CN109957957A - Automatic clothes folding machine device and method based on embedded system - Google Patents
Automatic clothes folding machine device and method based on embedded system Download PDFInfo
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- CN109957957A CN109957957A CN201910199595.0A CN201910199595A CN109957957A CN 109957957 A CN109957957 A CN 109957957A CN 201910199595 A CN201910199595 A CN 201910199595A CN 109957957 A CN109957957 A CN 109957957A
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- parcel shelf
- steering engine
- pin
- aluminum pipe
- translation
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F89/00—Apparatus for folding textile articles with or without stapling
- D06F89/02—Apparatus for folding textile articles with or without stapling of textile articles to be worn, e.g. shirts
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- Textile Engineering (AREA)
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Abstract
The invention discloses a kind of automatic clothes folding machine device and method based on embedded system.Including bottom plate, object disposing platform, three translation rotating devices, five limiting devices, the parcel shelf that object disposing platform is mainly arranged by six pieces in the form of an array is formed；Translation rotating device and limiting device are both secured to plate upper surface, and limiting device drives the limit film rotation being connected with steering wheel by steering wheel rotation, to realize the compression and folding to clothes；The steering engine for including in translation rotating device is fixed on steering engine pedestal by two L-type firmwares, and pedestal is placed on screw rod and guide rail, is driven with screw rod via stepper motor, is translated in the horizontal direction.The present invention is ingenious in design, and operation orderly, can be realized the automation of folded clothing process, will improve production efficiency, liberates labour, and plant produced daily to family has immeasurable benefit.
Description
Technical field
The present invention relates to a kind of automatic clothes folding machines, more particularly, to a kind of automatic clothes folding machine device based on embedded system
And method.
Background technique
In the contemporary society of rapid development, this little nothings of life of clothes is folded to the people just oppressed originally by fast pace life
Worry is added, has survey data to show, ordinary people in life, there are 750 smallpoxes on laundry clothes, and unremarkable folded clothes
Then to spend 375 days.It is not only to live, in social production, since millwork intelligence is low, much extremely fine movements
It is difficult to complete, the folded clothing process of most of apparel manufacture enterprises still uses manual work, and factory lines operating efficiency is still
It is not very high.To sum up, either in the raising of people's quality of life and happiness or the improvement of social productive forces mode
In, automatic clothes folding machine has its huge development space and immeasurable important meaning.
Current mainly has sliding-type clothes folding machine, folded plate type clothes folding machine, dual rod type clothes folding machine, volume the shapes of the clothes to fold clothing from fold clothing
Machine.But sliding-type clothes folding machine haves the shortcomings that volume is big, it is less neat to fold clothing；There are more than fold for folded plate type clothes folding machine
Disadvantage；Dual rod type clothes folding machine is expensive although more superior in technical aspect, and structure is complex, it is difficult in city
Circulate on face；Volume the shapes of the clothes clothes folding machine haves the shortcomings that frivolous clothing can only be folded and volume is relatively large.To sum up,
Automatic clothes folding machine is short of at present in terms of the volume and cost of folding clothing quality and clothes folding machine itself.Although both at home and abroad
Clothes folding machine is designed and is improved there are many patent, but practical, favorable expandability, high-efficient, low manufacture cost, operability
Simple design does not occur yet, and the design of control system is not mature enough, and innovation structure or the clothes folding machine for integrating various structures still have
Very great development space.
Summary of the invention
In order to solve the problems in background technique, the present invention provides a kind of, and the automatic clothes folding machine based on embedded system is filled
It sets and method, the device volume is small, convenient for storage and carries, and mechanical structure and process are more simple compared with clothes folding machine before,
It is easier to operate.
The technical solution adopted by the present invention is that:
One, a kind of automatic clothes folding machine device based on embedded system
The present invention includes bottom plate, object disposing platform, three translation rotating devices, five limiting devices, the object disposing platform master
It to be made of six pieces of parcel shelf with the arrangement of 3*2 array format, have identical gap, every piece of parcel shelf between adjacent two pieces of parcel shelf
It is fixed on plate upper surface by copper post, three translation rotating devices include translation rotating device I, II peace of translation rotating device
Rotating device III is moved, translation rotating device I and translation rotating device II are individually fixed in bottom plate lower edges position and lean on respectively
Nearly object disposing platform side up and down, translation rotating device III are fixed on plate upper surface and close to an object disposing platform wherein left and right sides
Side.
Six pieces of parcel shelf are respectively parcel shelf I, parcel shelf II, parcel shelf III, parcel shelf IV, parcel shelf V and parcel shelf
VI, parcel shelf I, parcel shelf II, parcel shelf III respectively with parcel shelf IV, parcel shelf V, positioned opposite, the glove of about VI parcel shelf
Plate II between parcel shelf I and parcel shelf III, parcel shelf III and set between parcel shelf IV and parcel shelf VI by parcel shelf V
Object plate VI is respectively positioned on close to the side of translation rotating device III.
The translation rotating device is mainly made of translation mechanism and rotating mechanism；Translation mechanism includes stepper motor, electricity
Machine support, screw rod, two screw rod supports, guide rail, two guide rail bearings, two total brackets and steering engine pedestal I, screw rod is parallel to bottom
Plate side arrangement, screw both end are respectively arranged on two screw rod supports, two screw rod supports are respectively arranged in two and are fixed on
Total bracket upper surface of plate upper surface, two total bracket lower end surfaces are respectively and fixedly provided with guide rail bearing, consolidate between two guide rail bearings
Surely there is guide rail, screw rod and guide rail are set with steering engine pedestal I, and steering engine pedestal I is connected through a screw thread with screw rod, screw rod wherein one end
It is connected with the output shaft of stepper motor, stepper motor is fixed on plate upper surface by motor support base；Rotating mechanism includes steering engine
I, steering engine bracket I, L-type firmware, T-type firmware and aluminum pipe, steering engine I are installed on by being fixed on the L-type firmware of the wherein two sides of steering engine I
I upper surface of steering engine pedestal, I two sides of the bottom of steering engine bracket are installed on the bearing of the another two sides of steering engine I, I upper surface of steering engine bracket peace
Equipped with T-type firmware, T-type firmware is mainly made of horizontal plane and the vertical plane that is fixed among horizontal plane, and vertical plane is towards glove
The side of platform is fixed with aluminum pipe by axle sleeve, and aluminum pipe prolonging direction is vertical with screw rod.
The limiting device includes steering engine II, steering engine bracket II, steering engine pedestal II, steering wheel, plastic sheet and limit film, steering engine
Pedestal II is fixed on plate upper surface, and steering engine II is fixed on steering engine pedestal II by being installed on the steering engine bracket II of II two sides of steering engine
On, II upper surface of steering engine is equipped with steering wheel, and steering wheel is connected with limit film by plastic sheet；Parcel shelf II and parcel shelf V are close to flat
It moves plate upper surface corresponding to two apex angles of rotating device side and is respectively and fixedly provided with limiting device, be located at I lower side of parcel shelf
And plate upper surface corresponding to the apex angle of close parcel shelf II is fixed with limiting device, parcel shelf top corresponding to limiting device
Angular position is provided with arc groove, and the steering wheel of limiting device is located in arc groove, and the limit film of limiting device exists around steering wheel
The rotation of parcel shelf upper surface.
The steering engine I, steering engine II, stepper motor are connected with control circuit, and the control circuit includes power panel, pressure stabilizing
Module, master control borad, three pieces of driving plates and eight steering engine control modules, three pieces of driving plates are connected with power panel, and power panel is through steady
Die block is connected with master control borad, and every piece of driving plate and each steering engine control module are connected with master control borad, and every piece of driving plate connects
It is connected to a stepper motor, steering engine I, steering engine II are connected with steering engine control module.
In the control circuit, power panel L pin and N pin are connected to the alternating current ,+V pin and COM pin point of power panel
Be not connected with the IN+ pin of Voltage stabilizing module and IN- pin, the vcc pin of three pieces of driving plates with the+V of power panel pin and steady
The IN+ pin of die block is connected, and the vout pin of Voltage stabilizing module is connected with the vin pin of master control borad, each steering engine control module
In pin be connected with the out pin of master control borad, the vcc pin of each steering engine control module with the vcc pin of master control borad
It is connected, tri- input pins of DIR+, PLS+, ENA+ of every piece of driving plate are connected with the vcc output pin of master control borad, every piece of drive
PLS- pin, DIR- pin, the ENA- pin of movable plate are respectively connected to the pls pin, dir pin, ena pin of master control borad, often
The A+ pin of block driving plate, A- pin, B+ pin, B- pin respectively with the H pin of corresponding stepper motor, I pin, J pin,
K pin is connected.
In the translation rotating device, screw rod rotates under the drive of stepper motor, to drive the rudder being located on screw rod
Machine base I moves back and forth along screw rod；Steering engine bracket I is under the drive of steering engine I around bearing rotary to drive aluminum pipe to do rotation fortune
It is dynamic.
In the limiting device, steering wheel makes rotating motion under the drive of steering engine II, to drive the limit being connected with steering wheel
Bit slice makes rotating motion.
It is mounted on U-shaped screw at the position of parcel shelf arc groove, U-shaped screw forms U-shaped in glove plate surface
Protrusion；The limit film of limiting device from parcel shelf wherein a side is rotated to another side when under the action of U-shaped screw upwards
It lifts.The plastic sheet being connected with limit film is flexible deformation.
The aluminum pipe of the translation rotating device I extends to parcel shelf II, and the aluminum pipe of translation rotating device II extends to glove
The aluminum pipe of plate V, translation rotating device III extends to parcel shelf I from parcel shelf III.
The aluminum pipe can pass through from the gap between adjacent two pieces of parcel shelf.
There is the gap of 2cm wide between adjacent two pieces of parcel shelf, is moved up and down convenient for aluminum pipe.
Two, the operating method based on above-mentioned clothes folding machine device
The following steps are included:
Step S1: under original state, the mobile rotation of the aluminum pipe of translation rotating device I is between parcel shelf IV and parcel shelf V
Below gap, below the mobile rotation to the gap of parcel shelf II and parcel shelf III of the aluminum pipe of translation rotating device II, rotating dress is translated
It sets below the III mobile rotation to the gap of parcel shelf I and parcel shelf IV of aluminum pipe, the institute of V upper surface of parcel shelf II and parcel shelf
There is limit film to be each rotated to horizontal position, at the lateral location close to translation rotating device side, I upper surface of parcel shelf
Limit film is rotated at the lateral location of II side of parcel shelf；
Step S2: being laid in object disposing platform upper surface middle position for clothing, V upper surface of parcel shelf II and parcel shelf
All limit films, which are rotated from horizontal position to vertical position, is pressed in clothing upper surface；
Step S3: the aluminum pipe of parcel shelf V passes through parcel shelf IV and the gap of parcel shelf V is rotated upwardly to above gap,
Aluminum pipe is moved to the other side from V side of parcel shelf, thus drive be located at parcel shelf I and parcel shelf IV on clothing turn down to
Then middle position drives aluminum pipe to be moved to V side back spin of parcel shelf and goes to vertical direction extreme higher position；The aluminium of parcel shelf II
Pipe is rotated upwardly to above gap across gap, and aluminum pipe is moved to the other side from II side of parcel shelf, is set to drive and be located at
Clothing on object plate III and parcel shelf VI is turned down to middle position, is then driven aluminum pipe to be moved to II side back spin of parcel shelf and is gone to
Vertical direction extreme higher position；
Step S4: all limit films of V upper surface of parcel shelf II and parcel shelf are rotated from vertical position to horizontal position
It sets；
Step S5: the limit film of parcel shelf I is rotated to parcel shelf II at the lateral location of parcel shelf V, clothing is pressed in
In the middle part of object；
Step S6: rotating through the gap between parcel shelf I and parcel shelf IV for the aluminum pipe for translating rotating device III upwards,
After touching clothing, aluminum pipe is moved to the upper side edge of parcel shelf II from the lower side of parcel shelf II, is located at glove to drive
Clothing on plate V is turned down to parcel shelf II；
Step S7: the limit film of parcel shelf I is rotated to the lower side of parcel shelf I, is located on parcel shelf II to drive
Clothing be moved to parcel shelf IV；
Step S8: playback link entirely: will translate rotating device I, translation rotating device II, the aluminum pipe for translating rotating device III
Translation rotation is the location of to step S1 original state；The limit film of parcel shelf I is rotated to locating for step S1 original state
Position.
In the step S2, clothing is laid between parcel shelf II and the limit film of parcel shelf V.
In the step S4, all limit films of parcel shelf II and parcel shelf V leave clothing, lose limit to clothing and make
With.
Beneficial effects of the present invention:
1) by improving clothes folding machine appearance, clothes folding machine volume is reduced
The appearance benefits of present invention combination multiclass clothes folding machine are finally reached small in size outer by the way of hiding slide bar
Shape effect.And light and firm material is used, and it is convenient for carrying and stores, it is more durable.
2) using folded clothing process, clothing almost corrugationless
Since the present invention uses the folded clothing strategy of slide bar and limit film cooperating, it can effectively prevent and be placed on object disposing platform
On clothing sliding, more traditional sliding-type clothes folding machine, folded plate type clothes folding machine, this clothes folding machine fold clothing during generate pleat
Wrinkle is few, even without.
3) mechanism of clothes folding machine is simple, easy to operate, high-efficient
All structures of the invention are all exposed in public sight, and the folded clothing of target is completed with succinct and exquisite design
Function, convenient for operation；Structure of the invention is succinct, and folded clothing step is simplified, and can be worked continuously, efficient work.
4) it can work continuously, Repeatability is good
The present invention can complete the accurate of each slide bar and limit film after having folded a clothing before putting second clothing
Full playback, this has carried out sufficient preparation to carry out second of folded clothing.According to this design, this clothes folding machine possesses continuous work
Performance can repeat folded clothing.
Detailed description of the invention
Fig. 1 is overall assembling schematic diagram of the present invention.
Fig. 2 is object disposing platform top view of the present invention.
Fig. 3 is present invention translation rotating device detail view.
Fig. 4 is limiting device detail view of the present invention.
Fig. 5 is present invention translation rotating device schematic diagram.
Fig. 6 is single unit system top view of the present invention.
Fig. 7 is limiting device schematic diagram of the present invention.
Fig. 8 is control circuit composition schematic diagram of the present invention.
Fig. 9 is step S2 working state figure in the specific embodiment of the invention.
Figure 10 is step S3 working state figure in the specific embodiment of the invention.
Figure 11 is step S4 working state figure in the specific embodiment of the invention.
Figure 12 is step S5 working state figure in the specific embodiment of the invention.
Figure 13 is step S6 working state figure in the specific embodiment of the invention.
Figure 14 is step S7 working state figure in the specific embodiment of the invention.
In figure: 1, parcel shelf I, 2, parcel shelf II, 3, parcel shelf III, 4, parcel shelf IV, 5, parcel shelf V, 6, parcel shelf
VI, 7, aluminum pipe, 10, limit film, 15, steering engine I, 16, steering engine II, 17, steering engine bracket I, 18, steering engine bracket II, 21, bottom plate, 23,
Steering wheel, 24, L-type firmware, 25, total bracket, 26, stepper motor, 27, motor support base, 28, screw rod, 29, screw rod support, 30, lead
Rail, 31, guide rail bearing, 32, T-type firmware, 33, U-shaped screw, 34, fastening screw, 35, plastic sheet, 36, driving plate, 37, power supply
Plate, 38, Voltage stabilizing module, 40, object disposing platform, 41, translation rotating device, 42, limiting device, 44, control circuit.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
As shown in Figure 1, the present invention includes bottom plate 21, the limiting device of translation rotating device 41, five of object disposing platform 40, three
42, the object disposing platform 40 is mainly made of six pieces of parcel shelf with the arrangement of 3*2 array format, is had between adjacent two pieces of parcel shelf
Identical gap, every piece of parcel shelf are fixed on 21 upper surface of bottom plate by copper post, and three translation rotating devices 41 include translation rotation
Device I, translation rotating device II and translation rotating device III, translation rotating device I and translation rotating device II are individually fixed in
21 lower edges position of bottom plate and respectively close to about 40 side of object disposing platform, translates rotating device III and is fixed on table on bottom plate 21
Face and close to wherein one or so the side of object disposing platform 40.
As shown in Fig. 2, six pieces of parcel shelf are respectively parcel shelf I 1, parcel shelf II 2, parcel shelf III 3, parcel shelf IV 4, glove
Plate V 5 and parcel shelf VI 6, parcel shelf I 1, parcel shelf II 2, parcel shelf III 3 respectively with parcel shelf IV 4, parcel shelf V 5, parcel shelf
About VI 6 is positioned opposite, and for parcel shelf II 2 between parcel shelf I 1 and parcel shelf III 3, parcel shelf V 5 is located at IV 4 He of parcel shelf
Between parcel shelf VI 6, parcel shelf III 3 and parcel shelf VI 6 are respectively positioned on close to the side of translation rotating device III.
As shown in Figure 3 and Figure 5, translation rotating device 41 is mainly made of translation mechanism and rotating mechanism；Translation mechanism packet
Include stepper motor 26, motor support base 27,28, two screw rod supports 29 of screw rod, guide rail 30, two guide rail bearings 31, Liang Ge general branches
Frame 25 and steering engine pedestal I 45, screw rod 28 are parallel to 21 side of bottom plate arrangement, and 28 both ends of screw rod are respectively arranged in two screw rod supports
On 29, two screw rod supports 29 are respectively arranged in two 25 upper surfaces of total bracket for being fixed on 21 upper surface of bottom plate, Liang Ge general branch
25 lower end surface of frame is respectively and fixedly provided with guide rail bearing 31, and guide rail 30 is fixed between two guide rail bearings 31, and screw rod 28 and guide rail 30 are equal
It is set with steering engine pedestal I 45, steering engine pedestal I 45 is connected through a screw thread with screw rod 28, screw rod 28 wherein one end and stepper motor 26
Output shaft be connected, stepper motor 26 is fixed on 21 upper surface of bottom plate by motor support base 27；Rotating mechanism include steering engine I 15,
Steering engine bracket I 17, L-type firmware 24, T-type firmware 32 and aluminum pipe 7, steering engine I 15 is by being fixed on the L-types of the wherein two sides of steering engine I 15
Firmware 24 is installed on I 45 upper surface of steering engine pedestal, and I 17 two sides of the bottom of steering engine bracket are installed on the bearing of the another two sides of steering engine I 15,
I 17 upper surface of steering engine bracket is equipped with T-type firmware 32, and T-type firmware 32 mainly by horizontal plane and is fixed on perpendicular among horizontal plane
Face composition directly, vertical plane is fixed with aluminum pipe 7,7 prolonging direction of aluminum pipe and screw rod 28 by axle sleeve towards the side of object disposing platform 40
Vertically.
As shown in figure 4, limiting device 42 includes steering engine II 16, steering engine bracket II 18, steering engine pedestal II 46, steering wheel 23, modeling
Tablet 35 and limit film 10, steering engine pedestal II 46 are fixed on 21 upper surface of bottom plate, and steering engine II 16 is by being installed on II 16 liang of steering engine
The steering engine bracket II 18 of side is fixed on steering engine pedestal II 46, and II 16 upper surface of steering engine is equipped with steering wheel 23, and steering wheel 23 passes through modeling
Tablet 35 is connected with limit film 10, is connected between steering wheel 23 and plastic sheet 35 by fastening screw 34；Parcel shelf II 2 and parcel shelf
21 upper surface of bottom plate corresponding to V 5 two apex angles close to translation 41 side of rotating device is respectively and fixedly provided with limiting device 42, position
21 upper surface of bottom plate corresponding to the apex angle of I 1 lower side of parcel shelf and close parcel shelf II 2 is fixed with limiting device 42, limits
It is provided with arc groove at parcel shelf corner position corresponding to the device 42 of position, the steering wheel 23 of limiting device 42 is located at arc groove
Interior, the limit film 10 of limiting device 42 is rotated around steering wheel 23 in parcel shelf upper surface.
As shown in fig. 7, be mounted on U-shaped screw 33 at the position of parcel shelf arc groove, U-shaped screw 33 is in glove
Plate surface forms U-shaped protrusion；The limit film 10 of limiting device 42 from parcel shelf wherein a side is rotated to another side when U-shaped
It is lifted up under the action of screw 33.The plastic sheet 35 being connected with limit film 10 is flexible deformation.
As shown in fig. 6, the aluminum pipe 7 of translation rotating device I extends to parcel shelf II 2, the aluminum pipe 7 of translation rotating device II prolongs
Parcel shelf V 5 is extended to, the aluminum pipe 7 of translation rotating device III extends to parcel shelf I 1 from parcel shelf III 3.
As shown in figure 8, steering engine I 15, steering engine II 16, stepper motor 26 are connected with control circuit 44, the control circuit
44 include power panel 37, Voltage stabilizing module 38, master control borad, three pieces of driving plates 36 and eight steering engine control modules, three translation rotations
The steering engine I 15 of device is controlled by three steering engine control modules (steering engine 1, steering engine 2 and steering engine 3) respectively, five limiting devices 42
Steering engine II 16 is controlled by five steering engine control modules (steering engine 4, steering engine 5, steering engine 6, steering engine 7 and steering engine 8) respectively, three pieces of driving plates
36 are connected with power panel 37, and power panel 37 is connected through Voltage stabilizing module 38 with master control borad, and every piece of driving plate 36 is respectively connected with one
Stepper motor 26.
In control circuit 44, power panel 37L pin and N pin are connected to the alternating current ,+V pin and COM pin of power panel 37
It is connected respectively with the IN+ pin of Voltage stabilizing module 38 and IN- pin ,+V of the vcc pin of three pieces of driving plates 36 with power panel 37
Pin is connected with the IN+ pin of Voltage stabilizing module 38, and the vout pin of Voltage stabilizing module 38 is connected with the vin pin of master control borad, each
The in pin of steering engine control module is connected with out pin corresponding to master control borad, the vcc pin of each steering engine control module with
The vcc pin of master control borad is connected, and tri- input pins of DIR+, PLS+, ENA+ of every piece of driving plate 36 are defeated with the vcc of master control borad
Pin is connected out, and PLS- pin, the DIR- pin of every piece of driving plate 36 are respectively connected to the pls pin of master control borad, dir pin,
The ENA- pin of three pieces of driving plates 36 is respectively connected to the ena1 pin, ena2 pin, ena3 pin of master control borad, every piece of driving plate
36 A+ pin, A- pin, B+ pin, B- pin draw with the H pin of corresponding stepper motor 26, I pin, J pin, K respectively
Foot is connected.
In specific implementation, master control borad is Arduino Mega plate, the model JX PDI- of steering engine I 15, steering engine II 16
6221MG is controlled using Arduino numeral output pin；The model S-100-36 of power panel 37,26 model of stepper motor
J-5718HB5401, the model DQ542 of three pieces of driving plates 36, is all made of calculus of finite differences control.Whole device is by control circuit 44
It is powered, the power panel 37 in control circuit 44 accesses household 220V alternating current, and power panel 37 uses 200W synchronous buck mould
The firewire of 220V alternating current and zero curve, are connected to the L pin and N pin of power panel by block respectively, and power panel is converted to 220V alternating current+
36V DC current can directly be connect with the vcc of three pieces of parts driving plate Power after output, and the GND of the part driving plate Power draws
Foot ground connection is embodied as stepper motor power supply；The output of power panel 39 is connect with Voltage stabilizing module input terminal simultaneously, and Voltage stabilizing module 38 will
Output is powered to Arduino Mega plate after 36V direct current is depressurized to 5V, and Arduino Mega plate is connected directly with this direct current
It powers afterwards for steering engine control module, eight steering engine control modules share 5V input and ground connection, signal end respectively occupy an Arduino
Numeral output pin.Voltage stabilizing module, Arduino Mega plate, driving plate, stepper motor and steering engine control module are altogether.
Specific embodiment:
The operating method of clothes folding machine device of the present invention, comprising the following steps:
Step S1: under original state, the mobile rotation of the aluminum pipe 7 of translation rotating device I to parcel shelf IV 4 and parcel shelf V 5
Gap below, below the mobile rotation to the gap of parcel shelf II 2 and parcel shelf III 3 of the aluminum pipe 7 of translation rotating device II, translation
Below the mobile rotation to the gap of parcel shelf I 1 and parcel shelf IV 4 of the aluminum pipe 7 of rotating device III, parcel shelf II 2 and parcel shelf V 5
All limit films 10 of upper surface are each rotated to horizontal position, at the lateral location close to translation rotating device side, set
The rotation of limit film 10 of I 1 upper surface of object plate is at the lateral location of II 2 side of parcel shelf；
Step S2: as shown in figure 9, clothing is laid in 40 upper surface middle position of object disposing platform, V 5 left side of parcel shelf
Limit film 10 is rotated by 90 ° counterclockwise, and the limit film 10 on V 5 right side of parcel shelf rotates clockwise 90 °, is pressed in clothing lower half；It sets
The limit film 10 on II 2 right side of object plate is rotated by 90 ° counterclockwise, and the limit film 10 in V 5 left side of parcel shelf rotates clockwise 90 °, is pressed in
The clothing upper half；
Step S3: as shown in Figure 10, the aluminum pipe 7 of parcel shelf V 5 rotates clockwise 30 ° and passes through gap, touches clothing, just
It is located at V 5 upper surface of parcel shelf well, then is close to the right end that parcel shelf is moved horizontally to the right parcel shelf V 5, then reversed translation
Identical distance, and 30 ° are rotated clockwise to vertical direction highest point, it is still in V 5 top of parcel shelf；The aluminium of parcel shelf II 2
Pipe 7 passes through gap for 30 ° of rotation counterclockwise, touches clothing, is located exactly at II 2 upper surface of parcel shelf, then be close to parcel shelf to the left
Be moved horizontally to the left end of parcel shelf II 2, then reversely translate identical distance, and counterclockwise rotate 30 ° to vertical direction most
High point is still in II 2 top of parcel shelf；
Step S4: as shown in figure 11, all limit films 10 of V 5 upper surface of parcel shelf II 2 and parcel shelf are each rotated to
The original state position of step S1；
Step S5: as shown in figure 12, the limit film 10 of parcel shelf I 1 is rotated clockwise 90 ° and is pressed in the middle part of clothing；
Step S6: as shown in figure 13, the aluminum pipe 7 of translation rotating device III (sees to slide bar direction) inverse time in perpendicular
Needle rotate 30 ° pass through gap, touch clothing, just in parcel shelf plane, then be close to parcel shelf (seeing to slide bar direction) to
A left side is moved horizontally to the left end of parcel shelf II 2, then the identical distance of backtracking, and rotates 30 ° counterclockwise to vertical direction
Highest point；
Step S7: as shown in figure 14, the limit film 10 of parcel shelf I 1 is rotated clockwise 180 °, clothing is stayed in into parcel shelf
On IV 4, another mistake hour hands rotate 270 ° and are returned to original position；
Step S8: playback link entirely: will translate rotating device I, translation rotating device II, the aluminum pipe for translating rotating device III
7 translation rotations are the location of to step S1 original state；By the rotation of limit film 10 of parcel shelf I 1 to step S1 original state
Location；
Step S9: after all playback, task signal next time is waited.
Claims (9)
1. a kind of automatic clothes folding machine device based on embedded system, it is characterised in that: including bottom plate (21), object disposing platform
(40), three translation rotating devices (41), five limiting devices (42), the object disposing platform (40) is mainly by six pieces with 3*2 gusts
The parcel shelf of column form arrangement forms, and has identical gap between adjacent two pieces of parcel shelf, every piece of parcel shelf is fixed on by copper post
Bottom plate (21) upper surface, three translation rotating devices (41) include translation rotating device I, translation rotating device II and translation rotation
Device III, translation rotating device I and translation rotating device II be individually fixed in bottom plate (21) lower edges position and respectively close to
Side, translation rotating device III are fixed on bottom plate (21) upper surface and close object disposing platform (40) wherein to object disposing platform (40) up and down
One or so side；
Six pieces of parcel shelf are respectively parcel shelf I (1), parcel shelf II (2), parcel shelf III (3), parcel shelf IV (4), parcel shelf V
(5) and parcel shelf VI (6), parcel shelf I (1), parcel shelf II (2), parcel shelf III (3) respectively with parcel shelf IV (4), parcel shelf V
(5), parcel shelf VI (6) is positioned opposite up and down, and parcel shelf II (2) is between parcel shelf I (1) and parcel shelf III (3), parcel shelf
Between parcel shelf IV (4) and parcel shelf VI (6), parcel shelf III (3) and parcel shelf VI (6) are respectively positioned on close to translation for V (5)
The side of rotating device III；
The translation rotating device (41) is mainly made of translation mechanism and rotating mechanism；Translation mechanism includes stepper motor
(26), motor support base (27), screw rod (28), two screw rod supports (29), guide rail (30), two guide rail bearings (31), two it is total
Bracket (25) and steering engine pedestal I (45), screw rod (28) are parallel to bottom plate (21) side arrangement, and screw rod (28) both ends are respectively arranged in
On two screw rod supports (29), two screw rod supports (29) are respectively arranged in two general branches for being fixed on bottom plate (21) upper surface
Frame (25) upper surface, two total bracket (25) lower end surfaces are respectively and fixedly provided with guide rail bearing (31), solid between two guide rail bearings (31)
Surely have guide rail (30), screw rod (28) and guide rail (30) are set with steering engine pedestal I (45), steering engine pedestal I (45) and screw rod (28)
It is connected through a screw thread, wherein one end is connected screw rod (28) with the output shaft of stepper motor (26), and stepper motor (26) passes through motor
Support (27) is fixed on bottom plate (21) upper surface；Rotating mechanism include steering engine I (15), steering engine bracket I (17), L-type firmware (24),
T-type firmware (32) and aluminum pipe (7), steering engine I (15) are installed on by being fixed on the L-type firmware (24) of steering engine I (15) wherein two sides
Steering engine pedestal I (45) upper surface, steering engine bracket I (17) two sides of the bottom are installed on the bearing of the another two sides of steering engine I (15), steering engine branch
Frame I (17) upper surface is equipped with T-type firmware (32), and T-type firmware (32) mainly by horizontal plane and is fixed on perpendicular among horizontal plane
Face composition directly, vertical plane is fixed with aluminum pipe (7) towards the side of object disposing platform (40) by axle sleeve, aluminum pipe (7) prolonging direction with
Screw rod (28) is vertical；
The limiting device (42) includes steering engine II (16), steering engine bracket II (18), steering engine pedestal II (46), steering wheel (23), modeling
Tablet (35) and limit film (10), steering engine pedestal II (46) are fixed on bottom plate (21) upper surface, and steering engine II (16) is by being installed on
The steering engine bracket II (18) of steering engine II (16) two sides is fixed on steering engine pedestal II (46), and steering engine II (16) upper surface is equipped with rudder
Disk (23), steering wheel (23) are connected with limit film (10) by plastic sheet (35)；Parcel shelf II (2) and parcel shelf V (5) are close to flat
It moves bottom plate (21) upper surface corresponding to two apex angles of rotating device (41) side and is respectively and fixedly provided with limiting device (42), positioned at setting
Bottom plate (21) upper surface corresponding to the apex angle of object plate I (1) lower side and close parcel shelf II (2) is fixed with limiting device
(42), arc groove, the steering wheel of limiting device (42) are provided at parcel shelf corner position corresponding to limiting device (42)
(23) it is located in arc groove, the limit film (10) of limiting device (42) is rotated around steering wheel (23) in parcel shelf upper surface.
2. the automatic clothes folding machine device according to claim 1 based on embedded system, which is characterized in that the steering engine I
(15), steering engine II (16), stepper motor (26) are connected with control circuit (44), and the control circuit (44) includes power panel
(37), Voltage stabilizing module (38), master control borad, three pieces of driving plates (36) and eight steering engine control modules, three pieces of driving plates (36) with
Power panel (37) is connected, and power panel (37) is connected through Voltage stabilizing module (38) with master control borad, every piece of driving plate (36) and each steering engine
Control module is connected with master control borad, and every piece of driving plate (36) is respectively connected with a stepper motor (26), steering engine I (15), steering engine
II (16) are connected with steering engine control module.
3. the automatic clothes folding machine device according to claim 2 based on embedded system, which is characterized in that the control electricity
In road (44), the L pin of power panel (37) and N pin are connected to alternating current ,+V the pin and COM pin of power panel (37) respectively with
The IN+ pin of Voltage stabilizing module (38) is connected with IN- pin ,+V of the vcc pin of three pieces of driving plates (36) with power panel (37)
Pin is connected with the IN+ pin of Voltage stabilizing module (38), and the vout pin of Voltage stabilizing module (38) is connected with the vin pin of master control borad,
The in pin of each steering engine control module is connected with the out pin of master control borad, the vcc pin of each steering engine control module with
The vcc pin of master control borad is connected, tri- input pins of DIR+, PLS+, ENA+ of every piece of driving plate (36) with the vcc of master control borad
Output pin is connected, and PLS- pin, DIR- pin, the ENA- pin of every piece of driving plate (36) are respectively connected to the pls of master control borad
Pin, dir pin, ena pin, the A+ pin of every piece of driving plate (36), A- pin, B+ pin, B- pin respectively with it is corresponding
H pin, I pin, J pin, the K pin of stepper motor (26) are connected.
4. the automatic clothes folding machine device according to claim 1 based on embedded system, which is characterized in that the translation rotation
In rotary device (41), screw rod (28) rotates under the drive of stepper motor (26), to drive the steering engine being located on screw rod (28)
Pedestal I (45) moves back and forth along screw rod (28)；Steering engine bracket I (17) is under the drive of steering engine I (15) around bearing rotary to band
Dynamic aluminum pipe (7) make rotating motion.
5. the automatic clothes folding machine device according to claim 1 based on embedded system, which is characterized in that the limit dress
It sets in (42), steering wheel (23) makes rotating motion under the drive of steering engine II (16), to drive the limit being connected with steering wheel (23)
Piece (10) makes rotating motion.
6. the automatic clothes folding machine device according to claim 1 based on embedded system, which is characterized in that close to parcel shelf
It is mounted at the position of arc groove U-shaped screw (33), U-shaped screw (33) forms U-shaped protrusion in glove plate surface；Limit dress
Set the limit film (10) of (42) from parcel shelf wherein a side is rotated to another side when under the action of U-shaped screw (33) upwards
It lifts.
7. the automatic clothes folding machine device according to claim 1 based on embedded system, which is characterized in that translation rotating dress
The aluminum pipe (7) for setting I extends to parcel shelf II (2), and the aluminum pipe (7) of translation rotating device II extends to parcel shelf V (5), translation rotation
The aluminum pipe (7) of rotary device III extends to parcel shelf I (1) from parcel shelf III (3).
8. the operating method based on clothes folding machine device described in claim 1-7, which is characterized in that
The following steps are included:
Step S1: under original state, the mobile rotation of the aluminum pipe (7) of translation rotating device I to parcel shelf IV (4) and parcel shelf V
(5) below gap, the mobile rotation of the aluminum pipe (7) of translation rotating device II to the gap of parcel shelf II (2) and parcel shelf III (3)
Lower section, the mobile rotation of the aluminum pipe (7) of translation rotating device III to the gap of parcel shelf I (1) and parcel shelf IV (4) lower section, glove
All limit films (10) of plate II (2) and parcel shelf V (5) upper surface are each rotated to horizontal position, are located at close to translation rotating dress
It sets at the lateral location of side, the limit film (10) of parcel shelf I (1) upper surface is rotated to the side close to parcel shelf II (2) side
At the position of side；
Step S2: clothing is laid in object disposing platform (40) upper surface middle position, on parcel shelf II (2) and parcel shelf V (5)
All limit films (10) on surface, which are rotated from horizontal position to vertical position, is pressed in clothing upper surface；
Step S3: between the aluminum pipe (7) of parcel shelf V (5) is rotated upwardly to across the gap of parcel shelf IV (4) and parcel shelf V (5)
Above gap, aluminum pipe (7) is moved to the other side from parcel shelf V (5) side, is located at parcel shelf I (1) and parcel shelf to drive
Clothing on IV (4) is turned down to middle position, is then driven aluminum pipe (7) to be moved to parcel shelf V (5) side back spin and is gone to vertically
Direction extreme higher position；The aluminum pipe (7) of parcel shelf II (2) passes through gap and is rotated upwardly to above gap, by aluminum pipe (7) from parcel shelf
II (2) side is moved to the other side, so that the clothing being located on parcel shelf III (3) and parcel shelf VI (6) be driven to turn down to centre
Then position drives aluminum pipe (7) to be moved to parcel shelf II (2) side back spin and goes to vertical direction extreme higher position；
Step S4: by all limit films (10) of parcel shelf II (2) and parcel shelf V (5) upper surface from vertical position rotate to
Horizontal position；
Step S5: by limit film (10) rotation of parcel shelf I (1) to parcel shelf II (2) close to the lateral location of parcel shelf V (5)
Place is pressed in the middle part of clothing；
Step S6: the aluminum pipe (7) for translating rotating device III is rotated through between parcel shelf I (1) and parcel shelf IV (4) upwards
Aluminum pipe (7) after touching clothing, is moved to the upper side edge of parcel shelf II (2) by gap from the lower side of parcel shelf II (2), from
And the clothing being located on parcel shelf V (5) is driven to turn down to parcel shelf II (2)；
Step S7: by the lower side of limit film (10) rotation of parcel shelf I (1) to parcel shelf I (1), it is located at glove to drive
Clothing on plate II (2) is moved to parcel shelf IV (4)；
Step S8: playback link entirely: will translate rotating device I, translation rotating device II, the aluminum pipe (7) for translating rotating device III
Translation rotation is the location of to step S1 original state；By limit film (10) rotation of parcel shelf I (1) to step S1 initial shape
The location of state.
9. the operating method of clothes folding machine device according to claim 8, which is characterized in that it is characterized in that, the step
In S2, clothing is laid between parcel shelf II (2) and the limit film (10) of parcel shelf V (5).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910199595.0A CN109957957B (en) | 2019-03-15 | 2019-03-15 | Automatic clothes stacking machine device and method based on embedded system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910199595.0A CN109957957B (en) | 2019-03-15 | 2019-03-15 | Automatic clothes stacking machine device and method based on embedded system |
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| CN109957957B CN109957957B (en) | 2023-06-27 |
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| CN110924115A (en) * | 2019-12-04 | 2020-03-27 | 北华大学 | Intelligent clothes folding device |
| CN112726171A (en) * | 2020-12-25 | 2021-04-30 | 山西大同大学 | Can fold for columniform automatic receipts and fold machine |
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| Publication number | Publication date |
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| CN109957957B (en) | 2023-06-27 |
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