A clamping device for automatic shoe lacing equipment

Abstract

The present invention discloses a clamping device for an automatic shoelace threading device, comprising a mounting bracket, wherein a resettable clamping arm 1 and a clamping arm 2 are mounted in the mounting bracket, wherein the clamping arm 1 and the clamping arm 2 are both movably connected to a pushing component, and the pushing component is used to open or close the clamping arm 1 and the clamping arm 2, wherein the pushing component extends out of the mounting bracket, and the clamping arm 1 and the clamping arm 2 can be made relatively slender, and are suitable for clamping parts in a narrow space, and the size of the opening of the clamping arm 1 and the clamping arm 2 can be controlled by controlling the forward and backward strokes of the pushing component, so as to be suitable for clamping parts of different sizes. In one application mode of the efficient clamping jaw, the pushing and clamping actions can be completed together, and only one pneumatic component is used in the process, which can effectively reduce the time delay. Secondly, the pneumatic component has only one extending action in the whole process, and can complete the clamping action in conjunction with the corresponding structure, thereby effectively reducing the action time required for the action and improving the speed at which the bundle head passes through the shoe hole.

Description

Technical Field

[0001] The invention belongs to the technical field of clamping devices and shoelace threading equipment, in particular to a clamping device for automatic shoelace threading equipment. Background Art

[0002] The clamping device is an important device used to transfer the position of products in automation equipment. At present, most of the core components of the clamping device are air grippers. Air grippers have ready-made parts, are easy to use, and have a relatively complete range of models with many choices. However, the overall size of the air gripper is relatively large, and there is a delay, which is not suitable for specific scenarios.

[0003] In addition, after the shoes are produced, they need to be laced before they can be shipped. In the past, shoelaces were laced one pair at a time manually. In order to increase the speed, an automatic shoe lacing device has emerged, such as the public technical document "CN103876393B, automatic shoe lacing machine". The core of the device is a clamp mounting seat 1 that can perform linear motion in the X direction. The clamp mounting seat 1 is provided with a rotating seat 2 that can perform rotational motion. The rotating seat 2 is provided with a first clamp 21 driven by a first lifting cylinder 23 and a second clamp 22 driven by a second lifting cylinder 24. The first clamp 21 and the second clamp 22 can clamp the shoelace ends, and under the drive of the clamp mounting seat 1, alternately clamp the shoelace ends and pass the shoelace ends through the shoelace holes on the upper;

[0004] There are two problems with the above solution:

[0005] 1. The first and second clamps in the above scheme use air grippers, which have a delay in action. In addition, the other air gripper can only start clamping after the shoelace bundle passes through the shoelace hole. Therefore, it takes at least 3 seconds to pass through a shoelace hole.

[0006] 2. During the shoelace threading process, the clamping assembly needs to rotate continuously, and the use of air claws as the clamping components requires the connection of air pipes, which may cause knots during the rotation process. Therefore, a transfer device is required to assist, and the rotation angle is limited, so only one style of shoelaces can be threaded, and the application is limited. Summary of the invention

[0007] The object of the present invention is to provide a clamping device for an automatic shoelace-threading device to solve the problems raised in the above-mentioned background technology.

[0008] To achieve the above object, the present invention provides the following technical solutions:

[0009] A high-efficiency clamp comprises a mounting bracket, wherein a resettable clamp arm 1 and a clamp arm 2 are mounted in the mounting bracket, the clamp arm 1 and the clamp arm 2 are both movably connected to a pushing component, the pushing component is used to open or close the clamp arm 1 and the clamp arm 2, and the pushing component extends out of the mounting bracket.

[0010] Based on the above principle and structure, clamp arm one and clamp arm two can be made relatively slender, which is suitable for clamping parts in narrow spaces. Moreover, the size of the opening of clamp arm one and clamp arm two can be controlled by controlling the forward and backward stroke of the pushing component, so as to be suitable for clamping parts of different sizes.

[0011] According to a further technical solution, the pushing assembly includes a push rod, and the ends of the push rod are inclined surface 1 and inclined surface 2, which respectively abut against the clamping arm 1 and the clamping arm 2.

[0012] According to a further technical solution, the clamp arm 1 and the clamp arm 2 are respectively rotatably connected to the mounting bracket, and a return spring is provided between the two.

[0013] According to a further technical solution, the return spring is arranged on a side away from the pushing component, with the rotating connection as the boundary.

[0014] According to a further technical solution, a limit bar hole is provided in the push rod, a limit block is provided in the mounting bracket, and the limit block is placed in the limit bar hole.

[0015] A clamping device for an automatic shoelace-threading device comprises a fixed outer cover, a movable cavity is arranged in the fixed outer cover, two high-efficiency clamping claws are arranged side by side in the movable cavity, the two high-efficiency clamping claws can extend out of the fixed outer cover in the same direction, and when the assembly is pushed forward, the first clamping arm and the second clamping arm form a clamping state;

[0016] At least one abutment portion is disposed at the end of the pushing assembly, and a buffer spring is disposed between the abutment portion and the mounting bracket.

[0017] The present invention can realize the completion of pushing out and clamping actions together. Only one pneumatic component is used in this process, which can effectively reduce the time delay. Secondly, the pneumatic component has only one extending action in the whole process, and can complete the clamping action with the corresponding structure, thereby effectively reducing the action time required for the action and improving the speed of the bundle head passing through the shoe hole.

[0018] According to a further technical solution, the distance between the clamping parts of the two high-efficiency clamping jaws is less than or equal to the length of the shoelace bundle.

[0019] According to a further technical solution, a pneumatic component is installed at the end of the outer cover, and the output end of the pneumatic component is respectively connected to the ends of the two pushing components.

[0020] A further technical solution is that the end of the pneumatic component is connected to a rotating component, and a plurality of vents 2 are provided at the output end of the rotating component, and the vents 2 are connected to the pneumatic component, and each vent 2 is connected to an airway, and the airway is provided in the fixing part, and is located on the fixing part to form vent 1 connected to the airway, and the vents 2 rotate with the output end and remain connected to the airway.

[0021] A further technical solution is that the rotating component includes a shell, a rotating shaft is rotatably connected in the shell, a plurality of independent channels 1 are arranged in the rotating shaft, each of the channels 1 forms an air vent 3 on the surface of the rotating shaft, a plurality of sealing rings are arranged between the rotating shaft and the inner cavity of the shell, a channel 2 is formed between two adjacent sealing rings, a plurality of channels 2 correspond one to one with a plurality of air vents 3, so that the channels 1 and 2 are combined to form an airway.

[0022] According to a further technical solution, a plurality of flanges are arranged on the rotating shaft, two flanges form a group to form a groove, the sealing ring is placed in the groove, and a second channel is formed between two adjacent groups of flanges.

[0023] Beneficial effects of the present invention:

[0024] No matter how many times the rotating component drives the pneumatic component to rotate forward or backward, the plurality of vents 2 and the vents of the pneumatic component can remain relatively still, and the high-speed airflow can be delivered to the vents 2 through the airway to realize the movement of the pneumatic component. There is no limit on the number of rotations, and the air pipe will not get tangled. The scope of application is wider. At the same time, based on the unlimited rotation method, more styles can be installed with higher efficiency.

[0025] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 : A three-dimensional structural diagram of the efficient clamping jaws of the present invention.

[0027] Figure 2 : Schematic diagram of the first embodiment of the high-efficiency clamp of the present invention.

[0028] Figure 3 : Structural diagram of the second embodiment of the high-efficiency clamp of the present invention.

[0029] Figure 4 : Combination diagram of the clamping device, pneumatic component and rotating component of the present invention.

[0030] Figure 5 : A three-dimensional structural diagram of the clamping device of the present invention.

[0031] Figure 6 : Disassembly diagram of the pneumatic component and rotating component of the present invention.

[0032] Figure 7 : External structural diagram of the rotating assembly of the present invention.

[0033] Figure 8 : A three-dimensional cross-sectional view of the rotating component of the present invention.

[0034] Fig. 9 : The shaft structure diagram of the present invention.

[0035] Figure numerals: 1-rotating assembly, 11-housing, 12-rotating shaft, 13-channel one, 14-vent three, 15-sealing ring, 16-channel two, 17-vent two, 18-vent one, 191-flange, 192-groove, 21-fixing plate, 22-driving motor, 23-synchronous wheel one, 24-synchronous wheel two, 3-pneumatic assembly, 31-cylinder body, 32-piston push rod, 33 -Vent five, 34-Vent six, 4-High-efficiency clamping claw, 41-Mounting bracket, 421-Clamping arm one, 422-Clamping arm two, 43-Pushing assembly, 431-Push rod, 432-Inclined surface one, 433-Inclined surface two, 434-Limiting bar hole, 435-Resistance part, 44-Reset spring, 45-Limiting block, 46-Buffer spring, 47-Limiting step, 48-Slot, 5-Fixed outer cover. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0037] Please refer to Figure 1-9 ;

[0038] The present invention proposes an efficient clamping claw structure, which is intended to realize a clamping function and is suitable for use in specific equipment, and specifically includes a mounting bracket 41, in which a resettable clamping arm 1 421 and a clamping arm 2 422 are installed, and the clamping arm 1 421 and the clamping arm 2 422 are both movably connected to a pushing component 43, and the pushing component 43 extends out of the mounting bracket 41; in this embodiment, the mounting bracket 41 can be fixed or non-fixed according to different usage scenarios, and the following description takes the non-fixed mounting bracket 41 as an example;

[0039] Assume that the mounting bracket 41 is fixed in the multi-axis moving device, and the end of the pushing component 43 away from the clamping arm 1 421 and the clamping arm 2 422 is connected to the power component, wherein the power component can be a cylinder or a linear motor, etc. In addition, the rotation connection mode of the clamping arm 1 421 and the clamping arm 2 422 can be a mutual rotation connection, or a rotation connection with the mounting bracket 41 respectively, which is not limited here; the function of the pushing component 43 can be used to open or close the clamping arm 1 421 and the clamping arm 2 422 according to the needs, that is, the pushing component 43 in the first embodiment, referring to Figure 1 and Figure 2When pushing forward, the clamp arm 1 421 and the clamp arm 2 422 can be opened, and when retracting backward, the clamp arm 1 421 and the clamp arm 2 422 can be reset to restore the clamping state; the specific structure is that the reset spring 44 is arranged on the right side of the rotating connection, or the tension spring is arranged on the left side of the rotating connection. No matter which method is used, the side of the clamp arm 1 421 and the clamp arm 2 422 close to the pushing component 43 is in an open state, and the side away from the pushing component 43 is in a closed state, and the end of the pushing component 43 is provided with a "V"-shaped groove 48, and the two sides of the groove 48 respectively contact with the ends of the clamp arm 1 421 and the clamp arm 2 422. When the moving component 43 is pushed toward the direction of clamp arm 1 421 and clamp arm 2 422 under the push of the power component, the ends of clamp arm 1 421 and clamp arm 2 422 will slide along the inner wall of the slot 48 and approach each other, and the other ends of clamp arm 1 421 and clamp arm 2 422 will move away from each other, thereby achieving separation, that is, completing the open state. When the pushing component 43 moves away from clamp arm 1 421 and clamp arm 2 422, under the action of the reset member, the first end of clamp arm 1 421 and clamp arm 2 422 away from the pushing component 43 will close, and the end close to the pushing component 43 will open. Based on the above embodiment, the clamping and releasing states can be achieved.

[0040] In the second embodiment of the push assembly 43, refer to Figure 1 and Figure 3 When pushed forward, the clamp arm 1 421 and the clamp arm 2 422 can be closed, and when retracted backward, the clamp arm 1 421 and the clamp arm 2 422 can be reset to restore the open state; the specific structure is that the reset spring 44 is arranged on the left side of the rotating connection, or the tension spring is arranged on the right side of the rotating connection. No matter which method is used, the side of the clamp arm 1 421 and the clamp arm 2 422 close to the pushing component 43 is in a closed state, and the side away from the pushing component 43 is in an open state. The pushing component 43 includes a push rod 431, and the ends of the push rod 431 are inclined surfaces 1 432 and 2 433, which respectively abut against the clamp arm 1 421 and the clamp arm 2 422. When the push rod 43 is pushed, the clamp arm 1 421 and the clamp arm 2 422 are reset to restore the open state. When the component 43 is pushed toward the direction of the clamp arm 1 421 and the clamp arm 2 422 by the push of the power component, the ends of the clamp arm 1 421 and the clamp arm 2 422 will slide along the surfaces of the inclined surface 1 432 and the inclined surface 2 433 and move away from each other, and the other ends of the clamp arm 1 421 and the clamp arm 2 422 will approach each other, thereby forming a clamped closed state. When the pushing component 43 moves away from the clamp arm 1 421 and the clamp arm 2 422, the first end of the clamp arm 1 421 and the clamp arm 2 422 away from the pushing component 43 will open under the action of the reset member, and the end close to the pushing component 43 will close. Based on the above embodiment, the clamping and releasing states can be achieved.

[0041] Based on the above principle and structure, clamp arm 1 421 and clamp arm 2 422 can be made relatively slender, which is suitable for clamping parts in a narrow space. In addition, the size of the opening of clamp arm 1 421 and clamp arm 2 422 can be controlled by controlling the forward and backward stroke of the pushing component 43, so as to be suitable for clamping parts of different sizes.

[0042] Preferably, the clamp arm 1 421 and the clamp arm 2 422 are respectively rotatably connected to the mounting bracket 41 , and a reset spring 44 is provided between the two. The reset spring 44 is provided on a side away from the pushing assembly 43 with the rotation connection as the boundary.

[0043] In the embodiment of the present invention, a limit bar hole 434 is provided in the top rod 431, and a limit block 45 is provided in the mounting bracket 41. The limit block 45 is placed in the limit bar hole 434 to limit the movable stroke of the top rod 431. Of course, a slide groove is provided in the mounting bracket 41, and the width of the slide groove is adapted to the width of the top rod 431, which also limits the position of the top rod 431.

[0044] The present invention also provides a clamping device for an automatic shoelace-threading device including a high-efficiency clamping claw 4, referring to Figure 4-Figure 9 ; It is an application mode of the high-efficiency clamping claw 4, which can effectively improve the work efficiency of shoelace threading, and specifically includes a fixed outer cover 5, a movable cavity is provided in the fixed outer cover 5, and two high-efficiency clamping claws 4 are arranged side by side in the movable cavity, and the two high-efficiency clamping claws 4 can extend out of the fixed outer cover 5 in the same direction; in this embodiment, the mounting bracket 41 is movable relative to the fixed outer cover 5, and based on the implementation method when the clamping arm 1 421 and the clamping arm 2 422 are opened in the initial state, that is, when the pushing component 43 moves forward, the clamping arm 1 421 and the clamping arm 2 422 form a clamping state, preferably, a limiting step 47 is provided on the outer side of the mounting bracket 41, and the limiting step 47 can conflict with the inner side of the fixed outer cover 5 to limit the moving stroke of the high-efficiency clamping claw 4; for the convenience of explanation, the two high-efficiency clamping claws 4 are defined as A and B for explanation;

[0045] A power component is installed at the end of the fixed outer cover 5, and the power component can be a linear motor or a pneumatic component, etc. It has two output ends that are respectively connected to the top rods 431 of the high-efficiency clamp A and the high-efficiency clamp B, so that the high-efficiency clamp A and the high-efficiency clamp B can move independently. At least one interference portion 435 is provided at the end of the top rod 431, and a buffer spring 46 is provided between the interference portion 435 and the mounting bracket 41. Preferably, two interference portions 435 are symmetrically provided, and two buffer springs 46 are also provided to make the overall force more uniform.

[0046] It should be noted here that the clamping device is installed in a multi-axis moving device to realize the action of threading shoelaces. In actual production, a robot can also be used, but the price of the robot is very high.

[0047] First, use the high-efficiency clamp A to clamp one end of the shoelace bundle head close to the shoelace, at this time, the high-efficiency clamp A is in an extended state, and the high-efficiency clamp B is in a retracted state, and then the clamping device is driven by the multi-axis moving device to move to the shoe hole position, and the bundle head is passed through the shoe hole. At the same time, the high-efficiency clamp B extends to clamp one end of the bundle head passing through the shoe hole. While the high-efficiency clamp B clamps the bundle head, the high-efficiency clamp A retracts into the fixed outer cover and loosens the bundle head at the same time. The multi-axis moving device drives the clamping device to move to pass the shoelace through the shoe hole. Before the shoelace passes through the shoe hole, the high-efficiency clamp A has partially retreated into the fixed outer cover, so it will not touch the shoe surface. The prior art needs to drive the clamp to push back after loosening the bundle head, which belongs to two actions and takes a long time. In the present invention, one shoe hole is passed through, and the whole process only takes 1 second.

[0048] The key to the rapid shoelace tightening of the present invention is that two actions are combined into one action, such as the description in paragraph 0035 of the specification of the public technical document "CN103876393B, automatic shoelace tightening machine" that "a first lifting cylinder and a second lifting cylinder are fixed on a rotating seat, and a driving rod of the first lifting cylinder is fixedly connected to a first clamp. A driving rod of the second lifting cylinder is fixedly connected to a second clamp"; the first clamp clamps the bundle head so that the first lifting cylinder is in an extended state, and the second lifting cylinder is in an initial state. The purpose of this is to enable the first clamp and the second clamp to be located on both sides of the shoe hole respectively. After the bundle head passes through the shoe hole, the second lifting cylinder first acts to push out the second clamp, and then the second clamp acts again to clamp the bundle head. Two actions are performed here, and both use pneumatic components 3, so there will be a large time delay, which is one of the reasons for the low efficiency;

[0049] The present invention can realize the completion of the pushing and clamping actions together. Specifically, when the pneumatic assembly 3 pushes the push rod 431 to move in the direction of the clamp arm 1 421 and the clamp arm 2 422, due to the resistance of the buffer spring 46, the ends of the clamp arm 1 421 and the clamp arm 2 422 will not slide along the inclined surface 1 432 and the inclined surface 2 433 at first, but the high-efficiency clamping claw 4 moves relative to the fixed outer cover 5 as a whole to form an extended state, and stops sliding after the mounting bracket 41 moves to a fixed stroke, but the push rod 431 continues to move forward and compresses the buffer spring 46, so that the ends of the clamp arm 1 421 and the clamp arm 2 422 slide along the surfaces of the inclined surface 1 432 and the inclined surface 2 433 and move away from each other. The other ends of the clamping arm 1 421 and the clamping arm 2 422 will be close to each other, thereby forming a clamping closed state; the bundle head passing through the shoe hole is clamped, and only one pneumatic component 3 is used in this process, which can effectively reduce the time delay. Secondly, the pneumatic component 3 has only one extending action in the whole process, and the clamping action can be completed with the corresponding structure, thereby effectively reducing the action time required for the action and increasing the speed of the bundle head passing through the shoe hole; a shoe has at least 5 shoe holes on one side, and each action can save more than 1 second, so the work of a pair of shoes can save at least 5 seconds, and shoes are produced in large quantities, which can greatly save production time.

[0050] When the push rod 431 moves away from the clamp arm 1 421 and the clamp arm 2 422, after the push rod 431 moves to a certain stroke, it is pulled as a whole into the fixed outer cover 5 under the action of the limit bar hole 434 and the limit block 45. At the same time, the clamp arm 1 421 and the clamp arm 2 422 will also slide along the surface of the inclined surface 1 432 and the inclined surface 2 433. Under the action of the reset member, the first end of the clamp arm 1 421 and the clamp arm 2 422 away from the push rod 431 will open, and the end close to the push rod 431 will close. It should be noted that the closure is when one end of the clamp arm 1 421 and the clamp arm 2 422 is in a close state, not necessarily in an opposing state.

[0051] Based on the above structure, the clamp arm 1 421 and the clamp arm 2 422 can be made into a slender structure, so that the distance between the two clamping parts of the two high-efficiency clamp jaws A and the two high-efficiency clamp jaws B is less than or equal to the length of the shoelace bundle, making the overall volume smaller.

[0052] The automatic shoelace threading device based on the prior art usually adopts an air gripper as a clamping component, so an air pipe needs to be set to connect with the air gripper. In order to prevent the air pipe from getting tangled, a transfer device needs to be set to assist, that is, the bundle head is first clamped by the transfer device during rotation, and then the bundle head is clamped after the clamping component is rotated and reset, which is also one of the reasons affecting the work efficiency. The present invention does not require transfer and has no rotation angle limit.

[0053] The rotating assembly 1 includes a housing 11. It should be noted that a rotating shaft 12 is rotatably connected to the housing 11. In the prior art, bearings are usually provided at both ends of the rotating shaft 12 to maintain the rotating shaft 12 in the center position and to rotate more smoothly. A plurality of independent channels 13 are provided in the rotating shaft 12. The channels extend axially along the extending direction of the rotating shaft 12 and extend to the end of the rotating shaft 12 to form a vent 2 17. In addition, each channel 13 forms a vent 3 14 on the surface of the rotating shaft 12. A vent 3 14 is provided between the rotating shaft 12 and the inner cavity of the housing 11. A plurality of sealing rings 15, wherein a second channel 16 is formed between two adjacent sealing rings 15, and more specifically, the second channel 16 is formed by the two adjacent sealing rings 15, the inner wall of the housing 11 and the outer wall of the rotating shaft 12, and the plurality of second channels 16 are arranged to extend along the rotating shaft 12, and the plurality of second channels 16 are annular and arranged around the outer periphery of the rotating shaft 12, and the plurality of second channels 16 correspond to the plurality of vents 3 14 one by one, so that the first channel 13 and the second channel 16 are combined to form an airway, and the vent 1 18 located on the surface of the housing 11 is connected to the second channel 16;

[0054] A complete airway in the present embodiment is formed by vent 1 18, channel 2 16, vent 3 14, channel 1 13 and vent 2 17. Each airway has the above-mentioned characteristics and is independent of each other. In the present embodiment, the relative position of the rotating shaft 12 and the shell 11 is fixed by the limitation of bearings or other components. When the rotating shaft 12 rotates, the vent 2 17, channel 1 13 and vent 3 14 will synchronously change the coaxial angular position. However, based on the annular design of channel 2 16, the vent 3 14 always remains in channel 2 16 no matter what angle it rotates to, and the vent 1 18 is directly connected to channel 2 16. Therefore, no matter how many times the rotating shaft 12 rotates forward or backward, it can ensure the smooth transmission of the airflow and finally output it from the vent 2 17. There is no limit on the number of rotations, and the trachea will not get tangled. At the same time, based on the unlimited rotation method, more styles can be installed with higher efficiency.

[0055] Preferably, when the shaft 12 rotates, the sealing ring 15 may be deformed due to the friction and fail to seal the channel 2 16, that is, air leakage may occur. Therefore, the sealing ring 15 can be restored to its original state when the shaft 12 stops moving, and the sealing of the channel 2 16 is maintained before a high-speed airflow is introduced to activate the pneumatic component 3.

[0056] Furthermore, a plurality of flanges 191 are provided on the rotating shaft 12, and two flanges 191 form a group to form a groove 192. The sealing ring 15 is placed in the groove 192, and a channel 16 is formed between two adjacent groups of flanges 191. The position of the sealing ring 15 can be limited by the groove 192 to prevent the friction generated during the rotation of the rotating shaft 12 from causing the sealing ring 15 to be offset.

[0057] Furthermore, after a plurality of channels 13 are provided on the rotating shaft 12, a plurality of vents 3 14 will be formed on the surface of the rotating shaft 12. If a number of vents 3 14 are distributed in a straight line, it may cause the mass imbalance of the rotating shaft 12 and lead to problems such as unstable rotation. Therefore, the vents 3 14 are distributed at a certain angle. If there are two vents 3 14, they are symmetrically distributed at 180°. If there are four vents 3 14, they are evenly distributed at 90°.

[0058] In the embodiment of the present invention, a pneumatic component 3 has at least one group of vent A and vent B, so at least two airways are formed, namely, two vent twos 17 are formed, which are respectively connected to vent A and vent B. In the second embodiment based on the airway structure, vent one 18, channel two 16, vent three 14, channel one 13 and vent two 17 each have two groups. For some special pneumatic components 3, for example, those with multiple linked outputs and three vents, three airways can also be set.

[0059] In the embodiment of the present invention, there are four air passages. In addition to being able to cope with special pneumatic components 3, such a design can also be used to install two conventional pneumatic components 3. Based on this embodiment, if two pneumatic components 3 are set, then two air vents 17 are connected to one pneumatic component 3 as a group. The two pneumatic components 3 are operated according to actual conditions and can be used separately, that is, multiple air passages are independently supplied with air.

[0060] In the embodiment of the present invention, a fixing plate 21 is installed at the end of the shell 11, a driving motor 22 is installed on the fixing plate 21, a synchronous wheel 23 is installed at the output end of the driving motor 22, a synchronous wheel 24 is connected to the end of the rotating shaft 12, and the synchronous wheel 1 23 and the synchronous wheel 2 24 are transmission connected.

[0061] The present invention also discloses a pneumatic device, specifically including the above-mentioned unlimited rotation device and a pneumatic component 3, the pneumatic component 3 is installed at the output end of the unlimited rotation device, and the several vents of the pneumatic component 3 are respectively connected to the several vents 17. The pneumatic device described in the present invention can specifically refer to the implementation method of the unlimited rotation device, and the technical effect produced is the same.

[0062] The pneumatic assembly 3 in this embodiment is an integrated same-direction dual-output cylinder, which can save more space and make the overall volume smaller than setting two independent cylinders. The structure of the pneumatic assembly 3 is further described below;

[0063] Specifically, it includes a cylinder body 31, which is provided with two independent air cavities, each of which is provided with a piston push rod 32, and two air vents 5 33 and two air vents 6 34 are provided on the surface of the cylinder body 31, which are respectively connected to the two air cavities, and the air vents 5 33 and the air vents 6 34 are respectively connected to the independent air vents 2 17; the two air vents 5 33 correspond to one air cavity and are connected to two of the air vents 2 17, so as to control the movement of one of the piston push rods 32; the two air vents 6 34 correspond to another air cavity and are connected to the other two air vents 2 17, so as to control the movement of the other piston push rod 32.

[0064] The two pneumatic components 3 operate according to actual conditions and can be used separately, that is, the multiple airways supply air independently of each other.

[0065] Furthermore, vent five 33 and vent six 34 are both arranged at the end of the cylinder body 31, and the plurality of vent twos 17 are also arranged at the end of the output end, that is, vent five 33 and vent six 34 can be directly connected with the plurality of vent twos 17, omitting the connection of the intermediate components, which can further reduce the overall volume. Preferably, the pneumatic component 3 and the unlimited rotation device are distributed in a straight line.

[0066] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0067] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementations that can be understood by those skilled in the art.

Claims

1. A clamping device for an automatic shoe lacing device, characterized in that: The invention comprises a fixed outer cover, wherein a movable chamber is arranged in the fixed outer cover (5), wherein two high-efficiency clamping jaws (4) are arranged side by side in the movable chamber, wherein the high-efficiency clamping jaws (4) comprise a mounting bracket, wherein a first clamping arm (421) and a second clamping arm (422) which can be reset are mounted in the mounting bracket (41), wherein the first clamping arm (421) and the second clamping arm (422) are both movably connected to a pushing component (43), wherein the pushing component (43) is used to open or close the first clamping arm (421) and the second clamping arm (422), and wherein the pushing component (43) extends out of the mounting bracket (41); The two high-efficiency clamping claws (4) can both extend out of the fixed outer cover (5) in the same direction, and the pushing assembly (43) includes a push rod (431), and the ends of the push rod (431) are inclined surfaces 1 (432) and 2 (433) that respectively abut against the first clamping arm (421) and the second clamping arm (422), and when the push rod (431) moves forward, the first clamping arm (421) and the second clamping arm (422) form a clamping state; At least one abutment portion (435) is provided at the end of the pushing assembly (43), a buffer spring (46) is provided between the abutment portion (435) and the mounting bracket (41), and the distance between the clamping portions of the two high-efficiency clamping jaws (4) is less than or equal to the length of the shoelace bundle.

2. A clamping device for an automatic shoelace-tying device according to claim 1, characterized in that: The clamping arm 1 (421) and the clamping arm 2 (422) are respectively rotatably connected to the mounting bracket (41), and a return spring (44) is provided between the two.

3. A clamping device for an automatic shoelace-tying device according to claim 2, characterized in that: With the rotation connection as a boundary, the return spring (44) is arranged on a side away from the pushing component (43).

4. A clamping device for an automatic shoelace-tying device according to claim 3, characterized in that: A limiting strip hole (434) is provided in the push rod (431), a limiting block (45) is provided in the mounting bracket (41), and the limiting block (45) is placed in the limiting strip hole (434).

5. The clamping device for an automatic shoe lacing device according to claim 1, characterized in that: A pneumatic component (3) is installed at the end of the outer cover, and the output end of the pneumatic component (3) is respectively connected to the ends of two pushing components (43).

6. A clamping device for an automatic shoelace-tying device according to claim 5, characterized in that: The end of the pneumatic component (3) is connected to the rotating component (1), and the output end of the rotating component (1) is provided with a plurality of vents (17), the vents (17) being connected to the pneumatic component (3), each vent (17) being connected to an air passage, the air passage being provided in the fixing part, and forming a vent (18) on the fixing part that is connected to the air passage, the vents (17) rotating with the output end and remaining connected to the air passage.

7. A clamping device for an automatic shoe lacing device according to claim 6, characterized in that: The rotating assembly (1) comprises a shell (11), a rotating shaft (12) is rotatably connected in the shell (11), a plurality of mutually independent channels (13) are arranged in the rotating shaft (12), each of the channels (13) forms a vent (14) on the surface of the rotating shaft (12), a plurality of sealing rings (15) are arranged between the rotating shaft (12) and the inner cavity of the shell (11), a channel (16) is formed between two adjacent sealing rings (15), the plurality of channels (16) correspond to the plurality of vents (14) one by one, so that the channels (13) and the channels (16) are combined to form an air passage.

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