CN107668839A - A kind of robot automatic shoelace threading machine and its wear shoes band method - Google Patents
A kind of robot automatic shoelace threading machine and its wear shoes band method Download PDFInfo
- Publication number
- CN107668839A CN107668839A CN201711096059.5A CN201711096059A CN107668839A CN 107668839 A CN107668839 A CN 107668839A CN 201711096059 A CN201711096059 A CN 201711096059A CN 107668839 A CN107668839 A CN 107668839A
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- China
- Prior art keywords
- fixture
- working arm
- arms
- threading machine
- robot automatic
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43C—FASTENINGS OR ATTACHMENTS OF FOOTWEAR; LACES IN GENERAL
- A43C7/00—Holding-devices for laces
Abstract
The invention discloses a kind of robot automatic shoelace threading machine and its wear shoes band method, including workbench, installation pedestal, both arms controller, the first working arm and the second working arm, wherein workbench is provided with the first fixture, the second fixture, the 3rd fixture, the 4th fixture, the 5th fixture and at least one rubber head placement hole, both arms controller is fixedly installed in installation pedestal, both arms controller is connected with the first working arm and the second working arm, and the first working arm and the second working arm are symmetricly set in both arms controller both sides and size structure is identical；First working arm is provided with the first cleft hand, and the second working arm is provided with the second cleft hand, and the first handgrip is arranged at the end of the first working arm, and the second handgrip is arranged at the end of the second working arm.By said structure design, the present invention can the automatical and efficient completion wear shoes band operation on upper of a shoe, and with it is simple in construction, space hold is few, intelligence degree is high, operating efficiency is high and the advantages of effectively saving labour turnover.
Description
Technical field
The present invention relates to robotic technology field, and in particular to a kind of robot automatic shoelace threading machine and its wear shoes band side
Method.
Background technology
With the development of society, the raising of productivity, more and more industries are substituted manually with robot, and robot can not only
Same job is done in without rest repetition, and can be under different complex environments, such as high temperature, when long in the environment of corrosivity
Between work, therefore robot can constantly go deep into industry, agricultural, exploration, the industry such as medical treatment.The mankind are particularly suitable for by both arms
Manufactured, the both arms of the both arms cooperation robot simulation mankind are just desirable to use for reference this advantage, accomplish what is more coordinated
Cooperation between mechanical arm, just as the mankind, the control both arms that can coordinate are operated.
Existing both arms controller applies to all trades and professions, from materials handling to machine maintenance, from cutting is welded to, from spray
Assembling is coated onto, robot is different, and function is not quite similar.At present, light industry industry particularly shoe industry is related to substantial amounts of multiple
General labourer's sequence, a set of process such as tie the shoelace, knot after being made as sport footwear, it is necessary to by being accomplished manually.With national swift and violent hair
Exhibition, people require to improve to quality of the life, and people less and less is ready to be engaged in dull this action, repetition, work density
Big work post.One side enterprise is difficult to recruit suitable worker and needs to pay high wages, another aspect industrial intelligent
The epoch of change more require to improve production efficiency, simplify production stage, reduce production integrated cost, the raising of man efficiency is
Seem awkward, there is an urgent need to one kind now can substitute manual operation, improve the machinery equipment of production efficiency, to meet to look forward to
Industry plant produced needs.
There is all kinds of machines of tying the shoelace on current market, but operation restrictive condition is more, and space-consuming is big, and action essence mostly
Degree is not high, flexible poor, can not realize real intellectuality.One kind that number of patent application such as announcement is CN201510258644.5
Industrial robot automatic shoelace threading machine, complicated, space is big, strongly limit the scene of its utilization, and intelligent
Degree is low, and operation rigidity causes by force degree of safety not high.
The content of the invention
For defect present in prior art, it is an object of the invention to provide a kind of robot automatic shoelace threading machine and
Its wear shoes band method, the robot automatic shoelace threading machine can automatically and efficiently complete upper of a shoe wear shoes band operation, it is simple in construction,
Space hold is few, intelligence degree is high, operating efficiency is high and the advantages of effectively saving labour turnover.
To achieve the above objectives, the present invention adopts the technical scheme that：
A kind of robot automatic shoelace threading machine, including workbench, installation pedestal, both arms controller, the first working arm and
Two working arms, wherein workbench are provided with the first fixture, the second fixture, the 3rd fixture, the 4th fixture, the 5th fixture and rubber head
Placement hole, both arms controller are fixedly installed in installation pedestal, and both arms controller is connected with the first working arm and the second working arm,
And first working arm and the second working arm is symmetricly set in both arms controller both sides and size structure is identical；First fixture,
Second fixture, the 3rd fixture, the 4th fixture, the 5th fixture are connected with both arms controller；First working arm is provided with the first cleft hand, the
Two working arms are provided with the second cleft hand, and the first cleft hand is arranged at the end of the first working arm, and the second cleft hand is arranged at the second working arm
End.
At least two guide groove parallel to each other, and are provided with the basis of above-mentioned technical proposal, on table surface
One fixture, the second fixture, the 3rd fixture, the 4th fixture and the 5th fixture are fixedly installed on leading for workbench by trip bolt
To on groove.
On the basis of above-mentioned technical proposal, rubber head placement hole is provided with two circular placement holes, the diameter of circular placement hole
For 6mm, and rubber head placement hole is fixed on the table by trip bolt.
On the basis of above-mentioned technical proposal, the first fixture, the second fixture, the 3rd fixture, the 4th fixture and the 5th folder
The size structure of tool is identical, and is pneumatic-finger.
On the basis of above-mentioned technical proposal, the first cleft hand and the second cleft hand are equipped with a detection piece and a clamping
Part.
On the basis of above-mentioned technical proposal, detection piece is provided with least one embedded camera.
On the basis of above-mentioned technical proposal, holder is provided with left chuck, right chuck, at least two positioning hole and at least two
Fastener.
On the basis of above-mentioned technical proposal, left chuck and right chuck are provided with contact layer in clamping contact face, and contact
Layer is elastomeric material.
On the basis of above-mentioned technical proposal, a kind of wear shoes band method of robot automatic shoelace threading machine, including following step
Suddenly：
Step 1: installing both arms controller in installation pedestal, the first working arm and the second working arm are symmetricly set in
Both arms controller both sides；Set on the table the first fixture, the second fixture, the 3rd fixture, the 4th fixture, the 5th fixture with
And rubber head placement hole；First fixture, the second fixture, the 3rd fixture, the 4th fixture and the 5th fixture and both arms controller are connected
Connect；
Step 2: placing two rubber heads of a shoestring respectively in a rubber head placement hole, footwear are disposed on the table
Son is simultaneously fixed；
Step 3: confirming the operation sequence being pre-programmed into, switch on power, starting both arms controller, (100 start to perform behaviour
Make；
Step 4: first shoes work is completed, end operation, suspend both arms controller, take out and complete wear shoes band process
Shoes；
Step 5: it is repeated in Step 2: step 3 and step 4, the wear shoes band operation until completing whole shoes.
Compared with prior art, the advantage of the invention is that：
(1) a kind of robot automatic shoelace threading machine is simple in construction in the present invention, and space hold is small, has extensive adapt to
Property, all kinds of workshops can be applied to and carry out fine manipulation.
(2) a kind of robot automatic shoelace threading machine intelligence degree is high in the present invention, it may not be necessary to which nurse can be completed
Complicated wears operation of tying the shoelace, and performance accuracy is high, reproducible, is adapted to extensive utilization, and flexible splendid, and meeting with obstruction can
It is fool proof reliable to stop operation immediately.
(3) a kind of robot automatic shoelace threading machine maintenance cost is small in the present invention, and operating efficiency is high, can substitute a large amount of people
Work operational sequence, effectively saves labour turnover.
Brief description of the drawings
Fig. 1 is a kind of robot automatic shoelace threading machine schematic diagram in the embodiment of the present invention；
Fig. 2 is the structural representation of the first working arm in the embodiment of the present invention；
Fig. 3 is holder structural representation in the embodiment of the present invention；
Fig. 4 is Fig. 3 A-A to profile.
In figure：1- installation pedestals, 100- both arms controllers, the working arms of 2- first, the working arms of 3- second, the cleft hands of 41- first,
The cleft hands of 42- second, the fixtures of 51- first, 52 second fixtures, the fixtures of 53- the 3rd, the fixtures of 54- the 4th, the fixtures of 55- the 5th, 6- footwear
Product, 7- workbench, 8- rubber head placement holes, 9- detection pieces, 10- holders, 11- free ends, the left chucks of 101-, the right chucks of 102-,
103- fasteners, 104- contact layers, 105- positioning holes.
Embodiment
The present invention is described in further detail below in conjunction with drawings and Examples.
Shown in Figure 1, a kind of robot automatic shoelace threading machine includes workbench 7 and both arms controller 100, workbench
7 are provided with installation pedestal 1, and both arms controller 100 is arranged in installation pedestal 1, installation pedestal 1 and the center of both arms controller 100
Line overlaps, and both arms controller 100 includes the first working arm 2 and the second working arm 3, and the first working arm 2 and the second working arm 3 are symmetrical
The both sides of both arms controller 100 are arranged at, the first working arm 2 is provided with the first cleft hand 41, and the second working arm 3 is provided with the second cleft hand 42,
First cleft hand 41 is arranged at the end of the first working arm 2, and the second cleft hand 42 is arranged at the end of the second working arm 3.First work
The working arm 3 of arm 2 and second is along the axisymmetrical of both arms controller 100, and size dimension is consistent, meanwhile, the first working arm 2 and
Two working arms 3 are symmetrical with the axis of base mounting seat 1, and the first cleft hand 41 is identical with the size structure of the second cleft hand 42 and including one
Detection piece 9 and a holder 10；In addition, size structure identical the first fixture 51, the second fixture are provided with the table 7
52nd, the 3rd fixture 53, the 4th fixture 54, the 5th fixture 55, wherein, the first fixture 51, the second fixture 52, the 3rd fixture 53,
Four fixtures 54 and the 5th fixture 55 are connected with both arms controller 100 and are distributed in the arm working region of both arms controller 100,
Footwear product both sides and footwear product are mainly disposed to close to the side of installation pedestal 1.Rubber head placement hole 8 is additionally provided with the table 7.
The parallel guide groove of at least two wherein is uniformly arranged in the table top of workbench 7, guide groove size shape adapts to first
Fixture 51, specifically, guide groove is uniformly covered with the table top of workbench 7 in the present embodiment, guide groove can be positioned and limited with auxiliary clamp
The moving direction of clamp tool, in addition, guide groove can be used as the first fixture 51, the second fixture 52, the 3rd fixture 53, the during work
The position reference of four fixtures 54 and the 5th fixture 55, the standardization of execution easy to operation, improve installation accuracy and operation precision.
First fixture 51, the second fixture 52, the 3rd fixture 53, the 4th fixture 54 and the 5th fixture 55 are fixed on work by trip bolt
On the guide groove for making platform 7, wherein the first fixture 51 and the second fixture 52 are arranged on the left of the axis of both arms controller 100, the second folder
Tool 52 is positioned at the first fixture 51 close to the side of installation pedestal 1；3rd fixture 53, the 4th fixture 54 and the 5th fixture 55 may be contained within
On the right side of the axis of both arms controller 100, the 4th fixture 54 and the side by side parallel of the 5th fixture 55 are placed, and the 4th fixture 54 is positioned at the 5th folder
Tool 55 close to the side of installation pedestal 1, the 3rd fixture 53 be located at the 4th fixture 54 close to the side of installation pedestal 1 and with the second fixture
52 is placed side by side.
Rubber head placement hole 8 is provided with two circular placement holes, the circular a diameter of 6mm of placement hole.Rubber head placement hole 8 passes through fastening
Screw is fixed on workbench 7, and circular placement hole is used for laying two shoestring rubber heads of a shoestring, is started in the operation of wear shoes band
When need in advance by two shoestring rubber heads respectively correspond to be placed in two circular placement holes of rubber head placement hole 8.First fixture 51,
Second fixture 52, the 3rd fixture 53, the 4th fixture 54 and the 5th fixture 55 are preferably pneumatic-finger, and pneumatic-finger has automatic right
In, the advantages that repeatable accuracy is high, be quite suitable for this kind of careful process operation of shoe industry.First fixture 51, the second fixture 52,
The major function of three fixtures 53, the 4th fixture 54 and the 5th fixture 55 is embodied in the crawl work that can simulate people, temporarily placement
And fixed shoestring rubber head, production efficiency and the security of work can be effectively improved.When both arms controller 100 is performing wear shoes band
, it is necessary to which shoestring rubber head is temporarily fixed during operation, and pneumatic-finger can provide these necessity auxiliary for it while can also be
Both arms controller 100 operates offer and is accurately positioned service in next step, reduces error during wear shoes band, ensure that the one of process
Cause property and standardization.
A kind of robot automatic shoelace threading machine possesses the system interlink efficiency of efficient, the first working arm 2 in the present invention
And second interdepend between working arm 3, share sensing data each other, communication can be realized in both arms controller 100, can
Realize compound action.
The structural representation of first working arm 2 shown in Figure 2, the first working arm 2 and the second working arm 3 are symmetricly set in
Both sides of both arms controller 100 and size structure is identical.First working arm 2 and the second working arm 3 have a free end 11,
Free end 11 is provided with a work mounting surface, is the first cleft hand for installing the first cleft hand 41 and the second cleft hand 42, free end 11
41 and second cleft hand 42 working basic stand.First cleft hand 41 and the second cleft hand 42 are respectively arranged at the first working arm 2 and the second work
Make the free end 11 of arm 3.First cleft hand 41 is connected with the free end 11 of the first working arm 2, the second cleft hand 42 and the second work
The free end 11 of arm 3 is connected.First cleft hand 41 is identical with the size structure of the second cleft hand 42 and includes a detection piece 9 and one
Individual holder 10, detection piece 9 is interior to be provided with least one embedded camera.Embedded camera can detect work status, realize that vision is determined
Position and vision guide.Holder 10 can clamp shoestring and carry out connecting work, complete in the programming operations of both arms controller 100
Into wear shoes band operation.
Referring to the structural representation of holder 10 shown in Fig. 3 and Fig. 4 and its A-A a left side is provided with to profile, shown holder 10
Chuck 101, right chuck 102, at least two positioning hole 105 and at least two fastener 103, left chuck 101 and right chuck 102 exist
Clamping contact face is provided with contact layer 104, and contact layer 104 is elastomeric material.Positioning hole 105 and fastener 103 are used to install simultaneously
Geometrical clamp gripping member 10, the preferably elastomeric material of contact layer 104 can increase the frictional force between shoestring rubber head, and improve wear shoes
Contact with operation is flexible.Holder 10 can clamp shoestring and carry out connecting work, in the programming operations of both arms controller 100
Middle completion wear shoes band operation.
A kind of wear shoes band method of robot automatic shoelace threading machine comprises the following steps：
Step 1: both arms controller 100 is installed in installation pedestal 1, the first working arm 2 and the second working arm 3 is symmetrical
It is arranged at the both sides of both arms controller 100；The first fixture 51, the second fixture 52, the 3rd fixture 53, are set on the table 7
Four fixtures 54, the 5th fixture 55 and rubber head placement hole 8；By the first fixture 51, the second fixture 52, the 3rd fixture the 53, the 4th folder
The fixture 55 of tool 54 and the 5th is connected with both arms controller 100；
Step 2: placing two rubber heads of a shoestring respectively in a rubber head placement hole 8, dispose on the table 7
Shoes and fixation；
Step 3: confirming the operation sequence being pre-programmed into, switch on power, start both arms controller 100 and start to perform operation；
Step 4: first shoes work is completed, end operation, pause both arms controller 100, take out and complete wear shoes band work
The shoes of sequence；
Step 5: it is repeated in Step 2: step 3 and step 4, the wear shoes band operation until completing whole shoes.
Specific workflow is that first footwear product 6 are placed in the arm working region of both arms controller 100, a shoestring
Two rubber heads insert rubber head placement hole 8 respectively；Check the first fixture 51, the second fixture 52, the 3rd fixture 53, the 4th fixture 54
With the working condition of the 5th fixture 55, ensure the first fixture 51, the second fixture 52, the 3rd fixture 53, the 4th fixture 54 and the 5th
The connection of fixture 55 and both arms controller 100 is effective, controls sensitive, smooth opening and closing；Confirm the operation sequence being pre-programmed into, connect
Power supply make both arms controller 100 be in treat working condition.According to data model and the movement locus calculated, start both arms controller
100 perform the operation of wear shoes band.
Second working arm 3 first controls the second cleft hand 42 to capture a shoestring from rubber head placement hole 8, in rubber head placement hole 8
Position grips one of rubber head, then continues to control holder 10 that rubber head is penetrated to upper of a shoe front end first row respective side one
Lace hole, thereafter stop motion；Then, the first working arm 2 starts, and the first cleft hand 41 of control captures second from the lace hole offside
The shoestring rubber head that cleft hand 42 clamps, the left chuck 101 and right chuck 102 of the holder 10 of now the second cleft hand 42 control open,
First cleft hand 41 by shoestring rubber head with stop motion immediately after traction corresponds to lace hole to offside is pullled, and the second cleft hand 42 is again
Start the shoestring rubber head that the clamping of the first cleft hand 41 is captured from offside lace hole, stop motion immediately after gripping；Now the first cleft hand
The left chuck 101 and right chuck 102 of the holders 10 of 41 controls open, and after removing a segment distance with the first cleft hand 41, second
Cleft hand 42 starts, and shoestring rubber head is passed through lace hole by control holder 10, and the first cleft hand 41 starts immediately, captures the shoestring glue
Head, the left chuck 101 and right chuck 102 of the holder 10 of the second cleft hand 42 open and remove a segment distance, the first cleft hand 41 after
Continuous shoestring of pullling passes through lace hole to be placed in after setting length on the first fixture 51；Hereafter, the first fixture 51 clamps shoestring
Rubber head.Hereafter, two rubber heads of shoestring are intersected repeats aforesaid operations by turns, utilizes the first fixture 51, the second fixture the 52, the 3rd
Fixture 53, the positioning of the 4th fixture 54 and the 5th fixture 55 and auxiliary clamping, until the shoes for completing generation processing are completed all to wear
Shoestring works.
According to above operating procedure circulate operation, until all shoes to be processed complete the operation of wear shoes band.
A kind of robot automatic shoelace threading machine is simple in construction in the present invention, and space hold is small, has extensive adaptability, energy
Enough it is applied to all kinds of workshops and carries out fine manipulation.Intelligence degree is high, it may not be necessary to which nurse can complete wearing for complexity
Tie the shoelace operation, performance accuracy is high, reproducible, be adapted to it is extensive use, and flexible splendid, meet with obstruction to stop immediately
Only operate, it is fool proof reliable.Maintenance cost of the present invention is small, and operating efficiency is high, can substitute a large amount of manual operation processes, effectively
Save labour turnover.
The present invention is not limited to the above-described embodiments, for those skilled in the art, is not departing from
On the premise of the principle of the invention, some improvements and modifications can also be made, these improvements and modifications are also considered as the protection of the present invention
Within the scope of.The content not being described in detail in this specification belongs to prior art known to professional and technical personnel in the field.
Claims (9)
- A kind of 1. robot automatic shoelace threading machine, it is characterised in that：Including workbench (7), installation pedestal (1), both arms controller (100), the first working arm (2) and the second working arm (3), wherein the workbench (7) is provided with the first fixture (51), the second folder Have (52), the 3rd fixture (53), the 4th fixture (54), the 5th fixture (55) and rubber head placement hole (8), the both arms controller (100) it is fixedly installed in the installation pedestal (1), the both arms controller (100) and first working arm (2) and described Second working arm (3) connects, and first working arm (2) and second working arm (3) are symmetricly set in the both arms control Device (100) both sides processed and size structure is identical；First fixture (51), second fixture (52), the 3rd folder Tool (53), the 4th fixture (54), the 5th fixture (55) are connected with the both arms controller (100)；First work Make arm (2) and be provided with the first cleft hand (41), second working arm (3) is provided with the second cleft hand (42), and first cleft hand (41) sets The end of first working arm (2) is placed in, second cleft hand (42) is arranged at the end of second working arm (3).
- A kind of 2. robot automatic shoelace threading machine as claimed in claim 1, it is characterised in that：On workbench (7) table top It is provided with least two guide groove parallel to each other, and first fixture (51), second fixture (52), the 3rd folder Tool (53), the 4th fixture (54) and the 5th fixture (55) are fixedly installed on the workbench by trip bolt (7) on guide groove.
- A kind of 3. robot automatic shoelace threading machine as claimed in claim 1, it is characterised in that：The rubber head placement hole (8) sets There are two circular placement holes, a diameter of 6mm of circular placement hole, and the rubber head placement hole (8) is fixed on by trip bolt On the workbench (7).
- A kind of 4. robot automatic shoelace threading machine as claimed in claim 1, it is characterised in that：First fixture (51), institute State the second fixture (52), the 3rd fixture (53), the 4th fixture (54) and the big brief summary of the 5th fixture (55) Structure is identical, and is pneumatic-finger.
- A kind of 5. robot automatic shoelace threading machine as claimed in claim 1, it is characterised in that：First cleft hand (41) and institute State the second cleft hand (42) and be equipped with a detection piece (9) and a holder (10).
- A kind of 6. robot automatic shoelace threading machine as claimed in claim 5, it is characterised in that：The detection piece (9) is provided with extremely A few embedded camera.
- A kind of 7. robot automatic shoelace threading machine as claimed in claim 5, it is characterised in that：The holder (10) is provided with a left side Chuck (101), right chuck (102), at least two positioning hole (105) and at least two fastener (103).
- A kind of 8. robot automatic shoelace threading machine as claimed in claim 7, it is characterised in that：The left chuck (101) and institute State right chuck (102) and be provided with contact layer (104) in clamping contact face, and the contact layer (104) is elastomeric material.
- 9. a kind of wear shoes band method of robot automatic shoelace threading machine as described in claim 1-8 any one, its feature exist In comprising the following steps：Step 1: the both arms controller (100) is installed in the installation pedestal (1), by first working arm (2) and institute State the second working arm (3) and be symmetricly set in both arms controller (100) both sides；Set on the workbench (7) described First fixture (51), second fixture (52), the 3rd fixture (53), the 4th fixture (54), the 5th fixture And the rubber head placement hole (8) (55)；By first fixture (51), second fixture (52), the 3rd fixture (53), the 4th fixture (54) and the 5th fixture (55) are connected with the both arms controller (100)；Step 2: two rubber heads of a shoestring are placed respectively in a rubber head placement hole (8), in the workbench (7) shoes and fixation are disposed on；Step 3: confirming the operation sequence being pre-programmed into, switch on power, start the both arms controller (100) and start to perform behaviour Make；Step 4: first shoes work is completed, end operation, suspend the both arms controller (100), take out and complete wear shoes band The shoes of process；Step 5: it is repeated in Step 2: step 3 and step 4, the wear shoes band operation until completing whole shoes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711096059.5A CN107668839A (en) | 2017-11-09 | 2017-11-09 | A kind of robot automatic shoelace threading machine and its wear shoes band method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711096059.5A CN107668839A (en) | 2017-11-09 | 2017-11-09 | A kind of robot automatic shoelace threading machine and its wear shoes band method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107668839A true CN107668839A (en) | 2018-02-09 |
Family
ID=61146686
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711096059.5A Pending CN107668839A (en) | 2017-11-09 | 2017-11-09 | A kind of robot automatic shoelace threading machine and its wear shoes band method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20090132088A1 (en) * | 2007-04-24 | 2009-05-21 | Tairob Ltd. | Transfer of knowledge from a human skilled worker to an expert machine - the learning process |
| CN104824915A (en) * | 2015-05-20 | 2015-08-12 | 蒋桂云 | Automatic shoelace wearing machine with industrial robot |
| EP2932866A1 (en) * | 2014-04-08 | 2015-10-21 | AUTEC di Geri Ing. Fabrizio & C. S.A.S. | Method for painting parts of footwear |
| CN105054887A (en) * | 2015-08-17 | 2015-11-18 | 应后右 | Intelligent shoe washing robot |
| CN205415691U (en) * | 2015-12-04 | 2016-08-03 | 赵以恒 | People's humanoid robot |
| CN205902890U (en) * | 2016-06-27 | 2017-01-25 | 衢州职业技术学院 | Automatic wear shoelace device |
-
2017
- 2017-11-09 CN CN201711096059.5A patent/CN107668839A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090132088A1 (en) * | 2007-04-24 | 2009-05-21 | Tairob Ltd. | Transfer of knowledge from a human skilled worker to an expert machine - the learning process |
| EP2932866A1 (en) * | 2014-04-08 | 2015-10-21 | AUTEC di Geri Ing. Fabrizio & C. S.A.S. | Method for painting parts of footwear |
| CN104824915A (en) * | 2015-05-20 | 2015-08-12 | 蒋桂云 | Automatic shoelace wearing machine with industrial robot |
| CN105054887A (en) * | 2015-08-17 | 2015-11-18 | 应后右 | Intelligent shoe washing robot |
| CN205415691U (en) * | 2015-12-04 | 2016-08-03 | 赵以恒 | People's humanoid robot |
| CN205902890U (en) * | 2016-06-27 | 2017-01-25 | 衢州职业技术学院 | Automatic wear shoelace device |
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Application publication date: 20180209 |