above embodiments. Many other equivalent embodiments may be included without departing from the concept of this utility model, all of which fall within the protection scope of this utility model.

Claims

1. A knotting apparatus for knotting a material, the material being in the form of a thread, wound on a winding wheel, characterized in that, include: Box; A thread-end fixing mechanism is installed on the upper surface of the box body and is used to fix the thread end of the material. A robotic arm, which has a gripper for gripping the thread end of the material and conveying it to the thread end fixing mechanism for fixing; The main rotating mechanism is mounted on the upper surface of the box and has a connecting shaft for mounting the winding wheel and driving the winding wheel to rotate, so that the material located between the winding wheel and the thread fixing mechanism is in a taut state. A wire-separating fork mechanism is installed on the upper surface of the housing and has a wire-separating fork. The wire-separating fork is used to enter the middle of the material wound on the winding reel from between the taut material and the winding reel, and pick up at least two strands of the material. A knotting mechanism is installed on the upper surface of the housing and has a knotting gripper. The knotting gripper is used to clamp at least two strands of the material picked up by the wire fork and rotate and knot them. A wire breaking mechanism is installed on the upper surface of the housing and is positioned between the wire end fixing mechanism and the knotting mechanism. It is used to break the material at the taut part after the knotting mechanism completes the knotting. A wire-throwing mechanism is installed on the upper surface of the housing and is used to transfer the broken-off material to a predetermined position.

2. The knotting device according to claim 1, characterized in that, The wire-scraping mechanism includes: First connecting plate, the first connecting plate is fixedly installed; The second connecting plate is hinged to the first connecting plate; The first driving cylinder is used to drive the second connecting plate to rotate on the first connecting plate; A clamp is disposed on the second connecting plate and located between the wire end fixing mechanism and the wire breaking mechanism; The first drive cylinder drives the second connecting plate to rotate, which in turn drives the clamp to rotate, allowing the material to enter the clamp through the opening of the clamp and clamp and fix the material. After the material is disconnected, the first drive cylinder drives the clamp to rotate, transferring the disconnected material to a predetermined position.

3. The knotting device according to claim 2, characterized in that, It also includes a wire diameter detection mechanism, which is disposed between the wire throwing mechanism and the knotting mechanism, and includes: A guide rail extends in a direction close to / away from the taut material; The seventh connecting plate is disposed on the guide rail and is slidably connected to the guide rail; The fifth drive cylinder is connected to the seventh connecting plate in a transmission manner, and drives the seventh connecting plate to slide on the guide rail; A diameter measuring instrument is installed on the seventh connecting plate. After the material enters the diameter measuring instrument through the opening, the diameter measuring instrument detects the diameter of the material.

4. The knotting device according to claim 3, characterized in that, The wire breaking mechanism includes: A fuse, disposed on the second connecting plate, is arranged parallel to the clamp along the extension direction of the taut material, located on the side of the clamp away from the wire end fixing mechanism. The first drive cylinder drives the second connecting plate to rotate, so that when the material enters the clamp through the opening of the clamp, the material also enters the fuse through the opening of the fuse, whereby the fuse melts the material; or... The fuse is disposed on the seventh connecting plate and is arranged side by side with the diameter measuring instrument along the extension direction of the taut material. When the material enters the diameter measuring instrument through the opening of the diameter measuring instrument, the material enters the fuse through the opening of the fuse and is melted by the fuse.

5. The knotting device according to claim 4, characterized in that, The wire breaking mechanism also includes a first guide member, on which a first guide channel is provided. One end of the first guide channel is connected to the opening of the fuse, and the other end is flared. The taut material enters the first guide channel from the other end of the first guide channel. And / or, The wire-throwing mechanism further includes a second guide member, which has a second guide channel. One end of the second guide channel is connected to the opening of the clamp, and the other end is flared. The taut material enters the second guide channel from the other end of the second guide channel.

6. The knotting device according to any one of claims 1-5, characterized in that, The length of the knotting gripper is 5 to 10 times the diameter of the material.

7. The knotting device according to any one of claims 1-5, characterized in that, The wire fork mechanism also includes: The third connecting plate is rotatably mounted on the main rotating mechanism with the connecting shaft as its axis; The second motor is connected to the third connecting plate in a transmission manner, and drives the third connecting plate to rotate; The first movable rod extends along the axial direction of the connecting shaft, with one end fixedly connected to the wire fork and the other end passing through the third connecting plate and slidingly connected to the third connecting plate along the axial direction of the connecting shaft. The other end of the first movable rod is provided with a first abutting part, which protrudes from the outer peripheral surface of the first movable rod. A spring, which is sleeved on the first moving rod and located between the third connecting plate and the wire fork, drives the wire fork to move in a direction away from the third connecting plate; The second movable rod extends axially along the connecting shaft, with one end fixedly connected to the wire-separating fork and the other end passing through the third connecting plate and slidingly connected to the third connecting plate along the connecting shaft. The other end of the second movable rod is provided with a second abutting portion, which protrudes from the outer circumferential surface of the second movable rod. The distance between the first abutting portion and the third connecting plate is greater than the distance between the second abutting portion and the third connecting plate. When the second abutting portion abuts against the third connecting plate, the wire-separating fork is positioned corresponding to the taut material. The second drive cylinder has a drive rod extending axially along the connecting shaft. A pressure plate is provided at the end of the drive rod. The second motor drives the third connecting plate to rotate so that when the wire fork is in the position corresponding to the knotting claw, the pressure plate is located between the first abutment part and the third connecting plate.

8. The knotting device according to claim 7, characterized in that, There are two second moving rods, and the first moving rod is located between the two second moving rods.

9. The knotting device according to any one of claims 1-5, characterized in that, It also includes a knot-tying result detection agency, which includes: A knotting result detection camera is set towards the position of rotating knotting to detect whether the material is successfully knotted.

10. The knotting device according to claim 9, characterized in that, The knotting result testing organization also includes: A knot-tying result detection backlight is provided, which is positioned corresponding to the orientation of the knot-tying result detection camera and is located on both sides of the main rotating mechanism.

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