An automatic shoelace tying apparatus and method

Abstract

The present application relates to the technical field of shoemaking machinery and equipment, and provides an automatic shoelace threading device and method, which comprises a machine table, a rotatable rotary table, multiple sets of shoelace inserting mechanisms, multiple sets of shoelace pulling mechanisms and multiple sets of shoelace poking mechanisms; the rotary table is provided with at least one feeding station, the feeding station is provided with multiple upper fixing mechanisms, the shoelace inserting mechanisms can independently translate and collectively lift, the shoelace pulling mechanisms can independently translate and are provided with independently lifting and rotating shoelace pulling jaw assemblies, the shoelace poking mechanisms can lift, swing back and forth, and the poking rods can stretch left and right; after the upper is fixed by the upper fixing mechanisms, the rotary table is driven to rotate and feed to a shoelace threading station, and then the upper positioning, conveying and shoelace threading operation are automatically completed through the coordinated cooperation of the multiple sets of shoelace inserting mechanisms, shoelace pulling mechanisms and shoelace poking mechanisms, which not only can effectively avoid multiple shoelace winding or interference, but also can effectively eliminate shoelace twisting, significantly improve the threading beauty and operation efficiency, and meet the high-efficiency production requirements of shoemaking.

Description

Technical Field

[0001] This invention relates to the field of shoemaking machinery and equipment technology, and more specifically, to an automatic shoelace-threading device and method. Background Technology

[0002] In the footwear industry, lacing shoe uppers remains a process heavily reliant on manual or semi-automatic assistance, especially in mass production. The level of automation in shoelacing directly impacts overall production efficiency and product consistency. Currently, most existing shoelacing equipment suffers from flawed structural design and limited functionality: some equipment can only thread a single shoelace eyelet, unable to thread multiple sets of shoelaces in a continuous, cross-lacing motion; others, while capable of threading cross-lacing, only perform a simple "delivery-pull" action, lacking effective lacing restraint and adjustment mechanisms. This leads to entanglement of multiple shoelace segments during complex cross-lacing, easily interfering with the equipment's pulling and inserting mechanisms. Furthermore, the shoelaces tend to twist during the pull-down process, resulting in an unattractive shoelace arrangement on the finished shoe upper, requiring subsequent manual adjustments. The efficiency and reliability of automated continuous operation are both low, failing to meet the high-efficiency production demands of mass-produced shoes. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide an automatic shoelace-threading device and method, which addresses the above-mentioned deficiencies of the prior art.

[0004] The technical solution adopted by this invention to solve its technical problem is: On one hand, the present invention provides an automatic shoelace-threading device, comprising: The machine is equipped with a shoelace-tying station; A turntable is rotatably mounted on the machine platform; the turntable is provided with at least one loading station, and the loading station is provided with multiple shoe upper fixing mechanisms; Multiple insertion mechanisms are connected to an upper lateral translation module, which is connected to a lifting mechanism, so that the multiple insertion mechanisms can independently move horizontally and move as a whole. Multiple strap pulling mechanisms are connected to a lateral translation module to enable independent horizontal displacement of the multiple strap pulling mechanisms; each strap pulling mechanism includes two independently liftable and rotatable bases, each base being provided with a strap pulling claw assembly for holding shoelaces; Multiple belt-pulling mechanisms, each of which includes a lifting drive assembly, a swing drive assembly located at the output end of the lifting drive assembly, and a lever assembly located at the output end of the swing drive assembly; the swing drive assembly is used to drive the lever assembly to swing in the front-back direction; the lever assembly includes a lever, which extends and retracts in the left-right direction. When the turntable rotates at a preset angle to move multiple shoe upper fixing mechanisms to the shoelace-threading station, the positions of the multiple strap insertion mechanisms, multiple shoe upper fixing mechanisms, and multiple strap pulling mechanisms are vertically aligned; the multiple strap pulling mechanisms are located below the multiple shoe upper fixing mechanisms and are arranged in the front-back direction behind the corresponding strap pulling mechanisms. The direction parallel to the length of the shoe upper is the front-to-back direction, and the direction parallel to the width of the shoe upper is the left-to-right direction.

[0005] In some embodiments, the upper fixing mechanism includes: substrate; The telescopic mechanism includes a first telescopic drive assembly disposed on the base plate and a movable plate disposed at the output end of the first telescopic drive assembly, for driving the movable plate to reciprocate in the front-back direction; A lifting support mechanism includes a lifting component and a support base driven by the lifting component. The lower end of the lifting component is rotatably connected to a movable plate, and the upper end of the lifting component is rotatably connected to the support base. The support base is provided with a positioning pin for positioning shoelace holes. The constraint and guide mechanism includes two side plates disposed on the base plate, each side plate having an L-shaped guide groove; the lifting assembly is constrained by the L-shaped guide groove so that it can be lifted upward or lowered downward when moving with the movable plate; The upper support mechanism includes an upper support plate disposed at the upper end of each of the side plates; The shoe upper pressing mechanism includes a pressure plate for cooperating with the shoe upper support plate to press the shoe upper.

[0006] In some embodiments, the loading station is further provided with a plurality of second telescopic drive components, and the plurality of shoe upper fixing mechanisms are respectively provided at the output ends of the plurality of second telescopic drive components; the second telescopic drive components are used to drive the shoe upper fixing mechanisms to reciprocate in the front-back direction.

[0007] In some embodiments, the belt pulling mechanism further includes a rotary cylinder and a lifting cylinder corresponding to each base. The output end of the rotary cylinder is connected to the base, and the output end of the lifting cylinder is connected to the rotary cylinder. Each lifting cylinder is independently slidably mounted on the lower transverse translation module.

[0008] In some embodiments, the rotary cylinder is configured to drive the base to rotate 180° forward or backward.

[0009] In some embodiments, the lever assembly further includes a bracket, the bottom end of which is connected to the output end of the swing drive assembly, and the top end of which is fixedly connected to the lever; the lever includes a first telescopic rod and a second telescopic rod that can extend horizontally in sequence in the left and right directions.

[0010] On the other hand, the present invention also provides an automatic shoelace threading method, applied to the automatic shoelace threading device described in any of the above claims, comprising the following steps: S1: Place the shoe upper on the loading station of the turntable, and the shoe upper fixing mechanism performs positioning and pressing operations to complete the shoe upper fixing; S2: Drive the turntable to rotate by a preset angle, move the shoe upper fixing mechanism with the shoe upper fixed to the shoe lacing station, and align the target shoe lacing hole on the shoe upper with the insertion mechanism, the pull mechanism and the lacing mechanism in the vertical direction; S3: After adjusting the working position of the inserting mechanism through the upper lateral translation module and the lifting mechanism, control the inserting mechanism to move so that the shoelace end it holds passes through the target shoelace hole; then, control the pulling mechanism to move, clamp the shoelace end that has passed through the target shoelace hole through the pulling claw assembly and pull it down, and drive the base to rotate during the pulling down process to eliminate shoelace twisting; S4: Control the action of the pull-up mechanism. Through the coordinated movement of the lifting drive component, the swing drive component and the lever component, the drooping shoelace segment located below the shoe upper after being pulled down is moved and adjusted to move the drooping shoelace segment to the avoidance area. The avoidance area does not interfere with the subsequent lacing operation. S5: Drive the pull strap mechanism to move horizontally through the lower lateral translation module, and at the same time control the pull strap mechanism to move the shoelace end it holds to the corresponding position of the target cross-threaded shoelace hole; then, control the insertion strap mechanism to hold the corresponding shoelace end to complete the cross-threading of the shoelace. S6: After completing the cross-lacing of a pair of shoelace eyelets, control the puller mechanism to drive the lever down, and press down the newly formed cross-lacing segment through the lever so that the cross-lacing above the shoe upper is tightened and fits the shoe upper. S7: For the remaining shoelace holes on the shoe upper, repeat steps S3 to S6 until all shoelace holes are threaded.

[0011] In some embodiments, step S3 includes: S31: Control the strap insertion mechanism to clamp both ends of the shoelace respectively, and first insert one end of the shoelace into the target shoelace hole on the same side of the shoe surface; S32: Control the pull strap gripper assembly located under the same side of the shoe upper to clamp the end of the shoelace that is passing through the target shoelace eyelet; S33: Control the rotation cylinder and lifting cylinder connected to the base to operate respectively, so that the shoelace is rotated instantaneously while the end of the shoelace is pulled down, so as to eliminate the twisting of the shoelace during the insertion process; S34: Then, follow the same steps to thread, clamp, pull down, and twist the other end of the shoelace.

[0012] In some embodiments, step S4 includes: S41: Control the lifting drive assembly to move, driving the lever to rise to the height of the drooping shoelace section; S42: Control the swing drive assembly to swing the lever forward in the front-back direction, and control the lever to extend horizontally in the left-right direction. After the lever is extended, it is located in front of the drooping shoelace section. S43: Control the swing drive component to move again, drive the lever to swing back in the front-back direction, so that the lever will gather the drooping shoelace segment into the avoidance area during the swing process; S44: Control the lever to retract horizontally in the left and right direction, and drive it to reset and descend by the lifting drive assembly.

[0013] In some embodiments, after each pair of shoelace eyelets is crossed and threaded in step S5, the downward tightening action described in step S6 is performed immediately; or, After completing the cross-threading of multiple pairs of shoelace holes as described in step S5 multiple times, perform the pressing and tightening action described in step S6 once.

[0014] The beneficial effects of this invention are as follows: Unlike existing technologies, the automatic shoelace-threading device of this invention, through the coordinated operation of a turntable, shoe upper fixing mechanism, strap insertion mechanism, and strap pulling mechanism, can stably achieve shoe upper positioning, conveying, and shoelace threading operations, thus ensuring improved production efficiency. Simultaneously, during this process, the coordinated action of the lifting drive component, swing drive component, and lever can adjust and move the drooping shoelace segments after threading to an avoidance area that does not interfere with subsequent threading operations, effectively preventing interference between the shoelaces and equipment components and ensuring continuous and smooth threading. Furthermore, the strap pulling mechanism uses two independently lifting and rotating bases, enabling it not only to perform the basic functions of clamping and pulling down but also to instantly eliminate shoelace twisting during the pulling process through rotation, preventing tangled knots and greatly improving the aesthetics of automatic shoelace threading. The efficiency and reliability of automated continuous operation are significantly improved, meeting the high-efficiency production needs of mass-produced shoes. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the layout of the automatic shoelace-threading device in an embodiment of the present invention; Figure 2 This is an enlarged schematic diagram of part A in an embodiment of the present invention; Figure 3 This is a partial schematic diagram of the shoe upper fixing mechanism, the strap pulling mechanism, and the strap tugging mechanism in an embodiment of the present invention; Figure 4 This is a side view schematic diagram of the shoe upper fixing mechanism in an embodiment of the present invention; Figure 5 This is another side view of the shoe upper fixing mechanism in an embodiment of the present invention; Figure 6 This is an exploded view of the shoe upper fixing mechanism in an embodiment of the present invention; Figure 7 This is an assembly diagram of the mounting plate and the positioning pin in an embodiment of the present invention; Figure 8 This is a schematic diagram of the belt pulling mechanism in an embodiment of the present invention; Figure 9 This is a schematic diagram of the pull-tab mechanism in an embodiment of the present invention; Figure 10 This is a schematic diagram of a lifting drive component in an embodiment of the present invention; Figure 11 This is a schematic diagram of the swing drive component in an embodiment of the present invention; Figure 12 This is a schematic diagram of the lever assembly in an embodiment of the present invention; The diagram shows the following labels and numbers: Machine base - 100; Turntable - 200; Strap insertion mechanism - 1; Strap pulling mechanism - 2; Strap pulling mechanism - 3; Upper fixing mechanism - 4; Upper lateral translation module - 300; Lifting mechanism - 400; Lower lateral translation module - 500; Base - 21; Strap pulling gripper assembly - 221; Lifting drive assembly - 31; Swinging drive assembly - 32; Lever assembly - 33; Lever - 331; Base plate - 41; Telescopic mechanism - 42; Lifting support mechanism - 43; Constraint guide mechanism - 44; Upper bearing mechanism - 45; Upper pressing mechanism - 46; Movable plate - 411; Guide plate - 412; Electric push rod - 413; Vertical plate - 414; Support base - 431; Side plate -441; L-shaped guide groove -442; connecting rod -432; limiting shaft -433; shoe upper support plate -451; mounting plate -434; strip positioning hole -4340; pressure plate -461; first slider -462; mating rack -463; mating gear -464; second telescopic drive assembly -5; rotary cylinder -22; lifting cylinder -23; first motor -311; ball screw -312; nut seat -313; first mounting seat -6; guide rod -314; second motor -321; drive rod -322; gear -323; second mounting seat -7; connecting block -71; rotating shaft -8; bracket -330; first telescopic rod -3311; second telescopic rod -3312. Detailed Implementation

[0016] The terms "first," "second," "third," and "fourth," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0017] The term "embodiment" as used herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in multiple embodiments of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0018] "Multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0019] Furthermore, the terms indicating orientation, such as "up," "down," "front," "back," "left," "right," "upper end," and "lower end," are all based on the posture and position of the device or equipment described in this solution during normal use.

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, a clear and complete description will be provided below in conjunction with the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the protection scope of the present invention.

[0021] Example 1: This embodiment of the invention provides an automatic shoelace-threading device, which is applied to the automatic shoelace-threading production process of footwear products such as sports shoes and casual shoes. It can effectively solve the problems of multiple shoelaces getting tangled or hindering the movement of the mechanism, as well as the problem of shoelaces being easily twisted, thereby significantly improving the automation level of the shoelace-threading process.

[0022] like Figures 1 to 3As shown, the automatic shoelace-threading device includes: a machine base 100, a turntable 200, multiple strap insertion mechanisms 1, multiple strap pulling mechanisms 2, and multiple strap-pulling mechanisms 3. The machine base 100 has a shoelace-threading station located on one side. The turntable 200 is rotatably mounted on the machine base 100. The turntable 200 has two loading stations, symmetrically arranged about the rotation axis of the turntable 200. Each loading station has multiple shoe upper fixing mechanisms 4, and the shoe upper fixing mechanisms 4 of the two loading stations are also symmetrically distributed in a one-to-one correspondence. Multiple strap insertion mechanisms 1 are connected to an upper lateral translation module 300, which is connected to a lifting mechanism 400, enabling independent horizontal displacement and overall lifting of the multiple strap insertion mechanisms 1. Multiple strap pulling mechanisms 2 are connected to a lower lateral translation module 500, enabling independent horizontal displacement of the multiple strap pulling mechanisms 2. Each strap pulling mechanism 2 includes two independently lifting and rotating bases. 21. Each base 21 is provided with a pull-strap gripper assembly 221 for holding shoelaces; multiple pull-strap mechanisms 3, each pull-strap mechanism 3 includes a lifting drive assembly 31, a swing drive assembly 32 located at the output end of the lifting drive assembly 31, and a lever assembly 33 located at the output end of the swing drive assembly 32; the swing drive assembly 32 is used to drive the lever assembly 33 to swing in the front-back direction; the lever assembly 33 includes a lever 331, which extends and retracts in the left-right direction; when the turntable 200 rotates at a preset angle to move multiple shoe upper fixing mechanisms 4 to the shoelace-wearing station, the positions of multiple strap insertion mechanisms 1, multiple shoe upper fixing mechanisms 4, and multiple pull-strap mechanisms 2 are vertically corresponding one-to-one; multiple pull-strap mechanisms 3 are located below multiple shoe upper fixing mechanisms 4 one-to-one, and are arranged behind the corresponding pull-strap mechanisms 2 in the front-back direction; wherein, the direction parallel to the length of the shoe upper is the front-back direction, and the direction parallel to the width of the shoe upper is the left-right direction.

[0023] In this embodiment, the shoe upper fixing mechanism 4, the strap insertion mechanism 1, and the strap pulling mechanism 2 maintain a precise correspondence in three-dimensional space, which is used to firmly and stably hold the shoe upper to be processed during the entire automatic shoe lacing process.

[0024] Specifically, such as Figures 4 to 6 As shown, the shoe upper fixing mechanism 4 includes a base plate 41, a telescopic mechanism 42, a lifting support mechanism 43, a constraint guide mechanism 44, a shoe upper bearing mechanism 45, and a shoe upper pressing mechanism 46. The telescopic mechanism 42, the lifting support mechanism 43, the constraint guide mechanism 44, the shoe upper bearing mechanism 45, and the shoe upper pressing mechanism 46 on the base plate 41 work together to complete the positioning, clamping, and resetting actions of the shoe upper.

[0025] The telescopic mechanism 42 is mounted on the base plate 41 and includes a first telescopic drive assembly disposed on the base plate 41 and a movable plate 411 disposed at the output end of the first telescopic drive assembly. The first telescopic drive assembly drives the movable plate 411 to reciprocate in the front-back direction to cooperate with the lifting support mechanism 43 to complete the lifting action. A guide plate 412 is fixedly provided on the upper surface of the base plate 41, and the movable plate 411 is limited and slidably disposed on the guide plate 412 by a linear guide pair or a dovetail groove or other sliding groove structure to avoid lateral displacement.

[0026] The first telescopic drive assembly includes an electric push rod 413 and a vertical plate 414. The cylinder of the electric push rod 413 is fixedly mounted on the base plate 41. The telescopic push rod of the electric push rod 413 is a movable end, which is fixedly connected to the lower end of the vertical plate 414. The upper end of the vertical plate 414 is fixedly connected to the movable plate 411. When the electric push rod 413 telescopically extends, it drives the vertical plate 414 to reciprocate horizontally, thereby causing the movable plate 411 to move linearly horizontally on the guide plate 412, achieving precise displacement of the movable plate 411.

[0027] In this embodiment, the lifting support mechanism 43 includes a lifting component and a support base 431 driven by the lifting component, used to realize the lifting movement of the support base 431. The lower end of the lifting component is rotatably connected to the movable plate 411, and the upper end of the lifting component is rotatably connected to the support base 431, so that the support base 431 can be lifted and lowered synchronously with the horizontal movement of the movable plate 411. The support base 431 is provided with a positioning pin, which is arranged vertically and its size is precisely matched with the shoelace holes of the shoe upper, used to insert into the shoelace holes to achieve precise horizontal positioning of the shoe upper. The driving stroke of the electric push rod 413 is controllable.

[0028] In this embodiment, the constraint guide mechanism 44 is used to limit the movement trajectory of the lifting support mechanism 43. It includes two side plates 441 disposed on the base plate 41, which are arranged opposite to each other and located on the left and right sides of the guide plate 412, respectively. Each side plate 441 is provided with an L-shaped guide groove 442. The lifting assembly is constrained by the L-shaped guide groove 442 so that it can be lifted upward or lowered downward when moving with the movable plate 411.

[0029] Specifically, the lifting assembly includes a connecting rod 432 and a limiting shaft 433. The lower end of the connecting rod 432 is rotatably connected to the movable plate 411 via a hinge, and the upper end of the connecting rod 432 is rotatably connected to the support base 431 via a hinge, forming a swing rod structure that can swing up and down. One end of the limiting shaft 433 is fixedly connected to the support base 431, and the other end is located in the L-shaped guide groove 442, which forms a constraint fit with the L-shaped guide groove 442, limiting the movement posture of the support base 431 through the groove trajectory. When the limiting shaft 433 moves in the L-shaped guide groove 442, its movement trajectory constrains the swing posture of the connecting rod 432, thereby controlling the lifting and lowering of the support base 431. There are at least two pairs of connecting rods 432, with two connecting rods 432 in each pair, correspondingly arranged on the movable plate 411 and the support base 431. There are also two limiting shafts 433. For specific layout, please refer to the corresponding drawings.

[0030] The L-shaped guide groove 442 consists of interconnected horizontal and vertical sections: the horizontal section extends horizontally, and the vertical section extends vertically. The connection between the two sections uses an arc-shaped transition to prevent the limiting shaft 433 from jamming. When the limiting shaft 433 moves within the horizontal section, the support base 431 remains essentially horizontal, with its height unchanged. When the limiting shaft 433 moves from the end of the horizontal section to the vertical section, under the constraint of the L-shaped guide groove 442, the connecting rod 432 is lifted, thereby causing the support base 431 to rise upwards. Conversely, when the limiting shaft 433 retracts from the vertical section back to the horizontal section, the support base 431 descends and resets, ensuring precise and controllable movement trajectory.

[0031] In this embodiment, the upper support mechanism 45 includes an upper support plate 451 disposed on the upper end of each side plate 441 for supporting the upper to be fixed; the two upper support plates 451 are arranged in parallel and together form a plane for placing the upper, adapting to the support requirements of the left and right sides of the upper. After the upper is placed in place, the length direction of the upper is parallel to the length direction of the upper support plate 451, and the movement direction of the movable plate 411 is parallel to the length direction of the upper and also parallel to the length direction of the upper support plate 451.

[0032] Specifically, each upper support plate 451 has a clearance opening for the positioning pin to pass through for positioning the upper. The clearance opening is positioned corresponding to the shoelace eyelet and is sized to accommodate the positioning pin, facilitating subsequent insertion of the positioning pin into the shoelace eyelet and shoelace threading. A support and positioning area is formed between two adjacent clearance openings in the same column to support the area between two adjacent shoelace eyelets on the upper, preventing localized collapse of the upper. Furthermore, a certain distance is maintained between the two upper support plates 451, forming a clearance space for the support base 431 and the positioning pin to pass through. During upper positioning, the support base 431 and the positioning pin are positioned appropriately within this clearance space.

[0033] Furthermore, a mounting plate 434 is detachably connected to the support base 431 via bolts or other fasteners, and a locating pin is detachably mounted on the mounting plate 434. For example, Figure 7 As shown, the mounting plate 434 includes a fixing part and connecting parts located on two opposite sides of the fixing part. The fixing part has several mounting through holes, and is fixedly connected to the support base 431 by fasteners such as bolts. The support base 431 has corresponding mating holes that correspond one-to-one with the mounting through holes. The length direction of the connecting part is parallel to the width of the shoe upper. The connecting part has a strip-shaped positioning hole 4340 extending along its length direction. The bottom of the positioning pin can be fixed in the strip-shaped positioning hole 4340 by means of threads, buckles, etc., and the position of the positioning pin in the strip-shaped positioning hole 4340 can be adjusted left and right along the length direction of the connecting part to adapt to the lateral spacing between two rows of shoelace holes on different shoe uppers.

[0034] To facilitate quick and accurate lacing removal by the lacing mechanism 1 before threading, the shoe upper fixing mechanism 4 also includes a bracket for holding the shoelaces. The bracket should have insertion holes for vertically inserting and positioning both ends of the shoelace. The positions of these insertion holes are adapted to the working height of the lacing mechanism 1 to ensure accurate clamping of both ends of the shoelace and improve lacing efficiency. It should be noted that the bracket and its insertion holes can be designed and selected according to actual application requirements. This is merely an example and does not impose specific limitations; the actual application should prevail.

[0035] In this embodiment, the shoe upper pressing mechanism 46 includes a pressure plate 461 disposed near the corresponding shoe upper support plate 451. The pressure plate 461 is used to cooperate with the shoe upper support plate 451 after the shoe upper is placed on the shoe upper support plate 451 to press the shoe upper from above, thereby pressing and fixing the shoe upper to prevent it from shifting or deviating during subsequent operations such as putting on shoelaces.

[0036] Specifically, the shoe upper pressing mechanism 46 also includes a first slider 462, a mating rack 463, and a mating gear 464. The first slider 462 can slide vertically, and the mating rack 463 is vertically disposed on the side of the first slider 462 near the shoe upper support plate 451. The first slider 462 and the mating rack 463 are integrally formed. The mating gear 464 meshes with the mating rack 463, and the pressure plate 461 is fixedly connected to the mating gear 464. The first slider 462 is driven to slide up and down by an external driving mechanism such as a cylinder or a motor. The installation of the external driving mechanism and the sliding guidance of the first slider 462 can be achieved by a bracket 330 fixed on the base plate 41. For example, the first slider 462 can be vertically slid onto the bracket 330 through a structure such as a groove. The mating gear 464 is mounted on the bracket 330 through a rotating shaft 8. The pressure plate 461 is fixedly connected to the mating gear 464 through a connecting shaft. When the first slider 462 slides upward, its mating rack 463 drives the mating gear 464 to rotate. The mating gear 464 drives the pressure plate 461 to flip towards the shoe upper support plate 451 until the pressure plate 461 is parallel to the shoe upper support plate 451 and evenly presses the shoe upper. When the first slider 462 slides downward, its mating rack 463 drives the mating gear 464 to rotate in the opposite direction, and the pressure plate 461 flips upward to a vertical position, leaving ample operating space for picking up and putting down the shoe upper. In the pressed state, the pressure plate 461 is subjected to uniform force, eliminating the risk of localized damage to the shoe upper; in the reset state, the opening and closing space is large, making loading and unloading convenient.

[0037] Furthermore, the surface of the pressure plate 461 that contacts the shoe upper is provided with a pad, which can better protect the shoe upper from being damaged by pressure. It can be understood that the surface of the pressure plate 461 that contacts the shoe upper is also the surface of the pressure plate 461 that presses against the shoe upper support plate 451.

[0038] In this embodiment, each loading station is also equipped with multiple second telescopic drive components 5, and multiple shoe upper fixing mechanisms 4 are correspondingly located at the output ends of multiple second telescopic drive components 5. The second telescopic drive components 5 are used to drive the shoe upper fixing mechanisms 4 to reciprocate in the front-back direction, so as to adjust the corresponding positions of the shoelace holes of the shoe upper fixed by the shoe upper fixing mechanism 4 with the corresponding strap insertion mechanism 1 and strap pulling mechanism 2. By dynamically adjusting the position of the shoelace holes on the shoe upper, the actions of the strap insertion mechanism 1 and strap pulling mechanism 2 can be precisely coordinated during the shoe lacing operation. Specifically, the second telescopic drive component 5 is an integral linear drive unit with a servo transmission structure, including a drive motor, a lead screw, and a sliding block. The lead screw is coaxially located at the output end of the drive motor, and the sliding block is threaded onto the lead screw and fixedly connected to the lower surface of the base plate 41 by bolts or other fasteners. The drive motor outputs rotational power, which drives the lead screw to rotate synchronously. The lead screw drives the sliding block to move linearly through the threaded pair, thereby driving the base plate 41 to move precisely in the horizontal direction, ensuring the positioning accuracy of the horizontal displacement.

[0039] To further improve the stability and straightness of the substrate 41's movement and prevent deviation and wobbling, a second slider is fixedly connected to the lower surface of the substrate 41. The second slider slides on a guide rail parallel to the lead screw. Through the guiding cooperation between the guide rail and the second slider, the movement stability of the substrate 41 is enhanced. Both the guide rail and the drive motor can be fixedly installed at the loading station of the turntable 200.

[0040] It is understandable that by driving the movable plate 411 to move in the opposite direction through the first telescopic drive component, the lifting component is driven to fall back, so that the support base 431 is reset. Then the clearance space between the two shoe upper support plates 451 is no longer occupied, which facilitates the work of putting on shoelaces.

[0041] Based on the complete structure of the shoe upper fixing mechanism 4 described above, its shoe upper fixing process is as follows: In the initial state, the support base 431 is in a low position and far away from the shoe upper support plate 451, the positioning pin is in a low position and far away from the clearance opening, and the pressure plate 461 is in a vertically upright reset state, with no mutual interference between the various components of the mechanism; a manual or automated robot lays the left and right sides of the shoe upper flat on the two shoe upper support plates 451, so that the shoelace holes of the shoe upper are roughly aligned with the clearance openings of the support plates, completing the initial placement; then the first telescopic drive assembly is activated, driving the movable plate 411 to slide horizontally and smoothly towards the shoelace holes, the lower end of the connecting rod 432 moves synchronously with the movable plate 411, and the limiting shaft 433 is constrained by the L-shaped guide groove 442; the limiting shaft 433... First, the support 431 moves horizontally along the L-shaped guide groove 442 while maintaining its height. When the limiting shaft 433 moves from the horizontal section to the vertical section of the L-shaped guide groove 442, the connecting rod 432 is forcibly lifted into a vertical position, causing the support 431 to rise. The positioning pin passes through the clearance opening and is precisely inserted into the shoelace hole on the shoe upper. Then, the first slider 462 is driven to slide upward, and through the transmission of the rack 463 and gear 464, the pressure plate 461 is flipped downward, pressing the shoe upper smoothly onto the shoe upper support plate 451, thus completing the overall fixation of the shoe upper. When shoelaces need to be put on, the second telescopic drive assembly 5 is activated, driving the base plate 41 to move forward in the front-back direction, thereby sending the shoe upper fixed on the base plate 41 to the appropriate position at the shoelace putting station.

[0042] In this embodiment, the lacing mechanism 1 adopts a mature shoelace threading structure from the prior art to realize the cross-grabbing of shoelaces and the threading of shoelaces into the shoelace holes on the upper. The specific structure is not limited in too much. According to actual production needs, a suitable lacing component can be selected, as long as it can cooperate with the upper fixing mechanism 4, the pulling mechanism 2, and the pulling mechanism 3 to stably complete the shoelace picking and threading actions. For example, the structure of the lacing gripper component described in the invention patent with announcement number CN119453623B, entitled "An Automatic Shoelace Threading Machine with Multi-Station Flexible Operation", can be adopted.

[0043] In this embodiment, the pull strap mechanism 2 is a mechanism for clamping, lifting, and rotating shoelaces; the base 21 is the drive seat that controls the pull strap gripper assembly 221 to perform the shoelace clamping action. Figure 8 As shown, the belt-pulling mechanism 2 also includes a rotary cylinder 22 and a lifting cylinder 23 corresponding to each base 21. The output end of the rotary cylinder 22 is connected to the base 21, and the output end of the lifting cylinder 23 is connected to the rotary cylinder 22. The independent lifting and rotation of the base 21 is achieved through the coordinated operation of the lifting cylinder 23 and the rotary cylinder 22. Each lifting cylinder 23 is independently horizontally slidable to achieve horizontal position adjustment of the base 21. The independent horizontal sliding of each lifting cylinder 23 is achieved through the lower lateral translation module 500.

[0044] It should be noted that the structural layout of the turntable 200, the upper lateral translation module 300, the lifting mechanism 400, and the lower lateral translation module 500 in this embodiment are all existing conventional technologies. They can all be specifically laid out by referring to the detailed description of the turntable, the upper lateral translation module, the lifting mechanism, and the lower lateral translation module in the patent CN119453623B. This embodiment will not repeat the details. In this embodiment, the translation drive direction of the upper lateral translation module 300 and the lower lateral translation module 500 is the left and right direction.

[0045] For example, a lifting cylinder 23 is slidably mounted on the lower lateral translation module 500. The output end of each lifting cylinder 23 is arranged upwards, and a rotary cylinder 22 is fixedly connected to the output end of each lifting cylinder 23. Two bases 21 are fixedly mounted on the output ends of the two rotary cylinders 22 in a one-to-one correspondence. The lower lateral translation module 500 drives the lifting cylinder 23 and all its components to move left and right, thereby realizing the position adjustment of the base 21 in the left and right directions, ensuring that the two pull-tab gripper assemblies 221 can accurately correspond to the positions of picking up and feeding shoelaces. The lifting cylinder 23 is used to drive the base 21 and the pull-tab gripper assembly 221 to lift and lower as a whole, realizing the downward and upward movement of the shoelaces. The extension stroke of the lifting cylinder 23 can be adjusted according to the length of the shoelaces. The rotary cylinder 22 is configured to drive the base 21 to rotate in the forward or reverse direction, which can immediately eliminate the twisting of the shoelaces caused by pulling down during the pulling process of the pull-tab gripper assembly 221, effectively preventing the shoelaces from becoming twisted and ensuring the aesthetics of the shoelaces after they are worn.

[0046] Specifically, the pull strap gripper assembly 221 is used to stably grip the shoelaces. It can adopt a gripper structure driven by a small cylinder, including two relatively movable pull strap grippers. The gripping ends of both pull strap grippers are both facing upwards, and a shoelace groove is correspondingly formed on the inner side of the gripping ends of the two pull strap grippers to cooperate in gripping the shoelaces. The size of the two shoelace grooves is adapted to the width and thickness of the shoelaces, and is used to limit the shoelaces when gripping them, to prevent the shoelaces from slipping or shifting during the gripping process, to ensure the stability of the pull strap action, and to ensure that the shoelaces can be pulled down or pushed up smoothly.

[0047] In this embodiment, the strap-pulling mechanism 3 works in conjunction with the strap-inserting mechanism 1 and the strap-pulling mechanism 2 to complete the shoelace-threading operation, preventing multiple shoelace segments from tangling or obstructing the mechanism's movement. Specifically, the lifting drive assembly 31 drives the swing drive assembly 32 and the lever assembly 33 to lift and lower as a whole; the swing drive assembly 32 drives the lever assembly 33 to swing back and forth; and the lever assembly 33 limits and avoids movement of the shoelaces. The width direction of the shoe upper, i.e., the direction in which the shoe upper is laid flat to the left and right (the unfolding direction of the shoe upper when fixed by the shoe upper fixing mechanism 4), is suitable for shoelace-threading.

[0048] Specifically, such as Figure 9 and Figure 10 As shown, the lifting drive assembly 31 includes a first motor 311, a ball screw 312, and a nut seat 313, used to achieve precise lifting and lowering of the lever assembly 33. The first motor 311 is fixedly mounted at the bottom of a first mounting base 6. The first mounting base 6 adopts a vertically arranged plate structure for mounting and fixing the various components of the lifting drive assembly 31, ensuring that the components are compactly arranged and stably connected. The ball screw 312 is vertically arranged, with its bottom end fixedly connected to the output end of the first motor 311 via a coupling, and its top end rotatably connected to the top of the first mounting base 6 via a bearing. The bearing reduces the frictional resistance of the ball screw 312 during rotation, ensuring that the ball screw 312 can rotate stably and smoothly under the drive of the first motor 311. The nut seat 313 is threadedly engaged with the ball screw 312. When the first motor 311 drives the ball screw 312 to rotate, the nut seat 313 can move up and down along the length of the ball screw 312, thereby driving the swing drive assembly 32 and the lever assembly 33, which are fixedly connected to the nut seat 313, to rise and fall synchronously.

[0049] To ensure the smooth up-and-down movement of the nut seat 313 and prevent deviation, the lifting drive assembly 31 also includes two guide rods 314 fixed on the first mounting base 6. The two guide rods 314 are arranged parallel to the ball screw 312 and are spaced apart on both sides of the ball screw 312. The two ends of the nut seat 313 are slidably connected to the two guide rods 314, further improving the stability and accuracy of the movement of the nut seat 313.

[0050] Specifically, such as Figure 9 and Figure 11As shown, the swing drive assembly 32 includes a second motor 321, a drive rod 322, and a gear 323, used to drive the lever assembly 33 to achieve a swinging motion. The second motor 321 is fixedly mounted on the bottom of a second mounting base 7, which is vertically positioned and fixedly connected to a nut seat 313, and can move up and down together with the nut seat 313 to ensure coordinated operation of the swing drive assembly 32 and the lifting drive assembly 31. The drive rod 322 is vertically positioned, with its bottom end fixedly connected to the output end of the second motor 321 via a coupling, and its top end protruding from the top of the second mounting base 7, allowing it to move up and down under the drive of the second motor 321. A connecting block 71 is fixedly mounted on the top of the second mounting base 7, and a vertically penetrating channel is opened in the connecting block 71, through which the drive rod 322 passes.

[0051] The connecting block 71 has a U-shaped groove on its outer wall, and a rotating shaft 8 is installed inside the U-shaped groove. The rotating shaft 8 is arranged laterally and perpendicular to the drive rod 322. The two ends of the rotating shaft 8 are rotatably connected to the two side walls of the U-shaped groove, and can rotate around its own axis. A clearance through hole is opened on the groove wall of the U-shaped groove, which is connected to the channel. The gear 323 is fixedly installed on the rotating shaft 8 and is located inside the clearance through hole. The drive rod 322 has a rack arranged along its length (axial direction). The rack meshes with the gear 323 to form a gear 323 rack transmission structure. The fixed end of the lever assembly 33 is fixedly connected to the rotating shaft 8. When the drive rod 322 moves linearly upward or downward under the drive of the second motor 321, the meshing transmission between the rack and the gear 323 drives the rotating shaft 8 to rotate, thereby driving the lever assembly 33 to swing synchronously, which can ensure the controllability of the swing angle of the lever 331.

[0052] Specifically, such as Figure 12 As shown, the lever assembly 33 includes a bracket 330 and a horizontally telescopic lever 331. The bracket 330 connects the lever 331 to the swing drive assembly 32, improving the swing stability of the lever 331. The bottom end of the bracket 330 is fixedly connected to the rotating shaft 8 and can rotate with the rotating shaft 8. The top end of the bracket 330 is fixedly connected to the lever 331. The bracket 330 can adopt an inverted triangular structure or other stable support structure to improve the load-bearing capacity of the lever 331, ensuring that the lever 331 does not deform or wobble during swing, and ensuring the limiting and avoidance effect of the lever 331 on the shoelaces.

[0053] The lever 331 includes a first telescopic lever 3311 and a second telescopic lever 3312 that can extend horizontally in the left and right directions. The first and second telescopic levers 3311 and 3312 employ an automatic telescopic structure design; for example, after the first telescopic lever 3311 extends, the second telescopic lever 3312 can also extend; after the second telescopic lever 3312 retracts, the first telescopic lever 3311 can retract. Through this two-stage telescopic lever extension and retraction action, the overall length of the lever 331 can be flexibly adjusted to accommodate the shoelace requirements of different shoe upper widths, ensuring that the lever 331 can accurately act on the shoelaces, effectively limiting and avoiding movement of the shoelaces.

[0054] It should be noted that this automatic telescopic structure with multi-segment telescopic function is existing technology. In actual applications, it can be designed and selected according to actual needs. This embodiment does not impose any specific limitations.

[0055] Furthermore, the first motor 311, the second motor 321, the lifting cylinder 23, the rotary cylinder 22, and other driving devices used in this embodiment are all existing technologies. This embodiment does not specifically limit their models, parameters, etc., and the actual application shall prevail.

[0056] The automatic shoelace-threading device in this embodiment is also equipped with a vision system, including multiple sets of CCD vision components. By combining multiple sets of CCD vision components with software applications, synchronous motion control of multiple actuators is achieved through a hardware-software integration approach. It has strong adaptability and compatibility, and can be compatible with various shoe types, including sports shoes, sneakers, and casual shoes. The size range is 26 to 48; the shoelace eye arrangement is compatible with four to eight rows of structures; the shoelace length range is 0.6m to 1.5m, and it can adapt to shoe uppers and shoelaces of any color. When changing shoe styles and sizes, the changeover can be completed quickly without complex mechanical adjustments, which can effectively improve production line changeover efficiency.

[0057] It should be noted that this embodiment does not limit the specific parameters of the CCD vision components and software applications. In actual applications, the design and selection can be made according to the actual application requirements.

[0058] Example 2: This embodiment of the invention also provides an automatic shoelace threading method, applied to the automatic shoelace threading device provided in Example 1, including the following steps: S1: Place the shoe upper on the loading station of the turntable 200, and the shoe upper fixing mechanism 4 performs positioning and pressing operations to complete the shoe upper fixing; S2: Drive the turntable 200 to rotate at a preset angle, move the shoe upper fixing mechanism 4 with the shoe upper fixed to the shoe lacing station, and align the target shoe lacing hole on the shoe upper with the insertion mechanism 1, the pull mechanism 3 and the pulling mechanism 2 in the vertical direction. In step S2, the rotation angle of the turntable 200 is 180°, which helps the two loading stations to alternate batch loading, thereby ensuring production efficiency.

[0059] S3: After adjusting the working position of the inserting mechanism 1 by the upper horizontal translation module 300 and the lifting mechanism 400, the inserting mechanism 1 is controlled to move so that the shoelace end it holds passes through the target shoelace hole; then, the pulling mechanism 2 is controlled to move, and the pulling claw assembly 221 holds the shoelace end that has passed through the target shoelace hole and pulls it down, and drives the base 21 to rotate during the pulling down process to eliminate shoelace twisting; Step S3 includes: S31: Control the strap insertion mechanism 1 to clamp the two ends of the shoelace respectively, and first insert one end of the shoelace into the target shoelace hole on the same side of the shoe surface; S32: Control the pull strap gripper assembly 221 located under the same side of the shoe upper to clamp the end of the shoelace that is passing through the target shoelace eye; S33: Control the rotation cylinder 22 and lifting cylinder 23 connected to the base 21 to operate respectively, so that the shoelace is rotated instantaneously while the end of the shoelace is pulled down, so as to eliminate the twisting of the shoelace during the insertion process; S34: Then, follow the same steps to thread, clamp, pull down, and twist the other end of the shoelace.

[0060] By performing step S3, the lacing sequence of the shoelace holes on both sides is made more orderly.

[0061] S4: Control the action of the pull-up lace mechanism 3. Through the coordinated movement of the lifting drive component 31, the swing drive component 32 and the lever component 33, the drooping shoelace segment located below the shoe upper after being pulled down is moved and adjusted to move the drooping shoelace segment to the avoidance area. The avoidance area does not interfere with the subsequent lacing operation. Step S4 includes: S41: Control the lifting drive assembly 31 to move, drive the lever 331 to rise to the height of the drooping shoelace section; S42: Control the swing drive assembly 32 to swing the lever 331 forward in the front-back direction, and control the lever 331 to extend horizontally in the left-right direction. After the lever 331 extends, it is located in front of the drooping shoelace section. S43: Control the swing drive component 32 to move again, drive the lever 331 to swing back in the front-back direction, so that the lever 331 will bring the drooping shoelace section to the avoidance area during the swing process. S44: The control lever 331 retracts horizontally in the left and right direction and is driven to reset and descend by the lifting drive assembly 31.

[0062] S5: Drive the pull strap mechanism 2 to move horizontally through the lower lateral translation module 500, and at the same time control the pull strap mechanism 2 to move the shoelace end it holds to the corresponding position of the target cross-threaded shoelace hole; then, control the insertion strap mechanism 1 to hold the corresponding shoelace end to complete the cross-threading of the shoelace. S6: After completing the cross-threading of a pair of shoelace holes, the control pull mechanism 3 drives the lever 331 to move down, and the lever 331 moves the newly formed cross shoelace segment down, so that the cross shoelace located above the shoe upper is tightened and fits the shoe upper. S7: For the remaining shoelace holes on the shoe upper, repeat steps S3 to S6 until all shoelace holes are threaded.

[0063] Furthermore, in this embodiment, after each pair of shoelace holes is crossed and threaded in step S5, the pressing and tightening action in step S6 is immediately performed; or, After completing the cross-threading of multiple pairs of shoelace holes in step S5 multiple times, perform the pressing and tightening action in step S6 once.

[0064] It should be understood that those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. An automatic shoelace-threading device, characterized in that, include: The machine is equipped with a shoelace-tying station; A turntable is rotatably mounted on the machine platform; the turntable is provided with at least one loading station, and the loading station is provided with multiple shoe upper fixing mechanisms; Multiple insertion mechanisms are connected to an upper lateral translation module, which is connected to a lifting mechanism, so that the multiple insertion mechanisms can independently move horizontally and move as a whole. Multiple strap pulling mechanisms are connected to a lateral translation module to enable independent horizontal displacement of the multiple strap pulling mechanisms; each strap pulling mechanism includes two independently liftable and rotatable bases, each base being provided with a strap pulling claw assembly for holding shoelaces; Multiple belt-pulling mechanisms, each of which includes a lifting drive assembly, a swing drive assembly located at the output end of the lifting drive assembly, and a lever assembly located at the output end of the swing drive assembly; the swing drive assembly is used to drive the lever assembly to swing in the front-back direction; the lever assembly includes a lever, which extends and retracts in the left-right direction. When the turntable rotates at a preset angle to move multiple shoe upper fixing mechanisms to the shoelace-threading station, the positions of the multiple strap insertion mechanisms, multiple shoe upper fixing mechanisms, and multiple strap pulling mechanisms are vertically aligned; the multiple strap pulling mechanisms are located below the multiple shoe upper fixing mechanisms and are arranged in the front-back direction behind the corresponding strap pulling mechanisms. The direction parallel to the length of the shoe upper is the front-to-back direction, and the direction parallel to the width of the shoe upper is the left-to-right direction.

2. The automatic shoelace-threading device according to claim 1, characterized in that, The shoe upper fixing mechanism includes: substrate; The telescopic mechanism includes a first telescopic drive assembly disposed on the base plate and a movable plate disposed at the output end of the first telescopic drive assembly, for driving the movable plate to reciprocate in the front-back direction; A lifting support mechanism includes a lifting component and a support base driven by the lifting component. The lower end of the lifting component is rotatably connected to a movable plate, and the upper end of the lifting component is rotatably connected to the support base. The support base is provided with a positioning pin for positioning shoelace holes. The constraint and guide mechanism includes two side plates disposed on the base plate, each side plate having an L-shaped guide groove; the lifting assembly is constrained by the L-shaped guide groove so that it can be lifted upward or lowered downward when moving with the movable plate; The upper support mechanism includes an upper support plate disposed at the upper end of each of the side plates; The shoe upper pressing mechanism includes a pressure plate for cooperating with the shoe upper support plate to press the shoe upper.

3. The automatic shoelace-threading device according to claim 1 or 2, characterized in that, The loading station is also equipped with multiple second telescopic drive components, and multiple shoe upper fixing mechanisms are respectively located at the output ends of multiple second telescopic drive components; the second telescopic drive components are used to drive the shoe upper fixing mechanisms to reciprocate in the front-back direction.

4. The automatic shoelace-threading device according to claim 1, characterized in that, The belt pulling mechanism also includes a rotary cylinder and a lifting cylinder corresponding to each base. The output end of the rotary cylinder is connected to the base, and the output end of the lifting cylinder is connected to the rotary cylinder. Each lifting cylinder is independently slidably mounted on the lower transverse translation module.

5. The automatic shoelace-threading device according to claim 4, characterized in that, The rotary cylinder is configured to drive the base to rotate 180° forward or backward.

6. The automatic shoelace-threading device according to claim 1, characterized in that, The lever assembly also includes a bracket, the bottom end of which is connected to the output end of the swing drive assembly, and the top end of which is fixedly connected to the lever; the lever includes a first telescopic rod and a second telescopic rod that can extend horizontally in the left and right directions in sequence.

7. An automatic shoelace-threading method, applied to the automatic shoelace-threading device according to any one of claims 1-6, characterized in that, Including the following steps: S1: Place the shoe upper on the loading station of the turntable, and the shoe upper fixing mechanism performs positioning and pressing operations to complete the shoe upper fixing; S2: Drive the turntable to rotate by a preset angle, move the shoe upper fixing mechanism with the shoe upper fixed to the shoe lacing station, and align the target shoe lacing hole on the shoe upper with the insertion mechanism, the pull mechanism and the lacing mechanism in the vertical direction; S3: After adjusting the working position of the inserting mechanism through the upper lateral translation module and the lifting mechanism, control the inserting mechanism to move so that the shoelace end it holds passes through the target shoelace hole; then, control the pulling mechanism to move, clamp the shoelace end that has passed through the target shoelace hole through the pulling claw assembly and pull it down, and drive the base to rotate during the pulling down process to eliminate shoelace twisting; S4: Control the action of the pull-up mechanism. Through the coordinated movement of the lifting drive component, the swing drive component and the lever component, the drooping shoelace segment located below the shoe upper after being pulled down is moved and adjusted to move the drooping shoelace segment to the avoidance area. The avoidance area does not interfere with the subsequent lacing operation. S5: Drive the pull strap mechanism to move horizontally through the lower lateral translation module, and at the same time control the pull strap mechanism to move the shoelace end it holds to the corresponding position of the target cross-threaded shoelace hole; then, control the insertion strap mechanism to hold the corresponding shoelace end to complete the cross-threading of the shoelace. S6: After completing the cross-lacing of a pair of shoelace eyelets, control the puller mechanism to drive the lever down, and press down the newly formed cross-lacing segment through the lever so that the cross-lacing above the shoe upper is tightened and fits the shoe upper. S7: For the remaining shoelace holes on the shoe upper, repeat steps S3 to S6 until all shoelace holes are threaded.

8. The automatic shoelace-threading method according to claim 7, characterized in that, Step S3 includes: S31: Control the strap insertion mechanism to clamp both ends of the shoelace respectively, and first insert one end of the shoelace into the target shoelace hole on the same side of the shoe surface; S32: Control the pull strap gripper assembly located under the same side of the shoe upper to clamp the end of the shoelace that is passing through the target shoelace eyelet; S33: Control the rotation cylinder and lifting cylinder connected to the base to operate respectively, so that the shoelace is rotated instantaneously while the end of the shoelace is pulled down, so as to eliminate the twisting of the shoelace during the insertion process; S34: Then, follow the same steps to thread, clamp, pull down, and twist the other end of the shoelace.

9. The automatic shoelace-threading method according to claim 7, characterized in that, Step S4 includes: S41: Control the lifting drive assembly to move, driving the lever to rise to the height of the drooping shoelace section; S42: Control the swing drive assembly to swing the lever forward in the front-back direction, and control the lever to extend horizontally in the left-right direction. After the lever is extended, it is located in front of the drooping shoelace section. S43: Control the swing drive component to move again, drive the lever to swing back in the front-back direction, so that the lever will gather the drooping shoelace segment into the avoidance area during the swing process; S44: Control the lever to retract horizontally in the left and right direction, and drive it to reset and descend by the lifting drive assembly.

10. The automatic shoelace-threading method according to claim 7, characterized in that, After each pair of shoelace eyelets is crossed and threaded in step S5, the downward tightening action described in step S6 is performed; or, After completing the cross-threading of multiple pairs of shoelace holes as described in step S5 multiple times, perform the pressing and tightening action described in step S6 once.

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