CN110037451A - A kind of shoe chest of automatic clamping and placing shoes - Google Patents
A kind of shoe chest of automatic clamping and placing shoes Download PDFInfo
- Publication number
- CN110037451A CN110037451A CN201910359402.3A CN201910359402A CN110037451A CN 110037451 A CN110037451 A CN 110037451A CN 201910359402 A CN201910359402 A CN 201910359402A CN 110037451 A CN110037451 A CN 110037451A
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- shoes
- clamping
- shoe chest
- fixed
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- 230000007246 mechanism Effects 0.000 claims abstract description 128
- 230000003044 adaptive effect Effects 0.000 claims abstract description 24
- 239000010985 leather Substances 0.000 claims abstract description 4
- 238000003032 molecular docking Methods 0.000 claims description 47
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 36
- 230000007704 transition Effects 0.000 claims description 26
- 238000006243 chemical reaction Methods 0.000 claims description 25
- 229910000831 Steel Inorganic materials 0.000 claims description 20
- 239000010959 steel Substances 0.000 claims description 20
- 230000033001 locomotion Effects 0.000 claims description 13
- 238000012423 maintenance Methods 0.000 claims description 11
- 238000004332 deodorization Methods 0.000 claims description 6
- 238000004659 sterilization and disinfection Methods 0.000 claims description 6
- 238000001035 drying Methods 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 3
- 239000000696 magnetic material Substances 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 17
- 230000005540 biological transmission Effects 0.000 description 6
- 230000005526 G1 to G0 transition Effects 0.000 description 3
- CBENFWSGALASAD-UHFFFAOYSA-N Ozone Chemical compound [O-][O+]=O CBENFWSGALASAD-UHFFFAOYSA-N 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000015572 biosynthetic process Effects 0.000 description 1
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- 238000007906 compression Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
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Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
- A47B61/00—Wardrobes
- A47B61/04—Wardrobes for shoes, hats, umbrellas, or the like
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
- A47B97/00—Furniture or accessories for furniture, not provided for in other groups of this subclass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
- A47B2220/00—General furniture construction, e.g. fittings
- A47B2220/0091—Electronic or electric devices
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Holders For Apparel And Elements Relating To Apparel (AREA)
- Footwear And Its Accessory, Manufacturing Method And Apparatuses (AREA)
Abstract
The present invention provides a kind of shoe chest of automatic clamping and placing shoes, including shoe chest shell, adaptive positioned at the lower part of shoe chest shell assists the mechanism that takes off one's shoes, it is fixed at the feed mechanism at the rear portion of the shoe chest shell, the mechanical arm being fixed on feed mechanism, it is fixed at the laying rack of the front of the shoe chest shell, it is several to pick and place the ordinary shoe clamping unit mechanism for being arranged on laying rack and being used to support fixed sport footwear and leather shoes, it is several to pick and place the high-heeled shoes clamping unit mechanism being arranged on laying rack and for clamping high-heeled shoes.Shoes can be realized through the invention from movable pendulum shoes, solving existing shoe chest can only be by manually putting shoes, the collection of shoes and the low problem of storage efficiency.
Description
Technical field
The present invention relates to shoe chest field more particularly to a kind of shoe chest of automatic clamping and placing shoes.
Background technique
In the modern life, shoes are the essential life appliances of people.Currently the shoe chest in smart home market is
By the way of manually taking off one's shoes and putting, only simple spacer structure, the function without automatic access shoes, have great
Inconvenience, and it is more mixed and disorderly manually to put shoes, needs often to arrange, while requiring efforts, puts shoes inefficiency.
Therefore, the existing technology needs to be improved and developed.
Summary of the invention
In view of the above drawbacks of the prior art, the present invention provides a kind of shoe chest of automatic clamping and placing shoes, it is intended to solve existing
Shoe chest can only be by manually putting shoes, and the collection of shoes and the low problem of storage efficiency are able to achieve the technology from movable pendulum shoes
Effect.
The technical proposal for solving the technical problem of the invention is as follows:
A kind of shoe chest of automatic clamping and placing shoes, including shoe chest shell, adaptive positioned at the lower part of shoe chest shell assist the mechanism that takes off one's shoes；
It is fixed at the feed mechanism at the rear portion of the shoe chest shell；The mechanical arm being fixed on feed mechanism；Fixed setting
Laying rack in the front of the shoe chest shell；Several pick and place is arranged on laying rack and is used to support fixed sport footwear and skin
The ordinary shoe clamping unit mechanism of shoes, it is several to pick and place the high-heeled shoes clamping being arranged on laying rack and for clamping high-heeled shoes
Blocking mechanism；
The adaptive auxiliary takes off one's shoes mechanism for fixing shoes and passing in and out shoe chest in the width direction；
The feed mechanism is for driving the mechanical arm mobile with short transverse along its length；
The mechanical arm is for driving ordinary shoe clamping unit mechanism or high-heeled shoes clamping unit mechanism rotation direction
And it takes off one's shoes in the adaptive auxiliary and picks and places ordinary shoe clamping unit mechanism or high heel between mechanism and the laying rack
Shoes clamping unit mechanism.
Further, it is described it is adaptive auxiliary take off one's shoes mechanism include respectively correspond left and right foot setting two pedals, pedal
On be provided with for the restoring spring that compresses after pedal pressure, be connected by crank and be located at the front end of the pedal and pass through institute
The toe-cap detent stating the pushing of pedal and moving on the pedal in the width direction is arranged in the pedal and the toe-cap card
Spine bar between position is fixed at the rear end of pedal and the fixed baffle for limiting shoes tail from lock set；
For the pedal when user jams on and moves down, for the toe-cap detent by crank handle turns close to toe-cap, the spine bar is self-locking
Component makes the toe-cap detent clamp position restriction after shoes；
For the pedal after entering in shoe chest shell, the self-locking module cancels of spine bar are self-locking, and the toe-cap detent unclamps shoes
Head, the restoring spring rebound make the pedal move up playback.
Further, the spine bar includes the pawl being rotatably arranged in the toe-cap detent from lock set, is arranged in institute
The spine bar for stating on pedal and be used in combination with the pawl and be magnetic material, is fixed in the toe-cap detent and supports
The elastic steel sheet for leaning against the pawl back side is fixed at the postive stop baffle in toe-cap detent for limiting to the pawl,
And it is fixed at the electromagnet on the shoe chest shell and for separating the spine bar with the pawl.
The toe-cap detent drives the pawl to transport in the spine bar along the direction one direction close to the fixed baffle
It is dynamic；
When the spine bar is separated with the pawl, toe-cap detent is resetted along the direction far from the fixed baffle.
Further, ordinary shoe clamping unit mechanism includes to dock conversion group with what the mechanical arm was connected to each other
Part, the upper connecting base being fixedly connected on the docking transition components, is connected to the disengaging direction on upper connecting base and along welt
The lower connecting base of sliding, one end connect the upper connecting base other end connect on the lower connecting base and make sliding after it is described under
The pulling buckle spring of attachment base playback, is arranged on upper connecting base and lower connecting base and the lower connecting base is made to be slid onto setting position
Fixed limit assembly afterwards, and the sliding edge between the upper connecting base and lower connecting base and passing through lower connecting base is set
The flexible multistage link mechanism of shoes length direction.
Further, the limit assembly includes the path notch being provided on the upper connecting base, and is fixedly connected
The steel column slid on the lower connecting base and along the notch of path；
The path notch includes the lower segment groove opened up along the disengaging direction of welt, is obliquely installed with the disengaging direction of welt
Upper left section slot, opens up along the disengaging direction of welt and is connected to the upper right section slot of the lower segment groove, is connected to upper left section slot and upper right
Between section slot and the groove for steel column described in inlay card.
Further, high-heeled shoes clamping unit mechanism includes docking transition components, is fixedly connected on the docking
On transition components and along the clamping pedestal of shoes length direction setting, it is arranged on the clamping pedestal and can be slided along shoes width direction
The extruding sliding block of shifting, one end is fixed on the clamping pedestal and the other end is fixed on the extruding spring on the extruding sliding block,
Be rotatably connected on it is described clamping pedestal on shaft, and be arranged in it is described clamping pedestal front end and along shoes wide direction sliding
Sliding block is clamped, the clamping pedestal is offered along shoes length direction for placing high-heeled shoes height towards the position for being located at the clamping sliding block
With holding tank；
One end of the shaft is rotatably connected to the first crank block, offers and first on the clamping sliding block along shoes length direction
The guide groove that crank block matches, the other end of the shaft are rotatably connected to the second crank block, edge on the extruding sliding block
Shoes length direction offers the guide groove to match with the second crank block.
Further, the docking transition components include docking conversion cradle, are opened up on the docking conversion cradle organic
The X that tool arm matches is docked with X to the Y-direction to the perpendicular setting of interface and for being connected to each other with the laying rack to interface
Mouthful, the big shaft being rotatably arranged in the docking conversion cradle, sliding be arranged in the X to the X in interface to pushing block, one
It holds and slide in X on pushing block and the other end is rotatably connected on X in the big shaft to connecting rod, sliding setting is in the Y-direction pair
Y-direction pushing block in interface, one end slides on Y-direction pushing block and the other end is rotatably connected on the Y-direction connecting rod in the big shaft, with
And it is fixed at the anchor formula fixing piece in the big shaft；
The Y-direction pushing block is pushed into docking conversion cradle to pushing block with the X and releases docking conversion cradle, and the anchor formula is fixed
Part turns to the X to interface position；
The X is pushed into docking conversion cradle with the Y-direction pushing block to pushing block and releases docking conversion cradle, and the anchor formula is fixed
Part turns to the Y-direction to interface position.
Further, the mechanical arm includes the multistage retractable rod being arranged in the width direction, is fixed at the multistage
Telescopic rod end simultaneously provides the power device of rotary power, the articulated arm being fixed in power device, and is arranged in institute
State articulated arm front end and for docking ordinary shoe clamping unit mechanism or the clamping of high-heeled shoes clamping unit mechanism is buckled
Son.
Further, the laying rack includes and is arranged on shoe chest shell to put slot, can pick and place setting and put in slot
Board for putting, be fixed on board for putting and with ordinary shoe clamping unit mechanism or high-heeled shoes clamping unit mechanism
What is matched puts button；
Described to put slot short transverse is provided with several layers, the board for putting is provided with several along short transverse, the pendulum
It puts button and is provided with several along its length.
It further, further include having in front of the lower part that shoe chest shell is arranged in and for shoes drying, dedusting, deodorization, disinfection
Maintenance kit.
Beneficial effect using the above scheme is: a kind of shoe chest of automatic clamping and placing shoes proposed by the present invention, by adaptive
The auxiliary mechanism auxiliary user that takes off one's shoes takes off shoes, and user, which passes through simply to jam on, realizes clamping to shoes, without
It bends over to firmly grasp shoes with hand and take off one's shoes, improve the efficiency taken off one's shoes, there is great convenience；Pass through ordinary shoe clamping unit
Change mechanism takes off user to be propped up in the adaptive sport footwear for assisting taking off one's shoes in mechanism or leather shoes, passes through high-heeled shoes clamping unit machine
Structure takes off user to be picked up in adaptive auxiliary high-heeled shoes in mechanism of taking off one's shoes, and realizes to convert different shoes to have unified end
Mouthful cell cube, then by mutually agreeing with the clamping button being located on mechanical arm, enable cell cube with shoe chest rear end into
It is moved to mechanism.Articulated arm carries out 90 ° of rotations, drives cell cube rotation, realizes that the vamp of shoes is facing forward, and then in shoes
Move to maintenance kit with feed mechanism, can to drying shoes, dedusting, disinfection, deodorization, realize to every double shoes individually compared with
Comprehensively to maintain.Cell cube is transported on laying rack by feed mechanism, passes through ordinary shoe clamping unit mechanism and high-heeled shoes
Docking transition components in clamping unit mechanism are realized cell cube from the clamping button on mechanical arm and are located on laying rack
It puts button to be mutually butted, to realize the automatic access of shoes, improves the efficiency of shoes access.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the embodiment of the present invention.
Fig. 2 is that present example sees the structural schematic diagram for removing shoe chest shell from back to front.
The portion A enlarged drawing in Fig. 3 Fig. 1.
Fig. 4 is the portion the B enlarged drawing of Fig. 2.
Fig. 5 is that adaptive auxiliary is taken off one's shoes the structural schematic diagram of mechanism.
Fig. 6 is structural schematic diagram of the spine bar from lock set.
The structural schematic diagram for the ordinary shoe clamping unit mechanism that Fig. 7 is.
Fig. 8 is the cross-sectional view of limit assembly.
Fig. 9 is docking transition components structural schematic diagram.
Figure 10 is the operation schematic diagram that ordinary shoe clamping unit mechanism props up shoes.
Figure 11 is the structural schematic diagram of high-heeled shoes clamping unit mechanism.
Figure 12 is a kind of structural schematic diagram for state that high-heeled shoes clamping unit mechanism removes cover board.
Figure 13 is the structural schematic diagram for another state that high-heeled shoes clamping unit mechanism removes cover board.
Figure 14 is that shoes are propped up the schematic diagram after posterior joint bar is rotated by 90 °.
Figure 15 is that the button handover of putting on laying rack starts schematic diagram.
Figure 16 is that schematic diagram is completed in the button handover of putting on laying rack.
In figure: 1, shoe chest shell；2, feed mechanism；21, longitudinal screw mandrel；22, cross lead screw slide unit；23, cross lead screw；3,
Laying rack；31, button is put；32, slot is put；33, board for putting；4, ordinary shoe clamping unit mechanism；41, conversion group is docked
Part；410, conversion cradle is docked；411, Y-direction pushing block；412, Y-direction connecting rod；413, big shaft；414, X is to connecting rod；415, X is to pushing away
Block；416, anchor formula fixing piece；417, Y-direction is to interface；418, X is to interface；42, direction crossover connection；43, upper connecting base；44, road
Diameter notch；441, lower segment groove；442, upper left section slot；443, groove；444, upper right section slot；45, steel column；46, pulling buckle spring；47,
Multistage link mechanism；48, lower connecting base；5, mechanical arm；51, longitudinal screw mandrel slide unit；54, multistage retractable rod；55, articulated arm；56,
Clamp button；6, high-heeled shoes clamping unit mechanism；61, cover board；611, sliding block is squeezed；613, pedestal is clamped；614, clamping is slided
Block；615, the first crank block；616, shaft；617, the second crank block；618, spring is squeezed；619, holding tank；62, side
To transfer tube；7, adaptive to assist the mechanism that takes off one's shoes；71, fixed baffle；711, rectangular slot；72, right-hand tread plate；73, toe-cap detent；
74, crank；75, chassis；76, spine bar is from lock set；761, spine bar；762, elastic steel sheet；763, pawl；764, postive stop baffle；
77, rotary components；78, left-hand tread plate；781, strip grooves；79, it takes off one's shoes pedestal；8, sport footwear；9, high-heeled shoes；10, maintenance kit.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer and more explicit, right as follows in conjunction with drawings and embodiments
The present invention is further described.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and do not have to
It is of the invention in limiting.
As shown in Figure 1, the present invention provides a kind of shoe chest of automatic clamping and placing shoes, including shoe chest shell 1, shoe chest shell 1 are adopted
With square shell, for convenience of description, it is specified that the longitudinal direction of shoe chest shell 1 is length direction, 1 short side direction of shoe chest shell is width
Direction is spent, that is, the shoes taken off enter shoe chest in the width direction, and shoe chest shell 1 is placed on ground, the short transverse of shoe chest shell 1
For short transverse.The disengaging direction of welt refers to short transverse when shoes are placed on ground.
As shown in Figure 1 and Figure 2, it is fixedly installed transmission mechanism (being not drawn into diagram), is driven in the lower part of shoe chest shell 1
It is connected in mechanism and adaptively assists the mechanism 7 that takes off one's shoes, transmission mechanism generally uses ball-screw transmission mechanism, due in the present invention
Transmission distance it is shorter, using the relatively simple connection gear rack gear of structure, pass through gear rotation band carry-over bar and transport
Dynamic, so that the entire adaptive auxiliary of driving the is taken off one's shoes movement of mechanism 7 realizes that adaptive auxiliary takes off one's shoes mechanism 7 in the width direction
Automatic disengaging.
As shown in Fig.1 and Fig.2,1 rear portion of shoe chest shell is provided with feed mechanism 2, is connected with mechanical arm on feed mechanism 2
5, feed mechanism 2 is arranged for driving the mechanical arm 5 mobile with short transverse along its length in the front of shoe chest shell 1
There is laying rack 3, being arranged side by side on laying rack 3 has multiple ordinary shoe clamping units mechanism 4 and high-heeled shoes clamping unit machine
Structure 6, ordinary shoe clamping unit mechanism 4 are used to support fixed sport footwear 8 and leather shoes, and high-heeled shoes clamping unit mechanism 6 is used for
High-heeled shoes 9 are clamped, ordinary shoe clamping unit mechanism 4 and high-heeled shoes clamping unit mechanism 6 can be picked and placed from laying rack 3.
Mechanical arm 5 is for driving 6 rotation direction of ordinary shoe clamping unit mechanism 4 or high-heeled shoes clamping unit mechanism, and machine
Tool arm 5, which is used to take off one's shoes in the adaptive auxiliary, picks and places the ordinary shoe clamping unit machine between mechanism 7 and the laying rack 3
Structure 4 or high-heeled shoes clamping unit mechanism 6, to realize the automatic clamping and placing to various shoes.
The specific structure of the embodiment of the present invention are as follows: feed mechanism 2 uses lead screw transmission mechanism, and ball-screw biography can also be used
Motivation structure, by taking screw rod transmission as an example, feed mechanism 2 includes cross lead screw 23 and longitudinal screw mandrel 21, and cross lead screw 23 is outside shoe chest
1 back lower place of shell is arranged along its length, and longitudinal screw mandrel 21 is arranged at 1 rear of shoe chest shell along short transverse, longitudinal screw mandrel 21 1
End is connect by cross lead screw slide unit 22 with cross lead screw 23, and longitudinal screw mandrel 21 is connected by longitudinal screw mandrel slide unit 51 and mechanical arm 5
It is connected together, 23 end of cross lead screw connects first bevel gear group (being not drawn into diagram), passes through motor driven first bevel gear
Group movement is to drive cross lead screw 23 to be rotated, so that cross lead screw slide unit 22 be driven to carry out translation fortune along its length
Dynamic, 21 other end of longitudinal screw mandrel connects second bevel gear group, is moved by motor driven second bevel gear group, to drive longitudinal direction
Screw rod 21 moves, to drive longitudinal screw mandrel slide unit 51 and the mechanical arm 5 that is connected on longitudinal screw mandrel slide unit 51 along short transverse
Translational motion is carried out, when needing to pick and place shoes, mechanical arm 5 is moved to laying rack 3 by feed mechanism 2 or adaptive auxiliary is taken off one's shoes
The position movement for taking shoes and putting shoes is realized in the corresponding position of mechanism 7.
As shown in Figure 2, Figure 4 shows, laying rack 3 includes and is provided on shoe chest shell 1 to put slot 32, described to put 32 edge of slot
Short transverse is provided with several layers, is provided with board for putting 33 putting to pick and place in slot 32, and the board for putting 33 is along short transverse
Be provided with several, thus by board for putting 33 be placed on it is different put slot 32, to realize the adjusting of different height.It is putting
It puts to be fixedly connected on plate 33 by screw and puts button 31, put button 31 and be provided with several along its length, it is described general
Lead to shoes clamping unit mechanism 4 or high-heeled shoes clamping unit mechanism 6 and matches placement with button 31 is put.
As shown in Figure 1, Figure 2, Figure 3 shows, the mechanical arm 5 in this example includes being fixedly connected on longitudinal screw mandrel cunning with by screw
Multistage retractable rod 54 on platform 51, multistage retractable rod 54 use hydraulic three-level bar, multistage retractable rod 54 extend in the width direction and
Shorten, the power device that can provide rotary power is fixedly connected with (in diagram by screw positioned at the end of multistage retractable rod 54
It is not drawn into), the power device in the present embodiment uses steering engine, and steering engine is a kind of driver of angle servo, and being suitable for those needs
The control system wanted angle constantly to change and can kept is fixedly connected on the output shaft of power device by shaft joint related
Pole 55, it can be achieved that articulated arm 55 rotation, the end of articulated arm 55 is fixedly connected with clamping button 56, clamping button by screw
Son 56 merges formation clamping with ordinary shoe clamping unit mechanism 4 or the matching of high-heeled shoes clamping unit mechanism 6, passes through articulated arm
55 rotation drives the rotation of entire ordinary shoe clamping unit mechanism 4 or high-heeled shoes clamping unit mechanism 6, to realize
The overturning of sport footwear 8 or high-heeled shoes 9 makes the vamp of shoes towards the width direction along shoe chest shell 1.
As shown in Fig. 2, Fig. 5, the adaptive auxiliary mechanism 7 that takes off one's shoes includes pedestal 79 of taking off one's shoes, in fixed on pedestal 79 connect of taking off one's shoes
Connect chassis 75, the lower section on chassis 75 be provided with rotary components 77, rotary components 77 can be used rotary cylinder or rotating electric machine with
Guarantee to provide enough rotary powers, the rotation axis of rotary components 77 is fixedly connected on chassis 75, and 75 front end of chassis passes through hinge
Chain is rotatably connected to crank 74, and restoring spring (being not drawn into figure) connected pedal is provided on chassis 75, when stepping on
Force can push pedal and compress restoring spring on plate, be divided into left-hand tread plate 78 and right-hand tread plate 72, corresponding crank 74 by pedal
There are two settings, since two pedal setting structures are identical, is illustrated with the connection structure of left-hand tread plate 78 therein, in left-hand tread plate 78
Rear end is welded with the fixed baffle 71 for limiting shoes tail, and the centre of fixed baffle 71 offers length along welt disengaging direction
Square groove slidably connects toe-cap detent 73 on left-hand tread plate 78, and toe-cap detent 73 and crank 74 are rotatablely connected, toe-cap detent
73 slide in the width direction, and spine bar is provided between the left-hand tread plate 78 and the toe-cap detent 73 from lock set 76, is taken off one's shoes
79 connection gear rack gear of pedestal, pedestal 79 of taking off one's shoes mutually are fixed with rack gear, pass through the gear on rack gear and shoe chest shell 1
Mutually ratcheting, gear is connected to the motor, by motor-driven gear, so that adaptive auxiliary takes off one's shoes mechanism 7 along 1 width of shoe chest shell
Direction is moved, and realizes the disengaging shoe chest shell 1 for the mechanism 7 that integrally adaptively assists taking off one's shoes.The mechanism 7 that takes off one's shoes is assisted when adaptive
After stretching out shoe chest, rotation is generated by rotary components 77, drives chassis 75 to rotate, to drive pedal rotation direction, makes pedal
After steering along its length, in this way when taking off one's shoes, shoes is made to be easier to be placed into pedal, after the completion of taking off one's shoes, 77 band of rotary components
The dynamic rotation of chassis 75 playback, enters back into shoe chest.
To make toe-cap detent 73 realize sliding on left-hand tread plate 78, digging in the lower end of toe-cap detent 73 has a groove, on a left side
A strip grooves 781 are offered on pedal 78, so that left-hand tread plate 78 is clipped among groove by 781 two sides of strip grooves, strip grooves
781 direction is along shoes length direction, and when pressing from both sides left-hand tread plate 78 in a groove, the movement for realizing left-hand tread plate 78 drives toe-cap detent 73
Movement, since crank 74 and toe-cap detent 73 are rotatablely connected so that when the left foot of user steps down on left-hand tread plate 78, Yong Hushi
The power added drives left-hand tread plate 78 to move toward the direction close to chassis 75, to drive toe-cap detent 73 and crank 74 toward close to chassis
75 direction movement, the movement of crank 74 is so that toe-cap detent 73 is close toward the progress of the direction of fixed baffle 71, thus realization pair
The clamping of shoes and fixation to welt position, in practical applications, it is contemplated that the shoes length of different shoes is different, for convenience
Blocking mechanism realizes propping up or clamping to shoes, so setting fixed for fixed baffle 71, only drives toe-cap card
The movement of position 73, guarantees that the welt position of different shoes is relatively uniform, there is an arc top in the upper end of toe-cap detent 73, can sufficiently block
Firmly toe-cap, 73 material of toe-cap detent are rubber, will not damage shoes.
As shown in Figure 5, Figure 6, it includes the spine bar 761 being connected on pedal that spine bar is obtained in this example from lock set 76, is arranged
Elastic steel sheet 762 in 73 lower end of toe-cap detent, pawl 763 and the limit being rotatably connected on by hinge in toe-cap detent 73
Baffle 764.When shoes jam on left-hand tread plate 78, left-hand tread plate 78 is moved down, and drives toe-cap detent 73 towards fixed baffle by crank 74
71 close to when, toe-cap detent 73 with pawl 763 move, when toe-cap detent 73 clamp shoes when, since postive stop baffle 764 makes spine
Pawl 763 hooks in spine bar 761, prevent toe-cap detent 73 realizes the longitudinal direction clamping to shoes, spine from being returned to initial position
Item 761 is magnetic material, and electromagnet (being not drawn into diagram) is fixedly installed on the shoe chest shell 1, when adaptive auxiliary
When the mechanism 7 that takes off one's shoes being helped to return to shoe chest 1 the inside of shell, spine bar 761 is by the attraction for being mounted on electromagnet on shoe chest shell 1, with spine
Pawl 763 realizes separation, and left-hand tread plate 78 returns to initial position under the action of restoring spring, to release the clamping shape to shoes
State, therefore, the spine bar 761 is arranged on left-hand tread plate 78 to be slid along the direction close to or far from pawl 763, and in spine bar 761
Be provided with spring between left-hand tread plate 78, when electromagnet to spine bar 761 do not have suction, can be playbacked by spring.
As shown in Figure 7, Figure 8, ordinary shoe clamping unit mechanism 4 includes docking transition components 41, and docks transition components
41 stationary phases are connected with direction crossover connection 42, are connected with upper connecting base 43 with 42 stationary phase of direction crossover connection, being fixedly connected can be used
Mode is welded and fixed, the lower section that upper connecting base 43 is arranged in is connected with lower connecting base 48, and lower connecting base 48 is along the disengaging side of welt
To sliding, pulling buckle spring 46, the lower end connection of pulling buckle spring 46 are fixedly connected between upper connecting base 43 and lower connecting base 48
The upper end of upper connecting base 43, pulling buckle spring 46 connects lower connecting base 48, i.e., when lower connecting base 48 is close to upper connecting base 43, pulling buckle
Spring 46 stretches, and is fixedly installed limit assembly on lower connecting base 48, after lower connecting base 48 moves in place, limit assembly pair
Position is fixed.The limit assembly includes the path notch 44 being provided on the upper connecting base 43, and is fixedly connected
The steel column 45 slid on the lower connecting base 48 and along path notch 44, steel column 45 are the steel column with certain elasticity, road
Diameter notch 44, which divides, to be opened up for upper left section slot 442, upper right section slot 444 and lower segment groove 441, lower segment groove 441 along the disengaging direction of welt,
Upper left section slot 442 and the disengaging direction of welt are obliquely installed, and upper right section slot 444 is opened up along the disengaging direction of welt, and in upper left
Start fluted 443 between section slot 442 and upper right section slot 444, groove 443 is for steel column described in inlay card, in the upper connecting base
Being connected by a hinge between 43 and lower connecting base 48 has multistage link mechanism 47, and multistage link mechanism 47 passes through lower connecting base 48
It slides and stretches along shoes length direction.
As shown in Figure 10, multistage link mechanism is formed by 6 grades in this example, and wherein first order connecting rod assembly is than other companies
Bar combination will be grown, so that need to only drive first order connecting rod assembly that can drive the elongation and contraction of entire multistage link mechanism 47,
Initial position overall shrinkage of the multistage link mechanism 47 when without work is formed in upper connecting base 43 and lower connecting base 48
Cylindrical surface region in.
When the clamping button 56 on mechanical arm 5 is inserted into the docking transition components 41 in ordinary shoe clamping unit mechanism 4,
Mechanical arm 5 drives ordinary shoe clamping unit mechanism 4 to be directed at welt position and pushes, when lower connecting base 48 touches inside shoes
When vamp, 48 stop motion of lower connecting base, since upper connecting base 43 is connect with lower connecting base 48 simply by pulling buckle spring 46, by
Continue to exert a force in mechanical arm 5, so that upper connecting base 43 continues to decline, between 48 surface of 43 bottom surface of upper connecting base and lower connecting base
Distance become smaller, to drive primary connecting rod combination to relatively rotate with upper connecting base 43 and lower connecting base 48, so that driving is entire
Multistage link mechanism 47 is extend into inside shoes, and when upper connecting base 43 and lower connecting base 48 are close to each other, steel column 45 will be suitable
Path notch 44 on upper connecting base 43 move, when steel column 45 is transitioned into upper left section slot 442 from lower segment groove 441, and suitable
Upper left section slot 442 be slid onto top, hereafter mechanical arm 5 up moves, and upper connecting base 43 will at a distance from lower connecting base 48
Increase, the inlay card to steel column is realized when steel column 45 moves at groove 443 along upper left section slot 442, to make steel column 45
It can not slide, limit the distance between upper connecting base 43 and lower connecting base 48, so that multistage link mechanism 47 will not continue to
Retraction, realizes and props up to shoes.
If only needing mechanical arm 5 gently to be pressed down taking out shoes to when adaptively auxiliary is taken off one's shoes in mechanism 7,
Then it up lifts, under the action of pulling buckle spring 46, steel column 45 will first pushed away from groove 443, then down paths notch 44
Upper right section slot 444, which moves down, returns to initial position along lower segment groove 441 again, so that multistage link mechanism 47 returns to initial position, it is real
The disengaging of existing ordinary shoe clamping unit mechanism 4 and shoes, in real life, it is contemplated that the size of shoes is different,
Some footwear uppers are higher, thus can according to adjust the series of multistage link mechanism 47, adjust the height of upper connecting base 43 come
Obtain the ordinary shoe clamping unit mechanism 4 of different size.
As shown in Figure 11, Figure 12, Figure 13, high-heeled shoes clamping unit mechanism 6 includes docking transition components 41, and right
It connects 41 stationary phase of transition components and is connected with direction crossover connection 62, since shoes are generally a pair of storage, direction crossover connection 62 is set
There are two setting, and the two sides of the docking transition components 41 are located at, its knot is illustrated by taking the direction crossover connection 62 on one side as an example
Structure is fixedly connected with clamping pedestal 613 with direction crossover connection 62, clamps and be fixedly connected with cover board 61 on pedestal 613, clamp pedestal
613 are arranged along shoes length direction, can be provided on clamping pedestal 613 and along the sliding of shoes width direction extruding sliding block 611, squeeze
The tail end of pressure sliding block 611, which is fixedly connected with, squeezes spring 618, and the one end for squeezing spring 618 is fixed on the clamping pedestal 613
And the other end is fixed on and squeezes on sliding block 611, being connected by a hinge on the clamping pedestal 613 has shaft 616, the clamping
The front end sliding of pedestal 613 is provided with clamping sliding block 614, and clamping sliding block 614 slides along shoes wide direction, the clamping pedestal 613
The holding tank 619 for offering the high heel for placing high-heeled shoes along shoes length direction towards the position for being located at the clamping slider 614, by
In clamping sliding block 614 along shoes wide direction sliding to close to clamping pedestal 613, thus realize to 9 high heel of high-heeled shoes loosen with
It clamps；One end of shaft 616 is rotatably connected to the first crank block 615, offers on the clamping sliding block 614 along shoes length direction
The guide groove to match with the first crank block 615,615 inlay card of the first crank block slide in guide groove, the shaft 616
The other end is rotatably connected to the second crank block 617, offers and the second slide crank on the extruding sliding block 611 along shoes length direction
The guide groove that block 617 matches is slid in the guide groove of 617 inlay card of the second crank block.
When high-heeled shoes 9 take off when adaptive auxiliary is taken off one's shoes in mechanism 7 and sent back to inside shoe chest, mechanical arm 5 by with high heel
Docking transition components 41 in shoes clamping unit mechanism 6 match, and drive high-heeled shoes clamping unit mechanism 6 along shoe chest shell
1 width direction is close adaptively to assist the fixed baffle 71 taken off one's shoes in mechanism 7, the rectangular slot opened up on fixed baffle 71
711, it clamps rectangular slot 711 of the pedestal 613 on fixed baffle 71 and enters pedal area, due to squeezing the protrusion folder of sliding block 611
Pedestal 613 is taken, width of width when clamping pedestal 613 and squeezing the entrance rectangular slot 711 of sliding block 611 than rectangular slot 711
Greatly, so during entrance, can force squeeze sliding block 611 to clamping pedestal 613 inside move, to drive extruding spring
618 compression, and then shaft 616 is driven to rotate, so that the holding tank 619 of the separate clamping pedestal 613 of clamping sliding block 614 is driven,
So that the notch of the holding tank 619 of clamping pedestal 613 increases, so that the heel of high-heeled shoes 9 enters among holding tank 619, later,
Mechanical arm 5 is up moved along short transverse, so that clamping pedestal 613 is separated with fixed baffle 71, due to squeezing the work of spring 618
With clamping sliding block 614 is moved towards close to holding tank 619, so that 619 notch of holding tank is become smaller, until 9 heel of clamping high-heeled shoes, real
The clamping to high-heeled shoes 9 is showed.
As shown in figure 14, after shoes being propped up or picked up, the articulated arm 55 on servo driving mechanical arm 5 carries out 90 ° of rotations
Turn, so that shoes are moved toward laying rack 3 towards along 1 width direction of shoe chest shell, carry out the storage of shoes by shoes vamp.
As shown in Fig. 9, Figure 15, Figure 16, docking transition components 41 include docking conversion cradle 410, the docking conversion
Offered on pedestal 410 X that mechanical arm 5 matches to interface 148 and the Y-direction being connected to each other with the laying rack 3 to interface
417, X to interface 418 and Y-direction, to the perpendicular setting of interface 417, specific X is to opposite to interface 418 and clamping button 56
It connects, Y-direction is connected to each other interface 417 with button 31 is put, and is rotatably connected to big shaft by hinge on docking conversion cradle 410
413, X is provided with to pushing block 415 to sliding in interface 418 in the X, and the X is converted to pushing block 415 along the docking is entered and left
The direction of pedestal 410 slides, and slides in X on pushing block 415 and is connected with X to connecting rod 414, and X is to 414 one end of connecting rod along X to pushing block
It is slid in the slot opened up on 415 and X is rotatably connected in the big shaft 413 to 414 other end of connecting rod by hinge, described
Y-direction is provided with Y-direction pushing block 411 to sliding in interface 417, and the Y-direction pushing block 411 is along the discrepancy docking conversion cradle 410
Direction sliding, sliding is connected with Y-direction connecting rod 412 on Y-direction pushing block 411, and 412 one end of Y-direction connecting rod opens up along Y-direction pushing block 411
Slot in sliding and 412 other end of Y-direction connecting rod be rotatably connected in the big shaft 413 by hinge, in the big shaft 413
On be fixedly connected with anchor formula fixing piece 416.Y-direction pushing block 411 is pushed into docking conversion cradle 410 to pushing block 415 with the X and releases
Conversion cradle 410 is docked, and the anchor formula fixing piece 416 turns to the X to 418 position of interface.X is to pushing block 415 with institute
It states the push-in of Y-direction pushing block 411 docking conversion cradle 410 and releases docking conversion cradle 410, and the anchor formula fixing piece 416 rotates
To the Y-direction to 417 position of interface.
Button 31 is put and clamping button 56 is offered and opened with what anchor formula fixing piece 416 matched as shown, corresponding
Mouthful, the rotation of anchor formula fixing piece 416, which is entered or produced by opening, puts button 31 and clamping button 56, realizes and put button 31
With the release and locking of clamping button 56.
As shown in Figure 14, Figure 15, mechanical arm 5 drives ordinary shoe clamping unit mechanism 4 or high-heeled shoes clamping unit machine
Structure 6 puts button 31 on laying rack 3, puts slowly the entering to switching through to interface from docking transition components 41 of button 31
It changes in component 41, puts button 31 and touch Y-direction pushing block 411 and push it toward docking 41 internal motion of transition components, drive big
Shaft 413 rotates, to drive X to pushing block 415 to docking 41 external movement of transition components, so that being located at the folder on mechanical arm 5
It holds button 56 and slowly exits docking transition components 41, under the drive of big shaft 413, anchor formula fixing piece in interface 418 from X
416 can rotate positioned at putting in button 31, put on button 31 so that docking transition components 41 be made to be fixed on, since anchor formula is solid
Determining 416 material of part is steel, and anchor formula fixing piece 416 forms hook-shaped enter and puts in button 31, and anchor formula fixing piece 416 can be made to catch on
Entirely put in the opening of button 31, if not applying biggish external force, anchor formula fixing piece 416 will not spontaneously rotate,
Therefore docking transition components 41 will be fixed on laying rack 3, to realize the storage to shoes, takes the process of shoes
In, need to only drive mechanical arm 5 that will clamp button 56 can make to the insertion of interface 418 to switching through from the X of docking transition components 41
It changes component 41 and is separated with the button 31 of putting being located on laying rack 3, realize the taking-up to shoes.
This programme further includes having maintenance kit 10, and maintenance kit 10 is located at the lower inside of the shoe chest shell 1, feed mechanism 2
Drive shoes to move along its length toward maintenance kit 10, in maintenance kit 10 setting ozone generator successively shoes are dried,
Dedusting, deodorization, disinfection, so that shoes are by maintenance kit 10 and keep vamp towards maintenance kit 10, by the rotation of mechanical arm 5,
It can be achieved to make shoes remain good use individually more comprehensive drying, dedusting, deodorization and the disinfection of every double shoes
State；It more convenient can be entered inside shoes by welt using the gas that ozone generator generates, get more good work
Use effect.
In conclusion a kind of shoe chest of automatic clamping and placing shoes proposed by the present invention, by adaptively assisting mechanism realization of taking off one's shoes
Shoes are clamped and take in or release shoe chest, drive ordinary shoe clamping unit mechanism or high-heeled shoes to clamp by mechanical arm single
Yuan Hua mechanism shift position and rotation direction press from both sides ordinary shoe clamping unit mechanism or high-heeled shoes clamping unit mechanism
It holds and is moved to laying rack after shoes or adaptive auxiliary is taken off one's shoes in mechanism, to realize the automatic clamping and placing to various shoes.And pass through
The maintenance kit of setting can be realized to individually more comprehensive drying, dedusting, deodorization and the disinfection of every double shoes, protect shoes always
Hold good use state.
It should be understood that the application of the present invention is not limited to the above for those of ordinary skills can
With improvement or transformation based on the above description, all these modifications and variations all should belong to the guarantor of appended claims of the present invention
Protect range.
Claims (10)
1. a kind of shoe chest of automatic clamping and placing shoes, including shoe chest shell, which is characterized in that further include having positioned at the lower part of shoe chest shell
Adaptive auxiliary take off one's shoes mechanism, be fixed at the feed mechanism at the rear portion of the shoe chest shell, be fixed at feeding machine
Mechanical arm on structure, is fixed at the laying rack of the front of the shoe chest shell, and several pick and place is arranged on laying rack simultaneously
It is used to support the ordinary shoe clamping unit mechanism of fixed sport footwear and leather shoes, several pick and place is arranged on laying rack and is used for
Clamp the high-heeled shoes clamping unit mechanism of high-heeled shoes；
The adaptive auxiliary takes off one's shoes mechanism for fixing shoes and passing in and out shoe chest in the width direction；
The feed mechanism is for driving the mechanical arm mobile with short transverse along its length；
The mechanical arm is for driving ordinary shoe clamping unit mechanism or high-heeled shoes clamping unit mechanism rotation direction
And it takes off one's shoes in the adaptive auxiliary and picks and places ordinary shoe clamping unit mechanism or high heel between mechanism and the laying rack
Shoes clamping unit mechanism.
2. the shoe chest of automatic clamping and placing shoes according to claim 1, it is characterised in that: the adaptive auxiliary is taken off one's shoes mechanism packet
Two pedals for respectively corresponding the setting of left and right foot are included, the restoring spring for compressing after pedal pressure is provided on pedal, is led to
Crank is crossed to be connected and be located at the front end of the pedal and move up in the pedal in the width direction by the pushing of the pedal
Dynamic toe-cap detent is arranged in the spine bar between the pedal and the toe-cap detent from lock set, is fixed at pedal
Rear end and the fixed baffle for being used to limit shoes tail；
For the pedal when user jams on and moves down, for the toe-cap detent by crank handle turns close to toe-cap, the spine bar is self-locking
Component makes the toe-cap detent clamp position restriction after shoes；
For the pedal after entering in shoe chest shell, the self-locking module cancels of spine bar are self-locking, and the toe-cap detent unclamps shoes
Head, the restoring spring rebound make the pedal move up playback.
3. the shoe chest of automatic clamping and placing shoes according to claim 2, it is characterised in that: the spine bar includes to turn from lock set
The dynamic pawl being arranged in the toe-cap detent is arranged on the pedal and is used in combination with the pawl and is magnetic material
The spine bar of material is fixed in the toe-cap detent and is resisted against the elastic steel sheet at the pawl back side, is fixed at shoes
Postive stop baffle in head detent for being limited to the pawl, and be fixed on the shoe chest shell and be used to make described
The electromagnet that spine bar is separated with the pawl；
The toe-cap detent drives the pawl in the spine bar along the direction unidirectional motion close to the fixed baffle；
When the spine bar is separated with the pawl, toe-cap detent is resetted along the direction far from the fixed baffle.
4. the shoe chest of automatic clamping and placing shoes according to claim 1, it is characterised in that: ordinary shoe clamping unit mechanism
It include to dock transition components with what the mechanical arm was connected to each other, the upper connection being fixedly connected on the docking transition components
Seat is connected to the lower connecting base of the disengaging direction sliding on upper connecting base and along welt, and it is another that one end connects the upper connecting base
The pulling buckle spring for connecting on the lower connecting base and making the lower connecting base playback after sliding is held, setting is in upper connecting base under
Fixed limit assembly on attachment base and after making the lower connecting base be slid onto setting position, and be arranged in the upper connecting base
The multistage link mechanism to stretch between lower connecting base and through the sliding of lower connecting base along shoes length direction.
5. the shoe chest of automatic clamping and placing shoes according to claim 4, it is characterised in that: the limit assembly includes to be provided with
Path notch on the upper connecting base, and the steel for being fixedly connected on the lower connecting base and being slid along the notch of path
Column；
The path notch includes the lower segment groove opened up along the disengaging direction of welt, is obliquely installed with the disengaging direction of welt
Upper left section slot, opens up along the disengaging direction of welt and is connected to the upper right section slot of the lower segment groove, is connected to upper left section slot and upper right
Between section slot and the groove for steel column described in inlay card.
6. the shoe chest of automatic clamping and placing shoes according to claim 1, it is characterised in that: high-heeled shoes clamping unit mechanism
Include docking transition components, be fixedly connected on it is described docking transition components on and along shoes length direction setting clamping pedestal,
Be arranged in it is described clamping pedestal on and can along shoes width direction sliding extruding sliding block, one end be fixed on the clamping pedestal and
The other end is fixed on the extruding spring on the extruding sliding block, the shaft being rotatably connected on the clamping pedestal, and setting
In the front end for clamping pedestal and along the clamping sliding block of shoes wide direction sliding, the clamping pedestal is towards positioned at the clamping sliding block
Position the holding tank for placing high-heeled shoes high heel is offered along shoes length direction；
One end of the shaft is rotatably connected to the first crank block, offers and first on the clamping sliding block along shoes length direction
The guide groove that crank block matches, the other end of the shaft are rotatably connected to the second crank block, edge on the extruding sliding block
Shoes length direction offers the guide groove to match with the second crank block.
7. the shoe chest of automatic clamping and placing shoes according to claim 4 or 6, it is characterised in that: the docking transition components include
There is a docking conversion cradle, X that mechanical arm matches is offered on the docking conversion cradle to interface, with X to interface phase
It is vertically arranged and the Y-direction that is used to be connected to each other with the laying rack is to interface, be rotatably arranged on big in the docking conversion cradle
The X is arranged in to the X in interface, to pushing block, one end slides in X on pushing block and the other end is rotatably connected in shaft, sliding
X in the big shaft is to connecting rod, and the Y-direction is arranged in the Y-direction pushing block in interface in sliding, and one end slides on Y-direction pushing block
And the other end is rotatably connected on the Y-direction connecting rod in the big shaft, and the anchor formula being fixed in the big shaft is fixed
Part；
The Y-direction pushing block is pushed into docking conversion cradle to pushing block with the X and releases docking conversion cradle, and the anchor formula is fixed
Part turns to the X to interface position；
The X is pushed into docking conversion cradle with the Y-direction pushing block to pushing block and releases docking conversion cradle, and the anchor formula is fixed
Part turns to the Y-direction to interface position.
8. the shoe chest of automatic clamping and placing shoes according to claim 1, it is characterised in that: the mechanical arm includes along width side
To the multistage retractable rod of setting, it is fixed at the multistage retractable rod end and the power device of rotary power is provided, it is fixed
Articulated arm in power device, and setting are set in the articulated arm front end and for docking the ordinary shoe clamping unit
Change the clamping button of mechanism or high-heeled shoes clamping unit mechanism.
9. the shoe chest of automatic clamping and placing shoes according to claim 1, it is characterised in that: the laying rack includes to be arranged in shoes
Put slot on cabinet shell, the board for putting for being arranged in and putting in slot can be picked and placed, be fixed on board for putting and with it is described common
What shoes clamping unit mechanism or high-heeled shoes clamping unit mechanism matched puts button；
Described to put slot short transverse is provided with several layers, the board for putting is provided with several along short transverse, the pendulum
It puts button and is provided with several along its length.
10. the shoe chest of automatic clamping and placing shoes according to claim 1, which is characterized in that further include having to be arranged in shoe chest shell
Lower part in front of and for shoes drying, dedusting, deodorization, disinfection maintenance kit.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910359402.3A CN110037451B (en) | 2019-04-30 | 2019-04-30 | Shoe cabinet capable of automatically taking and placing shoes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910359402.3A CN110037451B (en) | 2019-04-30 | 2019-04-30 | Shoe cabinet capable of automatically taking and placing shoes |
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| Publication Number | Publication Date |
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| CN110037451A true CN110037451A (en) | 2019-07-23 |
| CN110037451B CN110037451B (en) | 2024-01-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910359402.3A Active CN110037451B (en) | 2019-04-30 | 2019-04-30 | Shoe cabinet capable of automatically taking and placing shoes |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111248711A (en) * | 2020-03-11 | 2020-06-09 | 齐鲁工业大学 | Shoe wearing and taking-off mechanism and automatic shoe wearing and taking-off device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111248711A (en) * | 2020-03-11 | 2020-06-09 | 齐鲁工业大学 | Shoe wearing and taking-off mechanism and automatic shoe wearing and taking-off device |
| CN111248711B (en) * | 2020-03-11 | 2021-11-30 | 齐鲁工业大学 | Shoe wearing and taking-off mechanism and automatic shoe wearing and taking-off device |
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| CN110037451B (en) | 2024-01-23 |
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