CN111074658A - Automatic rope belt knotting device and method - Google Patents

Abstract

The invention relates to an automatic rope belt knotting device, wherein a rope fixing module is fixed on the outer side wall of a case and used for fixing and restraining a rope belt; the rope pulling module and the rope fixing module are horizontally arranged at intervals and can do translational motion relative to the rope fixing module, and the rope pulling module is used for pulling a rope belt to a preset position; the rope pressing module is matched with the rope pulling module to fold the rope belt in half and pull the folded rope belt to a preset position in the direction of the case; the hot cutting module is arranged above the rope fixing module and is used for cutting off one end of the rope belt close to the rope fixing module; the knotting module is matched with the rope pulling module, the rope pressing module and the hot cutting module to knot the rope belt in a spiral mode; the control module controls the working states of the rope setting module, the rope pulling module, the rope pressing module, the hot cutting module and the knotting module. The automatic rope knot tying device integrates two procedures of rope cutting and rope knot tying, saves production cost and manpower resources, and has high production automation degree and stable and reliable rope knot quality, thereby improving production efficiency and product quality.

Description

Automatic rope belt knotting device and method

Technical Field

The invention relates to the technical field of rope belt product manufacturing, in particular to an automatic rope belt knotting device and method.

Background

With the change of the market, the demand of clothes, bags, outdoor products and the like on the rope is increasing. In order to reduce the cost, the knotted rope belt is directly used in the industry to replace the original rope belt plastic puller. And the mode that current fag end was knoed is generally adopted the manual work to tie a knot, cuts off continuous fag end earlier, and rethread manual operation becomes the knot with fag end fifty percent discount, winding, interlude, tensioning, and this mode of knoing need consume a large amount of manpower resources, and production efficiency is low, and intensity of labour is high, and the quality of knot receives human factor to influence greatly, unstability moreover, has brought the problem that costly, production cycle length and knot quality are unstable for the enterprise. Therefore, the prior art has yet to be developed.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provide the automatic rope knotting device and the automatic rope knotting method which are cost-saving, high in automation degree and stable in rope knotting quality.

In order to achieve the above purpose, the invention provides the following technical scheme:

the invention provides an automatic rope knotting device which comprises a case, a rope fixing module, a rope pulling module, a rope pressing module, a hot cutting module, a knotting module and a control module, wherein the rope fixing module, the rope pulling module, the rope pressing module, the hot cutting module, the knotting module and the control module are arranged on the case;

the rope fixing module is fixed on the outer side wall of the case and used for fixing a restraining rope belt;

the rope pulling module and the rope fixing module are horizontally arranged at intervals, can do translational motion relative to the rope fixing module and is used for pulling a rope belt in the rope fixing module to a preset position;

the rope pressing module is arranged in the case, can perform front-back telescopic motion and up-down translational motion relative to the case, and is used for matching with the rope pulling module to fold the rope belt in half and pull the folded rope belt to a preset position in the direction of the case;

the hot cutting module is arranged above the rope fixing module, can do up-and-down translation motion relative to the rope fixing module and is used for cutting off one end, close to the rope fixing module, of the rope belt;

the knotting module is arranged below the rope fixing module, can perform translational motion relative to the rope fixing module to hook the rope belt, and is used for being matched with the rope pulling module, the rope pressing module and the hot cutting module to knot the rope belt in a spiral mode;

the control module is respectively electrically connected with the rope fixing module, the rope pulling module, the rope pressing module, the hot cutting module and the knotting module and controls the working states of the rope fixing module, the rope pulling module, the rope pressing module, the hot cutting module and the knotting module.

Furthermore, the knotting module comprises a knotting structure, a rotating structure and a first displacement structure, the knotting structure faces the fixed rope module to knot the rope belt, the rotating structure is fixedly connected with the knotting structure and drives the knotting structure to rotate, the first displacement structure is in sliding connection with the knotting structure and the rotating structure and pushes the rotating structure and the knotting structure to move synchronously, the rotating structure comprises a bearing, the bearing comprises a rotating lining and an outer lining sleeved on the rotating lining, a cam is arranged on one end face of the outer lining, the knotting structure comprises a knotting nozzle, a movable chuck, a roller and a locking plate, the knotting nozzle penetrates through the cam and is fixedly connected with the rotating lining, the movable chuck is arranged in the knotting nozzle and forms a movable clamping opening with the knotting nozzle to clamp the rope belt, the locking plate is fixed on one side of the outer lining and forms a movable space with the cam, the roller is fixedly connected with the tail part of the movable chuck and slides in the movable space so as to realize the opening or closing of the movable chuck opening.

Further, the first displacement structure comprises a first fixed plate, a first guide rail, a first air cylinder and a first sliding block, the rotating structure further comprises a second fixed plate, a first motor, a first synchronizing wheel and a second synchronizing wheel, the first fixed plate is fixed on the outer side wall of the case, the first guide rail is fixed on the first fixed plate, the first sliding block slides on the first guide rail and is fixedly connected with the second fixed plate, and the first air cylinder is fixedly connected with the second fixed plate and pushes the second fixed plate and the first sliding block to slide along the first guide rail;

the first motor is fixed on the second fixing plate and fixedly connected with the first synchronizing wheel, the first synchronizing wheel is connected with the second synchronizing wheel through a belt, the second synchronizing wheel is fixedly connected with the rotating lining, and the first motor rotates to drive the first synchronizing wheel to rotate so as to drive the second synchronizing wheel, the rotating lining, the knotting nozzle, the movable chuck and the roller to rotate.

Furthermore, the rope fixing module comprises a rope fixing seat and a positioning part arranged on the rope fixing seat, the positioning part comprises a rope fixing rod, an adjusting screw rod and a first elastic piece, the rope fixing rod is fixed on the upper surface of the rope fixing seat, the adjusting screw rod penetrates through the rope fixing seat and is fixedly connected with the rope fixing rod, the first elastic piece is sleeved on the adjusting screw rod and is abutted to the lower surface of the rope fixing seat, a through groove is formed in the lower portion of the rope fixing seat, and the rope belt penetrates through the through groove and is abutted and fixed by the rope fixing rod.

Further, the rope pulling module comprises a second displacement structure and a rope clamping structure, the second displacement structure comprises a second motor, a first gear, a first rack and a second guide rail, the second motor is meshed with the first rack through the first gear, and the second guide rail is fixed on the outer side wall of the case;

the rope clamping structure comprises a second sliding block, a rope clamping seat, a rope clamping plate and a second air cylinder, the rope clamping plate and the second air cylinder are mounted on the rope clamping seat, the second sliding block is in sliding fit with the second guide rail and is fixedly connected with the first rack, the rope clamping seat is fixedly connected with the second sliding block, and the rope clamping plate is rotatably mounted on the upper surface of the rope clamping seat and forms a rope clamping opening with the rope clamping seat in a surrounding mode for clamping the rope belt;

the second motor drives the first rack to transversely translate and drive the second sliding block to translate so as to drive the rope clamping structure to be close to or far away from the rope fixing module, and the second cylinder is fixedly connected with the rope clamping plate and drives the rope clamping plate to rotate so as to clamp or loosen the rope belt and is used for pulling the rope belt clamp in the rope fixing module to a preset position.

Further, the rope clamping seat is provided with a movable block, a fixed rod and a second elastic piece, the movable block faces towards the rope fixing module and is arranged below the rope clamping opening, the fixed rod penetrates through the rope clamping seat and is fixedly connected with the movable block, and the second elastic piece is sleeved on the fixed rod and is respectively abutted against the movable block and the rope clamping seat.

Furthermore, a positioning groove is formed in one side, facing the rope fixing module, of the movable block, a thimble and a third elastic piece are arranged in the movable block, one end of the thimble is abutted to the third elastic piece, and the other end of the thimble extends out of the positioning groove.

Furthermore, the rope pressing module comprises a third displacement structure, a fourth displacement structure and a rope pressing rod, the third displacement structure and the fourth displacement structure are installed in the case, the rope pressing rod extends out of the case, the third displacement structure comprises a third motor, a second gear, a second rack, a first installation plate and a third guide rail, the first installation plate is fixed on the inner side wall of the case, the third motor is meshed with the second rack through the second gear, and the third guide rail is fixed on the first installation plate;

the fourth displacement structure comprises a third sliding block, a third air cylinder and a positioning plate, the third sliding block slides in the third guide rail, the third air cylinder and the positioning plate are installed on the third sliding block at intervals, the rope pressing rod penetrates through the positioning plate and is fixedly connected with the third air cylinder, a hook-shaped opening is formed in the head of the rope pressing rod, and the direction of the hook-shaped opening is perpendicular downward to hook the rope belt.

Furthermore, the hot-cutting module comprises a fifth displacement structure, a hot-cutting structure and a temperature control structure, the fifth displacement structure comprises a second mounting plate, a fourth cylinder and a fourth guide rail, the second mounting plate is fixed on the outer side wall of the case, and the fourth cylinder and the fourth guide rail are respectively fixed on the second mounting plate;

the hot cutting structure comprises a fourth slider, a fixed support and a blowing cylinder, the fourth slider is in sliding fit with the fourth guide rail and is fixedly connected with the fourth cylinder, the fixed support is fixed on the fourth slider, the blowing cylinder is fixed on the fixed support, a slice is installed at the air outlet of the blowing cylinder, the temperature control structure is electrically connected with the blowing cylinder and controls the temperature of the blowing cylinder, the fourth cylinder drives the blowing cylinder to move downwards, and the slice is close to the rope belt to cut off one end of the rope fixing module.

The invention also provides a knotting method by adopting the automatic rope belt knotting device, which comprises the following steps:

s100, fixing a rope belt: the rope belt passes through the through groove and is restrained and fixed by the rope fixing rod;

s200, pulling the rope belt to a preset position: the second cylinder drives the rope clamping plate to rotate so as to open the rope clamping opening, the second motor drives the first rack to move and drive the rope clamping structure to approach the rope fixing module, the second cylinder drives the rope clamping plate to rotate and close the rope clamping opening so as to clamp the rope belt, and the second motor drives the first rack and drives the rope clamping structure to be far away from the rope fixing module;

s300, folding the rope: the third motor drives the second rack to move and drives the rope pressing rod to move downwards, the rope pressing rod presses the rope belt and drives the rope belt to move downwards, after the rope belt moves downwards to a preset position, the second motor drives the first rack to move and drives the rope clamping structure to approach the rope fixing module, and the rope belt is in a double-folded double-strand state;

s400, rope belt inclination: the first cylinder drives the second fixing plate and the first sliding block to slide towards the rope fixing module and drives the knotting nozzle to hook the rope belt, and then the third cylinder drives the rope pressing rod to retract towards the case to slant the rope belt;

s500, twisting the rope belt: the first motor drives the bearing to rotate for the first time and drives the knotting nozzle, the movable chuck and the roller to rotate, meanwhile, the rope pressing rod moves upwards under the driving of the third motor, the rope belt is twisted into a spiral ring along the front end of the knotting nozzle, then the roller is extruded by the outer curved surface of the cam to open the movable chuck, and the spiral ring of the rope belt slides into the movable chuck;

s600, forming a rope belt head: the third cylinder drives the rope pressing rod to stretch out and reset, then the fourth cylinder drives the blowing cylinder and the slicing piece to move towards the rope fixing module, one end, close to the rope fixing module, of the rope belt is cut off to form a rope belt head, the second cylinder drives the rope clamping plate to rotate to loosen the rope belt, and the second motor drives the rope clamping structure to reset;

s700, knotting the rope belt: the first motor drives the bearing to rotate for the second time and drives the knotting nozzle, the movable chuck and the roller to rotate, the roller is extruded by the inner curved surface of the locking plate to close the movable chuck so as to clamp the rope head, and meanwhile, the rope pressing rod moves downwards under the driving of the third motor to twist and bring the rope head into the spiral coil to form a knot;

s800, tensioning and separating the knot: the first motor drives the bearing to rotate for the third time and drives the knotting nozzle, the movable chuck and the idler wheel to rotate, the opening direction of the knotting nozzle and the opening direction of the movable chuck are perpendicular downward, meanwhile, the rope pressing rod moves downwards under the driving of the third motor to strain the knot, the knot is driven to extrude the movable clamping opening to be opened, and then the rope belt is pulled to be separated from the movable clamping opening.

The technical scheme of the invention has the following beneficial effects:

according to the automatic rope knot tying device, the rope fixing module, the rope pulling module, the rope pressing module, the hot cutting module, the knot tying module and the control module are arranged, so that two procedures of rope tape cutting and knot tying are integrated, the production cost and the manpower resource are saved, the production automation degree is high, the knot quality is stable and reliable, and the production efficiency and the product quality are improved.

Drawings

FIG. 1 is a schematic structural view of an automatic string knotting apparatus according to the present invention;

FIG. 2 is a schematic structural view of a rope-determining module of the present invention;

FIG. 3 is an exploded view of FIG. 2;

FIG. 4 is a schematic structural view of a pull cord module of the present invention;

FIG. 5 is an exploded view of the cord clamping arrangement of the present invention;

FIG. 6 is a schematic view of the movable block and the rope clamping seat of the present invention;

FIG. 7 is a schematic structural view of a tether module of the present invention;

FIG. 8 is an exploded view of FIG. 7;

FIG. 9 is a schematic structural view of a hot cutting module of the present invention;

FIG. 10 is an exploded view of FIG. 9;

FIG. 11 is a schematic structural view of a knotting module of the present invention;

FIG. 12 is an enlarged view of A in FIG. 11;

FIG. 13 is a structural schematic view of another angle of a knotting module of the present invention;

FIG. 14 is a flow chart of a knotting method of the present invention;

the reference numbers illustrate:

100-rope belt automatic knotting device, 101-case, 10-rope fixing module, 11-rope fixing seat support, 111-through groove, 12-positioning part, 121-rope fixing rod, 122-adjusting screw rod, 123-first elastic piece, 20-rope pulling module, 21-second displacement structure, 211-second motor, 212-first rack, 213-second guide rail, 214-first gear, 22-rope clamping structure, 221-second slider, 222-rope clamping seat, 2221-movable block, 2222-fixed rod, 2223-second elastic piece, 2224-positioning groove, 2225-thimble, 2226-third elastic piece, 223-rope clamping plate, 224-second cylinder, 225-rope clamping port, 30-rope pressing module, 31-third displacement structure, 311-a third motor, 312-a second rack, 313-a first mounting plate, 3134-a third guide rail, 32-a fourth displacement structure, 321-a third slide block, 322-a third cylinder, 323-a positioning plate, 33-a rope pressing rod, 331-a hook-shaped opening, 34-a first sensing structure, 40-a hot cutting module, 41-a fifth displacement structure, 411-a second mounting plate, 412-a fourth cylinder, 413-a fourth guide rail, 42-a hot cutting structure, 421-a fourth slide block, 422-a fixed support, 423-a blowing cylinder, 424-slices, 50-a knotting module, 51-a knotting structure, 511-a knotting nozzle, 512-a movable chuck, 513-a roller, 514-a locking plate, 52-a rotating structure, 521-a bearing, 5212-outer liner, 5213-cam, 522-second fixed plate, 523-first motor, 524-synchronous wheel one, 525-synchronous wheel two, 526-belt, 53-first displacement structure, 531-first fixed plate, 532-first guide rail, 533-first cylinder, 534-first sliding block, 54-second induction structure.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In the present invention, unless expressly stated or limited otherwise, the terms "connected," "secured," and the like are to be construed broadly, and for example, "connected" may be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.

Referring to fig. 1 to 13, the present invention provides an automatic rope knot-tying device 100, including a case 101, and a rope-fixing module 10, a rope-pulling module 20, a rope-pressing module 30, a hot-cutting module 40, a knot-tying module 50, and a control module 60, which are disposed on the case 101;

the rope fixing module 10 is fixed on the outer side wall of the case 101 and used for fixing and restraining a rope belt, and the exposed length of the rope belt is about 7mm, so that the rope belt can be conveniently clamped by the rope pulling module 20;

the rope pulling module 20 and the rope fixing module 10 are horizontally arranged at an interval and can make translational motion relative to the rope fixing module 10, and are used for pulling a rope belt in the rope fixing module 10 to a preset position, namely the rope pulling module 20 and the rope fixing module 10 are fixed on the same outer side wall of the case 101 at an interval, and the rope belt is pulled to the preset position so as to avoid a moving area of the rope pressing module 30;

the rope pressing module 30 is arranged in the case 101, can perform front-back telescopic motion and up-down translational motion relative to the case 101, and is used for matching with the rope pulling module 20 to fold the rope belt in half and pull the folded rope belt to a preset position in the direction of the case 101; firstly, the rope belt is clamped by the rope pulling module 20 to move transversely to reach a preset position, then the rope pressing module 30 translates downwards to be in contact with the rope belt and drive the rope belt to move downwards, so that the movement track of the rope belt is changed, and meanwhile, the rope pulling module 20 translates towards the direction 10 of the rope fixing module to fold the rope belt in half; the rope pressing rod 33 hooks the rope belt and retracts toward the case 101 to be pulled to a preset position.

The hot cutting module 40 is arranged above the rope fixing module 10 and can move up and down in a translation manner relative to the rope fixing module 10, and is used for cutting off one end of the rope belt close to the rope fixing module 10 and melting fibers at the notch of the rope belt, so that the fibers are mutually fused, and the notch of the rope belt is ensured not to be loose;

the knotting module 50 is arranged below the rope fixing module 10, can perform translational motion relative to the rope fixing module 10 to hook the rope belt, and is used for being matched with the rope pulling module 20, the rope pressing module 30 and the hot cutting module 40 to knot the rope belt in a spiral mode;

the control module 60 is electrically connected with the rope fixing module 10, the rope pulling module 20, the rope pressing module 30, the hot cutting module 40 and the knotting module 50 respectively and controls the working states of the rope fixing module 10, the rope pulling module 20, the rope pressing module 30, the hot cutting module 40 and the knotting module 50, the running sequence, the running speed and the running distance of each module can be controlled, manual operation is not needed, a large amount of human resources are saved, and automatic production is facilitated.

According to the automatic rope knot tying device 100, the rope fixing module 10, the rope pulling module 20, the rope pressing module 30, the hot cutting module 40, the knot tying module 50 and the control module 60 are arranged, so that two rope cutting and knot tying processes are integrated, the structure is simple, the assembly is easy, the production cost and the human resource are saved, the production automation degree is high, the knot quality is stable and reliable, and the production efficiency and the product quality are improved.

In this embodiment, in order to fix and restrain the rope belt neatly and orderly the rope fixing module 10, a rope belt seat support and a guide support with a round hole are arranged in front of the rope fixing module 10, the rope belt seat wound with the rope belt is installed on the rope belt seat support, the rope belt can flexibly rotate and then passes through the round hole of the guide support, and therefore the movement track of the rope belt is guaranteed to be neat and orderly without confusion.

Referring to fig. 11 to 13, the knotting module 50 includes a knotting structure 51, a rotating structure 52 and a first displacement structure 53, the knotting structure 51 faces the rope fixing module 10 to knot the rope belt, the rotating structure 52 is fixedly connected with the knotting structure 51 and drives the knotting structure 51 to rotate, the first displacement structure 53 is connected with the knotting structure 51 and the rotating structure 52 in a sliding way and pushes the rotating structure 52 and the knotting structure 51 to move synchronously, the rotating structure 52 comprises a bearing 521, the bearing 521 comprises a rotating inner liner and an outer liner 5212 sleeved on the rotating inner liner, one end surface of the outer liner 5212 is provided with a cam 5213, the knotting structure 51 comprises a knotting nozzle 511, a movable jaw 512, a roller 513 and a locking plate 514, the knotting nozzle 511 is in a hook duckbill shape, so that the movement of the rope belt in the knotting nozzle 511 is limited, and the movement track of the rope belt is controlled; knotting mouth 511 passes cam 5213 with rotatory inside lining fixed connection, be equipped with in the activity chuck 512 in knotting mouth 511 and with knotting mouth 511 encloses into the activity and presss from both sides the mouth with the centre gripping the fag end, activity chuck 512 is installed in knotting mouth's dead slot to the screw rod round pin axle can move about as the fulcrum, during the atress with knotting mouth 511 forms and opens or the closed state, locking plate 514 is fixed in outer lining 5213 one side and with cam 5213 encloses into a activity space, gyro wheel 513 with the afterbody fixed connection of activity chuck 512 and in slide in the activity space to realize opening or the closure of activity clamp mouth. Wherein, when the roller 513 is limited and pressed by the locking plate 514, the movable nip is in a closed state; when the roller 513 is pressed by the restriction of the cam 5213, the movable nip is in an open state; when the roller is in an unstressed free state, the movable clamping opening can be easily squeezed open under the action of squeezing and pulling force of the rope belt. The roller 513 controls the opening or closing of the movable clamping opening, and the structure is simple and easy to install.

In this embodiment, the locking plate 514 is mounted on the outer liner 5212 of the bearing 521 through a spring and a screw, and when the roller 513 is pressed, the roller 513 is buffered by the compression elasticity of the spring, and thus rolls smoothly.

Preferably, with continuing reference to fig. 11 and 13, the first displacement structure 53 includes a first fixed plate 531, a first guide rail 532, a first cylinder 533 and a first sliding block 534, the rotating structure further includes a second fixed plate 522, a first motor 523, a first synchronizing wheel 524 and a second synchronizing wheel 525, the first fixed plate 531 is fixed on the outer side wall of the chassis 101, the first guide rail 532 is fixed on the first fixed plate 531, the first sliding block 534 slides on the first guide rail 532 and is fixedly connected with the second fixed plate 522, the first cylinder 533 is fixedly connected with the second fixed plate 522 and pushes the second fixed plate 522 and the first sliding block 534 to slide along the first guide rail 532;

the first motor 523 is fixed on the second fixing plate 522 and is fixedly connected with the first synchronizing wheel 524, the first synchronizing wheel 524 is connected with the second synchronizing wheel 525 through a belt 526, the second synchronizing wheel 525 is fixedly connected with the rotary lining, and the first motor 523 rotates to drive the first synchronizing wheel 524 to rotate so as to drive the second synchronizing wheel 525, the rotary lining, the knotting nozzle 511, the movable chuck 512 and the roller 513 to rotate. The first motor 523 drives the bearing 521 to rotate for the first time and drives the knotting nozzle 511, the movable chuck 512 and the roller 513 to rotate, the rope pressing module 30 moves upwards at the same time, the rope belt is twisted into a spiral loop along the front end of the knotting nozzle 511, then the roller 513 is extruded by the outer curved surface of the cam 5213 to open the movable chuck 512, and the spiral loop of the rope belt slides into the movable chuck; the first motor 523 drives the bearing 521 to rotate for the second time and drives the knotting nozzle 511, the movable chuck 512 and the roller 513 to rotate, the roller 513 is squeezed by the inner curved surface of the locking plate 514 to close the movable chuck so as to clamp the rope head, and meanwhile, the rope pressing module 30 moves downwards to twist and bring the rope head into the spiral coil to form a knot; the first motor 523 drives the bearing 521 to rotate for the third time and drives the knotting nozzle 511, the movable chuck 512 and the roller 513 to rotate, at this time, the knotting nozzle 511 is perpendicular to the opening direction of the movable chuck 512 downward, and meanwhile, the rope pressing module 30 moves downward to strain the knot and drives the knot to extrude the movable chuck opening to be opened, so as to pull the rope belt to be separated from the movable chuck opening, thereby completing the manufacturing of the knot. The degree of automation of the manufacturing process is high, the knot quality is stable and reliable, the length specification of the knotted rope belt is adjustable, the thickness specification of the rope belt is adjustable, and the manufacturing process has high practical value.

In this embodiment, the knotting module 50 further includes a second sensing structure 54, and the second sensing structure 54 is a photoelectric displacement sensor for resetting the knotting module 50.

Referring to fig. 2 and 3, the rope fixing module 10 includes a rope fixing base 11 and a positioning portion 12 disposed on the rope fixing base 11, the positioning portion 12 includes a rope fixing rod 121, an adjusting screw 122 and a first elastic member 123, the rope fixing rod 121 is fixed on the upper surface of the rope fixing base 11, the adjusting screw 122 penetrates through the rope fixing base 11 and is fixedly connected with the rope fixing rod 121, the first elastic member 123 is sleeved on the adjusting screw 122 and abuts against the lower surface of the rope fixing base 11, under the elastic force of the first elastic member 123, the rope belt is clamped by the rope fixing rod 121, and the clamping force is adjusted by the adjusting screw 122. The rope fixing seat 11 is provided with a through groove 111 below the rope fixing rod 121, and the rope belt passes through the through groove 111 and is supported and fixed by the rope fixing rod 121, so that the rope belt can be clamped and pulled, and the rope fixing seat plays a role in fixing and clamping a rope and guiding the rope. The rope fixing rod 121 is cylindrical, and the upper surface of the rope fixing seat 11 is correspondingly provided with an arc surface, so that the rope belt can be pulled.

Referring to fig. 4 to 6, the rope pulling module 20 includes a second displacement structure 21 and a rope clamping structure 22, the second displacement structure 21 includes a second motor 211, a first gear 214, a first rack 212 and a second guide rail 213, the second motor 211 is engaged with the first rack 212 through the first gear 214, and the second guide rail 213 is fixed on the outer sidewall of the chassis 101; the second motor 211 is a stepping motor, and has the advantages of adjustable speed, stable operation and small mechanical wear.

The rope clamping structure 22 comprises a second sliding block 221, a rope clamping seat 222, a rope clamping plate 223 and a second air cylinder 224, wherein the rope clamping plate 223 and the second air cylinder 224 are mounted on the rope clamping seat 222, the second sliding block 221 is in sliding fit with the second guide rail 213 and is fixedly connected with the first rack 212, the rope clamping seat 222 is fixedly connected with the second sliding block 221, and the rope clamping plate 223 is rotatably mounted on the upper surface of the rope clamping seat 222 and forms a rope clamping opening 225 with the rope clamping seat 222 in an enclosing manner for clamping the rope belt; the rope clamping plate 223 is rotatably mounted on the upper surface of the rope clamping seat 222 through a pin, one end of the rope clamping plate extends towards the rope clamping seat 222 to form an arc-shaped chuck, so that the rope belt is clamped conveniently, and the other end of the rope clamping plate is fixedly connected with the second cylinder 224 to realize the opening and closing of the rope clamping opening 225.

The second motor 211, the first gear 214, the first rack 212, the second guide rail 213, and the second slider 221 constitute an implementation element of the lateral movement of the rope clamping structure 22, the second motor 211 drives the first rack 212 to laterally translate and drives the second slider 221 to translate, and meanwhile, the second slider 221 slides in the second guide rail 213 to play a role in guiding and smooth operation, so as to drive the rope clamping structure 22 to approach or leave the rope fixing module 10, and the second cylinder 224 is fixedly connected with the rope clamping plate 223 and drives the rope clamping plate 223 to rotate so as to clamp or loosen the rope belt, so as to pull the rope belt in the rope fixing module 10 to a predetermined position.

Further, with reference to fig. 5, the rope clamping seat 222 is provided with a movable block 2221, a fixed rod 2222 and a second elastic member 2223, wherein the movable block 2221 faces the rope fixing module 10 and is disposed below the rope clamping opening 225, and cooperates with the rope fixing seat 11 to clamp the rope belt, so as to prevent the rope belt from falling off; the fixed link 2222 penetrates the rope clamping seat 222 and is fixedly connected with the movable block 2221, and the second elastic member 2223 is sleeved on the fixed link 2222 and is respectively abutted against the movable block 2221 and the rope clamping seat 222, so that the movable block 2221 has a certain elastic force to clamp the rope belt.

Preferably, a positioning groove 2224 is formed in one side of the movable block 2221 facing the rope fixing module 10, so as to perform a guiding and positioning function; an ejector pin 2225 and a third elastic element 2226 are arranged in the movable block 2221, one end of the ejector pin 2225 is abutted against the third elastic element 2226, and the other end of the ejector pin 2225 extends out of the positioning groove 2224. The thimble 2225 is movable under the elastic force of the third elastic member 2226 to block the displacement of the rope.

Referring to fig. 7 to 8, the rope pressing module 30 includes a third displacement structure 31, a fourth displacement structure 32 and a rope pressing rod 33, the third displacement structure 31 and the fourth displacement structure 32 are installed in the case 101, and the rope pressing rod 33 extends out of the case 101, so that the entire automatic rope knotting device 100 is compact in structure and light in weight. The third displacement structure 31 includes a third motor 311, a second gear 315, a second rack 312, a first mounting plate 313 and a third guide rail 314, the first mounting plate 313 is fixed on the inner side wall of the chassis 101, the third motor 311 is engaged with the second rack 312 through the second gear 315, and the third guide rail 314 is fixed on the first mounting plate 313; the rope pressing module 30 is disposed inside the case 101, and is prevented from colliding with the hot cutting module 40, the rope pulling module 20 and the knotting module 50, so as to save installation space, wherein the fourth displacement structure 32 realizes the front and back telescopic movement of the rope pressing rod 33, so that the rope pressing rod 33 can extend out of or retract into the case 101; the third displacement structure 31 realizes the up-and-down translational movement of the rope pressing rod 33.

The fourth displacement structure 32 includes a third slider 321, a third cylinder 322 and a positioning plate 323, the third slider 321 slides on the third guide rail 314, the third cylinder 322 and the positioning plate 323 are installed on the third slider 321 at intervals, the rope pressing rod 33 passes through the positioning plate 323 and the third cylinder 322, the third cylinder 322 drives the rope pressing rod 33 to extend or retract, a hook-shaped opening 331 is provided at the head of the rope pressing rod 33, and the hook-shaped opening 331 is oriented vertically downward to hook the rope, so as to prevent the rope from separating from the rope pressing rod 33.

In this embodiment, the tether pressing module 30 further includes a first sensing structure 34, and the first sensing structure 34 is a photoelectric displacement sensor and is used for resetting the tether pressing module 30.

Referring to fig. 9 and 10, the hot-cutting module 40 includes a fifth displacement structure 41, a hot-cutting structure 42 and a temperature control structure, where the fifth displacement structure 41 includes a second mounting plate 411, a fourth cylinder 412 and a fourth guide rail 413, the second mounting plate 411 is fixed on the outer sidewall of the chassis 101, and the fourth cylinder 412 and the fourth guide rail 413 are respectively fixed on the second mounting plate 411;

the hot cutting structure 42 comprises a fourth sliding block 421, a fixing bracket 422 and a blowing cylinder 423, the fourth sliding block 421 is in sliding fit with the fourth guide rail 413, and is fixedly connected with the fourth cylinder 412, the fixing bracket 422 is fixed to the fourth sliding block 421, the air blowing cylinder 423 is fixed on the fixed support 422, the air outlet of the air blowing cylinder 423 is provided with a cutting piece 424, the temperature control structure is electrically connected with the air blowing cylinder 423 and controls the temperature of the air blowing cylinder 423, the fourth air cylinder 412 drives the air blowing cylinder 423 to move downwards, the slicing piece 424 cuts off one end of the rope belt close to the rope fixing module 10, the air blowing cylinder 423 generates heat energy, the heat energy is driven by compressed air, hot air is blown out to heat the slices 424, so as to cut the rope belts, meanwhile, the fibers of the rope belt head notch are melted, so that the fibers are mutually fused, and the rope belt notch is ensured not to be loose.

The temperature control structure is installed in the internal space of the case 101, controls the temperature of the blowing cylinder 423 through a temperature sensing line and a temperature meter, and controls the air volume of compressed air entering the blowing cylinder 423 through an adjusting valve; the temperature control structure sets and adjusts the hot air temperature of the air blowing cylinder 423 according to the material and the thickness of the rope belt, and the hot cutting effect of the hot cutting module 40 is ensured.

The invention also provides a knotting method by adopting the automatic rope belt knotting device 100, which comprises the following steps:

s100, fixing a rope belt: the rope belt penetrates through the through groove 111 and is restrained and fixed by the rope fixing rod 121, so that the rope belt can be fixed and pulled, the exposed length of the rope belt is about 7mm, and the rope belt can be clamped by the rope pulling module 20 conveniently;

s200, pulling the rope belt to a preset position: the second cylinder 224 drives the rope clamping plate 223 to rotate so as to open the rope clamping opening 225, the second motor 211 drives the first rack 212 to move and drive the rope clamping structure 22 to approach the rope fixing module 10, the second cylinder 224 drives the rope clamping plate 223 to rotate and close the rope clamping opening 225 so as to clamp a rope belt, the second motor 211 drives the first rack 212 and drives the rope clamping structure 22 to keep away from the rope fixing module 10, and at the moment, the rope belt is pulled to be in a linear single-strand state and is parallel to the horizontal plane of the rope fixing seat 11;

s300, folding the rope: the third motor 311 drives the second rack 312 to move and drives the rope pressing rod 33 to move downwards, the rope pressing rod 33 presses the rope belt and drives the rope belt to move downwards, the hook-shaped opening 331 of the rope pressing rod 33 restrains the rope belt and cannot be separated, the rope belt is in a V-shaped state at the moment, after moving downwards to a preset position, the second motor 211 drives the first rack 212 to move and drives the rope clamping structure 22 to approach the rope fixing module 10, the rope belt is in a double-folded double-strand state, the rope belt is perpendicular to the horizontal plane of the rope fixing seat 11 at the moment, and two ends of the rope belt are respectively clamped by the movable block 2221 and the rope fixing seat 11;

s400, rope belt inclination: the first cylinder 533 drives the second fixing plate 522 and the first slider 534 to slide towards the rope fixing module 10 and drive the knotting nozzle 511 to hook the rope belt, and then the third cylinder 322 drives the rope pressing rod 33 to retract towards the case 101 to slant the rope belt, so that the stress direction of the rope belt and the space angle of the rope belt are changed, and the next step is facilitated;

s500, twisting the rope belt: the first motor 523 drives the bearing 521 to rotate for the first time and drives the knotting nozzle 511, the movable chuck 512 and the roller 513 to rotate, so that the rope belt is twisted into a spiral loop along the front end of the knotting nozzle 511, meanwhile, the rope pressing rod 33 moves upwards under the driving of the third motor 311, a running path is provided for the rope belt to be twisted into the spiral loop, the stress of the rope belt is maintained, the inclination of the rope belt is increased at the moment, the knotting nozzle 511 and the movable chuck 512 rotate gradually and incline downwards from the horizontal direction, the stress direction of the rope belt changes along with the change of the inclination and the direction, the spiral loop of the rope belt is pulled to gradually incline downwards and slide, then the roller 513 is extruded by the outer curved surface of the cam 5213 to open the movable chuck 515, and the spiral loop of the rope belt slides into the;

s600, forming a rope belt head: the third cylinder 322 drives the rope pressing rod 33 to extend and reset, at the moment, the rope belt is vertical, then the fourth cylinder 412 drives the air blowing cylinder 423 and the slice 424 to move towards the rope fixing module 10, the slice 424 cuts off one end of the rope belt close to the rope fixing module 10 to form a rope belt head, the second cylinder 224 drives the rope clamping plate 223 to rotate to loosen the rope belt, and the second motor 211 drives the rope clamping structure 22 to reset; due to the action of the hot wind energy and the high-temperature heat energy of the slices 424, the weaving fibers at the rope belt fracture are fused together, and the rope belt ends cannot be loosened.

S700, knotting the rope belt: the first motor 523 drives the bearing 521 to rotate for the second time and drives the knotting nozzle 511, the movable chuck 512 and the roller 513 to rotate, the knotting nozzle 511 and the movable chuck 512 further rotate downwards, the roller 513 is squeezed by the inner curved surface of the locking plate 514 to close the movable chuck so as to clamp the head of the rope, the head of the rope is prevented from falling off from the spiral coil of the rope, meanwhile, the rope pressing rod 33 moves downwards under the driving of the third motor 311 to apply tension to the rope, and the head of the rope is twisted and brought into the spiral coil under the matching action of the tension, the torsional force and the clamping force to form a knot;

s800, tensioning and separating the knot: the first motor 523 drives the bearing 521 to rotate for the third time and drives the knotting nozzle 511, the movable chuck 512 and the roller 513 to rotate, at this time, the knotting nozzle 511 is perpendicular to the opening direction of the movable chuck 512 downward, the roller 513 is in an unrestricted space track, and the roller 513 is not stressed, so that the movable chuck 512 can be opened under a small acting force, and meanwhile, the rope pressing rod 33 is driven by the third motor 311 to move downward to tension the knot and drive the knot to extrude the movable chuck to open, and then the rope belt is pulled to be separated from the movable chuck.

The invention adopts the rope belt automatic knotting device 100 to knot, integrates the two procedures of rope belt cutting and knotting, saves the production cost and the manpower resource, reduces the labor intensity, has high production automation degree, simple and convenient operation, stable and reliable rope knot quality, and improves the production efficiency and the product quality.

The above examples of the present invention are merely examples for clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. Not all embodiments are exhaustive. All obvious changes and modifications which are obvious to the technical scheme of the invention are covered by the protection scope of the invention.

Claims (10)

1. An automatic rope knotting device is characterized by comprising a case, a rope fixing module, a rope pulling module, a rope pressing module, a hot cutting module, a knotting module and a control module, wherein the rope fixing module, the rope pulling module, the rope pressing module, the hot cutting module, the knotting module and the control module are arranged on the case;

the rope fixing module is fixed on the outer side wall of the case and used for fixing a restraining rope belt;

the rope pulling module and the rope fixing module are horizontally arranged at intervals, can do translational motion relative to the rope fixing module and is used for pulling a rope belt in the rope fixing module to a preset position;

the rope pressing module is arranged in the case, can perform front-back telescopic motion and up-down translational motion relative to the case, and is used for matching with the rope pulling module to fold the rope belt in half and pull the folded rope belt to a preset position in the direction of the case;

the hot cutting module is arranged above the rope fixing module, can do up-and-down translation motion relative to the rope fixing module and is used for cutting off one end, close to the rope fixing module, of the rope belt;

the knotting module is arranged below the rope fixing module, can perform translational motion relative to the rope fixing module to hook the rope belt, and is used for being matched with the rope pulling module, the rope pressing module and the hot cutting module to knot the rope belt in a spiral mode;

the control module is respectively electrically connected with the rope fixing module, the rope pulling module, the rope pressing module, the hot cutting module and the knotting module and controls the working states of the rope fixing module, the rope pulling module, the rope pressing module, the hot cutting module and the knotting module.

2. The automatic rope knotting device according to claim 1, wherein the knotting module comprises a knotting structure, a rotating structure and a first displacement structure, the knotting structure faces the rope fixing module to knot the rope, the rotating structure is fixedly connected with the knotting structure and drives the knotting structure to rotate, the first displacement structure is slidably connected with the knotting structure and the rotating structure and pushes the rotating structure and the knotting structure to move synchronously, the rotating structure comprises a bearing, the bearing comprises a rotating lining and an outer lining sleeved on the rotating lining, a cam is arranged on one end face of the outer lining, the knotting structure comprises a knotting nozzle, a movable chuck, a roller and a locking plate, the knotting nozzle penetrates through the cam and is fixedly connected with the rotating lining, the movable chuck is arranged in the knotting nozzle and forms a movable clamping opening with the knotting nozzle to clamp the rope, the locking plate is fixed on one side of the outer lining and forms a movable space with the cam in an enclosing mode, and the roller is fixedly connected with the tail portion of the movable chuck and slides in the movable space to achieve opening or closing of the movable chuck opening.

3. The automatic rope knotting device according to claim 2, wherein the first displacement structure comprises a first fixing plate, a first guide rail, a first cylinder and a first slider, the rotating structure further comprises a second fixing plate, a first motor, a first synchronizing wheel and a second synchronizing wheel, the first fixing plate is fixed on the outer side wall of the case, the first guide rail is fixed on the first fixing plate, the first slider slides on the first guide rail and is fixedly connected with the second fixing plate, and the first cylinder is fixedly connected with the second fixing plate and pushes the second fixing plate and the first slider to slide along the first guide rail;

the first motor is fixed on the second fixing plate and fixedly connected with the first synchronizing wheel, the first synchronizing wheel is connected with the second synchronizing wheel through a belt, the second synchronizing wheel is fixedly connected with the rotating lining, and the first motor rotates to drive the first synchronizing wheel to rotate so as to drive the second synchronizing wheel, the rotating lining, the knotting nozzle, the movable chuck and the roller to rotate.

4. The automatic rope tying device of claim 1, wherein the rope fixing module comprises a rope fixing seat and a positioning portion arranged on the rope fixing seat, the positioning portion comprises a rope fixing rod, an adjusting screw and a first elastic piece, the rope fixing rod is fixed on the upper surface of the rope fixing seat, the adjusting screw penetrates through the rope fixing seat and is fixedly connected with the rope fixing rod, the first elastic piece is sleeved on the adjusting screw and abuts against the lower surface of the rope fixing seat, a through groove is arranged below the rope fixing seat, and the rope passes through the through groove and is abutted and fixed by the rope fixing rod.

5. The automatic rope knotting device according to claim 1, wherein the rope pulling module comprises a second displacement structure and a rope clamping structure, the second displacement structure comprises a second motor, a first gear, a first rack and a second guide rail, the second motor is meshed with the first rack through the first gear, and the second guide rail is fixed on the outer side wall of the case;

the rope clamping structure comprises a second sliding block, a rope clamping seat, a rope clamping plate and a second air cylinder, the rope clamping plate and the second air cylinder are mounted on the rope clamping seat, the second sliding block is in sliding fit with the second guide rail and is fixedly connected with the first rack, the rope clamping seat is fixedly connected with the second sliding block, and the rope clamping plate is rotatably mounted on the upper surface of the rope clamping seat and forms a rope clamping opening with the rope clamping seat in a surrounding mode for clamping the rope belt;

the second motor drives the first rack to transversely translate and drive the second sliding block to translate so as to drive the rope clamping structure to be close to or far away from the rope fixing module, and the second cylinder is fixedly connected with the rope clamping plate and drives the rope clamping plate to rotate so as to clamp or loosen the rope belt and is used for pulling the rope belt clamp in the rope fixing module to a preset position.

6. The automatic rope knotting device of claim 5, wherein the rope clamping seat is provided with a movable block facing the rope fixing module and disposed below the rope clamping opening, a fixed rod penetrating the rope clamping seat and fixedly connected with the movable block, and a second elastic member sleeved on the fixed rod and abutting against the movable block and the rope clamping seat respectively.

7. The automatic rope knotting device according to claim 6, wherein a positioning groove is formed in a side of the movable block facing the rope fixing module, a thimble and a third elastic member are disposed in the movable block, one end of the thimble abuts against the third elastic member, and the other end of the thimble extends out of the positioning groove.

8. The automatic rope knotting device according to claim 1, wherein the rope pressing module comprises a third displacement structure, a fourth displacement structure and a rope pressing rod, the third displacement structure and the fourth displacement structure are mounted in the case, the rope pressing rod extends out of the case, the third displacement structure comprises a third motor, a second gear, a second rack, a first mounting plate and a third guide rail, the first mounting plate is fixed on the inner side wall of the case, the third motor is meshed with the second rack through the second gear, and the third guide rail is fixed on the first mounting plate;

the fourth displacement structure comprises a third sliding block, a third air cylinder and a positioning plate, the third sliding block slides in the third guide rail, the third air cylinder and the positioning plate are installed on the third sliding block at intervals, the rope pressing rod penetrates through the positioning plate and is fixedly connected with the third air cylinder, a hook-shaped opening is formed in the head of the rope pressing rod, and the direction of the hook-shaped opening is perpendicular downward to hook the rope belt.

9. The automatic rope knotting device according to claim 1, wherein the hot-cutting module comprises a fifth displacement structure, a hot-cutting structure and a temperature control structure, the fifth displacement structure comprises a second mounting plate, a fourth cylinder and a fourth guide rail, the second mounting plate is fixed on the outer side wall of the case, and the fourth cylinder and the fourth guide rail are respectively fixed on the second mounting plate;

the hot cutting structure comprises a fourth slider, a fixed support and a blowing cylinder, the fourth slider is in sliding fit with the fourth guide rail and is fixedly connected with the fourth cylinder, the fixed support is fixed on the fourth slider, the blowing cylinder is fixed on the fixed support, a slice is installed at the air outlet of the blowing cylinder, the temperature control structure is electrically connected with the blowing cylinder and controls the temperature of the blowing cylinder, the fourth cylinder drives the blowing cylinder to move downwards, and the slice is close to the rope belt to cut off one end of the rope fixing module.

10. The method for knotting a string using the automatic knotting apparatus of claim 1 to 9, comprising the steps of:

s100, fixing a rope belt: the rope belt passes through the through groove and is restrained and fixed by the rope fixing rod;

s200, pulling the rope belt to a preset position: the second cylinder drives the rope clamping plate to rotate so as to open the rope clamping opening, the second motor drives the first rack to move and drive the rope clamping structure to approach the rope fixing module, the second cylinder drives the rope clamping plate to rotate and close the rope clamping opening so as to clamp the rope belt, and the second motor drives the first rack and drives the rope clamping structure to be far away from the rope fixing module;

s300, folding the rope: the third motor drives the second rack to move and drives the rope pressing rod to move downwards, the rope pressing rod presses the rope belt and drives the rope belt to move downwards, after the rope belt moves downwards to a preset position, the second motor drives the first rack to move and drives the rope clamping structure to approach the rope fixing module, and the rope belt is in a double-folded double-strand state;

s400, rope belt inclination: the first cylinder drives the second fixing plate and the first sliding block to slide towards the rope fixing module and drives the knotting nozzle to hook the rope belt, and then the third cylinder drives the rope pressing rod to retract towards the case to slant the rope belt;

s500, twisting the rope belt: the first motor drives the bearing to rotate for the first time and drives the knotting nozzle, the movable chuck and the roller to rotate, meanwhile, the rope pressing rod moves upwards under the driving of the third motor, the rope belt is twisted into a spiral ring along the front end of the knotting nozzle, then the roller is extruded by the outer curved surface of the cam to open the movable chuck, and the spiral ring of the rope belt slides into the movable chuck;

s600, forming a rope belt head: the third cylinder drives the rope pressing rod to stretch out and reset, then the fourth cylinder drives the blowing cylinder and the slicing piece to move towards the rope fixing module, one end, close to the rope fixing module, of the rope belt is cut off to form a rope belt head, the second cylinder drives the rope clamping plate to rotate to loosen the rope belt, and the second motor drives the rope clamping structure to reset;

s700, knotting the rope belt: the first motor drives the bearing to rotate for the second time and drives the knotting nozzle, the movable chuck and the roller to rotate, the roller is extruded by the inner curved surface of the locking plate to close the movable chuck so as to clamp the rope head, and meanwhile, the rope pressing rod moves downwards under the driving of the third motor to twist and bring the rope head into the spiral coil to form a knot;

s800, tensioning and separating the knot: the first motor drives the bearing to rotate for the third time and drives the knotting nozzle, the movable chuck and the idler wheel to rotate, the opening direction of the knotting nozzle and the opening direction of the movable chuck are perpendicular downward, meanwhile, the rope pressing rod moves downwards under the driving of the third motor to strain the knot, the knot is driven to extrude the movable clamping opening to be opened, and then the rope belt is pulled to be separated from the movable clamping opening.

Images