An automatic shoe lacing machine with multi-station flexible operation

Abstract

The invention relates to an automatic shoelace threading machine with multi-station flexible operation, comprising a turntable installed on a working platform, wherein a plurality of groups of feeding positioning components are arranged on opposite edges of the turntable respectively; an upper transverse translation module and a lower transverse translation module are installed on the side of a vertical frame outside the working platform in an interval manner, and a pair of clamping claw components are installed respectively; a plurality of groups of drawing strap mechanisms are installed on the side of the working platform facing the vertical frame, and the drawing strap mechanisms and the lower transverse translation modules are both located below the feeding positioning components; when in use, the shoe upper and shoelace are fed through the feeding positioning components, the upper clamping claw components take the shoelace from the feeding positioning components and thread the shoelace downward to the shoe upper, the lower clamping claw components receive the shoelace from the lower side of the shoe upper, and the drawing strap mechanism cooperates to tighten the shoelace, and then the lower clamping claw components thread the shoelace upward, and this is repeated to realize the automatic threading of the shoelace on the shoe upper; in combination with the accurate positioning of the shoe upper by a visual system, the rapid and reliable threading of the shoelace on the shoe upper is greatly guaranteed and improved.

Description

Technical Field

[0001] The invention relates to the technical field of shoelace threading equipment, in particular to an automatic shoelace threading machine capable of flexibly operating in multiple workstations. Background Art

[0002] After the shoe factory processes the shoe upper, it needs to thread the shoe laces through the shoe holes of the shoe upper. Usually, the same number of shoe holes are opened on both sides of the shoe upper, and the shoe laces are crossed from the shoe holes at the lower end to the shoe holes at the upper end, or the shoe laces are crossed from the shoe holes at the upper end to the shoe holes at the lower end, so that subsequent users can wear the shoes directly after purchasing them.

[0003] In the prior art, the threading of shoelaces on the upper is usually done manually by workers, which is time-consuming, has low processing efficiency, and high labor costs, making shoe factories still in a labor-intensive industry state.

[0004] With the development of technology, some auxiliary devices or automatic devices for shoelace threading have appeared one after another. However, the existing devices have low shoelace threading efficiency and are unable to tighten the shoelaces during the threading process. Not only are the loose shoelaces easy to twist during the threading process, seriously affecting the subsequent wearing operation, but the overall visual effect is also poor. Summary of the invention

[0005] In order to solve the above problems, the present invention provides a multi-station automatic lacing machine with a reasonable structure and flexible operation, so as to realize the automatic threading of shoelaces on the shoe upper, effectively ensure the threading effect of shoelaces on the shoe upper, and greatly ensure and improve the fast and reliable threading of shoelaces on the shoe upper.

[0006] The technical solution adopted by the present invention is as follows:

[0007] An automatic shoelace threading machine with flexible multi-station operation comprises a turntable rotatably mounted on a working platform, and a plurality of groups of feeding positioning components are orderly arranged on the opposite edges of the turntable; it also comprises a vertical frame located outside the working platform, and an upper transverse translation module and a lower transverse translation module are installed on the side of the vertical frame for movement at intervals up and down, and pairs of clamping claw components corresponding to the feeding positioning components are installed on the upper transverse translation module and the lower transverse translation module respectively; a plurality of groups of drawing belt mechanisms corresponding to the feeding positioning components are installed on the side of the working platform facing the vertical frame, and the drawing belt mechanisms and the lower transverse translation module are both located below the feeding positioning components.

[0008] As a further improvement of the above technical solution:

[0009] Lifting seats are installed above and below the side of the vertical frame respectively, which can be moved up and down via the Z-axis lifting mechanism. The upper transverse translation module is installed on the upper lifting seat, and the lower transverse translation module is installed on the lower lifting seat; the clamping claw assembly moves independently along the upper transverse translation module or the lower transverse translation module; a plurality of visual components corresponding to the feeding positioning components are also installed on the upper lifting seat, and the visual components are used to precisely position the shoe upper on the feeding positioning component.

[0010] A rotating shaft group is installed through the center of the working platform from top to bottom, the bottom end of the rotating shaft group is dynamically connected to the rotating drive mechanism, and the top end of the rotating shaft group is equipped with the turntable; a plurality of rolling bearing assemblies are installed at intervals on the working platform located outside the circumference of the rotating shaft group, and a single rolling bearing assembly includes a support installed on the working platform, an adjustment seat is installed on the side of the support, the adjustment seat is locked and fixed after being moved up and down relative to the support, a universal ball bearing is installed on the top surface of the adjustment seat, and the top ball of the universal ball bearing is in contact with the bottom surface of the turntable.

[0011] The single-group loading and positioning assembly is installed on the turntable by moving along the Y-direction via a Y-direction translation mechanism. The single-group loading and positioning assembly includes a positioning assembly 1 located on the inner side for positioning the shoelaces, and a positioning assembly 2 located on the outer side for positioning the upper. The two end bundles of the shoelaces are inserted at the edge of the positioning assembly 1 close to the positioning assembly 2.

[0012] In the Y-direction translation mechanism, the Y-direction driving power is installed on the turntable, and the output end of the Y-direction driving power is connected to the Y-direction translation seat through the power of the screw rod assembly, and the Y-direction translation seat moves in the Y direction relative to the turntable; the second positioning assembly includes side plates installed on the Y-direction translation seat at intervals, and the side plates on both sides jointly support and install a support platform, and the Y-direction translation seats on both sides of the support platform are respectively installed with pressing assemblies, and the pressing assembly is unlocked by the pressing unlocking mechanism installed on the working platform.

[0013] The support platform is provided with holes that penetrate up and down, and the two sides of the hole mouth extend inward at intervals to form a toothed structure; L-shaped sliding grooves are symmetrically provided on the side plates on both sides, and support shafts are slidably mounted in the L-shaped sliding grooves on both sides, and a lifting seat is installed above the middle of the support shaft, and a limit block is detachably mounted on the top surface of the lifting seat, and a plurality of insertion holes are respectively provided on the lifting seat located on both sides of the limit block, and pins are inserted in the insertion holes; a moving seat is slidably mounted between the side plates on both sides below the L-shaped sliding groove via a moving guide, and four sets of connecting rods are rotatably mounted at the four corners of the moving seat corresponding to the four corners of the lifting seat.

[0014] The end of the movable seat is equipped with a connecting plate that passes downward through the Y-axis translation seat; it also includes a jacking drive mechanism installed on the working platform, which applies a horizontal external force to the connecting plate to prompt the jacking seat to move horizontally along the L-shaped slide groove until it is jacked up; a reset spring is installed between the connecting plate and the Y-axis translation seat, and the reset spring prompts the jacking seat to reset downward.

[0015] The structure of the pressing assembly is as follows: it includes a support block installed on the Y-axis translation seat, a movable rod is installed through the support block from top to bottom, and a rocker rod 1 is rotatably installed on the top of the movable rod; a connecting rod and a rocker rod 2 are rotatably installed in sequence on the support block located outside the movable rod, the end of the connecting rod is rotatably installed on the middle part of the rocker rod 1, and a swing arm is rotatably installed together with the rocker rod 1 and the rocker rod 2; one end of the swing arm is rotatably connected to the rocker rod 2, the middle part of the swing arm is rotatably connected to the rocker rod 1, and a pressure block is installed on the other end of the swing arm; it also includes an elastic body, which drives the swing arm to maintain a downward pressing state.

[0016] The structure of the positioning component one is as follows: it includes a support plate, a sliding groove is provided on the support plate, at least two groups of sliding rods are slidably installed in the sliding groove, and the two groups of sliding rods are separated and located at the two ends of the sliding groove by the action of elastic members; rotating members are installed at intervals on the support plate located outside the side of the sliding groove, and the support plate is also provided with insertion holes for inserting the ends of the shoelaces; the sliding groove, the sliding rod in the sliding groove, and the rotating member outside the sliding groove constitute a group of matching components, and the matching components are arranged in one or more groups along the direction perpendicular to the sliding groove; the middle part of the edge of the sliding groove close to the rotating member extends to form an inner concave part, and the sliding rod located at the inner concave part swings relative to each other in a direction perpendicular to the sliding groove; a counterweight is installed at the bottom end of the sliding rod, and the sliding rod is reset by the counterweight after swinging.

[0017] The structure of the pulling belt mechanism is as follows: it includes a back plate, a lifting plate is installed on the side of the back plate via a lifting and lowering adjustment mechanism, and lever mechanisms are installed at intervals on the left and right sides of the lifting plate; it also includes a vertical rod located between the two groups of lever mechanisms, and brushes are arranged on the surface of the vertical rod along the length direction; a single group of lever mechanisms includes a support seat installed on the lifting plate, a rotating driving power is installed on the side of the support seat, the output end of the rotating driving power is upward and a rod seat is installed, and a lever is installed on the top of the rod seat via a rotating shaft, and the lever rotates in a vertical plane with the rotating shaft as the center; a guide wheel is installed on the end of the lever, and when the lever is swung down, the guide wheel is located above and outside the rod seat.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] When the present invention is used, the shoe upper and shoelace are loaded through the loading and positioning assembly, the upper clamping claw assembly takes the shoelace from the loading and positioning assembly and threads the shoelace downward to the shoe upper, the lower clamping claw assembly takes the shoelace from the lower side of the shoe upper and the shoelace pulling mechanism cooperates to tighten the shoelace, and then the lower clamping claw assembly threads the shoelace upward, and repeats this process to realize the automatic threading of the shoelace on the shoe upper, and the threading effect of the shoelace on the shoe upper is effectively guaranteed by the shoelace pulling mechanism; combined with the accurate positioning of the shoe upper by the visual system, the rapid and reliable threading of the shoelace on the shoe upper is greatly guaranteed and improved;

[0020] The present invention also includes the following advantages:

[0021] The paired clamping jaw assemblies corresponding to the feeding positioning assembly, including the upper paired clamping jaw assemblies and the lower paired clamping jaw assemblies, can each independently move in the X direction according to actual needs, so as to effectively match the corresponding uppers, and combine with the visual assembly for the precise positioning of the uppers to achieve targeted individual shoelace threading corresponding to each upper, with good adaptability and high flexibility of use, and is particularly suitable for threading shoelaces on different uppers at multiple stations at the same time;

[0022] When loading the shoe upper, the lifting seat is driven by the lifting driving mechanism to move horizontally and vertically through the L-shaped slide groove to the hole of the support platform, and the shoe upper during loading is positioned by the limit block. Then, the lifting seat retreats along the L-shaped slide groove away from the hole, especially to free up the space under the support platform, which is convenient for the shoelace threading operation of the lower clamping claw assembly;

[0023] When loading the shoelaces, the shoelaces are wound around the outside of the slide bar, and the ends of the shoelaces are respectively wound from the outside of the slide bar to the inside of the rotating member, and then the ends are inserted into the insertion holes. Under the action of the elastic member, the slide bar cooperates with the rotating member to tighten the shoelaces; the ends are clamped by the upper clamping claw assembly and slightly moved upward to be taken out of the insertion hole, and then, with the horizontal movement of the Y-direction translation mechanism, the shoelaces react on the slide bar, causing the slide bar to overcome the elastic force and move toward each other to the middle of the sliding groove, until the slide bar is passively tilted and the shoelaces are separated from the slide bar;

[0024] After the lower clamping claw assembly pulls the shoelaces downward for a preset distance, the lever in the lever mechanism can rotate in a horizontal plane to move the middle part of the shoelaces, and combined with the downward movement of the lifting and adjusting mechanism, the shoelaces can be pulled downward, so that the shoelaces can be tightened in each step of shoelace threading, and the setting of the brush on the vertical rod can effectively prevent the shoelaces from sticking to the lever mechanism, which facilitates the realization and ensures that the lever mechanism repeatedly pulls the shoelaces as the shoelace threading proceeds. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the structure of the present invention.

[0026] Figure 2 It is a schematic diagram of the layout of the upper and lower clamping jaw assemblies of the vertical frame of the present invention.

[0027] Figure 3 It is a schematic diagram of the layout of each group of feeding and positioning components on the turntable of the present invention.

[0028] Figure 4 The figure is a schematic diagram of the installation of the turntable on the working platform of the present invention.

[0029] Figure 5 It is a schematic structural diagram of the rolling bearing assembly of the present invention.

[0030] Figure 6It is a structural schematic diagram of a single group of feeding and positioning components of the present invention.

[0031] Figure 7 It is an exploded view of a single set of loading and positioning components of the present invention.

[0032] Figure 8 This is a schematic diagram of the structure of the positioning component 2 of the present invention (the pressing component is omitted).

[0033] Fig. 9 This is a schematic diagram of the state in which the positioning component 2 of the present invention positions the shoe upper.

[0034] Fig.10 It is a structural schematic diagram of the pressing component of the present invention.

[0035] Fig.11 It is a structural schematic diagram of the positioning component 1 of the present invention.

[0036] Fig.12 It is a schematic structural diagram of the sliding assembly of the slide bar in the positioning assembly of the present invention.

[0037] Fig.13 It is a structural schematic diagram of the drawstring mechanism of the present invention.

[0038] Fig.14 It is an exploded view of the drawstring mechanism of the present invention.

[0039] Fig.15 It is a structural schematic diagram of the lever mechanism of the present invention.

[0040] Among them: 1. vertical frame; 2. Z-axis lifting mechanism; 21. lifting seat; 3. visual component; 4. Y-axis translation mechanism; 5. loading and positioning component; 6. rotation drive mechanism; 61. rotation axis group; 7. working platform; 8. turntable; 9. pulling mechanism; 10. upper; 20. shoelaces; 101. shoe holes;

[0041] 11. Lower lateral translation module; 12. Belt connection clamping claw assembly; 13. Belt insertion clamping claw assembly; 14. Upper lateral translation module;

[0042] 31. bracket; 32. light source assembly;

[0043] 41. Y-axis driving power; 42. Y-axis translation seat; 43. Screw assembly;

[0044] 51, positioning assembly 1; 511, support plate; 512, slide bar; 513, hole seat; 514, lateral plate; 515, rotating member; 516, guide rod; 517, elastic member; 518, mounting block; 5111, sliding groove; 5121, counterweight; 5131, socket;

[0045] 52, positioning component 2; 520, return spring; 521, pressing component; 522, moving seat; 523, guide member; 524, connecting rod; 525, support shaft; 526, pin; 527, lifting seat; 528, limit block; 529, side plate; 5211, support block; 5212, movable rod; 5213, swing rod 1; 5214, pressure block; 5215, swing arm; 5216, swing rod 2; 5217, connecting rod; 5218, elastic body; 5221, connecting plate; 5291, L-shaped slide; 5292, support platform; 5293, toothed structure;

[0046] 71. Lifting drive mechanism; 711. Y-axis linear power; 712. Horizontal linear power; 713. Push block; 72. Press-down unlocking mechanism; 73. Rolling bearing assembly; 731. Support; 732. Adjustment seat; 733. Universal ball bearing;

[0047] 91. back plate; 92. lifting adjustment mechanism; 93. lever mechanism; 94. vertical rod; 95. lifting plate; 96. brush; 931. support seat; 932. rotation driving power; 933. rod seat; 934. lever; 935. rotating shaft; 936. guide wheel; 937. coupling; 9311. U-shaped groove; 9331. accommodating groove; 941. support rod. DETAILED DESCRIPTION

[0048] The specific implementation of the present invention will be described below in conjunction with the accompanying drawings.

[0049] like Figure 1 and Figure 2 As shown, the present embodiment is an automatic shoelace threading machine with multi-station flexible operation, comprising a turntable 8 rotatably mounted on a working platform 7, and a plurality of groups of feeding positioning components 5 are orderly arranged on the opposite edges of the turntable 8; it also comprises a vertical frame 1 located outside the working platform 7, and an upper transverse translation module 14 and a lower transverse translation module 11 are installed on the side of the vertical frame 1 at intervals in the upper and lower directions, and pairs of clamping jaw assemblies corresponding to the feeding positioning components 5 are installed on the upper transverse translation module 14 and the lower transverse translation module 11 respectively; a plurality of groups of drawing mechanisms 9 corresponding to the feeding positioning components 5 are installed on the side of the working platform 7 facing the vertical frame 1, and the drawing mechanisms 9 and the lower transverse translation module 11 are both located below the feeding positioning components 5.

[0050] In the present embodiment, when in use, the shoe upper 10 and the shoelace 20 are loaded through the loading and positioning assembly 5, the upper clamping jaw assembly takes the shoelace 20 from the loading and positioning assembly 5 and threading it downward to the shoe upper 10, the lower clamping jaw assembly takes the shoelace from the bottom of the shoe upper 10 and the shoelace 20 is tightened by the tie-drawing mechanism 9, and then the shoelace 20 is threaded upward by the lower clamping jaw assembly, and this process is repeated to realize the automatic threading of the shoelace 20 on the shoe upper 10, and the threading effect of the shoelace 20 on the shoe upper 10 is effectively guaranteed by the tie-drawing mechanism 9.

[0051] A lifting seat 21 is installed on the upper and lower sides of the vertical frame 1 respectively, and moves up and down through the Z-axis lifting mechanism 2. The upper transverse translation module 14 is installed on the upper lifting seat 21, and the lower transverse translation module 11 is installed on the lower lifting seat 21; the clamping claw assembly moves independently along the upper transverse translation module 14 or the lower transverse translation module 11; a plurality of sets of visual components 3 corresponding to the feeding positioning components 5 are also installed on the upper lifting seat 21, and the visual components 3 are used to precisely position the shoe upper 10 on the feeding positioning component 5.

[0052] In this embodiment, the paired jaw assemblies corresponding to the feeding and positioning assembly 5 include an upper paired jaw assemblies and a lower paired jaw assemblies, namely, the upper strap insertion jaw assembly 13 and the lower strap connection jaw assembly 12, which can each independently move in the X-direction according to actual needs, so as to effectively match the corresponding upper 10. Combined with the precise positioning of the upper 10 by the visual assembly 3, the targeted and individual shoelaces 20 corresponding to each upper 10 can be threaded. It has good adaptability and high flexibility of use, and is particularly suitable for threading shoelaces 20 on different uppers 10 at multiple workstations at the same time.

[0053] In this embodiment, the visual component 3 is supported and installed on the upper lifting seat 21 via a bracket 31 ; a light source component 32 is also installed on the working platform 7 , and the light source component 32 is arranged toward the imaging direction of the visual component 3 .

[0054] like Figure 3 and Figure 4 As shown, a rotating shaft group 61 is installed through the center of the working platform 7 from top to bottom, the bottom end of the rotating shaft group 61 is poweredly connected to the rotating drive mechanism 6, and the top end of the rotating shaft group 61 is equipped with the turntable 8; a plurality of rolling bearing assemblies 73 are installed at intervals on the working platform 7 located outside the rotating shaft group 61.

[0055] In this embodiment, the rotating drive mechanism 6, such as the motor assembly, drives the turntable 8 to rotate relative to the working platform 7 via the rotating shaft group 61, such as a preset rotation of 180°, so that the turntable 8 switches between the loading position and the shoelace threading position; during the rotation of the turntable 8, the structural support of the turntable 8 on the working platform 7 can be achieved and guaranteed through the rolling support assembly 73 below, thereby effectively ensuring the structural stability of the turntable 8.

[0056] like Figure 5 As shown, the single-group rolling bearing assembly 73 includes a support 731 installed on the working platform 7, an adjustment seat 732 is installed on the side of the support 731, the adjustment seat 732 is locked and fixed after being moved up and down relative to the support 731, and a universal ball bearing 733 is installed on the top surface of the adjustment seat 732, and the top ball of the universal ball bearing 733 is in contact with the bottom surface of the turntable 8.

[0057] In actual maintenance and adjustment, the contact degree between the universal ball bearing 733 and the turntable 8 can be adjusted by moving the adjustment seat 732 up and down relative to the support 731; in order to effectively ensure the supporting effect of the rolling support assembly 73, it is only necessary that the top ball of the universal ball bearing 733 contacts the bottom surface of the turntable 8 and maintains the rotational freedom of the ball.

[0058] The single-group loading and positioning assembly 5 is installed on the turntable 8 by being moved along the Y-direction via the Y-direction translation mechanism 4. The single-group loading and positioning assembly 5 includes a positioning assembly 1 51 located on the inner side for positioning the shoelace 20, and a positioning assembly 2 52 located on the outer side for positioning the upper 10. The two end bundles of the shoelace 20 are inserted at the edge of the positioning assembly 1 51 close to the positioning assembly 2 52.

[0059] In this embodiment, the Y-direction translation mechanism 4 can drive the loading positioning assembly 5 to move along the Y-direction relative to the turntable 8. For example, when in the loading position, it can move outward along the Y-direction to facilitate the loading operation. When in the working position of threading the shoelaces 20, it can move in the Y-direction to match the threading process of the shoelaces 20, and gradually adjust the position of the shoe holes 101 on the upper 10.

[0060] like Figure 6 and Figure 7 As shown, the Y-direction driving power 41 in the Y-direction translation mechanism 4 is installed on the turntable 8, and the output end of the Y-direction driving power 41 is connected to the Y-direction translation seat 42 through the screw assembly 43. The Y-direction translation seat 42 moves in the Y direction relative to the turntable 8, driving the loading positioning assembly 5 to move in the Y direction relative to the turntable 8.

[0061] like Figure 8 and Fig. 9 As shown, the positioning assembly 2 52 includes side plates 529 installed at intervals on the Y-axis translation seat 42, and the side plates 529 on both sides jointly support and install a support platform 5292. The Y-axis translation seat 42 located on both sides of the support platform 5292 is respectively installed with a pressing assembly 521, and the pressing assembly 521 is unlocked by a pressing unlocking mechanism 72 installed on the working platform 7.

[0062] In actual use, the upper 10 can be placed on the support 5292, and then the pressing components 521 on both sides press down on the upper 10 to compress the upper 10.

[0063] A hole is formed on the support 5292 which passes through the upper and the lower part, and tooth-shaped structures 5293 are extended inward on both sides of the hole. The tooth-shaped structures 5293 can support the edge of the shoe upper 10 where the shoe hole 101 is formed, thereby effectively preventing the edge of the shoe upper 10 from being deformed due to the force applied when threading the shoelaces 20 during threading, thereby affecting the automatic threading of the shoelaces 20, and helping to ensure that the threading of the shoelaces 20 is smooth and unimpeded.

[0064] L-shaped grooves 5291 are symmetrically provided on the side plates 529 on both sides, and support shafts 525 are slidably installed in the L-shaped grooves 5291 on both sides. A lifting seat 527 is installed on the upper middle part of the support shaft 525, and a limit block 528 is detachably installed on the top surface of the lifting seat 527. A plurality of insertion holes are respectively provided on the lifting seat 527 located on both sides of the limit block 528, and pins 526 are inserted in the insertion holes; a moving seat 522 is slidably installed between the side plates 529 on both sides below the L-shaped groove 5291 via a moving guide 523, and four sets of connecting rods 524 are rotatably installed at the four corners of the moving seat 522 and the four corners of the lifting seat 527 corresponding to each other.

[0065] In this embodiment, the corners of the L-shaped slide groove 5291 are in an arc transition, which effectively ensures the horizontal movement through the movable seat 522. The support shaft 525 can be guided to move upward smoothly through the L-shaped slide groove 5291. When the support shaft 525 moves upward relative to the L-shaped slide groove 5291, the four sets of connecting rods 524 rotate upward relative to the movable seat 522.

[0066] In this embodiment, only one pin 526 can be inserted into the insertion holes on both sides of the lifting seat 527. When the upper 10 is loaded, the single pair of shoe holes 101 on the upper 10 is inserted into the pin 526 to achieve rough positioning of the upper 10, and then the visual component 3 performs fine positioning of the upper 10 based on the pin 526.

[0067] A connecting plate 5221 is installed at the end of the movable seat 522, which passes downward through the Y-axis translation seat 42; it also includes a lifting drive mechanism 71 installed on the working platform 7, and the lifting drive mechanism 71 applies a horizontal external force to the connecting plate 5221, prompting the lifting seat 527 to move horizontally along the L-shaped slide groove 5291 until it is lifted; a reset spring 520 is installed between the connecting plate 5221 and the Y-axis translation seat 42, and the reset spring 520 prompts the lifting seat 527 to reset downward.

[0068] In this embodiment, when the shoe upper 10 is loaded, the lifting seat 527 is driven by the lifting drive mechanism 71 to move horizontally and vertically through the L-shaped slide groove 5291 and upward to the hole of the support platform 5292, and the shoe upper 10 is positioned by the limit block 528 during loading. Thereafter, the lifting seat 527 retreats along the L-shaped slide groove 5291 away from the hole, especially leaving the space below the support platform 5292, which is convenient for the operation of threading the shoelaces 20 of the lower clamping assembly.

[0069] The structure of the lifting drive mechanism 71 is as follows: it includes a Y-axis linear power 711 installed on the working platform 7, a transverse linear power 712 is installed at the output end of the Y-axis linear power 711, and a push block 713 is installed at the output end of the transverse linear power 712; through the action of the transverse linear power 712, the push block 713 moves to align with the connecting plate 5221, and then the action of the Y-axis linear power 711 applies force to the connecting plate 5221 through the push block 713, prompting the moving seat 522 to move along the L-shaped slide groove 5291.

[0070] In this embodiment, the lifting drive mechanism 71 can only apply force to the connecting plate 5221 during the lifting operation without setting up structural connection; in actual use, a single set of lifting drive mechanisms 71 can correspond to different loading positioning components 5 that flow to the loading position.

[0071] like Fig.10 As shown, the structure of the pressing assembly 521 is as follows: it includes a support block 5211 installed on the Y-axis translation seat 42, a movable rod 5212 is installed through the support block 5211 from top to bottom, and a rocker rod 1 5213 is rotatably installed on the top of the movable rod 5212; a connecting rod 5217 and a rocker rod 2 5216 are rotatably installed on the support block 5211 located on the outer side of the movable rod 5212 in sequence, the end of the connecting rod 5217 is rotatably installed on the middle part of the rocker rod 1 5213, and a rocker arm 5215 is rotatably installed on the rocker rod 1 5213 and the rocker rod 2 5216 together; one end of the rocker arm 5215 is rotatably connected to the rocker rod 2 5216, the middle part of the rocker arm 5215 is rotatably connected to the rocker rod 1 5213, and a pressing block 5214 is installed on the other end of the rocker arm 5215; it also includes an elastic body 5218, and the elastic body 5218 drives the rocker arm 5215 to maintain a downward pressing state.

[0072] In this embodiment, when it is necessary to unlock the downward action of the downward pressing assembly 521, the cylinder in the downward pressing unlocking mechanism 72 works, pushing the movable rod 5212 upward relative to the support block 5211, thereby overcoming the elastic force of the elastic body 5218, driving the rocker arm 1 5213, the connecting rod 5217, and the rocker arm 2 5216 to flip upward relative to the support block 5211, and the swing arm 5215 swings upward, thereby contacting the downward pressure of the pressure block 5214.

[0073] like Fig.11 and Fig.12As shown, the structure of the positioning component 1 51 is as follows: it includes a support plate 511 supported on the Y-direction translation seat 42 via a lateral plate 514, a sliding groove 5111 is provided on the support plate 511, at least two groups of sliding rods 512 are slidably installed in the sliding groove 5111, and the two groups of sliding rods 512 are separated and located at the two ends of the sliding groove 5111 by the action of an elastic member 517; rotating members 515 are installed at intervals on the support plate 511 located outside the side of the sliding groove 5111, and the support plate 511 is also provided with insertion holes 5131 for inserting the ends of the shoelaces 20; the sliding groove 5111, the sliding rods 512 in the sliding groove 5111, and the rotating member 515 outside the sliding groove 5111 constitute a group of matching components, and the matching components are arranged in one or more groups along the direction perpendicular to the sliding groove 5111.

[0074] In this embodiment, when the shoelace 20 is loaded, the shoelace 20 is wound around the outer side of the slide bar 512, and the ends of the shoelace 20 are respectively wound from the outer side of the slide bar 512 to the inner side of the rotating member 515, and then the ends are inserted into the insertion hole 5131. Under the action of the elastic member 517, the slide bar 512 cooperates with the rotating member 515 to tighten the shoelace 20; the upper clamping claw assembly clamps the ends of the ends and slightly moves upward to remove the ends from the insertion hole 5131, and then with the horizontal movement of the Y-direction translation mechanism 4, the shoelace 20 reacts to the slide bar 512, causing the slide bar 512 to overcome the elastic force and move toward each other to the middle of the sliding groove 5111, until the slide bar 512 passively tilts the shoelace 20 and detaches from the slide bar 512.

[0075] In this embodiment, the socket 5131 is opened on the side of the rotating member 515 away from the sliding groove 5111; the socket 5131 is opened on the hole seat 513, and the hole seat 513 can be detachably installed on the support plate 511; one or more sockets 5131 are opened on a single hole seat 513 to match the feeding requirements of different types of shoelaces 20.

[0076] An inner recess is formed by extending from the middle of the edge of the sliding groove 5111 near the rotating member 515, and the sliding bar 512 located at the inner recess swings relative to the sliding groove 5111 in a direction perpendicular to the sliding groove 5111. By setting the inner recess on the sliding groove 5111, the sliding groove 5111 can effectively ensure the reliability of the sliding bar 512 sliding toward or away from each other, and the tilting of the sliding bar 512 can be achieved and ensured in the inner recess, so that the shoelace 20 can smoothly and smoothly detach from the sliding bar 512 in a tensioned state.

[0077] In this embodiment, the two rotating members 515 are arranged along the length direction of the sliding groove 5111, and the distance between the two rotating members 515 is smaller than the length dimension of the sliding groove 5111, so that the shoelace 20 can be tensioned in a relatively limited space by the sliding rod 512 combined with the rotating member 515, especially ensuring that the shoelace 20 is flat and not folded. The rotating member 515 can be a roller structure, and the shoelace 20 is sleeved on the circumferential surface of the roller.

[0078] In this embodiment, a guide rod 516 is fixedly installed between the side plates 514 on both sides of the bottom surface of the support plate 511, and a mounting block 518 is slidably installed on the guide rod 516. A sliding rod 512 is rotatably installed on the mounting block 518 via a pin column, and the sliding rod 512 swings relative to the mounting block 518 in a vertical plane perpendicular to the sliding groove 5111.

[0079] A counterweight 5121 is installed at the bottom end of the slide bar 512 , and the slide bar 512 is reset by the counterweight 5121 after swinging.

[0080] In this embodiment, the setting of the counterweight 5121 can be set according to actual conditions. For example, a spherical structure is installed at the end of the sliding rod 512, and the counterweight 5121 is composed of the spherical structure. When the sliding rod 512 is axially tilted, the counterweight 5121 will help restore the axial verticality.

[0081] like Fig.13 and Fig.14 As shown, the structure of the drawstring mechanism 9 is as follows: it includes a back plate 91, a lifting plate 95 is installed on the side of the back plate 91 through a lifting adjustment mechanism 92, and lever mechanisms 93 are installed on the left and right sides of the lifting plate 95 at intervals; it also includes a vertical rod 94 located between the two groups of lever mechanisms 93, and a brush 96 is arranged on the surface of the vertical rod 94 along the length direction.

[0082] like Fig.15 As shown, the single-group lever mechanism 93 includes a support seat 931 installed on the lifting plate 95, a rotation driving power 932 is installed on the side of the support seat 931, the output end of the rotation driving power 932 faces upward and is installed on a rod seat 933, a lever 934 is rotatably installed on the top of the rod seat 933 via a rotating shaft 935, and the lever 934 rotates in a vertical plane with the rotating shaft 935 as the center; a guide wheel 936 is installed on the end of the lever 934, and when the lever 934 swings down, the guide wheel 936 is located on the outside above the rod seat 933.

[0083] In this embodiment, after the lower clamp assembly pulls the shoelace 20 downward by a preset distance, the lever 934 in the lever mechanism 93 can be rotated in a horizontal plane (for example, Fig.15 The shoelace 20 is rotated from position A to position B in the middle of the shoelace 20 by moving the middle part of the shoelace 20, and combined with the downward movement of the lifting and lowering adjustment mechanism 92, the shoelace 20 is pulled downward, so that the shoelace 20 can be tightened in each step of wearing the shoelace 20, and the brush 96 on the vertical rod 94 is effectively prevented from adhering to the lever mechanism 93, which facilitates the realization and ensures that the lever mechanism 93 repeatedly pulls the shoelace 20 as the shoelace 20 is worn.

[0084] In this embodiment, as the shoelaces are being put on, the length of the shoelaces 20 pulled down can be adjusted by adjusting the stroke of the lifting adjustment mechanism 92 to match the shoelaces.

[0085] In this embodiment, a receiving groove 9331 is formed on one side of the rod seat 933 for receiving the lever 934 when it swings down. The lever 934 will be received in the receiving groove 9331 after it swings down relative to the rod seat 933 under the action of its own weight.

[0086] In this embodiment, the lever 934 is divided into a long section and a short section by a rotating shaft 935, and a guide wheel 936 is installed at the end of the short section. When the long section swings down and is accommodated in the accommodating groove 9331, the guide wheel 936 is located above and outside the rod seat 933; with the action of the lifting and lowering adjustment mechanism 92, the lever mechanism 93 is driven upward, and when the guide wheel 936 at the upper end of the lever 934 contacts and fits the bottom surface of the turntable 8, the lever 934 will rotate in the vertical plane with the rotating shaft 935 as the center under the reaction force of the turntable 8, and the long section of the lever 934 accommodated in the accommodating groove 9331 swings up to a horizontal state.

[0087] In this embodiment, an open U-shaped groove 9311 is opened on the side of the support seat 931, and a coupling 937 is placed inside the U-shaped groove 9311; a rotating driving power 932 is installed on the outer side of the wall below the U-shaped groove 9311, and a rod seat 933 is rotatably installed on the wall above the U-shaped groove 9311, and the coupling 937 connects the rotating driving power 932 with the power of the rod seat 933, effectively ensuring that the rotating driving power 932 drives the rod seat 933 to rotate.

[0088] In this embodiment, the lifting and adjusting mechanism 92 includes a screw seat installed on the side of the back plate 91 with upper and lower intervals, a screw is installed between the screw seats for common rotation, and a guide rod is also installed between the screw seats on both sides of the screw; the screw is driven to rotate by a motor, and the lifting plate 95 is matched with the screw via a screw pair, and the lifting plate 95 is slidably installed with the guide rod; a vertical rod 94 is installed on the side of the screw seat through the support rod 941.

[0089] The method of using the automatic shoelace threading machine of the present invention is as follows:

[0090] The first step: Load the upper 10 and the shoelace 20 separately. Specifically:

[0091] Loading of the upper 10: the downward pressing unlocking mechanism 72 is actuated to drive the pressure block 5214 in the downward pressing assembly 521 to move upward and unlock. At the same time, the lifting driving mechanism 71 works to make the limit block 528 move upward along the L-shaped slide groove 5291 through the support 5292, and the upper 10 is placed on the support 5292. The middle part of the upper 10 is supported by the limit block 528, and each shoe hole 101 on both sides of the upper 10 is fitted into the pin 526 to achieve the positioning of the upper 10; the downward pressing unlocking mechanism 72 is withdrawn, and the elastic body 5218 drives the pressure block 5214 to return to its original position and press down on the upper 10, completing the loading of the upper 10; the lifting driving mechanism 71 moves downward and disengages.

[0092] Loading of the shoelace 20: The shoelace 20 is wound around the outside of the slide bar 512, and the ends of the shoelace 20 are respectively wound from the outside of the slide bar 512 to the inside of the rotating member 515, and then the ends are inserted into the insertion hole 5131. Under the action of the elastic member 517, the slide bar 512 cooperates with the rotating member 515 to tighten the shoelace; thus, the loading of the shoelace 20 is achieved.

[0093] The turntable 8 rotates, so that the loading and positioning assembly 5 clamped with the shoelace 20 and the upper 10 moves to the shoelace threading working position, that is, rotates below the strap inserting clamping jaw assembly 13 and above the strap connecting clamping jaw assembly 12.

[0094] Step 2: The shoelace clamping claw assembly 13 clamps the ends of the shoelace 20, and inserts the ends of the shoelace 20 downward into the shoe holes of the vamp 10 from top to bottom.

[0095] The strap insertion claw assembly 13 clamps the two ends of the shoelace 20 on the loading and positioning assembly 5, and the Y-axis translation mechanism 4 translates backward, so that the upper 10 is located below the strap insertion claw assembly 13, and the shoelace 20 gradually detaches from the loading and positioning assembly 5; the strap insertion claw assembly 13 inserts the two ends of the shoelace 20 downward into the shoe holes of the upper 10.

[0096] Step 3: The lace clamp assembly 12 receives the ends of the shoelace 20 from below the upper 10 and moves down to below the lever 934. The lever mechanism 93 rotates the driving force 932 to drive the lever 934 from Fig.15 The shoelace 20 is rotated from point A to point B, so that the middle part of the shoelace 20 is wrapped around the lever 934, and the lever 934 drives the shoelace 20 toward the vertical rod 94. With the action of the lifting and adjusting mechanism 92, the lever 934 pulls the shoelace 20 downward to realize the shoelace 20 pulling action.

[0097] In conjunction with the movement of the Y-direction translation mechanism 4 , the end portions of the shoelace 20 are inserted upwards into another pair of shoe holes 101 by the shoelace clamping claw assembly 12 .

[0098] Step 4: In combination with the movement of the Y-axis translation mechanism 4, the strap insertion clamping claw assembly 13 and the strap connection clamping claw assembly 12 cooperate to clamp the ends of the shoelace 20 from the top and bottom of the vamp 10 in turn, and repeat the second and third steps to complete the threading of the shoelace 20 on the vamp 10, and the strap insertion clamping claw assembly 13 releases the clamping of the ends of the shoelace 20.

[0099] Step 5: The turntable 8 rotates to rotate the shoe upper 10 with the shoelace 20 to the loading position, and the material is unloaded manually, and then loaded.

[0100] In the present embodiment, the belt inserting jaw assembly 13 and the belt connecting jaw assembly 12 respectively include a pair of jaw assemblies, and a single pair of jaw assemblies includes two groups of jaw assemblies corresponding to clamping the two ends of the shoelace 20, and the single group of jaw assemblies are jointly installed on the output part of the clamping finger cylinder, and the clamping finger cylinder is installed on the linear drive, such as the cylinder output end, and the linear drive realizes the preset moving distance in the Z direction when threading the shoelace 20.

[0101] The present invention realizes automatic threading of shoelaces on the shoe upper, effectively ensures the threading effect of the shoelaces on the shoe upper, and greatly ensures and improves the rapid and reliable threading of the shoelaces on the shoe upper.

[0102] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0103] The above description is an explanation of the present invention, not a limitation of the present invention. The scope of the present invention is defined in the claims. Any form of modification may be made within the scope of protection of the present invention.

Claims

1. An automatic shoe lacing machine with multi-station flexible operation, characterized in that: The invention comprises a turntable (8) rotatably mounted on a working platform (7), wherein opposite edges of the turntable (8) are respectively and orderly arranged with a plurality of groups of loading positioning components (5) for positioning shoelaces (20) and shoe uppers (10); the invention also comprises a vertical frame (1) located outside the working platform (7), wherein an upper transverse translation module (14) and a lower transverse translation module (11) are installed on the side of the vertical frame (1) in an interval manner so as to be movable up and down, wherein pairs of clamping claw components corresponding to the loading positioning components (5) are respectively installed on the upper transverse translation module (14) and the lower transverse translation module (11); and a plurality of groups of drawstring mechanisms (9) corresponding to the loading positioning components (5) are installed on the side of the working platform (7) facing the vertical frame (1), wherein the drawstring mechanisms (9) and the lower transverse translation module (11) are both located below the loading positioning components (5); The structure of the pulling belt mechanism (9) is as follows: it comprises a back plate (91), a lifting plate (95) is installed on the side of the back plate (91) via a lifting adjustment mechanism (92), and lever mechanisms (93) are installed on the left and right sides of the lifting plate (95) at intervals; it also comprises a vertical rod (94) located between the two sets of lever mechanisms (93), and a brush (96) is arranged on the surface of the vertical rod (94) along the length direction; a single set of lever mechanisms (93) comprises a support seat (931) installed on the lifting plate (95), A rotation driving power (932) is installed on the side of the support seat (931); the output end of the rotation driving power (932) faces upward and is installed with a rod seat (933); a lever (934) is rotatably installed on the top of the rod seat (933) via a rotating shaft (935); the lever (934) rotates in a vertical plane with the rotating shaft (935) as the center; a guide wheel (936) is installed at the end of the lever (934); when the lever (934) swings downward, the guide wheel (936) is located above and outside the rod seat (933).

2. The multi-station flexible automatic shoe lacing machine according to claim 1, characterized in that: A lifting seat (21) is installed on the upper and lower sides of the vertical frame (1) for upward and downward movement via a Z-axis lifting mechanism (2); an upper transverse translation module (14) is installed on the upper lifting seat (21); and a lower transverse translation module (11) is installed on the lower lifting seat (21); the clamping jaw assembly moves independently along the upper transverse translation module (14) or the lower transverse translation module (11); and a plurality of sets of visual components (3) corresponding to the loading positioning components (5) are also installed on the upper lifting seat (21), and the visual components (3) perform precise positioning of the shoe upper (10) on the loading positioning components (5).

3. The multi-station flexible automatic shoe lacing machine according to claim 1, characterized in that: A rotating shaft group (61) is installed through the center of the working platform (7) from top to bottom, the bottom end of the rotating shaft group (61) is connected to the rotating drive mechanism (6) by power, and the top end of the rotating shaft group (61) is assembled with the turntable (8); A plurality of rolling bearing assemblies (73) are installed at intervals on a working platform (7) located outside the rotating shaft assembly (61) in the circumferential direction. A single rolling bearing assembly (73) comprises a support (731) installed on the working platform (7). An adjustment seat (732) is installed on the side of the support (731). The adjustment seat (732) is locked and fixed after being moved up and down relative to the support (731). A universal ball bearing (733) is installed on the top surface of the adjustment seat (732). The top sphere of the universal ball bearing (733) contacts the bottom surface of the turntable (8).

4. The multi-station flexible automatic shoe lacing machine according to claim 1, characterized in that: The single-group loading and positioning assembly (5) is installed on the turntable (8) by being moved along the Y direction via the Y-direction translation mechanism (4). The single-group loading and positioning assembly (5) comprises a positioning assembly 1 (51) located on the inner side for positioning the shoelace (20) and a positioning assembly 2 (52) located on the outer side for positioning the shoe upper (10). The ends of the shoelace (20) are inserted at the edge of the positioning assembly 1 (51) close to the positioning assembly 2 (52).

5. The multi-station flexible automatic shoe lacing machine as claimed in claim 4, characterized in that: The Y-direction driving power (41) in the Y-direction translation mechanism (4) is installed on the turntable (8), and the output end of the Y-direction driving power (41) is connected to the Y-direction translation seat (42) through the screw rod assembly (43), and the Y-direction translation seat (42) moves in the Y direction relative to the turntable (8); the positioning assembly (52) comprises a side plate (529) installed on the Y-direction translation seat (42) at intervals, and the side plates (529) on both sides are jointly supported and installed with a support platform (5292), and the Y-direction translation seats (42) located on both sides of the support platform (5292) are respectively installed with pressing assemblies (521), and the pressing action of the pressing assemblies (521) is unlocked by a pressing unlocking mechanism (72) installed on the working platform (7).

6. The multi-station flexible automatic shoe lacing machine according to claim 5, characterized in that: The support platform (5292) is provided with a hole extending through the upper and lower parts, and the two sides of the hole opening extend inwardly at intervals to form a toothed structure (5293); L-shaped sliding grooves (5291) are symmetrically provided on the side plates (529) on both sides, and a support shaft (525) is slidably mounted in the L-shaped sliding grooves (5291) on both sides, and a lifting seat (527) is installed above the middle part of the support shaft (525); a limit block (528) is detachably mounted on the top surface of the lifting seat (527), and a plurality of insertion holes are respectively provided on the lifting seat (527) located on both sides of the limit block (528), and pins (526) are inserted into the insertion holes; a moving seat (522) is slidably mounted between the side plates (529) on both sides below the L-shaped sliding groove (5291) via a moving guide member (523), and four groups of connecting rods (524) are rotatably mounted at the four corners of the moving seat (522) and the four corners of the lifting seat (527) corresponding to the four corners.

7. The multi-station flexible automatic shoe lacing machine according to claim 6, characterized in that: The movable seat (522) is provided with a connecting plate (5221) which passes downward through the Y-direction translation seat (42); the movable seat (522) further comprises a lifting drive mechanism (71) which is installed on the working platform (7); the lifting drive mechanism (71) applies a horizontal external force to the connecting plate (5221) to cause the lifting seat (527) to move horizontally along the L-shaped slide groove (5291) until it is lifted; a return spring (520) is installed between the connecting plate (5221) and the Y-direction translation seat (42); the return spring (520) causes the lifting seat (527) to return downward.

8. The multi-station flexible automatic shoe lacing machine according to claim 5, characterized in that: The structure of the pressing assembly (521) is as follows: it comprises a support block (5211) mounted on the Y-axis translation seat (42); a movable rod (5212) is mounted through the support block (5211) from top to bottom; a first swing rod (5213) is rotatably mounted on the top of the movable rod (5212); a connecting rod (5217) and a second swing rod (5216) are rotatably mounted on the support block (5211) located outside the movable rod (5212); the end of the connecting rod (5217) is rotatably mounted on the swing rod A swing arm (5215) is installed in the middle of the first rod (5213), the first swing rod (5213) and the second swing rod (5216) are rotatably mounted together; one end of the swing arm (5215) is rotatably connected to the second swing rod (5216), the middle of the swing arm (5215) is rotatably connected to the first swing rod (5213), and a pressure block (5214) is installed at the other end of the swing arm (5215); and an elastic body (5218) is also included, and the elastic body (5218) drives the swing arm (5215) to maintain a downward pressure state.

9. The multi-station flexible automatic shoe lacing machine according to claim 4, characterized in that: The structure of the positioning assembly 1 (51) is as follows: it comprises a support plate (511), a sliding groove (5111) is formed on the support plate (511), at least two groups of sliding rods (512) are slidably mounted in the sliding groove (5111), the two groups of sliding rods (512) are separated and located at two ends of the sliding groove (5111) in opposite directions by the action of an elastic member (517); rotating members (515) are installed at intervals on the support plate (511) located outside the side of the sliding groove (5111), and the support plate (511) is also formed with insertion holes (5131) for inserting the ends of the shoelaces (20); the sliding groove (511 1) A sliding rod (512) in a sliding groove (5111) and a rotating member (515) outside the sliding groove (5111) constitute a group of matching components, and one or more groups of matching components are arranged along a direction perpendicular to the sliding groove (5111); a middle portion of the edge of the sliding groove (5111) close to the rotating member (515) extends to form an inner concave portion, and the sliding rod (512) located at the inner concave portion swings relative to the direction perpendicular to the sliding groove (5111); a counterweight (5121) is installed at the bottom end of the sliding rod (512), and the sliding rod (512) is reset by the action of the counterweight (5121) after swinging.

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