CN117022800A

CN117022800A - Knotting tying device

Info

Publication number: CN117022800A
Application number: CN202311073802.0A
Authority: CN
Inventors: 郭仁龙
Original assignee: Tuoxinda Intelligent Equipment Technology Dongguan Co ltd
Current assignee: Tuoxinda Intelligent Equipment Technology Dongguan Co ltd
Priority date: 2023-08-24
Filing date: 2023-08-24
Publication date: 2023-11-10

Abstract

The invention relates to a knotting and tying device, which comprises a spiral knotting mechanism and a guiding unit. The spiral knotting mechanism comprises a spiral fixing piece and a first driving assembly, wherein the middle section of the spiral fixing piece is provided with a spiral structure, the first driving assembly is connected with one end of the spiral fixing piece, and the other end of the spiral fixing piece is configured to be a fixed end; the guiding unit is used for being matched with the spiral fixing piece, so that the end head of the rope enters the inner side of the spiral fixing piece from one end, close to the fixed end, of the spiral fixing piece, and the guiding unit is also used for guiding the end head of the rope to penetrate out from one side of the middle section of the spiral fixing piece and to be sent to be fixed with the fixed end after surrounding a bundled object for at least one circle. By means of the knotting tying device, automatic knotting production can be achieved, and knotting efficiency is improved.

Description

Knotting tying device

Technical Field

The invention relates to the technical field of knotting and tying, in particular to a knotting and tying device.

Background

At present, the process and variety development in the food industry are rapid, the requirements of equipment such as food knotted variety products, such as hot pot food bag knotting, are met in the market, and at present, the products are mostly knotted manually, automatic production is not realized, and the problems of low efficiency, poor variety stability control, high field management difficulty and the like exist in manual knotting.

Disclosure of Invention

Based on this, it is necessary to provide a knotting and tying device.

The knotting and tying device is characterized by comprising a spiral knotting mechanism and a guide unit, wherein the spiral knotting mechanism comprises a spiral fixing piece and a first driving assembly, the spiral fixing piece is provided with a spiral structure, the first driving assembly is connected with one end of the spiral fixing piece, and the other end of the spiral fixing piece is configured to be a fixed end; the guiding unit is used for being matched with the spiral fixing piece so that the end head of the rope enters the inner side of the spiral fixing piece from one end, close to the fixed end, of the spiral fixing piece, and is also used for guiding the end head of the rope to penetrate out from one side of the middle section of the spiral fixing piece and to surround a bundled object for at least one circle and then be fixed with the fixed end; the first driving component is used for driving the spiral fixing piece to do linear motion and rotary motion so as to drive the rope to move and achieve knotting.

The guide unit is matched with the spiral fixing piece, so that the end head of the rope enters the inner side of the spiral fixing piece from one end, close to the fixed end, of the spiral fixing piece, the guide assembly is further used for guiding the end head of the rope to penetrate out from one side of the middle section of the spiral fixing piece and convey the end head to be fixed with the fixed end after surrounding a bundled object for at least one circle, at the moment, the rope is simultaneously arranged around a plurality of threads of the spiral fixing piece and the bundled object, then the threaded fixing piece rotates and moves linearly under the driving of the first driving assembly, and the rope moves along with the spiral fixing piece and is knotted. Therefore, by the knotting tying device, automatic knotting production can be realized, knotting efficiency is improved, knotting stability is good, and site management difficulty is low.

In one embodiment, the guiding unit comprises a feeding mechanism and a winding mechanism, wherein the feeding mechanism is used for providing a rope and is used for being matched with the spiral fixing piece, so that the end head of the rope enters the inner side of the spiral fixing piece from the end, close to the fixed end, of the spiral fixing piece; the winding mechanism is used for picking up the end of the rope and driving the end of the rope to penetrate out from one side of the middle section of the spiral fixing piece and to surround the bundled object for at least one circle and then to be fixed with the fixed end.

In one embodiment, the winding mechanism comprises a first linear driver, a rotating assembly and a rope clamping cylinder, wherein the first linear driver is in driving connection with the rotating assembly, the rotating assembly is in driving connection with the rope clamping cylinder, the first linear driver is used for driving the rotating assembly and the rope clamping cylinder to be close to or far away from the feeding mechanism, the rope clamping cylinder is used for clamping the end head of the rope, and the rotating assembly is used for driving the rope clamping cylinder to rotate and driving the rope to surround the bundled objects for at least one circle.

In one embodiment, the feeding mechanism comprises a pickup assembly, a feeding cylinder, a thimble, a second linear driver and a third linear driver, wherein the pickup assembly is used for picking up a rope and sending the rope to the feeding cylinder, the feeding cylinder is provided with a kidney-shaped groove along the direction of a bus, the thimble is movably arranged in the kidney-shaped groove in a penetrating mode, the second linear driver is in driving connection with the third linear driver and is used for driving the third linear driver to move along the direction of the bus of the feeding cylinder, and the third linear driver is used for driving the thimble to penetrate through the kidney-shaped groove and enter the feeding cylinder to hook the rope in the feeding cylinder, and the threaded fixing piece is used for being sleeved with or far away from the outer side of the feeding cylinder under the driving of the first driving assembly.

In one embodiment, the spiral fixing piece comprises an opening and closing assembly, a first opening and closing rod and a second opening and closing rod, the first driving assembly is in driving connection with the opening and closing assembly to drive the opening and closing assembly, the first opening and closing rod and the second opening and closing rod to do linear motion and rotary motion, the first opening and closing rod and the second opening and closing rod are in corresponding spiral arrangement, the opening and closing assembly is respectively in driving connection with the first opening and closing rod and the second opening and closing rod, and the opening and closing assembly is used for driving the first opening and closing rod and the second opening and closing rod to be close to or far away from each other.

In one embodiment, the feeding device further comprises a storage mechanism, the storage mechanism comprises a storage clamp, an upward pushing pulling pin and a sequential displacement cylinder, the sequential displacement cylinder is in driving connection with the storage clamp, the storage clamp is provided with a plurality of storage tanks, and the driving of the sequential displacement cylinder is used for driving the storage tanks of the storage clamp to sequentially correspond to the feeding mechanism.

In one embodiment, the feeding mechanism further comprises a feeding mechanism, the feeding mechanism comprises a plurality of rows of rollers, a feeding channel is formed between every two rows of rollers, and the sequence displacement cylinder is further used for driving the storage groove of the storage clamp to correspond to the feeding channel.

In one embodiment, the device further comprises a shearing mechanism for shearing off the knotted rope ends.

In one embodiment, the guide unit further comprises a frame, the guide unit is arranged on the frame, and the first driving assembly is connected with the frame.

Drawings

FIG. 1 is a schematic perspective view of a knotting interface device according to one embodiment;

FIG. 2 is a schematic view of a knotting apparatus string according to one embodiment passing through a threaded fastener;

FIG. 3 is a schematic perspective view of a knotting interface device according to one embodiment;

FIG. 4 is a schematic perspective view of a knotting interface device according to one embodiment.

Detailed Description

In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. The drawings illustrate preferred embodiments of the invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

As shown in FIG. 1, in one embodiment, a knotting apparatus, specifically a knotting interface apparatus 10, is provided that includes a helical knotting mechanism 300 and a guide set. The screw knotting mechanism 300 includes a screw fixing member 310 and a first driving assembly 320, the screw fixing member 310 has a screw structure, the first driving assembly 320 is connected to one end of the screw fixing member 310, and the other end of the screw fixing member 310 is configured as a fixed end 314.

As shown in fig. 2, the guiding unit is used to cooperate with the screw fixing member 310 such that the end 810 of the rope 800 enters the inner side 316 of the screw fixing member 310 from the end of the screw fixing member 310 near the fixing end 314, and is also used to guide the end 810 of the rope 800 to pass out from one side 317 of the middle section 315 of the screw fixing member 310 and around the bundled object for at least one week before being fixed to the fixing end 314.

In this embodiment, the guide assembly includes a feeding mechanism 100 and a winding mechanism 200. The feeding mechanism 100 is used for providing a rope and is used for being matched with the spiral fixing piece 310, so that the end head of the rope enters the inner side of the spiral fixing piece 310 from one end of the spiral fixing piece 310 close to the fixed end 314; the winding mechanism 200 is used for picking up the end of the rope, and driving the end of the rope to pass out from one side of the middle section of the spiral fixing element 310 and around the bundled object for at least one circle, and then to be fixed with the fixed end 314. In one embodiment, the winding mechanism drives the rope to wind the bundled object for a circle, then the end of the rope is put down, and then the fixed end of the spiral fixing piece picks up the end of the rope. In another embodiment, the rope end of the winding mechanism is lowered directly adjacent to and picked up by the screw fixture.

The guiding unit is matched with the spiral fixing piece 310, so that the end head of the rope enters the inner side of the spiral fixing piece 310 from one end, close to the fixed end 314, of the spiral fixing piece 310, the guiding component is further used for guiding the end head of the rope to penetrate out from one side of the middle section of the spiral fixing piece 310 and to be fixed with the fixed end 314 after surrounding a bundled object for at least one circle, at the moment, the rope is simultaneously arranged around a plurality of threads of the spiral fixing piece 310 and the bundled object, then the threaded fixing piece rotates and moves linearly under the driving of the first driving component 320, and the rope moves along with the spiral fixing piece 310 and is knotted. Specifically, the winding mechanism 200 picks up the end of the rope at the feeding mechanism 100 and drives the rope to surround the bundled object for at least one circle, the first driving assembly 320 drives the spiral fixing member 310 to pick up the end of the rope, and then the spiral fixing member 310 can perform linear and rotary motion under the driving of the first driving assembly 320 so as to drive the end of the rope to perform linear and rotary motion, and further the rope is knotted.

Referring to fig. 1 and 3, in one embodiment, a knotting apparatus, specifically a knotting interface apparatus 10, is provided, including a feeding mechanism 100, a winding mechanism 200, and a spiral knotting mechanism 300, where the guiding units are the feeding mechanism 100 and the winding mechanism 200. The feeding mechanism 100 is used for providing a rope and is used for being matched with the spiral fixing piece 310, so that the end head of the rope enters the inner side of the spiral fixing piece 310 from one end, close to the fixed end, of the spiral fixing piece 310; the winding mechanism 200 is used for picking up the end of the rope, and driving the end of the rope to pass out from one side of the middle section of the spiral fixing element 310 and around the bundled object for at least one circle, and then to be fixed with the fixed end 314. The winding mechanism 200 comprises a first linear driver, a rotating assembly 220 and a rope clamping cylinder 230, wherein the first linear driver is in driving connection with the rotating assembly 220, the rotating assembly 220 is in driving connection with the rope clamping cylinder 230, the first linear driver is used for driving the rotating assembly 220 and the rope clamping cylinder 230 to be close to or far away from the feeding mechanism 100, the rope clamping cylinder 230 is used for clamping the end of a rope, and the rotating assembly 220 is used for driving the rope clamping cylinder 230 to rotate and drive the rope to surround the bundled objects for at least one circle. The first driving assembly 320 is used for driving the screw fixing member 310 to perform a linear motion and a rotational motion so as to drive the rope to move and achieve knotting.

In this embodiment, the knotting interface device 10 further includes a frame 600, and the guiding unit is disposed on the frame. Specifically, the knotting and tying device further includes a material storage mechanism 400 and a shearing mechanism 500, the feeding mechanism 100, the winding mechanism 200, the material storage mechanism 400 and the shearing mechanism 500 are all disposed on the stand 600, and the first driving assembly 320 of the spiral knotting mechanism 300 is connected with the stand 600, so that the stand 600 provides mounting positions for the feeding mechanism 100, the winding mechanism 200, the spiral knotting mechanism 300, the material storage mechanism 400, the feeding mechanism and the shearing mechanism 500, and the relative positions of the mechanisms can be more conveniently arranged.

In an embodiment, the feeding mechanism comprises a plurality of rows of rollers, a feeding channel is formed between every two rows of rollers, and the sequential displacement cylinder is further used for driving a storage groove of the storage clamp to correspond to the feeding channel. The feeding mechanism is used for providing ropes for the storage mechanism, is used for arranging rope-shaped objects one by one and then is supported by the rollers and is arranged to the feeding station, and concretely, the feeding mechanism is a side-by-side roller supporting and supporting mechanism, the rollers are placed at intervals and regularly convey rope-shaped physical materials to the feeding position, and then the rope-shaped physical materials are sequentially shifted by the storage mechanism to be clamped by the feeding mechanism.

In this embodiment, the storage mechanism 400 includes a storage clamp 410, an upward pulling pin 420 and a sequential displacement cylinder 430, the sequential displacement cylinder is in driving connection with the storage clamp 410, the storage clamp 410 is provided with a plurality of storage tanks 411, and the storage tanks 411 of the sequential displacement cylinder are driven to sequentially correspond to the feeding mechanism 100. The ropes are orderly arranged and then sequentially arranged in the storage tanks 411 of the storage clamp 410, when one storage tank 411 corresponds to the feeding mechanism 100, the ropes of the storage tanks 411 can enter the feeding mechanism 100 and are provided for the winding mechanism 200 by the feeding mechanism 100, and after the ropes of the current storage tank 411 are fed and knotted by the feeding mechanism 100, the sequential displacement cylinders are shifted to drive the storage clamp 410 to shift and enable the ropes of the next storage tank 411 to correspond to the feeding mechanism 100. In this embodiment, the storage mechanism 400 further includes an upper push-pull pin, the upper push-pull pin is in driving connection with the storage clamp 410, when a storage tank 411 corresponds to the feeding mechanism 100, the upper push-pull pin is inserted into a small hole of the storage clamp 410 to jack up the storage clamp 410 and enable the storage clamp 410 to be disposed closer to the feeding mechanism 100, and after the rope of the current storage tank 411 is used up, the upper push-pull pin 420 is lowered, so that the sequential shifting cylinder 430 can drive the storage clamp 410 to shift.

Referring to fig. 4, the feeding mechanism 100 includes a pickup assembly 110, a feeding cylinder 120, a thimble 130, a second linear driver 140 and a third linear driver 150, wherein the pickup assembly 110 is used for picking up a rope and delivering the rope to the feeding cylinder 120, the feeding cylinder 120 is provided with a kidney-shaped slot 121 along a bus direction, the thimble 130 is movably arranged in the kidney-shaped slot 121 in a penetrating manner, the second linear driver 140 is in driving connection with the third linear driver 150 and is used for driving the third linear driver 150 to move along the bus direction of the feeding cylinder 120, and the third linear driver 150 is used for driving the thimble 130 to penetrate through the kidney-shaped slot 121 and enter the feeding cylinder 120 to hook the rope in the feeding cylinder 120. Specifically, when the third linear driver 150 drives the thimble 130 to hook the rope, the second linear driver 140 drives the third linear driver 150 and the thimble 130 to move from the side close to the storage side to the side close to the winding component, so as to drive the rope to move from the side close to the storage side to the side close to the winding component in the limiting cylinder, thereby feeding the rope of the storage tank 411 to the position close to the winding component, facilitating the winding component to pick up the end of the rope from the feeding cylinder 120, wherein the threaded fixing piece is used for being sleeved or far away from the outer side of the feeding cylinder under the driving of the first driving component, when the threaded fixing piece is sleeved on the feeding cylinder, the outlet of the feeding cylinder stretches into the inner side of the threaded fixing piece, and the winding mechanism can pick up the end of the rope from the inner side of the feeding cylinder and wind around for one circle and then is connected to the fixed end of the spiral fixing piece, then the first driving component drives the spiral fixing piece to keep away from the feeding cylinder, and simultaneously drives the spiral fixing piece to make a rotary motion, so that the rope can wind around the position of the self circle and realize knotting. Further, by adjusting the feeding length of the string by the feeding mechanism 100, knotting means such as a single knot, a double knot, a slip knot, etc. can be achieved. In this embodiment, the pick-up assembly 110 includes a gripping cylinder 111 for gripping the rope. Specifically, the pickup assembly 110 further includes a second driving assembly for driving the clamping cylinder 111 to move. In this embodiment, the second driving assembly includes up and down, front and back, left and right cylinders, and it can be said that the second driving assembly includes an XYZ cylinder assembly 112 for driving the clamping cylinder 111 to move in more positions, so that the clamping assembly better clamps the end of the rope. In other embodiments, the second drive assembly comprises a robotic arm. In the embodiment, the clamping cylinder 111 clamps the clamping fixture to be needle-shaped clamping jaws, and the needle points of the clamping jaws penetrate through the clamping ropes to realize stable feeding. Thus, the clamping cylinder 111 sends the rope into the feeding cylinder 120 for fixing the rope, then the second linear driver 140 and the thimble 130 are matched to hook the rope, and the third linear driver 150 drives the second linear driver 140 and the thimble 130 to realize the rope pulling, so that accurate positioning of rope feeding can be realized. In one embodiment, the second and third linear drives 140 and 150 each comprise at least one of an air cylinder or an electric screw. In the present embodiment, the second and third linear actuators 140 and 150 are each provided as an air cylinder. In this embodiment, through feeding section of thick bamboo to the winding subassembly material feed, can make the initial position of rope comparatively unified, make things convenient for the winding subassembly to pick up the rope and drive the rope around being bound the at least a week setting.

In this embodiment, the winding mechanism 200 includes a first linear driver 210, a rotating assembly 220 and a rope clamping cylinder 230, where the first linear driver 210 is in driving connection with the rotating assembly 220, the rotating assembly 220 is in driving connection with the rope clamping cylinder 230, the first linear driver 210 is used to drive the rotating assembly 220 and the rope clamping cylinder 230 to approach or separate from the feeding mechanism 100, the rope clamping cylinder 230 is used to clamp the end of the rope, and the rotating assembly 220 is used to drive the rope clamping cylinder 230 to rotate and drive the rope to surround the bundled object for at least one circle. Specifically, the rotating assembly 220 includes a rotating cylinder or motor. In one embodiment, the clamps of the rope clamping cylinder 230 are eccentric clamps that extend out of the swivel axis to clamp the rope away from interference with other mechanisms. In this embodiment, the first linear actuator 210 includes a lifting cylinder, and a driving shaft of the lifting cylinder is disposed corresponding to the outlet of the feeding cylinder 120, so as to drive the rope clamping cylinder 230 to approach the outlet of the feeding cylinder 120 and clamp the end of the rope. In this embodiment, the rotating assembly 220 is connected to the rope clamping cylinder 230 through an eccentric member to drive the rope clamping cylinder 230 to perform eccentric motion relative to the central axis of the rotating assembly 220, specifically, two opposite ends of the eccentric member are provided with a first connecting portion and a second connecting portion, the rotating assembly 220 is connected to the first connecting portion, and the second connecting portion is connected to the rope clamping cylinder 230, where the rotation axis of the rotating assembly 220 is parallel to but not coincident with the central axis of the rope clamping cylinder 230, so as to drive the rope clamping cylinder 230 to perform eccentric motion around the outer side of the rotation axis of the rotating assembly 220. In another embodiment, the first linear actuator 210 includes an electric screw or a mechanical arm to implement the driving function of the first linear actuator 210. It will be appreciated that the connection between the rotating assembly 220 and the first linear driving assembly in this embodiment may be exchanged, that is, in one embodiment, the rotating assembly 220 is in driving connection with the first linear driving assembly, the first linear driving assembly is in driving connection with the rope clamping cylinder 230, and after the exchange of the connection, the rotating assembly 220 can rotate the first linear driving assembly and the rope clamping cylinder 230, and the first linear driving assembly directly drives the rope clamping cylinder 230 to move in a direction approaching or separating from the rope. The rope clamping cylinder 230 is used to clamp the end of the rope, and may also be referred to as the clamping cylinder 111.

In this embodiment, the screw fixing member 310 includes an opening and closing assembly 313 and a screw clamp, specifically, the screw clamp includes a first opening and closing rod 311 and a second opening and closing rod 312, the first driving assembly 320 is in driving connection with the opening and closing assembly 313 to drive the opening and closing assembly 313, the first opening and closing rod 311 and the second opening and closing rod 312 to perform linear motion and rotational motion, the first opening and closing rod 311 and the second opening and closing rod 312 are in corresponding spiral arrangement, the opening and closing assembly 313 is in driving connection with the first opening and closing rod 311 and the second opening and closing rod 312 respectively, and the opening and closing assembly 313 is used for driving the first opening and closing rod 311 and the second opening and closing rod 312 to approach or separate, that is, the opening and closing assembly 313 is used for driving the first opening and closing rod 311 and the second opening and closing rod 312, and the ends of the first opening and closing rod 311 and correspondingly forming the fixing end. The first opening and closing rod 311 and the second opening and closing rod 312 can allow the end of the rope to enter between the two when being opened, and the end of the rope can be clamped when the first opening and closing rod 311 and the second opening and closing rod 312 are closed. In this embodiment, the first opening and closing rod 311 and the second opening and closing rod 312 are respectively set to a spiral structure, and are correspondingly set, when the first opening and closing rod 311 and the second opening and closing rod 312 are closed, they are in an integral spiral shape, after the first opening and closing rod 311 and the second opening and closing rod 312 clamp the end of the rope, under the driving of the first driving component 320, the first opening and closing rod 311 and the second opening and closing rod 312 can do linear and rotary motion, so that the rope winds the spiral surface of the spiral clamp, and the specific position of the rope itself is bypassed to achieve knotting. In this embodiment, the first driving assembly 320 includes a ball screw to perform rotational and linear motions, and is capable of driving the string clamped on the screw fixing member 310 to perform a fast and stable knotting motion. The opening and closing assembly 313 includes an opening cylinder and a spring pull and close mechanism, wherein the opening cylinder ejects out to drive the bent arm to open the spiral clamp, and the cylinder retracts the spring pull and close mechanism to close the spiral clamp so as to clamp the end of the rope. In another embodiment, the first drive assembly 320 comprises a robotic arm. In other embodiments, the fixed end is provided with a hook for hooking the rope to achieve fixation with the rope. In other embodiments, a clip is provided only at the fixed end of the screw fastener for clamping the rope to achieve fixation with the rope. In other embodiments, the fixed end is provided with a magnetic attraction piece, and the end of the rope is provided with an iron sheet, so that the fixed end and the end of the rope are fixed when the magnetic attraction piece and the iron sheet are fixed.

In this embodiment, the shearing mechanism 500 is used to shear the knotted rope end, where the rope end is the end of the rope away from the tip. The shearing mechanism 500 comprises a pneumatic shear and a telescopic cylinder mechanism, wherein the telescopic cylinder is in driving connection with the pneumatic shear to drive the pneumatic shear to be close to or far away from the rope. After knotting is completed, the telescopic cylinder drives the pneumatic shears to advance, so that the shearing opening of the pneumatic shears stretches into the rope shearing position, the electromagnetic valve drives the pneumatic shears to act to shear the rope, and then the pneumatic shears return to the next circulation action. The shearing mechanism can realize the cutting of the rope, after the cutting is finished, the knotting of the current bundled object is finished, and then the next bundled object is processed.

It will be appreciated that the bales may be food or any other product to be baled, in one embodiment being a bag.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims

1. The knotting and tying device is characterized by comprising a spiral knotting mechanism and a guide unit, wherein the spiral knotting mechanism comprises a spiral fixing piece and a first driving assembly, the spiral fixing piece is provided with a spiral structure, the first driving assembly is connected with one end of the spiral fixing piece, and the other end of the spiral fixing piece is configured to be a fixed end; the guiding unit is used for being matched with the spiral fixing piece so that the end head of the rope enters the inner side of the spiral fixing piece from one end, close to the fixed end, of the spiral fixing piece, and is also used for guiding the end head of the rope to penetrate out from one side of the middle section of the spiral fixing piece and to surround a bundled object for at least one circle and then be fixed with the fixed end; the first driving component is used for driving the spiral fixing piece to do linear motion and rotary motion so as to drive the rope to move and achieve knotting.

2. The knotting apparatus of claim 1, wherein the guiding unit comprises a feeding mechanism and a winding mechanism, the feeding mechanism being configured to provide a rope and configured to cooperate with a helical fixing member such that an end of the rope enters an inner side of the helical fixing member from an end of the helical fixing member adjacent to the fixed end; the winding mechanism is used for picking up the end of the rope and driving the end of the rope to penetrate out from one side of the middle section of the spiral fixing piece and to surround a bundled object for at least one circle and then to be fixed with the fixed end.

3. The knotting and tying device of claim 2, wherein the winding mechanism comprises a first linear driver, a rotating assembly and a rope clamping cylinder, the first linear driver is in driving connection with the rotating assembly, the rotating assembly is in driving connection with the rope clamping cylinder, the first linear driver is used for driving the rotating assembly and the rope clamping cylinder to be close to or far away from the feeding mechanism, the rope clamping cylinder is used for clamping the end of the rope, and the rotating assembly is used for driving the rope clamping cylinder to rotate and driving the rope to surround the bundled objects for at least one circle.

4. The knotting system of claim 3, wherein the clip of the rope clamping cylinder is an eccentric clip.

5. The knotting mouth device of claim 2, wherein the feeding mechanism comprises a pickup assembly, a feeding barrel, a thimble, a second linear driver and a third linear driver, the pickup assembly is used for picking up a rope and sending the rope to the feeding barrel, the feeding barrel is provided with a kidney-shaped groove along a bus direction, the thimble is movably penetrated in the kidney-shaped groove, the second linear driver is in driving connection with the third linear driver and is used for driving the third linear driver to move along the bus direction of the feeding barrel, the third linear driver is used for driving the thimble to penetrate through the kidney-shaped groove and enter the feeding barrel to hook the rope in the feeding barrel, and the threaded fixing piece is used for being sleeved with or away from the outer side of the feeding barrel under the driving of the first driving assembly.

6. The knotting tying device of claim 1, wherein the spiral fixing member comprises an opening and closing assembly, a first opening and closing rod and a second opening and closing rod, the first driving assembly is in driving connection with the opening and closing assembly to drive the opening and closing assembly, the first opening and closing rod and the second opening and closing rod to do linear motion and rotational motion, the first opening and closing rod and the second opening and closing rod are in corresponding spiral arrangement, the opening and closing assembly is in driving connection with the first opening and closing rod and the second opening and closing rod respectively, and the opening and closing assembly is used for driving the first opening and closing rod and the second opening and closing rod to be close to or far away from each other.

7. The knotting tying device of claim 2, further comprising a storage mechanism comprising a storage clamp, an upward-pushing pulling pin and a sequential displacement cylinder, wherein the sequential displacement cylinder is in driving connection with the storage clamp, the storage clamp is provided with a plurality of storage tanks, and the driving of the sequential displacement cylinder is used for driving the storage tanks of the storage clamp to sequentially correspond to the feeding mechanism.

8. The knotting neck device of claim 7, further comprising a loading mechanism, wherein the loading mechanism comprises a plurality of rows of rollers, a loading channel is formed between every two rows of rollers, and the sequential displacement cylinder is further used for driving the storage tank of the storage clamp to correspond to the loading channel.

9. The knotting apparatus of claim 1, further comprising a shear mechanism to shear the knotted rope ends.

10. The knotting interface device of any one of claims 1-9, further comprising a chassis, the guidance assembly being disposed on the chassis, the first drive assembly being coupled to the chassis.