A high-efficiency automatic shoelace machine

Abstract

The invention discloses an efficient automatic shoelace threading machine, comprising a working platform, on which a clamp and at least two multi-axis moving devices are respectively installed, and a rotating device is installed at the moving end of each multi-axis moving device; a pneumatic component is installed at the moving end of the rotating device, and a clamping device is installed at the output end of the pneumatic component, and the clamping device comprises a fixed outer cover, a movable chamber is arranged in the fixed outer cover, and two efficient clamping claws are arranged side by side in the movable chamber, and the two efficient clamping claws are connected to the output end of the pneumatic component for alternating action, and the two efficient clamping claws can extend out of the fixed outer cover in the same direction, and form a closed or open state when pushed out or retracted, so that the pushing out and clamping actions can be completed together, and only one pneumatic component is used in this process, which can effectively reduce the time delay, and 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 of the bundle head passing through the shoe hole.

Description

Technical Field

[0001] The invention belongs to the technical field of shoe lacing equipment, in particular to a high-efficiency automatic shoe lacing machine. Background Art

[0002] 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 fixture mounting seat 1 that can make linear motion in the X direction. The fixture mounting seat 1 is provided with a rotating seat 2 that can make rotational motion. The rotating seat 2 is provided with a first fixture 21 driven by a first lifting cylinder 23 and a second fixture 22 driven by a second lifting cylinder 24. The first fixture 21 and the second fixture 22 can clamp the shoelace ends, and under the drive of the fixture mounting seat 1, alternately clamp the shoelace ends and pass the shoelace ends through the shoelace holes on the upper;

[0003] There are two problems with the above solution:

[0004] 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.

[0005] 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

[0006] The object of the present invention is to provide a high-efficiency automatic shoe-lacing machine to solve the problems raised in the above-mentioned background technology.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] An efficient automatic shoelace threading machine comprises a working platform, on which a clamp and at least two multi-axis moving devices are respectively installed, and a rotating device is installed at the moving end of each multi-axis moving device;

[0009] A pneumatic component is installed at the movable end of the rotating device, and a clamping device is installed at the output end of the pneumatic component. The clamping device includes a fixed outer cover, a movable cavity is arranged in the fixed outer cover, and two high-efficiency clamping jaws are arranged side by side in the movable cavity. Both high-efficiency clamping jaws are connected to the output end of the pneumatic component for alternating motion. Both high-efficiency clamping jaws can extend out of the fixed outer cover in the same direction, and form a closed or open state when pushed out or retracted.

[0010] A further technical solution is that the high-efficiency clamp includes a mounting bracket, in which a resettable clamp arm 1 and clamp arm 2 are installed, and the clamp arm 1 and clamp arm 2 are movably connected to a push rod, and the ends of the push rod are inclined surfaces 1 and 2, which respectively abut against the clamp arm 1 and clamp arm 2, and the other end of the push rod extends out of the mounting bracket.

[0011] According to a further technical solution, at least one abutment portion is provided at the end of the push rod, and a buffer spring is provided between the abutment portion and the mounting bracket;

[0012] Or / and 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.

[0013] A further technical solution is that the rotating device includes a rotating component, and the output end of the rotating component is provided with a plurality of vents 2, each of which is connected to an airway, and the airway is arranged in the fixing part, and the vent 1 connected to the airway is formed on the fixing part, and the vent 2 rotates with the output end and remains connected to the airway.

[0014] 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.

[0015] 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.

[0016] According to a further technical solution, the three vents are staggered with respect to each other.

[0017] According to a further technical solution, a fixing plate is installed at the end of the shell, a driving motor is installed on the fixing plate, a synchronous wheel 1 is installed at the output end of the driving motor, a synchronous wheel 2 is connected to the end of the rotating shaft, and the synchronous wheel 1 and the synchronous wheel 2 are transmission connected.

[0018] According to a further technical solution, the pneumatic component includes a cylinder body, wherein the cylinder body is provided with two independent air cavities, each air cavity is provided with a piston push rod, and two air vents five and two air vents six are provided on the surface of the cylinder body, which are respectively connected to the two air cavities, and the air vents five and six are respectively connected to the independent air vent two.

[0019] According to a further technical solution, the fifth vent and the sixth vent are both arranged at the ends of the cylinder body.

[0020] Beneficial effects of the present invention:

[0021] The present invention can realize the completion of the pushing and clamping actions at the same time. 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.

[0022] In addition, 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 become 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.

[0023] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 : The three-dimensional structural diagram of the shoelace machine of the present invention.

[0025] Figure 2 : Structural diagram of the rotating device, pneumatic assembly and clamping device of the present invention.

[0026] Figure 3 : Internal structure diagram of the clamping device of the present invention.

[0027] Figure 4 : A three-dimensional cross-sectional view of the efficient clamping jaws of the present invention.

[0028] Figure 5 : Disassembly diagram of the pneumatic component and rotating component of the present invention.

[0029] Figure 6 : A three-dimensional structural diagram of the rotating assembly of the present invention.

[0030] Figure 7 : A three-dimensional cross-sectional view of the rotating component of the present invention.

[0031] Figure 8 : A three-dimensional structural diagram of the rotating shaft of the present invention.

[0032] 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 Port five, 34-vent six, 4-high-efficiency clamping claw, 41-mounting bracket, 421-clamping arm one, 422-clamping arm two, 431-top rod, 432-inclined surface one, 433-inclined surface two, 434-limiting bar hole, 435-contact part, 44-reset spring, 45-limiting block, 46-buffer spring, 47-limiting step, 5-fixed outer cover, 6-working platform, 7-clamp, 8-multi-axis moving device. DETAILED DESCRIPTION

[0033] 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.

[0034] Please refer to Figure 1-8 ;

[0035] The automatic shoelace threading machine described in the present invention can operate efficiently, greatly shorten the working time of a single action, and can achieve unlimited rotation to avoid the occurrence of tracheal knotting. It specifically includes a working platform 6, on which a clamp 7 and at least two multi-axis moving devices 8 are respectively installed; the clamp 7 in this embodiment is used to fix shoes or uppers, wherein shoes refer to all processes except shoelace threading, and uppers refer to the operation of not fixing the soles, which depends on the actual product; the specific structure of the clamp 7 can refer to the scheme disclosed in the prior art, which will not be repeated here, but it is worth mentioning that a rotating platform can be provided in the present invention, and two clamps 7 are installed on the rotating platform for alternating movements, which is convenient for loading and unloading, and further improves production efficiency; in addition, the multi-axis moving device 8 in this embodiment preferably adopts a translation component and a lifting component composed of a combination of a servo motor, a screw pair, and a sliding pair, which can greatly simplify the production cost. Of course, a robot can also be used instead, but the price of the robot is high.

[0036] Each of the multi-axis moving devices 8 has a rotating device installed at its moving end, and a pneumatic assembly 3 installed at its moving end. The specific installation method of the rotating device and the pneumatic assembly 3 is not limited in this embodiment. For details, please refer to the public technical document "CN103876393B, automatic shoe lacing machine" that "a rotating seat capable of rotating motion is provided on the mounting seat of the clamp 7, and a first lifting cylinder and a second lifting cylinder are provided on the rotating seat";

[0037] A clamping device is installed at the output end of the pneumatic component 3. In this embodiment, the clamping device includes a fixed outer cover 5, a movable chamber is provided in the fixed outer cover 5, and two high-efficiency clamping jaws 4 are arranged side by side in the movable chamber. The two high-efficiency clamping jaws 4 are connected to the output end of the pneumatic component 3 and act alternately. The two high-efficiency clamping jaws 4 can extend out of the fixed outer cover 5 in the same direction, and form a closed or open state when pushed out or retracted;

[0038] According to the description in paragraph 0035 of the specification of the public technical document "CN103876393B, automatic shoe lacing machine", "the first lifting cylinder and the second lifting cylinder are fixed on the rotating seat, and the driving rod of the first lifting cylinder is fixedly connected to the first clamp 7. The driving rod of the second lifting cylinder is fixedly connected to the second clamp 7"; the first clamp 7 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 7 and the second clamp 7 to be located on both sides of the shoe hole respectively. After the bundle head passes through the shoe hole, the second lifting cylinder is first actuated to push out the second clamp 7, and then the second clamp 7 is actuated to clamp the bundle head. Two actions are performed here, and both use the pneumatic component 3, so there will be a large time delay, which is one of the reasons for the low efficiency;

[0039] The key to the fast shoelace tightening of the present invention is to combine the two actions into one action. For the convenience of description, the two efficient clamps 4 are defined as A and B for description.

[0040] The pneumatic assembly 3 in the present invention can independently drive the high-efficiency clamping jaw A and the high-efficiency clamping jaw B to move. Preferably, a limiting step 47 is provided on the outer side of the mounting bracket 41, and the limiting step 47 can contact the inner side of the fixed outer cover 5 to limit the moving stroke of the high-efficiency clamping jaw 4.

[0041] Reference Figure 1-4 ; First, use the high-efficiency clamping claw A to clamp one end of the shoelace bundle head close to the shoelace, at this time, the high-efficiency clamping claw A is in an extended state, and the high-efficiency clamping claw B is in a retracted state, and then the clamping device is driven by the multi-axis moving device 8 to move to the shoe hole position, and the bundle head is passed through the shoe hole. At the same time, the high-efficiency clamping claw B extends to clamp one end of the bundle head passing through the shoe hole. While the high-efficiency clamping claw B clamps the bundle head, the high-efficiency clamping claw A retracts into the fixed outer cover 5 and loosens the bundle head at the same time. The multi-axis moving device 8 drives the clamping device to move to pass the shoelace through the shoe hole. Because the high-efficiency clamping claw A has partially retreated into the fixed outer cover 5 before the shoelace passes through the shoe hole, it will not touch the vamp. The prior art needs to drive the clamp 7 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.

[0042] The structure of the high-efficiency clamp 4 is described below. Figure 4 ;

[0043] Specifically, it includes a mounting bracket 41, in which a resettable clamp arm 1 421 and a clamp arm 2 422 are installed, wherein the clamp arm 1 421 and the clamp arm 2 422 can be rotatably connected to each other, or respectively rotatably connected to the mounting bracket 41, which is not limited here. Secondly, the resettable structure can be that the reset spring 44 is arranged on the left side of the rotation connection, or the tension spring is arranged on the right side of the rotation connection. No matter which method is used, the side of the clamp arm 1 421 and the clamp arm 2 422 close to the top rod 431 is in a closed state. The closed state refers to the opening of one end being smaller than the opening of the other end, and of course, the abutment can also be achieved; the clamp arm 1 421 and the clamp arm 2 422 are both movably connected to the 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, and the other end of the push rod 431 extends out of the mounting bracket 41; the other end of the push rod 431 is connected to the output end of the pneumatic component 3;

[0044] During operation, 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, 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 jaw 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, 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, and the other ends of the clamp arm 1 421 and the clamp arm 2 422 They will approach each other, thus 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 can complete the clamping action 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.

[0045] It should be noted that the push rod 431 should also have the function of pulling the high-efficiency clamping claw 4 back into the fixed outer cover 5, so a corresponding limiting structure or limiting component should be provided between the push rod 431 and the mounting bracket 41. Specifically, at least one abutment 435 can be provided at the end of the push rod 431, and a buffer spring 46 is provided between the abutment 435 and the mounting bracket 41. Optionally, two abutment 435 are symmetrically provided, and two buffer springs 46 are also provided to make the overall force more uniform. The buffer spring 46 can play a buffering role and can also serve as a component for pulling the mounting when resetting.

[0046] A limit bar hole 434 may be provided in the push rod 431, and a limit block 45 may be 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 push 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 push rod 431, which is also used to limit the position of the push rod 431. When the push rod 431 moves away from the clamp arm 1 421 and the clamp arm 2 422, the push rod 431 moves to a certain stroke and then moves to the position of the push rod 431. The limiting strip hole 434 and the limiting block 45 pull the whole body into the fixed outer cover 5, and at the same time, the clamp arm 1 421 and the clamp arm 2 422 will 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 pneumatic component will open, and the end close to the pneumatic component will close. It should be noted that the closing is when one end of the clamp arm 1 421 and the clamp arm 2 422 is in a close state, not necessarily in a state of abutting each other.

[0047] Of course, the limiting strip hole 434, the limiting block 45, the buffer spring 46 and the resisting portion 435 can all be provided at the same time.

[0048] 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.

[0049] The automatic shoelace-threading device based on the prior art usually adopts an air claw as a clamping component, so it is necessary to set an air pipe to connect with the air claw. In order to prevent the air pipe from getting tangled, a transfer device is required to assist, that is, when rotating, the bundle head is first clamped by the transfer device, and then the bundle head is clamped after the clamping component is rotated and reset. This is also one of the reasons that affect the work efficiency. The present invention does not require transfer and has no rotation angle limit. Figure 5-8 ;

[0050] Specifically, it includes a rotating component 1. The rotating component 1 in this embodiment can be powered or unpowered, and can be electric or pneumatic, which is not limited here, and it only needs to be able to realize the rotation function; the output end of the rotating component 1 is provided with a vent 17, and the vent 17 is connected to the airway. In this embodiment, there are a plurality of vents 17, and there are also a plurality of airways connected thereto, which correspond one to one; the airway is provided in the fixing part, and a vent 18 connected to the airway is formed on the fixing part, and the vent 17 rotates with the output end and remains connected to the airway; the fixing part can be a part of the rotating component 1, or an independent accessory, which is not limited here;

[0051] A pneumatic component 3 is installed at the output end of the rotating component 1. The pneumatic component 3 is, for example, a telescopic cylinder. Generally, the pneumatic component 3 has two vents A and B for air flow exchange. The vents A and B are connected to two independent vents 17 respectively. In this embodiment, the vents A and B can be connected to the two vents 17 by using air pipes, or the vents A and B can be directly connected to the two vents 17 by docking; then the two vents 18 are respectively connected to external air pipes. , at this time, the pneumatic component 3 does not need to be connected to the air pipe; when the rotating component 1 mainly relies on its output end to drive the pneumatic component 3 to rotate, the vent 2 17 located at the output end keeps moving synchronously with the vent A and the vent B of the pneumatic component 3, that is, keeps relatively still, and when the pneumatic component 3 needs to be actuated, a high-speed airflow is input through the air pipe connected to the vent 1 18 to enter the airway, and finally output from the vent 2 17 to the vent A or the vent B, so that the pneumatic component 3 can be actuated and reset;

[0052] In the present invention, no matter how many circles the rotating component 1 drives the pneumatic component 3 to rotate forward or backward, the plurality of vents 17 and the vents of the pneumatic component 3 can remain relatively still, and the high-speed airflow can be delivered to the vents 17 through the airway to realize the action of the pneumatic component 3. There is no limit on the number of rotations, and the trachea will not become tangled, so the scope of application is wider.

[0053] The present invention lists one embodiment of the airway structure, which specifically includes a mounting portion, which is connected to the output end of the rotating component and is used to install the pneumatic component. A plurality of vents are provided on the mounting portion, and the mounting portion is rotatably connected to the end face of the fixing member. A plurality of independent annular grooves are provided at the end face of the fixing member, and an air vent is provided on the other side of the fixing member. Each annular groove corresponds to an air vent two and an air vent one, respectively, and a sealing ring is provided at each annular groove, which respectively contacts the end face of the fixing member and the end face of the mounting portion, so that each annular groove forms an airway, and a high-speed airflow is input into the airway through the vent, and the vent corresponding to the airway can receive the high-speed airflow no matter where it is, and transport it to the pneumatic component. The structure in this embodiment is not shown in the figure, but can be clearly expressed through words.

[0054] In one usage mode, when the rotating component 1 drives the pneumatic component 3 to rotate, the sealing ring 15 may be deformed and fail to seal the airway. Therefore, the sealing ring 15 can be restored to its original state after the rotation stops, and then a high-speed airflow is introduced to activate the pneumatic component 3 after maintaining the sealing of the airway.

[0055] The present invention also provides another embodiment of the airway structure. The rotating assembly 1 includes a shell 11. It should be noted that the shell 11 in this embodiment is the above-mentioned fixing member. A rotating shaft 12 is rotatably connected to the shell 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 extension 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 1 on the surface of the rotating shaft 12. 4. A plurality of sealing rings 15 are provided between the rotating shaft 12 and the inner cavity of the housing 11. A second channel 16 is formed between two adjacent sealing rings 15. 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. The second channels 16 are extended along the rotating shaft 12, and the second channels 16 are all annular and arranged around the outer periphery of the rotating shaft 12. The second channels 16 correspond to the three vents 14 one by one, so that the first channel 13 and the second channel 16 are combined to form an airway. The vent 18 located on the surface of the housing 11 is connected to the second channel 16;

[0056] A complete airway in the present embodiment is formed by vent one 18, channel two 16, vent three 14, channel one 13 and vent two 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 two 17, channel one 13 and vent three 14 will synchronously change their coaxial angular positions. However, based on the annular design of channel two 16, the vent three 14 always remains in channel two 16 no matter what angle it rotates to, and the vent one 18 is directly connected to channel two 16. Therefore, no matter how many times the rotating shaft 12 rotates forward or reverse, it can ensure the smooth transmission of the airflow and finally output it from the vent two 17. There is no limit on the number of rotations and the air pipe will not become knotted.

[0057] 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.

[0058] 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.

[0059] 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°.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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;

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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. An efficient automatic shoe lacing machine, comprising a working platform (6), on which a clamp (7) and at least two multi-axis moving devices (8) are respectively installed, and a rotating device is installed at the moving end of each multi-axis moving device (8), characterized in that: The moving end of the rotating device is equipped with a pneumatic component (3), and the output end of the pneumatic component (3) is equipped with a clamping device, the clamping device includes a fixed outer cover (5), a movable chamber is arranged in the fixed outer cover (5), and two high-efficiency clamping jaws (4) are arranged side by side in the movable chamber, and the two high-efficiency clamping jaws (4) are connected to the output end of the pneumatic component (3) to move alternately, and the two high-efficiency clamping jaws (4) can extend out of the fixed outer cover (5) in the same direction, and form a closed or open state when pushed out or retracted; The high-efficiency clamp (4) comprises a mounting bracket (41), wherein a repositionable clamp arm 1 (421) and a clamp arm 2 (422) are mounted in the mounting bracket (41), wherein the clamp arm 1 (421) and the clamp arm 2 (422) are both movably connected to 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), and the other end of the push rod (431) extends out of the mounting bracket (41); The two high-efficiency clamps are respectively high-efficiency clamp A and high-efficiency clamp B. The pneumatic component makes the high-efficiency clamp A in an extended state to pre-clamp the bundle head. At this time, the high-efficiency clamp B is in a retracted state. The clamping device is driven to move to the shoe hole position through the multi-axis moving device (8) and the bundle head is passed through the shoe hole. The pneumatic component retracts the high-efficiency clamp A and releases the bundle head, so that the high-efficiency clamp B is extended and clamps one end of the bundle head passing through the shoe hole.

2. The efficient automatic shoe lacing machine according to claim 1, characterized in that: At least one abutment portion (435) is provided at the end of the push rod (431), and a buffer spring (46) is provided between the abutment portion (435) and the mounting bracket (41); Or / and 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).

3. The efficient automatic shoe lacing machine according to claim 1, characterized in that: The rotating device comprises a rotating assembly (1), wherein the output end of the rotating assembly (1) is provided with a plurality of air vents (17), each of which is connected to an air passage, wherein the air passage is provided in a fixing member and a air vent (18) connected to the air passage is formed on the fixing member, wherein the air vent (17) rotates with the output end and remains connected to the air passage.

4. The high-efficiency automatic shoe-lacing machine according to claim 3, 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 airway.

5. The efficient automatic shoe lacing machine according to claim 4, characterized in that: The rotating shaft (12) is provided with a plurality of flanges (191), two flanges (191) form a group to form a groove (192), the sealing ring (15) is placed in the groove (192), and a second channel (16) is formed between two adjacent groups of flanges (191).

6. The efficient automatic shoe lacing machine according to claim 4, characterized in that: The three vents (14) are staggered with respect to each other.

7. The efficient automatic shoe lacing machine according to claim 4, characterized in that: A fixing plate (21) is installed at the end of the housing (11), a driving motor (22) is installed on the fixing plate (21), a synchronous wheel 1 (23) is installed at the output end of the driving motor (22), a synchronous wheel 2 (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.

8. The efficient automatic shoe lacing machine according to claim 4, characterized in that: The pneumatic assembly (3) comprises a cylinder body (31), wherein two air chambers which are independent of each other are arranged in the cylinder body (31), each air chamber is provided with a piston push rod (32), and two air vents (33) and two air vents (34) are arranged on the surface of the cylinder body (31), which are respectively connected to the two air chambers, and the air vents (33) and the air vents (34) are respectively connected to the independent air vents (17).

9. The efficient automatic shoe lacing machine according to claim 8, characterized in that: The fifth vent (33) and the sixth vent (34) are both arranged at the ends of the cylinder body (31).

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