Shoelace threading equipment

Abstract

The invention discloses shoelace threading equipment which comprises a rack, and a shoe fixing device used for fixing a shoe, two shoelace threading manipulators used for being matched with each other to enable a shoelace to penetrate through shoelace holes in the shoe and two tensioning devices used for tensioning the shoelace after the shoelace penetrates through the shoelace holes are installed on the rack. And each threading manipulator is mounted on the rack through an independent first moving device in a reciprocating rectilinear motion manner. The shoelace threading equipment has the advantages of reducing the cost, reducing the control difficulty, improving the working efficiency, prolonging the service life and the like.

Description

Technical Field

[0001] The invention relates to the technical field of equipment for threading a wire harness, and in particular to a shoelace threading device. Background Art

[0002] In the production of shoes, shoe lacing is an important process, and most of them are still done manually by workers. The workload is large and the efficiency is low, which seriously restricts the production efficiency of the industry. However, traditional shoe lacing equipment still has many defects. For example, the manipulator of traditional shoe lacing equipment is fixed, and the number of shoe lacing actions is large and complex. All actions rely on fixed manipulators to complete, which requires the manipulator to have the performance to meet all shoe lacing actions, which is costly, inefficient, and has a short service life. It is also relatively difficult to control. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the deficiencies in the prior art and provide a shoelace threading device which can reduce costs, reduce control difficulty, improve work efficiency and increase service life.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] A shoe lacing device comprises a frame, on which are mounted a shoe fixing device for fixing shoes, two lacing manipulators for cooperating with each other to pass shoelaces through shoelace holes on the shoes, and two tensioning devices for tightening the shoelaces after the shoelaces pass through the shoelace holes, each lacing manipulator being mounted on the frame via an independent first moving device in a manner capable of reciprocating linear motion.

[0006] As a further improvement of the above technical solution:

[0007] The tensioning device comprises a rotary clamping assembly for clamping and loosening the shoelace end and capable of rotating 180° with the clamped shoelace end; the rotary clamping assembly is mounted on the frame via a second moving device in a manner capable of reciprocating linear motion.

[0008] The shoe fixing device is installed on the frame through a third moving device in a manner of being able to reciprocate linearly between a preset loading station and a preset working station.

[0009] The shoe fixing device includes a supporting platform for supporting the shoes and a fixing assembly for fixing the shoes, the fixing assembly includes two clamping members arranged on both sides of the supporting platform, the clamping members are installed on a third movable device in a manner that they can swing around a fixed axis, and the fixing assembly also includes a driving mechanism for driving the two clamping members to swing so as to clamp and release the shoes.

[0010] The clamping member is provided with a swing shaft and is hingedly mounted on the third moving device via the swing shaft. The driving mechanism includes a rotating driving member, which is connected to the swing shaft via a gear transmission mechanism and drives the clamping member to swing back and forth by driving the swing shaft to rotate forward and reversely.

[0011] The support platform includes a first support platform and a second support platform, which are arranged at intervals in the direction in which the third moving device drives the support platform to reciprocate linearly, and the first support platform and the second support platform are respectively detachably mounted on the third moving device.

[0012] A binocular camera is arranged on the frame at a preset working position.

[0013] The clamping piece is provided with a reference hole or a reference groove for aligning with the shoelace holes on the shoe.

[0014] The direction in which the first moving device drives the threading robot to reciprocate is perpendicular to the direction in which the third moving device drives the supporting platform to reciprocate. The direction in which the second moving device drives the tensioning device to reciprocate is parallel to the direction in which the third moving device drives the supporting platform to reciprocate.

[0015] The first moving device, the second moving device and the third moving device are sliding modules, and the rotary clamping assembly is a rotary pneumatic finger.

[0016] Compared with the prior art, the advantages of the present invention are:

[0017] The shoelace threading device of the present invention has each shoelace threading robot installed on a frame in a manner capable of reciprocating linear motion via an independent first moving device. During the shoelace threading process, the first moving device can move the shoelace threading robot to perform a portion of the shoelace threading action. The shoelace threading robot does not need to work when performing this portion of the shoelace threading action. Therefore, the movement of the shoelace threading robot can be reduced, the control difficulty can be reduced, and the requirements for the performance of the shoelace threading robot can be reduced, thereby achieving the purpose of reducing costs, improving work efficiency, and increasing service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the shoelace tightening device.

[0019] Figure 2 It is a schematic diagram of the partial three-dimensional structure of the shoe lacing device.

[0020] Figure 3 It is a schematic diagram of the three-dimensional structure of the shoe fixing device.

[0021] Figure 4 This is a schematic diagram of the three-dimensional structure of the belt threading robot installed on the frame.

[0022] Figure 5 It is a schematic diagram of the three-dimensional structure of the rotary clamping assembly installed on the frame.

[0023] Legend:

[0024] 1. Frame; 2. Shoe fixing device; 21. Clamping piece; 211. Reference groove; 22. Driving mechanism; 23. First supporting platform; 24. Second supporting platform; 3. Belt threading manipulator; 4. Tensioning device; 41. Rotary clamping and placing assembly; 5. First moving device; 6. Second moving device; 7. Third moving device; 8. Binocular camera. DETAILED DESCRIPTION

[0025] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] like Figures 1 to 3 As shown, the shoelace-threading device of this embodiment comprises a frame 1, on which are mounted a shoe fixing device 2 for fixing shoes, two lacing manipulators 3 for cooperating with each other to make the shoelaces pass through the shoelace holes on the shoes, and two tensioning devices 4 for tightening the shoelaces after the shoelaces pass through the shoelace holes. Each lacing manipulator 3 is mounted on the frame 1 in a manner capable of reciprocating linear motion through an independent first moving device 5. In the shoelace-threading device, each lacing manipulator 3 is mounted on the frame 1 in a manner capable of reciprocating linear motion through an independent first moving device 5. During the shoelace-threading process, the first moving device 5 can move the lacing manipulator 3 to perform part of the shoelace-threading action. When performing the part of the shoelace-threading action, the lacing manipulator 3 does not need to work, so the action of the lacing manipulator 3 can be reduced, the control difficulty can be reduced, and the requirements for the performance of the lacing manipulator 3 can be reduced, so as to achieve the purpose of reducing costs, improving work efficiency, and prolonging service life.

[0027] In this embodiment, Figure 2 and Figure 5 As shown, the tensioning device 4 includes a rotary clamping assembly 41 for clamping and loosening the end of the shoelace and capable of rotating 180° with the end of the shoelace supported. The rotary clamping assembly 41 is installed on the frame 1 through the second moving device 6 in a reciprocating linear motion. After the shoelace threading manipulator 3 passes the shoelace through a shoelace hole on the shoe, the rotary clamping assembly 41 can hold the end of the shoelace, and the rotary clamping assembly 41 is driven by the second moving device 6 to move the end of the shoelace forward linearly, thereby tightening the shoelace. After the shoelace is tightened, the second moving device 6 drives the rotary clamping assembly 41 to move the end of the shoelace in the reverse linear motion. The rotary clamping assembly 41 rotates 180° with the end of the shoelace supported, and then is clamped by the threading manipulator 3, and the shoelace end can be punched in the reverse direction. The tensioning device 4 has the advantages of simple structure, low cost, and easy control.

[0028] In this embodiment, Figure 4 As shown, the shoe fixing device 2 is mounted on the frame 1 through the third moving device 7 in a manner that it can reciprocate linearly between a preset loading station and a preset working station. When the shoe fixing device 2, the strapping robot 3 and the tensioning device 4 are arranged compactly, it is convenient to load and unload shoes in a limited space, and loading and unloading shoes at a loading station far away from the working station, that is, loading and unloading shoes at a position far away from the shoe fixing device 2, the strapping robot 3 and the tensioning device 4 can also avoid safety problems caused by malfunction of the shoe fixing device 2, the strapping robot 3 and the tensioning device 4, thereby improving safety.

[0029] In this embodiment, the shoe fixing device 2 includes a support platform for supporting the shoe and a fixing assembly for fixing the shoe, the fixing assembly includes two clamping members 21 arranged on both sides of the support platform, the clamping members 21 are mounted on the third moving device 7 in a manner that they can swing around a fixed axis, and the fixing assembly also includes a driving mechanism 22 for driving the two clamping members 21 to swing to clamp and release the shoe. The clamping members 21 are mounted on the third moving device 7 in a manner that they swing around a fixed axis, and the shoe is clamped and released by swinging motion, which can reduce the occupied space and improve the compactness of the structure.

[0030] In this embodiment, the clamping member 21 is provided with a swing shaft and is hingedly mounted on the third moving device 7 through the swing shaft. The driving mechanism 22 includes a rotating driving member, which is connected to the swing shaft through a gear transmission mechanism, and drives the clamping member 21 to swing back and forth by driving the swing shaft to rotate forward and reversely. This type of driving mechanism 22 has the advantages of simple structure, low cost, simple control, good action accuracy and synchronization. In other embodiments, the driving mechanism 22 can also adopt other existing structural forms, as long as it can drive the clamping member 21 to swing back and forth.

[0031] In this embodiment, the support platform includes a first support platform 23 and a second support platform 24, which are arranged at intervals in the direction in which the third moving device 7 drives the support platform to reciprocate linearly, and the first support platform 23 and the second support platform 24 are respectively detachably mounted on the third moving device 7. It is convenient to replace the first support platform 23 and the second support platform 24 of different heights to support shoes of different shapes, so that the shoelace holes on the shoes are located at the same horizontal height, so as to facilitate shoelace threading and reduce the difficulty of control.

[0032] In this embodiment, Figure 2 As shown, a binocular camera 8 is provided at a preset working station on the frame 1. The binocular camera 8 takes pictures of the shoes at the preset working station, and the software system developed conveniently controls the strapping manipulator 3 through image processing technology to improve production efficiency and work stability and reliability.

[0033] In this embodiment, the clamping member 21 is provided with a reference hole or reference groove 211 for aligning with the shoelace hole on the shoe. The reference hole or reference groove 211 can provide a reference and reference for the binocular camera 8 to take pictures and capture images, making it convenient to take pictures and capture images.

[0034] In this embodiment, the direction in which the first moving device 5 drives the strap-threading manipulator 3 to reciprocate is perpendicular to the direction in which the third moving device 7 drives the supporting platform to reciprocate, and the direction in which the second moving device 6 drives the tensioning device 4 to reciprocate is parallel to the direction in which the third moving device 7 drives the supporting platform to reciprocate. This arrangement is reasonable and can ensure a compact structure while meeting the functional requirements of the shoelace-threading action.

[0035] In this embodiment, the first moving device 5, the second moving device 6 and the third moving device 7 are sliding modules, and the rotary clamping assembly 41 is a rotary pneumatic finger. The above sliding modules and rotary pneumatic fingers are both prior art. In other embodiments, the first moving device 5, the second moving device 6, the third moving device 7 and the rotary clamping assembly 41 may also adopt other existing components as long as they can achieve their functions.

[0036] In this embodiment, the frame 1 includes an upper frame and a base frame. The upper frame uses aluminum profiles as brackets, which are connected by aluminum profile accessory connectors without welding; the modular assembly structure enables it to have excellent repeated assembly capabilities and is easy to disassemble and assemble. The base frame is welded with square tubes, which mainly plays a supporting role. A control cabinet is provided inside it to install the electrical components used in the equipment, and a Forma wheel is provided at the bottom to facilitate its movement. The strap threading manipulator 3 is an existing mature equipment. Specifically, a six-degree-of-freedom manipulator can be used, in which the first degree of freedom is translation, and the second to sixth degrees of freedom are rotation. The end effector of the manipulator uses a small finger cylinder for clamping the end of the shoelace. The entire manipulator can be constructed into a mathematical model according to the Denavit-Hartenberg modeling method for coordinate system transformation and inverse kinematics solution.

[0037] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. For those skilled in the art, improvements and changes obtained without departing from the technical concept of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A shoe lacing device, comprising a frame (1), on which a shoe fixing device (2) for fixing shoes, two shoe lacing manipulators (3) for cooperating with each other to pass shoe laces through shoe lace holes on the shoes, and two tensioning devices (4) for tightening the shoe laces after the shoe laces pass through the shoe lace holes, characterized in that: Each belt threading robot (3) is installed on the frame (1) via an independent first moving device (5) in a manner capable of reciprocating linear motion.

2. The shoe lacing device according to claim 1, characterized in that: The tensioning device (4) comprises a rotary clamping assembly (41) for clamping and loosening the shoelace end and capable of rotating 180 degrees with the clamped shoelace end; the rotary clamping assembly (41) is mounted on the frame (1) via a second moving device (6) in a manner capable of reciprocating linear motion.

3. The shoe lacing device according to claim 2, characterized in that: The shoe fixing device (2) is installed on the frame (1) via a third moving device (7) in a manner that it can reciprocate linearly between a preset loading station and a preset working station.

4. The shoe lacing device according to claim 3, characterized in that: The shoe fixing device (2) comprises a support platform for supporting the shoe and a fixing assembly for fixing the shoe, the fixing assembly comprises two clamping members (21) arranged on both sides of the support platform, the clamping members (21) are mounted on a third moving device (7) in a manner that they can swing around a fixed axis, and the fixing assembly also comprises a driving mechanism (22) for driving the two clamping members (21) to swing so as to clamp and release the shoe.

5. The shoe lacing device according to claim 4, characterized in that: The clamping member (21) is provided with a swing shaft and is hingedly mounted on the third moving device (7) via the swing shaft. The driving mechanism (22) comprises a rotating driving member, which is connected to the swing shaft via a gear transmission mechanism and drives the clamping member (21) to swing back and forth by driving the swing shaft to rotate forward and reverse.

6. The shoe lacing device according to claim 4, characterized in that: The support platform comprises a first support platform (23) and a second support platform (24); the first support platform (23) and the second support platform (24) are arranged at intervals in a direction in which a third moving device (7) drives the support platform to reciprocate linearly; and the first support platform (23) and the second support platform (24) are respectively mounted on the third moving device (7) in a detachable manner.

7. The shoe lacing device according to claim 4, characterized in that: A binocular camera (8) is provided on the frame (1) at a preset working position.

8. The shoe lacing device according to claim 7, characterized in that: The clamping piece (21) is provided with a reference hole or reference groove (211) for aligning with the shoelace holes on the shoe.

9. The shoe lacing device according to any one of claims 3 to 8, characterized in that: The first moving device (5) drives the threading robot (3) to move back and forth in a direction perpendicular to the direction in which the third moving device (7) drives the supporting platform to move back and forth in a direction, and the second moving device (6) drives the tensioning device (4) to move back and forth in a direction parallel to the direction in which the third moving device (7) drives the supporting platform to move back and forth in a direction.

10. The shoe lacing device according to any one of claims 3 to 8, characterized in that: The first moving device (5), the second moving device (6) and the third moving device (7) are sliding modules, and the rotary clamping assembly (41) is a rotary pneumatic finger.

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