PURPOSE: To automate a knot tying process, by forming double loops, passing one end of a cord through the loops, and pulling the other end of the cord tight.
CONSTITUTION: One end 4 of a cord is pulled in the direction shown by the arrow between a pair of small cylinders 5 and a pair of large cylinders 6, both of which are arranged parallel to each other. After the pair of large cylinders 6 move between the two small cylinders 5 in the direction shown by the arrow, a gap between the two small cylinders 5 is made narrow. Consequently, the cord 4 passes between the two small cylinders 5 and forms a triangular loop wound round the peripheries of the pair of large cylinders 6. Then, the pair of large cylinders 6 are turned 180° in the direction shown by the arrow so that the base cord of the triangle is wound around the pair of the large cylinders 6. Subsequently, with part of the loop gripped by a pair of pincers 7, the large cylinders 6 are pulled out to form double loops. The cord 4 is passed through the double loops, turned around, and gripped together with part of the cord 4 outside the loops by a pair of pincers 8. Then, the two small cylinders 5 are opened, the pincers 7 are removed, and it is pulled in the direction of the cord 9, thereby forming a knot.
HONJIYOU MASUMI
HONSHU MASUMI
TAKASAKI NOBUYUKI