阅读说明：本技术 自动整平鞋带的穿鞋带方法及其系统 (Shoelace threading method and system capable of automatically leveling shoelaces ) 是由 许千昱 张文堡 王耀鑫 徐伟信 于 2019-02-01 设计创作，主要内容包括：一种自动整平鞋带的穿鞋带方法及其系统,所述穿鞋带系统包含设置鞋面的承载单元、机械手臂单元,及至少一个勾爪单元。所述机械手臂单元用于夹持鞋带的至少一个端部,使至少一个端部依循穿孔路径行进,而通过鞋面的多个鞋带孔。所述勾爪单元包括勾爪,在所述鞋带的至少一个端部依循所述穿孔路径行进时,所述勾爪用于勾挂鞋带的可挠部,且相对所述鞋面在起始位置与终点位置间位移,在起始位置时,所述勾爪远离所述鞋面,在所述勾爪由起始位置朝终点位置位移的过程中,所述勾爪拉张鞋带,在所述终点位置时,所述勾爪邻近所述鞋面且脱离鞋带。借此,通过拉张所述鞋带的勾爪,使所述鞋带不会任意扭转,进而提升穿置在鞋面时的平整性,及美观性。(A shoelace threading method and a shoelace threading system capable of automatically leveling shoelaces are provided, wherein the shoelace threading system comprises a bearing unit for arranging a vamp, a mechanical arm unit and at least one claw unit. The robotic arm unit is configured to grip at least one end of the lace such that the at least one end follows a lace-piercing path through a plurality of lace apertures of the upper. The hook claw unit comprises a hook claw, when at least one end part of the shoelace moves along the perforation path, the hook claw is used for hooking the flexible part of the shoelace and moves between an initial position and a final position relative to the vamp, the hook claw is far away from the vamp at the initial position, the shoelace is tensioned by the hook claw in the process of moving from the initial position to the final position, and the hook claw is close to the vamp and separated from the shoelace at the final position. Therefore, the shoelace cannot be twisted randomly by stretching the hook claws of the shoelace, so that the smoothness and the attractiveness of the shoelace can be improved when the shoelace is threaded on the vamp.)

1. A shoelace threading method for automatically leveling shoelaces is characterized by comprising the following steps:

step (a), arranging a vamp and a shoelace, wherein the vamp comprises a plurality of shoelace holes, and the shoelace comprises two end parts and a flexible part connected with the end parts;

clamping at least one end of the shoelace by a mechanical arm unit to move along a perforation path, wherein the perforation path is used for enabling the flexible part to be hooked on at least one hook claw and to pass through a shoelace hole corresponding to the vamp;

a step (c) of driving the at least one hook to displace relative to the shoe upper between a starting position, in which the at least one hook is away from the shoe upper, and an end position, in which the at least one hook is adjacent to the shoe upper and separated from the shoe lace, during displacement of the at least one hook from the starting position toward the end position; and

repeating the steps (b) to (c) until each end of the shoelace passes through a predetermined number of shoelace holes of the upper, and then threading the flexible portion through the upper.

2. The shoelace threading method of automatically leveling shoelaces as claimed in claim 1, wherein: the flexible portion of the shoelace has two strap surfaces, and the at least one hook claw in the step (c) is further rotated by an angle in the process of being displaced from the starting position to the ending position, so that one of the strap surfaces faces the vamp.

3. A lacing system for automatically leveling a lace of a shoe, the lace having two ends and a flexible portion connecting the ends, the shoe having a plurality of lace apertures through which the lace is threaded, the lacing system comprising:

the bearing unit is used for arranging the vamp;

a manipulator unit configured to grip at least one end of the lace and to cause the at least one end to follow a perforation path, the perforation path being configured to pass the at least one end through a corresponding lace aperture of the upper, and to thread the flexible portion through the upper after the at least one end passes through a predetermined number of lace apertures of the upper; and

the method is characterized in that:

at least one hook claw unit, including a hook claw and a displacement driving group for driving the hook claw to move along a first axial direction, when the at least one end of the shoelace moves along the perforation path, the hook claw is used for hooking the flexible part of the shoelace and displaces between a starting position and an end position relative to the vamp, when the starting position is reached, the hook claw is far away from the vamp, when the hook claw displaces from the starting position to the end position, the hook claw stretches the flexible part of the shoelace, and when the end position is reached, the hook claw is close to the vamp and is separated from the shoelace.

4. The lacing system of claim 3, wherein: the displacement driving set is provided with a sliding rail and a rack which extend along the first axial direction and are parallel to each other, a sliding block which is connected with the sliding rail in a sliding mode and is used for mounting the hook claw, a gear which is meshed with the rack, and a displacement motor which is mounted on the sliding block and is used for driving the gear to rotate, so that the sliding block can follow the sliding rail to displace along with the rotation of the gear.

5. The lacing system of claim 3, wherein: the displacement driving set is provided with a sliding rail extending along the first axial direction, a sliding block which is connected with the sliding rail in a sliding manner and used for installing the hook claw, and a pressure cylinder, wherein the pressure cylinder is provided with a piston rod which is connected with the sliding block and extends and retracts along the first axial direction, and the piston rod is used for driving the sliding block to displace along the sliding rail.

6. The lacing system of claim 3, wherein: the hook claw is provided with a barrel part, a rod piece which can be movably arranged in the barrel part along the first axial direction in a penetrating mode, an inverted hook which is arranged at one end of the rod piece and used for stretching the flexible part of the shoelace, and an elastic element which is abutted between the barrel part and the rod piece, wherein the elastic element constantly generates a biasing force which enables the hook claw to be displaced in the direction opposite to the vamp direction.

7. The lacing system for automatically leveling shoelaces of claim 4, 5 or 6, wherein: the flexible portion of shoelace has two area faces, wherein, collude the claw and have the member that extends along the central line, and set up in member one end and be used for tensioning the overhead kick of flexible portion of shoelace, the central line is on a parallel with first axis, at least one colludes claw unit still includes the upset drive group, the upset drive group has the upset motor of installing in the slider collude the claw by the initial position towards the in-process of terminal position displacement, the upset motor is used for driving the member uses the central line as center turned angle, makes the overhead kick drive one of them area face towards the vamp.

8. The lacing system of claim 7, wherein: the at least one hook claw unit further comprises a hook releasing driving set, the hook releasing driving set is provided with a turntable for bearing the displacement driving set and the overturning driving set and a hook releasing motor for driving the turntable to rotate, and the turntable rotates by taking the other center line perpendicular to the center line as a center to enable the inverted hook of the hook claw to be separated from the flexible part of the shoelace.

9. The lacing system of claim 3, wherein: the hook claw is provided with a rod piece extending along the direction of a central line, and an inverted hook which is arranged at one end of the rod piece and used for tensioning the flexible part of the shoelace, the central line is parallel to the first axis, the displacement driving set is provided with a barrel seat for the rod piece to be movably penetrated and an elastic element which is abutted between the rod piece and the barrel seat, and the elastic element constantly generates a biasing force which enables the hook claw to be displaced in the direction opposite to the vamp.

10. The lacing system of claim 3, wherein: the hook claw is provided with a rod piece extending along the direction of a central line, and an inverted hook arranged at one end of the rod piece and used for tensioning the flexible part of the shoelace, the central line is parallel to the first axis, the displacement driving set is provided with a cylinder seat for the rod piece to be movably penetrated, a first friction wheel in friction contact with the rod piece, and a displacement motor for driving the first friction wheel to rotate, and the first friction wheel is used for driving the rod piece to displace.

11. The lacing system of claim 9 or 10, wherein: the flexible part of the shoelace is provided with two belt surfaces, wherein the at least one hook claw unit further comprises a turnover driving set, the rod piece is provided with a small-diameter section and a large-diameter section with the diameter width larger than that of the small-diameter section, the turnover driving set is provided with a second friction wheel which is positioned on one side of the rod piece and is separated from the small-diameter section, and a turnover motor which is installed on the barrel seat and drives the second friction wheel to rotate, when the large-diameter section of the hook claw is displaced to be opposite to the second friction wheel, the second friction wheel is in friction contact with the large-diameter section of the rod piece, and drives the rod piece to rotate by taking the central line as a central rotation angle, so that the reverse hook drives one of the belt surfaces to face the vamp.

12. The lacing system of claim 11, wherein: the at least one hook claw unit further comprises a hook releasing driving set, the hook releasing driving set is provided with a rotary disc for bearing the displacement driving set and the overturning driving set and a hook releasing motor for driving the rotary disc to rotate, and the rotary disc rotates by taking the other central line perpendicular to the central line as a center, so that the inverted hook of the hook claw is separated from the flexible part of the shoelace.

13. The lacing system of claim 3, wherein: the shoelace threading system comprises two claw units positioned at two sides of the vamp.

Technical Field

The present invention relates to a shoelace threading method and system, and more particularly, to a shoelace threading method and system capable of automatically leveling shoelaces.

Background

Since the shoes and the shoelaces are usually separated when a consumer purchases new shoes, an automatic shoelace threading machine, such as chinese patent No. 103876393 or chinese patent No. I629947, has been developed in the current shoe manufacturing process to avoid the inconvenience of the consumer in threading the shoelaces by himself.

However, since the conventional shoelace is flexible and long, the shoelace is easily twisted in any direction when the shoelace is automatically threaded, and particularly, the shoelace having a flat shape is reduced in width after being twisted, which affects the smoothness of the shoelace when being threaded through the shoe, easily generates a foreign body sensation, and is aesthetically unpleasing.

Disclosure of Invention

The invention aims to provide a shoelace threading method and a shoelace threading system capable of improving smoothness and automatically leveling shoelaces.

The shoelace threading method for automatically leveling shoelaces is characterized by comprising the following steps:

step (a), arranging a vamp and a shoelace, wherein the vamp comprises a plurality of shoelace holes, and the shoelace comprises two end parts and a flexible part connected with the end parts;

clamping at least one end of the shoelace by a mechanical arm unit to move along a perforation path, wherein the perforation path is used for enabling the flexible part to be hooked on at least one hook claw and to pass through a shoelace hole corresponding to the vamp;

a step (c) of driving the at least one hook to displace relative to the shoe upper between a starting position, in which the at least one hook is away from the shoe upper, and an end position, in which the at least one hook is adjacent to the shoe upper and separated from the shoe lace, during displacement of the at least one hook from the starting position toward the end position; and

repeating the steps (b) to (c) until each end of the shoelace passes through a predetermined number of shoelace holes of the upper, and then threading the flexible portion through the upper.

The shoelace threading method for automatically leveling the shoelace of the invention is characterized in that the flexible part of the shoelace is provided with two lace surfaces, and the at least one hook claw in the step (c) is also rotated by an angle in the process of being displaced from the initial position to the final position, so that one lace surface faces the vamp.

The present invention provides a shoelace threading system for automatically leveling a shoelace, which is adapted to be threaded on an upper, the shoelace having two end portions and a flexible portion connecting the end portions, the upper having a plurality of shoelace holes for the shoelace to be threaded, the shoelace threading system comprising: the device comprises a bearing unit, a mechanical arm unit and at least one claw hooking unit.

The bearing unit is used for arranging the vamp.

The mechanical arm unit is used for clamping at least one end of the shoelace and enabling the at least one end to follow a perforation path, the perforation path is used for enabling the at least one end to pass through the shoelace holes corresponding to the vamp, and after the at least one end passes through a preset number of shoelace holes of the vamp, the flexible part is arranged on the vamp in a penetrating mode.

At least one hook claw unit, including a hook claw and a displacement driving group for driving the hook claw to move along a first axial direction, when the at least one end of the shoelace moves along the perforation path, the hook claw is used for hooking the flexible part of the shoelace and displaces between a starting position and an end position relative to the vamp, when the starting position is reached, the hook claw is far away from the vamp, when the hook claw displaces from the starting position to the end position, the hook claw stretches the flexible part of the shoelace, and when the end position is reached, the hook claw is close to the vamp and is separated from the shoelace.

The displacement driving group is provided with a sliding rail and a rack which extend along the first axial direction and are parallel to each other, a sliding block which is connected with the sliding rail in a sliding way and is used for installing the hook claw, a gear which is meshed with the rack, and a displacement motor which is installed on the sliding block and is used for driving the gear to rotate, so that the sliding block rotates along with the gear and is displaced along with the sliding rail.

The displacement driving group is provided with a slide rail extending along the first axial direction, a slide block which is connected with the slide rail in a sliding way and is used for installing the hook claw, and a pressure cylinder, wherein the pressure cylinder is provided with a piston rod which is connected with the slide block and extends and retracts along the first axial direction, and the piston rod is used for driving the slide block to displace along the slide rail.

The invention relates to a shoelace threading system for automatically leveling shoelaces, wherein a hook claw is provided with a barrel part, a rod part which is threaded in the barrel part along the first axial direction in a displaceable manner, an inverted hook which is arranged at one end of the rod part and is used for tensioning a flexible part of the shoelaces, and an elastic element which is abutted between the barrel part and the rod part, wherein the elastic element constantly generates a biasing force which enables the hook claw to displace in a direction opposite to the vamp direction.

The flexible part of the shoelace is provided with two strap surfaces, the hook claw is provided with a rod piece extending along a central line, and an inverted hook arranged at one end of the rod piece and used for tensioning the flexible part of the shoelace, the central line is parallel to the first axis, the at least one hook claw unit further comprises an overturning driving set, the overturning driving set is provided with an overturning motor installed on the sliding block, and in the process that the hook claw is displaced from the initial position to the final position, the overturning motor is used for driving the rod piece to rotate by an angle by taking the central line as a center, so that the inverted hook drives one strap surface to face the vamp.

The invention discloses a shoelace threading system capable of automatically leveling shoelaces, wherein the at least one hooking claw unit further comprises a hooking driving set, the hooking driving set is provided with a turntable for bearing the displacement driving set and the overturning driving set, and a hooking motor for driving the turntable to rotate, and the turntable rotates by taking the other center line vertical to the center line as a center, so that the inverted hook of the hooking claw is separated from the flexible part of the shoelace.

The invention relates to a shoelace threading system for automatically leveling shoelaces, wherein a hook claw is provided with a rod piece extending along the direction of a central line and an inverted hook which is arranged at one end of the rod piece and is used for tensioning a flexible part of the shoelaces, the central line is parallel to a first axis, a displacement driving set is provided with a barrel seat for the rod piece to be inserted in a displaceable manner and an elastic element which is abutted against the rod piece and the barrel seat, and the elastic element constantly generates a biasing force which enables the hook claw to displace in the direction opposite to the vamp.

The invention discloses a shoelace threading system for automatically leveling shoelaces, wherein the hook claw is provided with a rod piece extending along the direction of a central line and an inverted hook which is arranged at one end of the rod piece and is used for tensioning a flexible part of the shoelaces, the central line is parallel to the first axis, the displacement driving set is provided with a cylinder seat for the rod piece to be movably threaded, a first friction wheel in frictional contact with the rod piece and a displacement motor for driving the first friction wheel to rotate, and the first friction wheel is used for driving the rod piece to displace.

The invention relates to a shoelace threading system for automatically leveling shoelaces, wherein a flexible part of the shoelaces is provided with two belt surfaces, the at least one claw hooking unit further comprises a turning driving set, the rod piece is provided with a small-diameter section and a large-diameter section with the diameter width larger than that of the small-diameter section, the turning driving set is provided with a second friction wheel which is positioned on one side of the rod piece and is separated from the small-diameter section, and a turning motor which is installed on the barrel seat and drives the second friction wheel to rotate, when the large-diameter section of the claw is displaced to be opposite to the second friction wheel, the second friction wheel is in friction contact with the large-diameter section of the rod piece, and drives the rod piece to rotate by taking the central line as a central rotation angle, so that the hooking surface faces the vamp.

The invention discloses a shoelace threading system capable of automatically leveling shoelaces, wherein the at least one hooking claw unit further comprises a hooking driving set, the hooking driving set is provided with a turntable for bearing the displacement driving set and the overturning driving set, and a hooking motor for driving the turntable to rotate, and the turntable rotates by taking the other center line vertical to the center line as a center, so that the inverted hook of the hooking claw is separated from the flexible part of the shoelace.

The invention relates to a shoelace threading system for automatically leveling shoelaces, which comprises two claw units positioned on two sides of a vamp.

The invention has the beneficial effects that: the shoelace can not be twisted randomly by stretching the hook claws of the shoelace, so that the smoothness and the attractiveness of the shoelace when being worn on the vamp are improved.

Drawings

FIG. 1 is a schematic perspective view illustrating one embodiment of the lacing system for automatically leveling laces in accordance with the present invention;

FIG. 2 is a partial top view of the embodiment;

FIG. 3 is a partial front view of the embodiment;

FIG. 4 is a control block diagram of the embodiment;

FIG. 5 is a schematic flow chart of the embodiment;

FIG. 6 is a partial top view of the embodiment;

FIGS. 7 to 11 are schematic views showing the operation of the embodiment;

FIG. 12 is a partial perspective view of a second variation of a claw unit in the illustrated embodiment;

fig. 13 is a partial perspective view of a third variation of the claw unit in the embodiment;

fig. 14 is a partial perspective view of a fourth variation of the claw unit in the embodiment; and

fig. 15 is a partial cross-sectional view of a pawl according to one embodiment.

Detailed Description

Referring to fig. 1, 2, 3 and 4, an embodiment of the shoelace threading system for automatically flattening shoelaces of the present invention is adapted to be used to thread a shoelace 1 on a shoe upper 2. The shoelace 1 comprises two end portions 11 and a flexible portion 12 connected to the end portions 11. The flexible portion 12 has two flat strip surfaces 121. The upper 2 has a plurality of lace holes 21 through which the shoelace 1 is threaded. The shoelace wearing system comprises a bearing unit 3, a mechanical arm unit 4, two claw units 5 arranged along a first axis X direction, and a central control unit 6.

The bearing unit 3 includes a fixture 31 for the vamp 2 to be disposed, and a plurality of clamping groups 32 arranged in two rows along a second axis Y direction and located at two sides of the fixture 31. Thereby, each end 11 of the shoelace 1 is detachably positioned in a corresponding one of the clamping units 32. The second axis Y is perpendicular to the first axis X.

In this embodiment, the robotic arm unit 4 is used for sequentially clamping the one end 11 and the other end 11 of the shoelace 1, so that each end 11 is separated from the corresponding clamping group 32 and follows a perforation path to be positioned at the other corresponding clamping group 32. Said perforation path being intended to pass said one end 11 through a corresponding lace aperture 21 of said vamp 2.

It should be noted that the aforementioned robotic arm unit 4 clamps each end 11 of the shoelace 1, and the technology of the predetermined number of shoelace holes 21 of the vamp 2 is not a technical feature of the present application, and has been disclosed in the related prior art, such as taiwan patent No. I629947, taiwan patent No. I611888, and taiwan patent No. I629015, since the expansion details can be deduced by the ordinary skilled person in the art according to the above description, it is not necessary to add much description.

It should be noted that the robotic arm units 4 are not limited to one, and in other variations of the present embodiment, two robotic arm units may be used to clamp the ends 11 of the corresponding shoelace 1, so as to reduce the time for threading the shoelace 1.

The claw units 5 are arranged on the bearing unit 3 and are spaced at two sides of the shoe upper 2 along the first axis X direction. Each of the claw units 5 includes a claw 51, a disengaging driving set 52, a displacement driving set 53, and an inverting driving set 54.

The hook 51 has a rod 511 extending along a central line L1, and a barb 512 disposed at an end of the rod 511 and opening to one side, the central line L1 is parallel to the first axis X, and the hook 51 is displaced along the central line L1 relative to the shoe upper 2 between a starting position (fig. 2 and 6) in which the barb 512 of the hook 51 is away from the shoe upper 2, and an ending position (fig. 8) in which the barb 512 of the hook 51 is adjacent to the shoe upper 2.

The trip driving unit 52 has a turntable 521 and a trip motor 522 for driving the turntable 521 to rotate, the turntable 521 rotates around a central line L2 perpendicular to the central line L1, the central line L2 is parallel to a third axis Z, and the third axis Z is perpendicular to the first axis X and the second axis Y.

The displacement driving unit 53 is mounted on the rotary plate 521, and has a slide track 531 and a rack 532 extending along the first axis X and parallel to each other, a slide block 533 slidably connected to the slide track 531 and provided for mounting the hook 51, a gear 534 engaged with the rack 532, and a displacement motor 535 mounted on the slide block 533 and used for driving the gear 534 to rotate.

The flipping driving group 54 is mounted on the turntable 521 and has a flipping motor 541, the flipping motor 541 is mounted on the slider 533 and connected to the rod 511 of the hook 51, and is configured to drive the rod 511 of the hook 51 to rotate by an angle θ around the center line L1, in this embodiment, the angle θ is between 85 degrees and 95 degrees.

It should be noted that the hooking elements 5 are not limited to two, but in other variants of this embodiment, they can be one and can be displaced between the two sides of the shoe upper 2 following a U-shaped path, according to the position of the end 11 to be clamped.

Referring to fig. 3 and 4, the central control unit 6 is electrically connected to the hook releasing motor 522, the displacement motor 535, and the turning motor 541 of the robot unit 4 and the hook claw unit 5, and is configured to draw the perforation path of the robot unit 4 and control the operation of the hook releasing motor 522, the displacement motor 535, and the turning motor 541.

Referring to fig. 2, 4 and 5, the shoelace threading method of the present invention, which automatically levels the shoelace, comprises the steps of:

step 701: the shoe upper 2 and the shoelace 1 are arranged on the bearing unit 3.

Referring to fig. 1, 3, 6 and 7, the central control unit 6 controls the robotic arm unit 4 to clamp the one end 11 of the shoelace 1 to follow a predetermined perforation path, such that the flexible portion 12 passes around and hooks the barbs 512 of the corresponding hooking claws 51 at the initial position during the movement, at this time, the barbs 512 extend toward the centerline L1 and abut against the one lace surface 121 of the flexible portion 12, such that the lace surface 121 of the flexible portion 12 contacting the barbs 512 also extends along the centerline L1.

Step 703: while the one end 11 of the shoelace 1 is running along the perforation path, the central control unit 6 will first control the displacement motor 535 of the corresponding hooking unit 5 to drive the gear 534 to rotate, so that the gear 534 drives the slider 533 to drive the hooking claw 51 to move along the sliding rail 531 along the first axis X direction through the meshing relationship with the rack 532, and thus displace from the starting position to the ending position relative to the shoe upper 2.

At this time, since the one end portion 11 of the shoelace 1 is held by the robotic arm unit 4 and moves in the shoelace hole 21 direction of the shoe upper 2, the barbs 512 of the hooks 51 generate a force opposite to the advancing direction of the one end portion 11 with respect to the flexible portion 12, so that the flexible portion 12 of the shoelace 1 is pulled and tensioned, thereby assuming a tensioned state.

Step 704: referring to fig. 1, 3 and 9, in the process that the hook 51 is displaced from the initial position to the final position, the central control unit 6 then controls the turning motor 541 to drive the rod 511 of the hook 51 to rotate by the angle θ, so that the barb 512 drives the strip surface 121 of the flexible portion 12 to turn by about 90 degrees, and thus, one of the strip surfaces 121 faces the shoe upper 2.

Step 705, referring to fig. 1, 3 and 10, when the hook claw 51 moves to the end position, the central control unit 6 controls the unhooking motor 522 to drive the rotating disc 521 to rotate, so that the displacement driving set 53 and the overturning driving set 54 on the rotating disc 521 shift in a direction opposite to the center line L1, and further the barb 512 of the hook claw 51 shifts in a direction opposite to the opening direction, thereby disengaging from the shoelace 1.

Referring to fig. 6 to 11, the steps 702 to 705 are repeated to make each end 11 of the shoelace 1 travel along the predetermined perforated path, and after the flexible portions 12 alternately pass through the predetermined number of shoelace holes 21 of the upper 2, the flexible portions 12 can be smoothly threaded through the upper 2 with one of the lace surfaces 121 facing the upper 2.

It should be noted that the displacement driving set 53 of each hook unit 5 is not limited to driving the hook 51 by the displacement motor 535 cooperating with the gear 534 and the rack 532, and may also be used to drive the hook 51 by a hydraulic cylinder 536 mounted on the rotary plate 521, as shown in fig. 12, in this embodiment, the hydraulic cylinder 536 is a pneumatic cylinder and has a piston rod 537 connected to the slide 533 and extending and contracting along the center line L1, whereby the piston rod 537 can also drive the slide 533 to move along the slide track 531, so as to displace the hook 51 between the start position and the end position.

In a third variation of the present embodiment, each hook unit 5 may also include the hook 51, the unhooking driving group 52, the displacement driving group 55, and the inversion driving group 56 as shown in fig. 13.

The rod 511 of the hook 51 has a small diameter section 513 and a large diameter section 514 with a diameter width larger than that of the small diameter section 513.

The displacement driving group 55 has a cylinder base 551 for the rod 511 to pass through in a displaceable manner, a first friction wheel 552 in frictional contact with the small diameter section 513 of the rod 511, and a displacement motor 553 for driving the first friction wheel 552 to rotate.

The turning driving unit 56 is mounted on the barrel base 551, and has a second friction wheel 561 located at one side of the rod 511 and spaced from the small diameter section 513 by a distance, and a turning motor 562 mounted on the barrel base 551 and driving the second friction wheel 561 to rotate.

Therefore, when the displacement motor 553 drives the first friction wheel 552 to rotate, the rod 511 is driven by friction force to move along the cylinder base 551 along the center line L1 direction, so that the hook 51 is displaced between the initial position and the final position.

When the large diameter section 514 of the hook 51 is displaced to be opposite to the second friction wheel 561, the second friction wheel 561 is in frictional contact with the large diameter section 514 of the rod 511, and the rod 511 is driven to rotate around the central line L1, so that the barb 512 drives the strip surface 121 of the flexible portion 12 to turn by about 90 degrees, and one of the strip surfaces 121 faces the upper 2.

It should be noted that the displacement driving group 55 of each hook unit 5 is not limited to the displacement motor 553 for driving the hook 51 in cooperation with the first friction wheel 552 as shown in FIG. 13, but in the fourth variation of the present embodiment, as shown in FIG. 14, the hook 51 can be driven to stretch the shoelace 1 by an elastic element 554 abutting between the large diameter section 514 of the rod 511 and the barrel base 551. The resilient element 554 constantly generates a biasing force which displaces the hook 51 against the direction of the upper 2. Thereby, since the one end 11 (fig. 10) of the shoelace 1 (fig. 10) is held by the robotic arm unit 4 (fig. 1) and moves toward the shoelace hole 21 (fig. 10) of the shoe upper 2 (fig. 10), the flexible portion 12 of the barb 512 passing around the hook 51 will overcome the biasing force of the elastic element 554 to pull the hook 51 from the initial position to the final position, and the shoelace 1 is maintained in a tensioned state by the biasing force.

In addition, the structure of the hook 51 is not limited to the rod 511 and the barb 512 as shown in fig. 1 to 13, but in another variation of this embodiment, as shown in fig. 15, the hook may further include a tube 515 for passing the rod 511 in a direction of the center line L1 in a displaceable manner, and an elastic member 516 abutting between the tube 515 and the rod 511, wherein the elastic member 516 constantly generates a biasing force for displacing the hook 512 in a direction opposite to the shoe upper 2 (as shown in fig. 10), thereby maintaining the shoe lace 1 in a stable and tense state by the biasing force during the displacement of the hook 51 from the initial position to the final position.

The above description is only an example of the present invention, and the scope of the present invention should not be limited thereby, and the invention is still within the scope of the present invention by simple equivalent changes and modifications made according to the claims and the contents of the specification.