CN111973973A

CN111973973A - Self-walking shoes

Info

Publication number: CN111973973A
Application number: CN202010866306.0A
Authority: CN
Inventors: 杨志峰
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-08-25
Filing date: 2020-08-25
Publication date: 2020-11-24

Abstract

A self-propelled shoe is characterized in that a bottom plate 2 is fixedly connected to the bottom of a sole 1, a front pulley 3 is hinged to the front end of a front swing arm 5 through a front wheel shaft 4, the rear end of the front swing arm 5 is hinged to the bottom plate 2, a rear pulley 19 is hinged to the rear end of a rear swing arm 21, the front end of the rear swing arm 21 is hinged to the bottom plate 2, and a compression spring 23 is connected between the rear swing arm 21 and the bottom plate 2; a brake pad 24 is provided at the rear end of the base plate 2 corresponding to the rear sheave 19. In addition, a transmission mechanism which drives the front pulley 3 to rotate by adopting the swing of the front swing arm 5 is also arranged. The walking force-exerting type comfortable straight sliding is adopted, and the sliding speed is greatly improved; and slow or fast sliding can be completed by standing on tiptoe. When the weight shifts to the heel, the automatic brake can greatly improve the flexibility, the safety and the comfort, and can be used as a preferred vehicle for middle and short distance travel.

Description

Self-walking shoes

Technical Field

The invention relates to a shoe, in particular to a self-propelled shoe.

Background

Walking is the instinct of human beings, and has great significance to human health. However, with the progress of society, people go out more and more by using tools for riding instead of walk, such as automobiles, electric vehicles, bicycles and the like. The main reason why walking is slower and more tiring than riding a bicycle is that energy loss is too great, and a great deal of forward kinetic energy and potential energy released when the center of gravity of the human body moves down are lost each step. Compared with walking, the skating shoes are relatively labor-saving and rapid, and have the defects that force needs to be exerted to the lateral rear side when force is exerted, the skating shoes slide in a curve, the safety is poor, the force is not exerted well, and the skating shoes are only suitable for entertainment and body building and are not suitable for being used as vehicles. The bicycle is a relatively energy-saving and environment-friendly vehicle, but is not light and flexible enough, cannot be carried about, and is inconvenient to transfer to a subway or a bus; most importantly, the matching degree of the force applying mode of the bicycle and the instinct of the human body is not high.

Disclosure of Invention

Therefore, the invention aims to provide a pair of self-propelled shoes which adopt a comfortable walking force-applying mode to easily realize quick linear sliding, greatly reduce energy loss and greatly improve the advancing speed; and slow or fast sliding can be completed by standing on tiptoe. Another object of the invention is: when the weight of a human body mainly acts on the heel part, the automatic brake can greatly improve the flexibility, the safety and the comfort, so that the automatic brake is suitable for being used as a main vehicle, reduces the atmospheric pollution, relieves the traffic jam and does not occupy the parking lot.

The invention provides a pair of self-propelled shoes, each self-propelled shoe comprises an upper and a sole 1, wherein the bottom of the sole 1 is fixedly connected with a bottom plate 2, the rear end of the bottom plate 2 is provided with a rear pulley 19, the front end of the bottom plate 2 is provided with a front pulley 3, and the self-propelled shoes are characterized in that: the front pulley 3 is hinged to the front end of a front swing arm 5 through a front wheel shaft 4 and two bearings 7, and the rear end of the front swing arm 5 is hinged to the bottom plate 2 through a front swing arm shaft 6 and two bearings 7, so that the front end of the front swing arm 5 can swing up and down relative to the bottom plate 2; in addition, a transmission mechanism for driving the front pulley 3 to rotate by adopting the swing of the front swing arm 5 is also arranged.

The transmission mechanism includes: a flywheel 9 hinged with the front part of the front swing arm 5 through a flywheel shaft 8, a driven gear 11 fixed with the outer ring of the flywheel 9 through a connecting piece 10 and rotating with the outer ring of the flywheel 9 synchronously and coaxially, a fixed sector gear 12 meshed with the driven gear 11 and fixed with the front end of the bottom plate 2, the axis of the tooth part of the fixed sector gear 12 and the axis of the front swing arm shaft 6 are positioned on the same axis, so that the driven gear 11 is always meshed with the fixed sector gear 12 in the process of swinging up and down along with the front swing arm 5, in addition, a large gear 13 is fixed on the flywheel shaft 8, a small gear 14 is arranged on the front wheel shaft 4, and the large gear 13 is meshed with the small gear 14; when the weight acts on the front pulley 3 to cause the front end of the front swing arm 5 to swing upwards, the fixed sector gear 12 will rotate the driven gear 11 which is engaged and swings upwards along with the front swing arm 5, when the driven gear 11 rotates, the flywheel 9 drives the flywheel shaft 8 and the gearwheel 13 to rotate, and when the gearwheel 13 rotates, the engaged pinion 14 is driven to rotate, thereby driving the front wheel shaft 4 and the front pulley 3 to rotate; when the front end of the front swing arm 5 swings downwards, the driven gear 11 drives the outer ring of the flywheel 9 to idle in a reverse direction; so as to reciprocate.

As another embodiment of the present invention, the transmission mechanism includes: a flywheel 9 hinged with the front part of the front swing arm 5 through a flywheel shaft 8, a winding drum 15 fixed with the outer ring of the flywheel 9 through a connecting piece 10 and rotating synchronously and coaxially with the outer ring of the flywheel 9, a winding rope 16 with the upper end connected and wound on the winding drum 15 and used for pulling the winding drum 15 to rotate when the front end of the front swing arm 5 swings upwards, the lower end of the winding rope 16 is tied at the lower end of a rope winding bolt 17, the lower end of the rope winding bolt 17 is slightly lower than the axis of the winding drum 15 when swinging downwards to a preset lowest point, the upper end of the rope winding bolt 17 is fixed with the front end of the bottom plate 2, a lettuce spring 18 connected between the winding drum 15 and the front swing arm 5 and used for driving the winding drum 15 and the outer ring of the flywheel 9 to idle in a reverse direction when the front end of the front swing arm 5 swings downwards so that the upper end of the rope winding rope 16 is wound on the winding drum 15, in addition, a gearwheel 13 is fixedly connected to the flywheel shaft 8, a pinion 14 is arranged on the front wheel axle 4, and the gearwheel 13 is engaged with the pinion 14; when the weight acts on the front pulley 3 to cause the front end of the front swing arm 5 to swing upwards, the winding rope 16 with the upper part tightly wound on the winding drum 15 will pull the winding drum 15 and the flywheel 9 to rotate, so as to drive the flywheel shaft 8 and the gearwheel 13 to rotate, and when the gearwheel 13 rotates, the engaged pinion 14 is driven to rotate, so as to drive the front wheel shaft 4 and the front pulley 3 to rotate; when the winding rope 16 pulls the winding drum 15 to rotate, the lettuce winding spring 18 is enabled to store energy; when the front end of the front swing arm 5 swings downwards, the lettuce coil spring 18 drives the winding drum 15 and the outer ring of the flywheel 9 to idle reversely; when the winding drum 15 reversely idles, the upper part of the winding rope 16 is tightly wound on the winding drum 15 again; so as to reciprocate.

The rear pulley 19 is hinged to the rear end of a rear swing arm 21 through a rear wheel shaft 20, the front end of the rear swing arm 21 is hinged to the base plate 2 through a rear swing arm shaft 22 and two bearings 7, so that the rear end of the rear swing arm 21 can swing up and down relative to the base plate 2, and a compression spring 23 is connected between the rear end of the rear swing arm 21 and the rear end of the base plate 2.

A brake pad 24 is embedded at the bottom of the bottom plate 2 corresponding to the rear pulley 19, and the lower end face of the brake pad 24 is matched with the circumferential surface of the rear pulley 19; when the weight of the body shifts to the heel part, the rear end of the rear swing arm 21 swings upwards against the compression spring 23 until the rear pulley 19 presses the brake pad 24, and the automatic braking is realized.

A torsion spring 26 is sleeved on the front swing arm shaft 6, and the torsion spring 26 is connected between the front swing arm 5 and the bottom plate 2 and applies a downward acting force to the front end of the front swing arm 5; then, when the rear foot is stepped forward in the advancing process, the front pulley 3 is used as a fulcrum, and the front swing arm 5 is used for upwards supporting the whole self-walking shoe under the action of the torsion spring 26, so that the self-walking shoe can be driven to advance forwards only by applying forward traction force, and the walking is easy and comfortable.

The front swing arm 5 can swing upwards to be close to the bottom plate 2, when the front swing arm 5 is close to the bottom plate 2, the front pulley 3 is positioned slightly in front of the sole 1, and the axis of the front pulley 3 is approximately flush with the bottom of the sole 1 or slightly higher than the bottom of the sole 1; therefore, the front pulley 3 can be slightly larger to adapt to bumpy road surfaces, the sliding height is reduced, and the safety and the comfort are further improved.

As another improvement of the present invention, the outer ring of the flywheel 9 may be integrally molded with the driven gear 11 and the coupling 10.

In order to reduce the outer diameter of the pinion 14 as much as possible, the pinion 14 may be directly formed on the front wheel shaft 4, and the pinion 14 may be integrally formed with the front wheel shaft 4.

The invention mainly has the following advantages: 1. the comfortable walking force-generating mode is adopted, the rapid linear sliding is easily realized, the energy loss is greatly reduced, and the advancing speed is greatly improved; and slow or fast sliding can be completed by standing on tiptoe. 2. When the long-distance sliding device slides in a long distance, two hands can respectively hold a thin bamboo pole, and the hands and feet are matched to exert force (similar to skiing), so that the sliding speed and the comfort degree can be further greatly improved, and the whole body can be fully exercised. 3. Automatic brake when weight mainly acts on heel, very big promotion flexibility, security and travelling comfort will regard as the preferred vehicle of well short distance trip, reduce the atmosphere pollution, alleviate traffic jams and do not occupy the parking stall to can take subway and public transit on the way. 4. Excellent damping performance, simple structure, light weight, labor saving and durability.

Drawings

FIG. 1 is a schematic view showing the overall structure of a left shoe in example 1;

FIG. 2 is a schematic view of the sole 1 and the left front wheel 3 of FIG. 1, with the sole and the left front wheel omitted;

fig. 3 is a schematic structural view of fig. 2 with the large gear 13 omitted;

fig. 4 is a schematic view of fig. 2 with the base plate 2 and the fixed sector gear 12 omitted;

fig. 5 is a left side view of fig. 1 with the sole 1 omitted;

FIG. 6 is a partially enlarged view of FIG. 5 with a portion of the structure omitted;

fig. 7 is a partial enlarged view of fig. 6 with the large gear 13 omitted;

FIG. 8 is a top view of FIG. 1;

fig. 9 is a partially enlarged view of fig. 8 with the sole 1 omitted;

fig. 10 is a schematic structural view of fig. 1 when the front swing arm 5 swings upward to abut against the bottom plate 2;

fig. 11 is a left side view of fig. 10 with the left front wheel 3 omitted;

FIG. 12 is a left side view of FIG. 10 with a portion of the structure omitted;

FIG. 13 is a top view of the flywheel shaft 8, flywheel 9, coupling 10 and bull gear 13 of FIG. 1;

fig. 14 is a schematic view of the structure of the base plate 2 and the fixed sector gear 12 fixed to the front end of the base plate 2;

fig. 15 is a schematic structural view of the front swing arm 5;

fig. 16 is a schematic structural view of the rear swing arm 21;

fig. 17 is a schematic structural view of the joint 10;

FIG. 18 is a schematic view showing a left shoe of embodiment 2, in which the sole 1 and the left front wheel 3 are omitted;

fig. 19 to 22 are partially enlarged views of fig. 18 with a part of the structure omitted;

FIG. 23 is a left side view of FIG. 18 with a portion of the structure omitted;

fig. 24 is a schematic structural view of front swing arm 5 in embodiment 2.

In the drawings: 1. the sole, 2, bottom plate, 2a, card strip, 3, preceding pulley, 4, front wheel axle, 5, preceding swing arm, 5a, dog, 6, preceding swing arm axle, 7, bearing, 8, flywheel axle, 9, flywheel, 10, connecting piece, 10a, protruding edge, 11, driven gear, 12, fixed sector gear, 13, gear wheel, 14, pinion, 15, reel, 16, serving, 17, serving bolt, 18, asparagus lettuce coil spring, 19, back pulley, 20, back wheel axle, 21, back swing arm, 22, back swing arm axle, 23, compression spring, 24, brake block, 25, steel wire flexible wire, 26, torsional spring.

Detailed Description

Example 1:

as shown in fig. 1 to 17: the front pulley 3 is hinged at the front end of a front swing arm 5 through a front wheel shaft 4 and two bearings 7, and the rear end of the front swing arm 5 is hinged with the bottom plate 2 through a front swing arm shaft 6 and two bearings 7, so that the front end of the front swing arm 5 can swing up and down relative to the bottom plate 2; adopt swing of preceding swing arm 5 to drive the pivoted drive mechanism of front pulley 3 to include: a flywheel 9 hinged with the front part of the front swing arm 5 through a flywheel shaft 8, a driven gear 11 fixed with the outer ring of the flywheel 9 through a connecting piece 10 and rotating with the outer ring of the flywheel 9 synchronously and coaxially, a fixed sector gear 12 engaged with the driven gear 11 and fixed with the front end of the bottom plate 2, the axes of the teeth of the fixed sector gear 12 and the axis of the front swing arm shaft 6 are positioned on the same axis, so that the driven gear 11 is always engaged with the fixed sector gear 12 in the process of swinging up and down along with the front swing arm 5, besides, a large gear 13 is fixed on the flywheel shaft 8, a small gear 14 is fixed on the front wheel shaft 4, in order to reduce the outer diameter of the small gear 14 as much as possible, a small gear 14 can be directly processed on the front wheel shaft 4, so that the small gear 14 and the front wheel shaft 4 are integrally formed, and the large gear 13 is meshed with the small gear 14; therefore, when the weight acts on the front pulley 3 to cause the front end of the front swing arm 5 to swing upwards, the fixed sector gear 12 enables the driven gear 11 which is meshed with the front swing arm 5 and swings upwards to rotate, the driven gear 11 drives the flywheel shaft 8 and the large gear 13 to rotate through the flywheel 9 when rotating, and the large gear 13 drives the meshed small gear 14 to rotate when rotating, so as to drive the front wheel shaft 4 and the front pulley 3 to rotate; when the front end of the front swing arm 5 swings downwards, the driven gear 11 drives the outer ring of the flywheel 9 to idle in a reverse direction; so as to reciprocate. One side of the connecting piece 10 provided with a convex edge 10a is attached to the outer ring of the flywheel 9 and fixedly connected with the outer ring of the flywheel 9, and the driven gear 11 is fixedly connected with one side of the plane of the connecting piece 10; the driven gear 11, the connecting piece 10 and the outer ring of the flywheel 9 can also be directly formed into a whole. The rear pulley 19 is hinged with the rear end of a rear swing arm 21 through a rear wheel shaft 20, the front end of the rear swing arm 21 is hinged with the bottom plate 2 through a rear swing arm shaft 22 and two bearings 7, and the rear end of the rear swing arm 21 can swing up and down relative to the bottom plate 2. Two compression springs 23 which are transversely arranged side by side are connected between the rear end of the rear swing arm 21 and the rear end of the bottom plate 2. The rear end of the bottom plate 2 is provided with a clamping strip 2a, the brake block 24 is embedded with the bottom plate 2 through the clamping strip 2a, the position of the brake block 24 corresponds to the rear pulley 19, and the lower end face of the brake block 24 is matched with the circumferential surface of the rear pulley 19. When the weight of the body shifts to the heel part, the rear end of the rear swing arm 21 swings upwards against the compression spring 23 until the rear pulley 19 presses the brake pad 24, and the brake is automatically braked. A torsion spring 26 (shown in fig. 4) is sleeved on the front swing arm shaft 6, and the torsion spring 26 is connected between the front swing arm 5 and the bottom plate 2 and applies a downward acting force to the front end of the front swing arm 5; then, when the rear foot is stepped forward in the advancing process, the front pulley 3 is used as a fulcrum, the front swing arm 5 is used for upwards supporting the whole self-walking shoe under the action of the torsion spring 26, and the self-walking shoe can be driven to advance forwards only by applying forward traction force, so that the stepping is easy and comfortable. The front swing arm 5 can swing upwards to be close to the bottom plate 2, when the front swing arm 5 is close to the bottom plate 2, the front pulley 3 is positioned slightly in front of the sole 1, and the axis of the front pulley 3 is approximately flush with the bottom of the sole 1 or slightly higher than the bottom of the sole 1. Therefore, the front pulley 3 can be slightly larger to adapt to bumpy road surfaces, the sliding height is reduced, and the safety and the comfort are further improved. In order to limit the downward swing range of the front swing arm 5, a wire cord 25 is connected between the front swing arm 5 and the base plate 2, and when the front end of the front swing arm 5 swings downward to a predetermined lowest point, the wire cord 25 is tightened (as shown in fig. 5). Fig. 1 is a schematic structural view when the front swing arm 5 swings downward to tighten the wire cord 25 and the rear compression spring 23 is in a semi-compressed state; fig. 10 is a schematic structural view when the front swing arm 5 swings upward to abut against the base plate 2 and the rear compression spring 23 is in a semi-compressed state. The rear compression spring 23 not only provides excellent shock absorption, but also effectively releases the stored energy to apply upward thrust to the heel of the foot.

The working principle is as follows: when the front end of the front swing arm 5 swings upwards due to the gravity of a human body, the fixed sector gear 12 enables the driven gear 11 which is meshed with the front swing arm 5 and swings upwards to rotate, the driven gear 11 drives the flywheel shaft 8 and the large gear 13 to rotate through the flywheel 9 when rotating, and the large gear 13 drives the small gear 14 which is meshed with the large gear to rotate when rotating, so that the front wheel shaft 4 and the front pulley 3 are driven to rotate; when the front end of the front swing arm 5 swings downwards, the driven gear 11 drives the outer ring of the flywheel 9 to idle in a reverse direction; the reciprocating is carried out in the way; when braking, the weight of the bicycle is shifted to the heel, the rear pulley 19 quickly contacts and presses the brake pad 24 against the compression spring 23, and the bicycle is automatically braked.

Example 2:

embodiment 2 is substantially the same as embodiment 1 except that the transmission mechanism in embodiment 2 uses a reel 15, a rope 16, a lettuce coiling spring 18 and a rope coiling bolt 17 instead of the driven gear 11 and the fixed sector gear 12 in embodiment 1. As shown in fig. 19 to 24, the transmission mechanism in this embodiment includes: a flywheel 9 hinged with the front part of the front swing arm 5 through a flywheel shaft 8, a winding drum 15 fixed with the outer ring of the flywheel 9 through a connecting piece 10 and rotating coaxially with the outer ring of the flywheel 9, a winding rope 16 with its upper end connected and wound on the winding drum 15 and used for pulling the winding drum 15 to rotate when the front swing arm 5 swings upwards, the lower end of the winding rope 16 is tied to the lower end of a rope winding bolt 17, the lower end of the rope winding bolt 17 is slightly lower than the axis of the winding drum 15 when swinging downwards to a preset lowest point, the upper end of the rope winding bolt 17 is fixed with the front end of the bottom plate 2, a lettuce spring 18 connected between the winding drum 15 and the front swing arm 5 and used for driving the winding drum 15 and the outer ring of the flywheel 9 to idle reversely when the front end of the front swing arm 5 swings downwards so that the upper end of the rope winding rope 16 is wound on the winding drum 15 again (as shown in figures 19 and 24, the front, to block the outer end of the lettuce coil spring 18), in addition, a big gear 13 is fixedly connected on the flywheel shaft 8, a small gear 14 is arranged on the front wheel shaft 4, and the big gear 13 is meshed with the small gear 14; therefore, when the weight acts on the front pulley 3 to cause the front end of the front swing arm 5 to swing upwards, the winding rope 16 with the upper part tightly wound on the winding drum 15 pulls the winding drum 15 and the flywheel 9 to rotate, so as to drive the flywheel shaft 8 and the large gear 13 to rotate, and the large gear 13 drives the meshed small gear 14 to rotate when rotating, so as to drive the front wheel shaft 4 and the front pulley 3 to rotate; when the winding rope 16 pulls the winding drum 15 to rotate, the lettuce winding spring 18 stores energy; when the front end of the front swing arm 5 swings downwards, the lettuce coil spring 18 drives the winding drum 15 and the outer ring of the flywheel 9 to idle reversely; when the winding drum 15 reversely idles, the upper part of the winding rope 16 is tightly wound on the winding drum 15 again; so as to reciprocate.

Claims

1. The utility model provides a self-propelled shoe, it includes upper of a shoe and sole (1) bottom rigid coupling has bottom plate (2) rear end is provided with rear pulley (19) bottom plate (2) front end is provided with preceding pulley (3), its characterized in that: the front pulley (3) is hinged to the front end of a front swing arm (5) through a front wheel shaft (4) and two bearings (7), and the rear end of the front swing arm (5) is hinged to the bottom plate (2) through a front swing arm shaft (6) and two bearings (7), so that the front end of the front swing arm (5) can swing up and down relative to the bottom plate (2); in addition, a transmission mechanism which drives the front pulley (3) to rotate by adopting the swing of the front swing arm (5) is also arranged.

2. The self-propelled shoe of claim 1, wherein: the transmission mechanism includes: a flywheel (9) hinged with the front part of the front swing arm (5) through a flywheel shaft (8), a driven gear (11) which is fixedly connected with the outer ring of the flywheel (9) through a connecting piece (10) and synchronously rotates along with the outer ring of the flywheel (9) in a coaxial way, a fixed sector gear (12) which is meshed with the driven gear (11) and is fixedly connected with the front end of the bottom plate (2), the axes of the tooth parts of the fixed sector gear (12) and the axes of the front swing arm shaft (6) are positioned on the same axis, so that the driven gear (11) is always meshed with the fixed sector gear (12) in the process of swinging up and down along with the front swing arm (5), a large gear (13) is fixedly connected to the flywheel shaft (8), a small gear (14) is arranged on the front wheel shaft (4), and the large gear (13) is meshed with the small gear (14); when the weight acts on the front pulley (3) to cause the front end of the front swing arm (5) to swing upwards, the fixed sector gear (12) rotates the driven gear (11) which is meshed and swings upwards along with the front swing arm (5), the flywheel (9) drives the flywheel shaft (8) and the large gear (13) to rotate when the driven gear (11) rotates, and the large gear (13) drives the meshed small gear (14) to rotate when rotating, so that the front wheel shaft (4) and the front pulley (3) are driven to rotate; when the front swing arm (5) swings downwards, the driven gear (11) drives the outer ring of the flywheel (9) to idle reversely; so as to reciprocate.

3. The self-propelled shoe of claim 1, wherein: the transmission mechanism includes: a flywheel (9) hinged with the front part of the front swing arm (5) through a flywheel shaft (8), a winding drum (15) fixedly connected with the outer ring of the flywheel (9) through a connecting piece (10) and synchronously rotating along the same axis with the outer ring of the flywheel (9), wherein the upper end of the winding drum (15) is connected with and wound on the winding drum (15) and used for pulling a winding rope (16) rotating the winding drum (15) when the front end of the front swing arm (5) swings upwards, the lower end of the winding rope (16) is tied at the lower end of a rope winding bolt (17), the lower end of the rope winding bolt (17) is slightly lower than the axis of the winding drum (15) when swinging downwards to a preset lowest point, the upper end of the rope winding bolt (17) is fixedly connected with the front end of the bottom plate (2), and the winding drum (15) is connected between the winding drum (15) and the front swing arm (5) and used for driving the winding drum (15) and the flywheel (9) to idle in the reverse direction, A lettuce coiling spring (18) which causes the upper end of the coiling rope (16) to be tightly wound on the coiling block (15) again, in addition, a large gear (13) is fixedly connected on the flywheel shaft (8), a small gear (14) is arranged on the front wheel shaft (4), and the large gear (13) is meshed with the small gear (14); when the weight acts on the front pulley (3) to cause the front end of the front swing arm (5) to swing upwards, the winding rope (16) with the upper part tightly wound on the winding drum (15) pulls the winding drum (15) and the flywheel (9) to rotate, so as to drive the flywheel shaft (8) and the large gear (13) to rotate, and the large gear (13) drives the meshed small gear (14) to rotate when rotating, so as to drive the front wheel shaft (4) and the front pulley (3) to rotate; when the winding rope (16) pulls the winding drum (15) to rotate, the lettuce winding spring (18) stores energy; when the front end of the front swing arm (5) swings downwards, the lettuce coil spring (18) drives the winding drum (15) and the outer ring of the flywheel (9) to idle reversely; when the winding drum (15) reversely idles, the upper part of the winding rope (16) is tightly wound on the winding drum (15) again; so as to reciprocate.

4. The self-propelled shoe of claim 1, 2 or 3, wherein: the rear pulley (19) is hinged to the rear end of a rear swing arm (21) through a rear wheel shaft (20), the front end of the rear swing arm (21) is hinged to the bottom plate (2) through a rear swing arm shaft (22) and two bearings (7), the rear end of the rear swing arm (21) can swing up and down relative to the bottom plate (2), and a compression spring (23) is connected between the rear end of the rear swing arm (21) and the rear end of the bottom plate (2).

5. The self-propelled shoe of claim 4, wherein: a brake pad (24) is embedded at the bottom of the bottom plate (2) corresponding to the rear pulley (19), and the lower end face of the brake pad (24) is matched with the circumferential surface of the rear pulley (19); therefore, when the weight of the body shifts to the heel part, the rear end of the rear swing arm (21) swings upwards against the compression spring (23) until the rear pulley (19) presses the brake pad (24), and the automatic braking is realized.

6. The self-propelled shoe of claim 1, 2 or 3, wherein: the front swing arm shaft (6) is sleeved with a torsion spring (26), and the torsion spring (26) is connected between the front swing arm (5) and the bottom plate (2) and applies downward acting force to the front end of the front swing arm (5).

7. The self-propelled shoe of claim 1, 2 or 3, wherein: the front swing arm (5) can swing upwards to be attached to the bottom plate (2), when the front swing arm (5) is attached to the bottom plate (2), the front pulley (3) is located slightly in front of the sole (1), and the axis of the front pulley (3) is approximately flush with the bottom of the sole (1) or slightly higher than the bottom of the sole (1).

8. The self-propelled shoe of claim 2 or 3, wherein: the outer ring of the flywheel (9), the driven gear (11) and the connecting piece (10) can be molded into a whole.

9. The self-propelled shoe of claim 2 or 3, wherein: the front wheel shaft (4) and the pinion (14) are integrally formed.