A transverse knotting mechanism for an automatic shoe lacing machine

Abstract

The invention discloses a transverse knotting mechanism of an automatic shoelace lacing machine, comprising a housing, a driving gear and two racks respectively meshed with the driving gear, the driving gear being driven by a gear drive motor, guide rails being respectively provided on the front and rear sides of the housing, and the racks being respectively slidable along the guide rails; the outward ends of the two racks are respectively connected to a left transmission rod and a right transmission rod vertically downward, the bottom ends of the left transmission rod and the right transmission rod are respectively connected to a left motor and a right motor, and the output shafts of the left motor and the right motor are respectively connected to a left retractor group and a right retractor group. In the present invention, the left retractor group and the right retractor group can move flexibly like human fingers, thereby realizing automatic knotting of shoelaces; the present invention can complete multiple complex actions on the basis of a simple structure, thus solving the problem of automatic knotting of shoelaces, and its design is ingenious, the action is efficient, the knotting time is short, and the efficiency is high.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic shoe lacing, and in particular to a transverse knotting mechanism of an automatic shoe lacing machine. Background Art

[0002] There are some people with hand disabilities, lumbar disease, hypertension, pregnant women and other groups in our society. Due to reasons such as aging or mobility problems, it is difficult for these people to tie their shoelaces.

[0003] An investigation revealed that there is currently no device on the Chinese market that can achieve stable shoelace tying. Existing devices also suffer from a series of issues, such as being bulky, complex, and unsuitable for home use. To effectively help people with hand disabilities, lumbar spine problems, hypertension, and pregnant women with shoelace tying difficulties, there is an urgent need to develop an automatic shoelace tying machine to facilitate the shoelace tying process for these groups.

[0004] During the development of the automatic shoe-lacing machine, the most important challenge is how to automatically tie the shoelaces through an automated device. Therefore, designing a mechanism that can automatically tie the shoelaces is the most core step in the automatic shoe-lacing machine. Summary of the Invention

[0005] The purpose of the present invention is to provide a transverse knotting mechanism for an automatic shoelace lacing machine, aiming to solve the problem of how to automatically knot shoelaces.

[0006] The above-mentioned technical problems of the present invention are mainly solved by the following technical solutions: a transverse knotting mechanism of an automatic shoe-lacing machine, comprising a shell, a driving gear and two racks respectively meshing with the driving gears, the driving gear being driven by a gear-driving motor, guide rails respectively provided on the front and rear sides of the shell, and the racks respectively sliding along the guide rails; the outward ends of the two racks are respectively connected to a left transmission rod and a right transmission rod vertically downward, the bottom surface of the shell is respectively provided with a strip-shaped notch for the left transmission rod and the right transmission rod to pass through and move, the bottom ends of the left transmission rod and the right transmission rod are respectively connected to a left motor and a right motor, and the output shafts of the left motor and the right motor are respectively connected to a left hook group and a right hook group.

[0007] Furthermore, the left hook group includes a first thin rod, a first curved rod, a second thin rod and a first short rod arranged in a square, wherein the first curved rod is arranged below the first thin rod, the first short rod is arranged on the right side of the first thin rod, and the second thin rod is arranged below the first short rod; the right hook group includes a third thin rod, a second curved rod and a second short rod arranged in a right triangle, wherein the second curved rod is arranged on the left side of the second short rod, and the third thin rod is arranged below the second short rod.

[0008] Furthermore, when the left retractor group and the right retractor group correspond to each other, the first curved rod corresponds to the lower position of the line connecting the second curved rod and the third thin rod, and the second curved rod corresponds to the upper position of the line connecting the first thin rod and the second thin rod.

[0009] Furthermore, the ends of the first curved rod and the second curved rod are respectively provided with hooks, the hook of the first curved rod is bent upward, and the hook of the second curved rod is bent downward.

[0010] Furthermore, the left motor is fixedly arranged at the bottom end of the left transmission rod through a left motor frame, and the right motor is fixedly arranged at the bottom end of the right transmission rod through a right motor frame.

[0011] Furthermore, the left motor and the right motor are respectively arranged on different front and rear sides of the left transmission rod and the right transmission rod.

[0012] Furthermore, the strip-shaped notch is opened in the middle part of the bottom surface of the shell.

[0013] Furthermore, the gear drive motor is arranged on the top of the shell, and its output end passes through the shell and is connected to the driving gear.

[0014] Furthermore, the guide rail is provided with a T-shaped slot, and the back of the rack matches the T-shaped slot.

[0015] Furthermore, the automatic shoe-lacing machine is provided with a shoe support plate, and the transverse knotting mechanism is arranged above the shoe support plate.

[0016] The present invention has the following beneficial effects: the present invention drives the active gear to rotate through the gear driving motor, and then the active gear drives the rack to move left and right, thereby realizing the synchronous reverse movement of the left hook group and the right hook group, and the rotation of the left hook group and the right hook group is realized by the left motor and the right motor, so that the left hook group and the right hook group can move flexibly like human fingers, realizing automatic knotting of shoelaces; the present invention can complete multiple complex actions based on a simple structure, solves the difficult problem of automatic knotting of shoelaces, and has a clever design, efficient action, short knotting time and high efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0018] Figure 2 yes Figure 1 Enlarged schematic diagram of the middle left retractor group.

[0019] Figure 3 yes Figure 1 Enlarged schematic diagram of the middle right retractor assembly after rotation 180°.

[0020] Figure 4 It is a working schematic diagram of the present invention (1).

[0021] Figure 5 It is the working schematic diagram of the present invention (2).

[0022] Figure 6 It is a working schematic diagram of the present invention (3).

[0023] Figure 7 It is a working schematic diagram of the present invention (4).

[0024] Figure 8 It is a working schematic diagram of the present invention (5).

[0025] Figure 9 It is a working schematic diagram of the present invention (6).

[0026] Figure 10 It is a working schematic diagram of the present invention (7).

[0027] Figure 11 It is a working schematic diagram of the present invention (8).

[0028] Figure 12 It is a working schematic diagram of the present invention (9).

[0029] Figure 13 It is a working schematic diagram of the present invention (10).

[0030] In the figure: 1, housing, 2, driving gear, 3, rack, 4, gear drive motor, 5, guide rail, 6, left transmission rod, 61, left motor frame, 62, left motor, 63, left hook group, 64, first thin rod, 65, first curved rod, 66, second thin rod, 67, first short rod, 7, right transmission rod, 71, right motor frame, 72, right motor, 73, right hook group, 74, third thin rod, 75, second curved rod, 76, second short rod, 8, strip notch, 9, shoe support plate, 10, left shoe rope, 11, right shoe rope. DETAILED DESCRIPTION

[0031] In the description of the present invention, it should be noted that the terms "up", "down", "front", "back", "left", "right", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the present invention.

[0032] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0033] Embodiment: A transverse knotting mechanism of an automatic shoe lacing machine, such as Figure 1-4 As shown, the automatic shoe-lacing machine is provided with a shoe support plate 9 for supporting shoes, and a transverse knotting mechanism is provided above the shoe support plate 9. The transverse knotting mechanism includes a housing 1, in which a driving gear 2 and two racks 3 respectively meshing with the driving gear 2 are provided. The two racks 3 are parallel to each other. A gear drive motor 4 is fixedly mounted on the top of the housing 1. The output shaft of the gear drive motor 4 passes through the top surface of the housing 1 and is connected to the rotating shaft of the driving gear 2. The gear drive motor 4 can drive the driving gear 2 to rotate; guide rails 5 are provided on the front and rear sides of the housing 1 along the length direction, respectively. The guide rails 5 are provided with T-slots. The back of the rack 3 matches the T-slot. After the rack 3 is inserted into the T-slot, the rack 3 can slide left and right.

[0034] In the above structure, the outward ends of the two racks 3 are respectively connected to the left transmission rod 6 and the right transmission rod 7. The left transmission rod 6 and the right transmission rod 7 are both L-shaped, and one end thereof is fixedly connected to the end of the rack 3, and a strip-shaped notch 8 for the left transmission rod 6 and the right transmission rod 7 to pass through and move is respectively opened in the middle part of the bottom surface of the shell 1 along the length direction. The other end of the left transmission rod 6 or the right transmission rod 7 away from the rack 3 passes through the strip notch 8 and is arranged vertically downward.

[0035] In the above structure, the bottom ends of the left transmission rod 6 and the right transmission rod 7 are fixedly installed with the left motor 62 and the right motor 72 through the left motor frame 61 and the right motor frame 71 respectively. The left motor 62 and the right motor 72 are respectively located on the front and rear sides of the left transmission rod 6 and the right transmission rod 7. In this embodiment, the left motor 62 is located on the front side of the left transmission rod 6, and the right motor 72 is located on the rear side of the right transmission rod 7.

[0036] In the above structure, the output shafts of the left motor 62 and the right motor 72 are both vertically downward and are connected to the left and right retractor groups 63 and 73, respectively. The left and right retractor groups 63 and 73 each include a herringbone-shaped bracket and a plurality of thin rods simulating fingers arranged on the herringbone bracket. Specifically, the left retractor group 63 is provided with a first thin rod 64, a first curved rod 65, a second thin rod 66, and a first short rod 67 arranged in a square shape, wherein the first curved rod 65 is arranged below the first thin rod 64, the first short rod 67 is arranged to the right of the first thin rod 64, and the second thin rod 66 is arranged below the first short rod 67; the right retractor group 73 is provided with a third thin rod 74, a second curved rod 75, and a second short rod 76 arranged in a right triangle shape, wherein the second curved rod 75 is arranged to the left of the second short rod 76, and the third thin rod 74 is arranged below the second short rod 76.

[0037] In this embodiment, the heights of the left retractor group 63 and the right retractor group 73 are slightly higher than the height of the shoe upper after the user places the shoe on the shoe support plate 9, and the closer they are to the shoe upper, the more conducive it is to the formation of the bow during the knotting process.

[0038] When the left and right retractor groups 63 and 73 are driven by the left and right motors 62 and 72, respectively, and face each other, the first curved rod 65 corresponds to a position slightly below the line connecting the second curved rod 75 and the third thin rod 74, and the second curved rod 75 corresponds to a position slightly above the line connecting the first thin rod 64 and the second thin rod 66. In this embodiment, the ends of the first and second curved rods 65 and 75 are respectively provided with hooks, with the hook of the first curved rod 65 bending upward and the hook of the second curved rod 75 bending downward. The positional relationship and hook orientation are set so that when the left and right retractor groups 63 and 73 approach each other, the shoe rope resting on the second curved rod 75 and the third thin rod 74 can smoothly enter the hook of the first curved rod 65, and the shoe rope resting on the first thin rod 64 and the second thin rod 66 can smoothly enter the hook of the second curved rod 75.

[0039] In the specific implementation of this embodiment, the gear drive motor 4 drives the driving gear 2 to rotate, thereby driving the rack 3 to move, thereby driving the left hook group 63 and the right hook group 73 to move synchronously in opposite directions; the left motor 62 and the right motor 72 can respectively drive the left hook group 63 and the right hook group 73 to rotate. Through these two movement modes, the left hook group 63 and the right hook group 73 can move flexibly like a person's left and right hands, thereby performing the operation of tying shoelaces.

[0040] When the shoelace knotting mechanism of this embodiment is in operation, its initial state is: the left hook group 63 and the right hook group 73 are respectively located at the farthest travel positions at both ends of the shell, the thin rods of the left hook group 63 face the rear side of the shell 1, and the thin rods of the right hook group 73 face the front side of the shell 1; the user places the shoes he has put on on the shoe support plate 9, and hangs the left shoelace 10 on the first thin rod 64 and the second thin rod 66 of the left hook group 63, and the right shoelace 11 on the second curved rod 75 and the third thin rod 74 of the right hook group 73 (this step can be done manually or automatically; the automatic completion method is completed by other components of the automatic shoelace machine, which will not be described in detail in this embodiment. For details, please refer to the specific description in the invention patent applied by the applicant on the same day as the present invention: an automatic shoelace machine). Figure 4 shown.

[0041] Then the left motor 62 and the right motor 72 drive the left hook group 63 and the right hook group 73 to rotate 90 degrees clockwise, that is, the left hook group 63 and the right hook group 73 rotate inwards until they face each other. At this time, the left shoe rope 10 is hung on the first thin rod 64 and the second thin rod 66, and passes between the second thin rod 66 and the first short rod 67; the right shoe rope 11 is hung on the second curved rod 75 and the third thin rod 74, and passes between the third thin rod 74 and the second short rod 76. Figure 5 shown.

[0042] Then the gear drive motor 4 drives the driving gear 2 to rotate counterclockwise, thereby simultaneously driving the two racks 3 to move inwards, thereby simultaneously driving the left hook group 63 and the right hook group 73 to move inwards, that is, to move closer to each other. In the process of the left hook group 63 and the right hook group 73 moving closer to each other, when the outer arc surface of the hook of the second curved rod 75 contacts the part of the left shoe rope 10 hanging between the first thin rod 64 and the second thin rod 66, as shown in FIG. Figure 6 As shown, as the left hook group 63 and the right hook group 73 continue to approach each other, the left shoe rope 10 slides on the outer arc surface of the hook of the second curved rod 75 and falls into the hook of the second curved rod 75, as shown in FIG. Figure 7 When the outer arc surface of the hook of the first curved rod 65 contacts the right shoe rope 11 suspended between the second curved rod 75 and the third thin rod 74, as shown Figure 8 As shown, as the left hook group 63 and the right hook group 73 continue to approach each other, the right shoe rope 11 slides on the outer arc surface of the hook of the first curved rod 65 and falls into the hook of the first curved rod 65, as shown in FIG. Figure 9 When the left shoe rope 10 and the right shoe rope 11 fall into the hooks of the second curved rod 75 and the first curved rod 65 respectively, the gear drive motor 4 stops rotating.

[0043] Then the gear drive motor 4 is reversed, that is, the left hook group 63 and the right hook group 73 are driven away from each other. At the same time, the second curved rod 75 hooks the left shoe rope 10 and the first curved rod 65 hooks the right shoe rope 11. Figure 10 As shown, after the left hook group 63 and the right hook group 73 move away from each other for a period of time, the two shoe ropes can form a square knot. When the left transmission rod 6 and the right transmission rod 7 move to the outermost end of the guide rail 5, the gear drive motor 4 stops rotating, as shown in FIG. Figure 11 Then the left motor 62 and the right motor 72 drive the left retractor assembly 63 and the right retractor assembly 73 to rotate 90 degrees counterclockwise respectively, so that the left retractor assembly 63 and the right retractor assembly 73 return to their initial positions.

[0044] At this time, the left and right shoe ropes are interchanged after forming a square knot, that is, the left shoe rope 10 is located on the right side of the shoe, and the right shoe rope 11 is located on the left side of the shoe.

[0045] After the flat knot is formed, the next step of forming a bow knot can be carried out. The action strokes of the bow knot and the flat knot are roughly the same. Repeating the above-mentioned flat knot forming action can realize the formation of the bow knot. There are only the following differences: when the second curved rod 75 hooks the right shoe rope 11 and the first curved rod 65 hooks the left shoe rope 10, and the left and right hook groups 63 and 73 move away from each other, the strokes of the left and right hook groups 63 and 73 are only two-thirds of the strokes of the two during the flat knot formation process. That is, after the left and right shoe ropes 10 and 11 form a bow knot, the second curved rod 75 and the first curved rod 65 no longer continue to move outward to maintain the shape of the bow knot, as shown in FIG. Figure 12 shown.

[0046] After the bow tie is formed, the gear drive motor 4 drives the driving gear 2 to rotate counterclockwise, that is, the left hook group 63 and the right hook group 73 are close to each other for a distance, such as Figure 13 As shown, the left and right shoe straps 10 and 11 can be easily detached from the hooks on their respective hook assemblies. Since the second hook 75 bends downward, the right shoe strap 11 can be easily detached from the second hook 75. However, since the first hook 65 bends upward, the user needs to slightly lift their foot and then deflect it to the right to detach the left shoe strap 10 from the first hook 65.

[0047] At this point, the shoe lacing action has been completed. Finally, the gear drive motor 4 works to drive the left transmission rod 6 and the right transmission rod 7 to move to the outermost end of the guide rail 5. Then the left motor 62 and the right motor 72 respectively drive the left hook group 63 and the right hook group 73 to rotate 90° counterclockwise, so that the horizontal knotting mechanism returns to its initial position.

[0048] Finally, it should be noted that the above embodiments are merely representative examples of the present invention. Obviously, the present invention is not limited to the above embodiments and is susceptible to numerous variations. Any simple modifications, equivalent changes, and modifications to the above embodiments based on the technical essence of the present invention should be considered within the scope of protection of the present invention.

Claims

1. A transverse knotting mechanism for an automatic shoe lacing machine, characterized in that: The invention comprises a housing, wherein a driving gear and two racks respectively meshing with the driving gear are provided in the housing, the driving gear is driven by a gear drive motor, and guide rails are respectively provided on the front and rear sides of the housing, and the racks can slide along the guide rails respectively; the outward ends of the two racks are respectively connected to a left transmission rod and a right transmission rod vertically downward, and the bottom surface of the housing is respectively provided with a strip-shaped notch for the left transmission rod and the right transmission rod to pass through and move, the bottom ends of the left transmission rod and the right transmission rod are respectively connected to a left motor and a right motor, and the output shafts of the left motor and the right motor are respectively connected to a left retractor group and a right retractor group; The left retractor assembly includes a first thin rod, a first curved rod, a second thin rod, and a first short rod arranged in a square shape, wherein the first curved rod is arranged below the first thin rod, the first short rod is arranged on the right side of the first thin rod, and the second thin rod is arranged below the first short rod; The right retractor assembly includes a third thin rod, a second curved rod, and a second short rod arranged in a right triangle, wherein the second curved rod is arranged on the left side of the second short rod, and the third thin rod is arranged below the second short rod; When the left retractor group and the right retractor group correspond to each other, the first curved rod corresponds to a position slightly below the line connecting the second curved rod and the third thin rod, and the second curved rod corresponds to a position slightly above the line connecting the first thin rod and the second thin rod; The left motor is fixedly arranged at the bottom end of the left transmission rod through a left motor frame, and the right motor is fixedly arranged at the bottom end of the right transmission rod through a right motor frame; The left motor and the right motor are respectively arranged on different front and rear sides of the left transmission rod and the right transmission rod.

2. The transverse knotting mechanism of the automatic shoe lacing machine according to claim 1, characterized in that: The ends of the first curved rod and the second curved rod are respectively provided with hooks, the hook of the first curved rod is bent upward, and the hook of the second curved rod is bent downward.

3. The transverse knotting mechanism of the automatic shoe lacing machine according to claim 1, characterized in that: The strip-shaped notch is opened in the middle part of the bottom surface of the shell.

4. The transverse knotting mechanism of the automatic shoe lacing machine according to claim 1, characterized in that: The gear drive motor is arranged on the top of the shell, and the output end thereof passes through the shell and is connected to the driving gear.

5. The transverse knotting mechanism of the automatic shoe lacing machine according to claim 1, characterized in that: The guide rail is provided with a T-shaped slot, and the back of the rack matches the T-shaped slot.

6. The transverse knotting mechanism of the automatic shoe lacing machine according to claim 1, characterized in that: The automatic shoe-lacing machine is provided with a shoe supporting plate, and the transverse knotting mechanism is arranged above the shoe supporting plate.

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