Automated knotting method for a belt axis bundle

An automated knotting method for a belt axis bundle formed by continuously winding a long and flexible thread around an exterior of a spool using an automated winding device, a distal section of the thread being released from the belt axis bundle and extending a length in a direction away from the belt axis bundle, forming a freely extendable and movable end segment, the knotting method being executed by an automated knotting device that controls movement of a positioning rod, a first clamping hook, a second clamping hook, a third clamping hook, and a cutting tool of the automated knotting device, the knotting method comprising the steps of:

• clamping the first clamping hook to a free end of the end segment;
• moving the positioning rod to a position where the end segment is located;
• controlling the first clamping hook to wrap the end segment around 360 degrees in the same direction as a winding direction of the thread on the spool, a first part of the end segment wrapping around the positioning rod and the belt axis bundle, forming a first loop between the positioning rod and the belt axis bundle;
• extending the second clamping hook through the first loop and then clamping a second part of the end segment;
• moving the second clamping hook and pulling the second part by the second clamping hook into a first bent segment and through the first loop;
• moving the positioning rod away from the first loop;
• performing, by the second clamping hook, a first twisting action to the first bent segment to form a twisted loop;
• moving and extending the third clamping hook through the twisted loop, the third clamping hook clamping a third part of the end segment;
• moving the third clamping hook and pulling, by the third clamping hook, the third part into a second bent segment and through the twisted loop;
• releasing the second clamping hook from the twisted loop and retracting the second clamping hook;
• clamping the third clamping hook to the second bent segment to rotate 180 degrees around the belt axis bundle in the same direction as the winding direction of the thread on the spool, the third clamping hook tightening the second bent segment, the end segment forming a tightened slip knot that is located at an outside of the belt axis bundle and wraps around the belt axis bundle, and
• cutting, by the cutting tool, the end segment between the slip knot and the first clamping hook, leaving a thread end connected to the slip knot.