CA3216544A1 - String tying machine - Google Patents
String tying machine Download PDFInfo
- Publication number
- CA3216544A1 CA3216544A1 CA3216544A CA3216544A CA3216544A1 CA 3216544 A1 CA3216544 A1 CA 3216544A1 CA 3216544 A CA3216544 A CA 3216544A CA 3216544 A CA3216544 A CA 3216544A CA 3216544 A1 CA3216544 A1 CA 3216544A1
- Authority
- CA
- Canada
- Prior art keywords
- string
- knot
- cable
- wire
- gripper
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 description 3
- 229920000747 poly(lactic acid) Polymers 0.000 description 2
- 239000004626 polylactic acid Substances 0.000 description 2
- 235000002566 Capsicum Nutrition 0.000 description 1
- 240000008067 Cucumis sativus Species 0.000 description 1
- 235000009849 Cucumis sativus Nutrition 0.000 description 1
- 241000196324 Embryophyta Species 0.000 description 1
- 235000007688 Lycopersicon esculentum Nutrition 0.000 description 1
- 241000758706 Piperaceae Species 0.000 description 1
- 240000003768 Solanum lycopersicum Species 0.000 description 1
- 240000006365 Vitis vinifera Species 0.000 description 1
- 235000014787 Vitis vinifera Nutrition 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
Landscapes
- Basic Packing Technique (AREA)
Abstract
A system for tying a string around a horizontal wire, cable, or rod that may be located high above a floor. Any type of string can be used, but the system is optimized for biodegradable string as is commonly used in the greenhouse industry, as well as for tying the slippery half knot, a knot that can be easily released.
Description
Background of the Invention The present invention relates to the field of knot tying using an automated device to tie the knot in a completely automatic fashion. There is a wide variety of knot tying machines being used in various fields, such as fishing hook to fishing line connections, in surgery, in rebar tying, and grape vine tying. While some of these machines are fully automatic, many require some human input. They also tie a limited number of knots, with a limited number of string or wire types. Some strings are harder to tie than others, as the string, if it does not have tightly twisted strands will not allow for back pressure on the string as it will tend to unravel as back pressure (compression loading) is applied. Additionally some strings are slippery and therefore require tighter gripping than others during the tying process. The biodegradable string used in the greenhouse industry is exactly the type of string that is both intolerant of back pressure and is very slippery. Examples of biodegradable string used in the greenhouse industry include; BIO-CORDENKATM, Elite Bio Twine', and PLA yarn (polylactic acid).
Summary of the Invention It is the object of this invention to provide a method for tying a knot in a string that attaches it to an overhead wire, cable, or rod. The type of knot being tied is a slippery half knot which allows for easy release by pulling the end of the string. The string tying device is fully automatic, without the need for human intervention during operation. The primary use of the knot tying device is in the greenhouse industry where strings are used for the plants to grow vertically, there are thousands of such strings used in a greenhouse and currently they are all tied manually. These strings are made of a biodegradable material, so that when the crop is finished the strings and the vines can simply be composted together.
In operation: the following process is carried out:
1. The string tying unit is positioned around the wire or cable at the location along the wire or cable where the string will be tied
Summary of the Invention It is the object of this invention to provide a method for tying a knot in a string that attaches it to an overhead wire, cable, or rod. The type of knot being tied is a slippery half knot which allows for easy release by pulling the end of the string. The string tying device is fully automatic, without the need for human intervention during operation. The primary use of the knot tying device is in the greenhouse industry where strings are used for the plants to grow vertically, there are thousands of such strings used in a greenhouse and currently they are all tied manually. These strings are made of a biodegradable material, so that when the crop is finished the strings and the vines can simply be composted together.
In operation: the following process is carried out:
1. The string tying unit is positioned around the wire or cable at the location along the wire or cable where the string will be tied
2. The U shaped guide is moved forward into position around the wire or cable Date Recue/Date Received 2023-10-14
3. The vacuum tube is moved up into position to collect the string after it passes through the U shaped guide
4. String is feed into the string tying unit by the belt feeder unit, where it goes through the U shaped guide and is collected by the vacuum tube ยจ adequate string is fed to allow for formation of the knot
5. The clamp (inner U) making up one side of the U shaped guide is closed forming a path for the string between the top of the U shaped guide and the vacuum tube which is raised, string is fed into the vacuum tube until there is enough to form a knot and the belt feeder stops. The vacuum tube is lowered and the string is pulled out to form a taught vertical stretch that can be accessed by the slotted jaw gripper.
6. The slotted jaw gripper is then advanced toward the string and then clamps on the string
7. The slotted jaw gripper is then pulled back, raised up to the centerline of the U shaped guide, and then advanced though the U shaped guide
8. The second gripper in line with the slotted jaw gripper is advanced into the slotted jaw gripper's jaws and clamps onto the string with the second gripper, taking the string through the U shaped guide and to the other side forming the shape of the knot. When the second gripper has the string the slotted gripper is released and the slotted gripper retracts
9. The inner U opens outward allowing the string to escape the U shaped guide and go around the wire or cable
10. As the second gripper grabs the string some string remains in the vacuum tube and a loop is formed which will be gripped by the second gripper.
11. The U shaped guide now retracts and the second gripper moves back, the belt feeder runs in reverse to tighten the knot, the tension between the loop in the second Gripper and the reverse pull of the feeder is applied to the drop end of the String forming the knot and causes the tension in the knot. The belt feeder then spools out the length of string required to reach the floor, and the string is cut.
12. The second gripper is then opened and retracted Date Recue/Date Received 2023-10-14
13. The string tying unit is then moved to the next location along the wire or cable In the typical greenhouse environment where tomatoes, peppers, and cucumbers are grown on strings, the strings are tied to a horizontal wire or cable that is suspended between 8 and 15 feet above the floor of the greenhouse. In order to tie the stings to the wire or cable, a transport and lift mechanism is required that can navigate between the rows of strings that are being tied to the wire or cable. It is desirable that this transport and lift mechanism travel along the existing pipe system that is located between the rows and is currently used during the harvesting of the produce. It is also necessary the string tying device, sitting on the lift and transport system, be located at the level of the wire or string, with the ability to adjust its location to center vertically and horizontally on the wire or cable prior to tying the knot. It is also possible that there are two string tying devices mounted on the transport and lift mechanism so that two rows can have strings tied at the same time.
The travel and lift mechanism can be automatically controlled to move onto the pipe system at the start of a row, tie the first string, then move a pre-programmed distance to tie the second string, and so on to the end of the row, where it will reverse out of the row and then move on to the next row, until all rows have strings tied. It will naturally be required that the travel and lift mechanism be stopped from time to time to allow for reloading string, batteries or fuel.
Brief Description of the Drawings These and other objects of the invention will become apparent from reading a detailed description taken in conjunction with the drawings, in which:
FIG. 1 is a drawing showing the string tying machine located around the wire or cable with the U shaped guide extended and the vacuum tube in the up position.
FIG. 2 is a drawing showing the string tying machine after the string has been feed into the vacuum tube.
Date Recue/Date Received 2023-10-14 FIG. 3 is a drawing showing the string tying machine after the vacuum tube and the slotted jaw gripper has been extended, to expose the string to the slotted jaw gripper.
FIG. 4 is a drawing showing the slotted jaw gripper clamped on the string.
FIG. 5 is a drawing showing the slotted jaw gripper clamped on the string, and now in position in the center of the U shaped guide.
FIG. 6 is a drawing showing the second gripper in position to clamp the string between the jaws of the slotted jaw gripper.
FIG. 7 is a drawing showing the second gripper clamping the string while the slotted jaw gripper is ready to release the string and retract.
FIG. 8 is a drawing showing the second gripper clamping the string retracting while the U
shaped guide side opens and the string is released from the guide.
FIG. 9 is a drawing showing the transport and lift device on the greenhouse rails, with the string tying unit located in position around the wire or cable.
Detailed Description With reference to FIG. 1 the string tying machine, 1, is shown positioned around the wire or cable, 2, that the string, 3, will be tied around. It consists of the following key components: a base plate, 4, two flat belts, 5, driven by pulleys, 6 and 7, and passing over idler pulleys, 14, and being tensioned by pulleys, 8, a roller guide assembly, 9, that allows locating relative to the wire Date Recue/Date Received 2023-10-14 or cable, 2, a vacuum tube, 10, a slotted jaw gripper, 11, a U shaped guide, 13, that can open completely on one side, and a second gripper, 15.
The spacing between the two flat belts, 5, is less than the diameter of the string, 3, that passes between them, so that there will be a gripping force generated on the string, 3. While flat belts, 5, are shown, it is also possible to use drive wheels to accomplish the string feeding.
The U shaped guide, 13, is shown in the advanced position around the wire or cable, 2, while the vacuum tube, 10, is shown in its lifted position, ready to catch the string, 3, after it passes through the U shaped guide, 13. The slotted jaw gripper, 11, is shown in its lower retracted position, ready to advance to receive the string, 3, at a future time in the operating cycle.
With reference to FIG. 2 the string tying machine, 20, is shown with the moveable side, 21, of the U shaped guide, 13, in the closed position to guide the string, 3, around the wire or cable, 2.
With reference to FIG. 3 the string tying machine, 25, is shown with the vacuum tube, 10, rotated down out of the way after it has collected the string, 3, the slotted jaw gripper, 11, is now shown in an advanced position, ready to grip the string, 3, which is hanging down between the slotted jaw gripper, 11.
With reference to FIG. 4 the string tying machine, 30, is shown with the slotted jaw gripper, 11, now clamped on the string, 3.
With reference to FIG. 5 the string tying machine, 35, is shown with the slotted jaw gripper, 11, in its upper extended position, having been retracted, lifted, and extended, while gripping the string, 3.
With reference to FIG. 6 the string tying machine, 40, is shown with the second gripper, 15, extended such that its jaws are between the jaws of the slotted jaw gripper, 11.
Date Recue/Date Received 2023-10-14 With reference to FIG. 7 the string tying machine, 45, is shown with the additional gripper, 15, closed on the string, 3, and with the moveable side, 21, of the U shaped guide, 13, opened so that the string, 3, can fall out and touch the wire or cable, 2.
With reference to FIG.8 the string tying machine, 50, the second gripper, 15, then retracts and the belts, 5, driven by pulleys, 6 and 7, are reversed, tightening the knot around the wire or cable, 2. The jaws of the second gripper, 15, are then released and the gripper is retracted.
With reference to FIG. 9 the complete apparatus for use in a greenhouse, 55, consisting of the string tying machine, 1, of FIG. 1, and the transport, 58, and lift mechanism, 57, is shown. An x-y-z table, 56, is used to adjust the precise location of the string tying machine, 1, to the location of the wire or cable, 3. The relative location of the wire, 3, is determined using cameras (not shown) and the location information is used to place the string tying machine, 1, relative to the wire or cable, 3. The transport system, 58, has wheels that run on the rails, 59, that are present between the rows in the greenhouse. The transport system, 58, is fully or partially autonomous and computer controlled to allow tying of the vertical strings, 60, at proper spacing along the wire or cable, 3.
This invention has been described with reference to detailed descriptions of preferred embodiments. The details of the descriptions are given for the sake of explanation only and are not intended as limitations upon the scope and spirit of the appended claims.
Date Recue/Date Received 2023-10-14
The travel and lift mechanism can be automatically controlled to move onto the pipe system at the start of a row, tie the first string, then move a pre-programmed distance to tie the second string, and so on to the end of the row, where it will reverse out of the row and then move on to the next row, until all rows have strings tied. It will naturally be required that the travel and lift mechanism be stopped from time to time to allow for reloading string, batteries or fuel.
Brief Description of the Drawings These and other objects of the invention will become apparent from reading a detailed description taken in conjunction with the drawings, in which:
FIG. 1 is a drawing showing the string tying machine located around the wire or cable with the U shaped guide extended and the vacuum tube in the up position.
FIG. 2 is a drawing showing the string tying machine after the string has been feed into the vacuum tube.
Date Recue/Date Received 2023-10-14 FIG. 3 is a drawing showing the string tying machine after the vacuum tube and the slotted jaw gripper has been extended, to expose the string to the slotted jaw gripper.
FIG. 4 is a drawing showing the slotted jaw gripper clamped on the string.
FIG. 5 is a drawing showing the slotted jaw gripper clamped on the string, and now in position in the center of the U shaped guide.
FIG. 6 is a drawing showing the second gripper in position to clamp the string between the jaws of the slotted jaw gripper.
FIG. 7 is a drawing showing the second gripper clamping the string while the slotted jaw gripper is ready to release the string and retract.
FIG. 8 is a drawing showing the second gripper clamping the string retracting while the U
shaped guide side opens and the string is released from the guide.
FIG. 9 is a drawing showing the transport and lift device on the greenhouse rails, with the string tying unit located in position around the wire or cable.
Detailed Description With reference to FIG. 1 the string tying machine, 1, is shown positioned around the wire or cable, 2, that the string, 3, will be tied around. It consists of the following key components: a base plate, 4, two flat belts, 5, driven by pulleys, 6 and 7, and passing over idler pulleys, 14, and being tensioned by pulleys, 8, a roller guide assembly, 9, that allows locating relative to the wire Date Recue/Date Received 2023-10-14 or cable, 2, a vacuum tube, 10, a slotted jaw gripper, 11, a U shaped guide, 13, that can open completely on one side, and a second gripper, 15.
The spacing between the two flat belts, 5, is less than the diameter of the string, 3, that passes between them, so that there will be a gripping force generated on the string, 3. While flat belts, 5, are shown, it is also possible to use drive wheels to accomplish the string feeding.
The U shaped guide, 13, is shown in the advanced position around the wire or cable, 2, while the vacuum tube, 10, is shown in its lifted position, ready to catch the string, 3, after it passes through the U shaped guide, 13. The slotted jaw gripper, 11, is shown in its lower retracted position, ready to advance to receive the string, 3, at a future time in the operating cycle.
With reference to FIG. 2 the string tying machine, 20, is shown with the moveable side, 21, of the U shaped guide, 13, in the closed position to guide the string, 3, around the wire or cable, 2.
With reference to FIG. 3 the string tying machine, 25, is shown with the vacuum tube, 10, rotated down out of the way after it has collected the string, 3, the slotted jaw gripper, 11, is now shown in an advanced position, ready to grip the string, 3, which is hanging down between the slotted jaw gripper, 11.
With reference to FIG. 4 the string tying machine, 30, is shown with the slotted jaw gripper, 11, now clamped on the string, 3.
With reference to FIG. 5 the string tying machine, 35, is shown with the slotted jaw gripper, 11, in its upper extended position, having been retracted, lifted, and extended, while gripping the string, 3.
With reference to FIG. 6 the string tying machine, 40, is shown with the second gripper, 15, extended such that its jaws are between the jaws of the slotted jaw gripper, 11.
Date Recue/Date Received 2023-10-14 With reference to FIG. 7 the string tying machine, 45, is shown with the additional gripper, 15, closed on the string, 3, and with the moveable side, 21, of the U shaped guide, 13, opened so that the string, 3, can fall out and touch the wire or cable, 2.
With reference to FIG.8 the string tying machine, 50, the second gripper, 15, then retracts and the belts, 5, driven by pulleys, 6 and 7, are reversed, tightening the knot around the wire or cable, 2. The jaws of the second gripper, 15, are then released and the gripper is retracted.
With reference to FIG. 9 the complete apparatus for use in a greenhouse, 55, consisting of the string tying machine, 1, of FIG. 1, and the transport, 58, and lift mechanism, 57, is shown. An x-y-z table, 56, is used to adjust the precise location of the string tying machine, 1, to the location of the wire or cable, 3. The relative location of the wire, 3, is determined using cameras (not shown) and the location information is used to place the string tying machine, 1, relative to the wire or cable, 3. The transport system, 58, has wheels that run on the rails, 59, that are present between the rows in the greenhouse. The transport system, 58, is fully or partially autonomous and computer controlled to allow tying of the vertical strings, 60, at proper spacing along the wire or cable, 3.
This invention has been described with reference to detailed descriptions of preferred embodiments. The details of the descriptions are given for the sake of explanation only and are not intended as limitations upon the scope and spirit of the appended claims.
Date Recue/Date Received 2023-10-14
Claims (6)
1. A
knot tying machine for tying slippery half knots around a wire or cable that is anchored to a greenhouse structure at both ends, through the following steps:
1) Feeding a string around the wire or cable using a U shaped tube, and 2) Pulling the string down using a vacuum tube, and 3) Pulling the string up and around the first portion of the string using grippers, and 4) Pulling the string using grippers through the loop that has been formed, and 5) Pulling the string tight using grippers around the wire or cable;
thereby forming a slippery half knot around the wire or cable.
knot tying machine for tying slippery half knots around a wire or cable that is anchored to a greenhouse structure at both ends, through the following steps:
1) Feeding a string around the wire or cable using a U shaped tube, and 2) Pulling the string down using a vacuum tube, and 3) Pulling the string up and around the first portion of the string using grippers, and 4) Pulling the string using grippers through the loop that has been formed, and 5) Pulling the string tight using grippers around the wire or cable;
thereby forming a slippery half knot around the wire or cable.
2. The knot tying machine of Claim 1 where the string is cut, after the knot is tied to a length adequate to reach the floor of the greenhouse.
3. The knot tying machine of Claim 1, which operates through the following steps:
1) Feeding a string into a U shaped guide with a moveable side that is moved to be located around the cable or wire, and 2) Then feeding a length of the string adequate to later form a knot into a vacuum tube, and 3) Then lowering the vacuum tube so that a tensioned string can be gripped by a slotted jaw gripper, and 4) Then retracting, lifting, and extending the slotted jaw gripper through the U shaped guide, and 5) Then advancing a second gripper into a slot in the slotted jaw gripper, gripping the string, taking the string through the U shaped guide, forming the shape of a knot, and 6) Then the slotted jaw gripper releases the string and retracts, and 7) Then the side of the U shaped guide opens, and the string falls out and is now around the wire or cable, and 8) Then the U shaped tube retracts, and a second gripper retracts, and a belt feeder runs in reverse, tightening the knot, and 9) Then the second gripper opens and retracts, and the completed slippery half knot is then tied around the wire or cable.
1) Feeding a string into a U shaped guide with a moveable side that is moved to be located around the cable or wire, and 2) Then feeding a length of the string adequate to later form a knot into a vacuum tube, and 3) Then lowering the vacuum tube so that a tensioned string can be gripped by a slotted jaw gripper, and 4) Then retracting, lifting, and extending the slotted jaw gripper through the U shaped guide, and 5) Then advancing a second gripper into a slot in the slotted jaw gripper, gripping the string, taking the string through the U shaped guide, forming the shape of a knot, and 6) Then the slotted jaw gripper releases the string and retracts, and 7) Then the side of the U shaped guide opens, and the string falls out and is now around the wire or cable, and 8) Then the U shaped tube retracts, and a second gripper retracts, and a belt feeder runs in reverse, tightening the knot, and 9) Then the second gripper opens and retracts, and the completed slippery half knot is then tied around the wire or cable.
4. A transport and lift system for use in a greenhouse, moving along the greenhouse rails between the plant rows, where the knot tying machine of Claim 1 is mounted on top of the transport and lift system so that it can reach overhead wires or cables and tie strings to them using slippery half knots.
5. The transport and lift system for use in a greenhouse of Claim 4 which is computer or PLC controlled to automatically tie strings using slippery half knots at specified intervals along the wire or cable.
6. The transport and lift system for use in a greenhouse of Claim 4 which has an additional knot tying machine mounted on top of the transport and lift system allowing two wires or cables to have knots tied at the same time.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US202217971963A | 2022-10-24 | 2022-10-24 | |
| US17971963 | 2022-10-24 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA3216544A1 true CA3216544A1 (en) | 2024-04-24 |
Family
ID=90823080
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA3216544A Pending CA3216544A1 (en) | 2022-10-24 | 2023-10-14 | String tying machine |
Country Status (1)
| Country | Link |
|---|---|
| CA (1) | CA3216544A1 (en) |
-
2023
- 2023-10-14 CA CA3216544A patent/CA3216544A1/en active Pending
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