CN111254663B - Clothes hanger, clothes folding machine and control method of clothes folding machine - Google Patents
Clothes hanger, clothes folding machine and control method of clothes folding machine Download PDFInfo
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- CN111254663B CN111254663B CN201811452157.2A CN201811452157A CN111254663B CN 111254663 B CN111254663 B CN 111254663B CN 201811452157 A CN201811452157 A CN 201811452157A CN 111254663 B CN111254663 B CN 111254663B
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000007246 mechanism Effects 0.000 claims abstract description 174
- 238000003825 pressing Methods 0.000 claims abstract description 66
- 230000000670 limiting effect Effects 0.000 claims description 74
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- 230000008569 process Effects 0.000 description 7
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- 230000005540 biological transmission Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 230000007723 transport mechanism Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
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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
- D06F57/00—Supporting means, other than simple clothes-lines, for linen or garments to be dried or aired
- D06F57/08—Folding stands
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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
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Abstract
The invention discloses a clothes hanger, a clothes folding machine and a control method of the clothes folding machine. The clothes hanger can be folded, the clothes folding machine comprises a foldable clothes hanger, the clothes hanger is provided with a folding switch, the clothes folding machine further comprises a touch mechanism used for pressing the folding switch of the clothes hanger to fold the clothes hanger, and the clothes folding machine further comprises a distance measuring device used for detecting the distance between the clothes hanger and the touch mechanism. The control method of the clothes folding machine comprises the step that the clothes folding machine controls the touch mechanism to touch the clothes hanger according to the distance between the touch mechanism and the clothes hanger. The clothes hanger can be folded, clothes can be supported and released, the clothes folding machine is provided with the distance measuring device, and the clothes hanger and the touch mechanism can be accurately positioned and can control the clothes supporting arm; the control of the clothes folding machine can be automated, and the household requirements for the clothes folding machine can be met.
Description
Technical Field
The invention belongs to the field of household appliances, and particularly relates to a clothes hanger, a clothes folding machine and a control method of the clothes folding machine.
Background
Clothes in the family all adopt artifical folding mode to accomodate after drying today, still have on the market that the clothes folding board can be manual to fold the clothing, along with the acceleration of life rhythm, it wastes time and energy to fold the clothing through the manual work, and, because people's standard of living's improvement, the kind of clothing is more and more, the user can not master the folding of different clothing and the skill of accomodating, so that the clothing after folding can not obtain better protection, the clothing of folding unevenness still need iron before the dress. There is a need for a machine that can replace the manual labor in properly treating the clothes.
The clothes folding machine in the prior art is generally used in industrial production, different kinds of clothes cannot be reasonably folded and stored aiming at repeated operation of the same kind of clothes, and the industrial clothes folding machine is large in size, complex in structure, low in automation degree and not suitable for being used in families.
The present invention has been made in view of this situation.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a clothes hanger, a clothes folding machine and a control method of the clothes folding machine.
In order to solve the technical problems, the invention adopts the technical scheme that:
the utility model provides a clothes hanger, includes that main part and two prop the clothing arm, prop the clothing arm and rotationally set up in the main part, clothes hanger still includes locating part and pressing part, the locating part with prop the clothing arm and be provided with corresponding limit structure between and make and prop the clothing arm and strut, the pressing part can remove the locating part cancellation and prop the spacing messenger of clothing arm and prop the clothing arm and fold.
The clothes folding machine comprises the clothes hanger, the clothes hanger is provided with a folding switch, the clothes folding machine further comprises a touch mechanism used for pressing the folding switch of the clothes hanger to fold the clothes hanger, and the clothes folding machine further comprises a distance measuring device used for detecting the distance between the clothes hanger and the touch mechanism.
The distance measuring device is arranged at the touch mechanism and comprises a laser transmitter and a laser receiver, and the clothes hanger can reflect laser; preferably, the body is provided with a reflective surface that reflects the laser light.
The clothes hanger further comprises a limiting part and a pressing part, a corresponding limiting structure is arranged between the limiting part and the clothes supporting arms to enable the clothes supporting arms to be unfolded, the pressing part can move the limiting part to cancel the limiting of the clothes supporting arms to enable the clothes supporting arms to be folded, and the part, located outside the main body, of the pressing part is a folding switch.
The clothes folding machine further comprises a clothes hanger conveying mechanism, the clothes hanger conveying mechanism can convey clothes hangers, and the distance measuring device can measure the distance between the clothes hangers and the touch mechanism before conveying and in the conveying process.
The contact mechanism comprises a contact piece, the contact piece corresponds to the position of the folding switch, the folding switch is positioned at the bottom of the main body, and the contact piece and the folding switch can move up and down relatively to press the folding switch.
The touch mechanism further comprises a driving device capable of driving the touch piece to move up and down, the clothes folding machine further comprises a control unit, the control unit is in communication connection with the driving device, and the control unit is in communication connection with the distance measuring device.
According to the control method of the clothes folding machine, the clothes folding machine controls the touch of the touch mechanism to the clothes rack according to the distance between the touch mechanism and the clothes rack.
The control unit obtains the distance between the clothes hanger and the touch mechanism measured by the distance measuring device, when the distance between the clothes hanger and the touch mechanism is smaller than a set value, the control unit judges that the clothes hanger reaches the touch mechanism, and the control unit starts the driving device to enable the touch piece to press the folding switch of the clothes hanger to enable the clothes supporting arm to be folded.
The clothes hanger conveying mechanism judges the placing position of the clothes hanger according to the distance between the clothes hanger and the touch mechanism and clamps the clothes hanger. After the technical scheme is adopted, compared with the prior art, the invention has the following beneficial effects.
(1) The clothes hanger can be folded, clothes can be supported and released, the position of the clothes supporting arm can be changed by limiting the inner limiting part and canceling the limiting, the structure is simple and easy to realize, and the connection process from hanging the clothes by a user to taking the clothes by the clothes folding machine can be completed;
(2) the clothes hanger is provided with the folding switch, so that the clothes hanger can be folded by touching the folding switch by the clothes folding machine, the folding switch corresponds to the position of the touch piece, accurate positioning can be realized, and the clothes supporting arm can be controlled;
(3) the clothes folding machine is further provided with a distance measuring device which can detect the position relation between the clothes hanger and the touch mechanism, so that the automatic control of folding the clothes hanger is realized, the automation degree of the clothes folding machine is further improved, and the household requirement for the clothes folding machine is met.
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention to the proper form disclosed herein. It is obvious that the drawings in the following description are only some embodiments, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
FIG. 1 is a schematic view of a garment hanger of the present invention;
FIG. 2 is a cross-sectional view of the hanger of the present invention in an expanded state;
FIG. 3 is a cross-sectional view showing a folded state of the clothes hanger of the present invention;
FIG. 4 is an enlarged view of a portion of FIG. 2 at B;
FIG. 5 is an enlarged view of a portion of FIG. 3 at B;
FIG. 6 is another embodiment of the garment hanger of the present invention;
FIG. 7 is a front view of the garment stacker of the present invention;
FIG. 8 is a side view of the garment stacker of the present invention;
FIG. 9 is a partial side view of the garment stacker of the present invention;
FIG. 10 is a perspective view of the hanger delivery mechanism of the present invention;
FIG. 11 is a top plan view of the hanger delivery mechanism of the present invention;
FIG. 12 is a view showing an operating state of the clothes hanger transporting mechanism of the present invention;
FIG. 13 is a view of the hanger delivery mechanism of the present invention in an operative condition;
FIG. 14 is an operational view of the hanger transfer mechanism of the present invention;
FIG. 15 is a view of the hanger delivery mechanism of the present invention in an operative condition;
FIG. 16 is a view showing an operating state of the clothes hanger transporting mechanism of the present invention;
FIG. 17 is an operational view of the hanger transfer mechanism of the present invention;
FIG. 18 is a view of the hanger delivery mechanism of the present invention in an operative condition;
FIG. 19 is a schematic view of a method of controlling the clothes folding machine of the present invention;
FIG. 20 is a schematic view of a method of controlling the garment stacker of the present invention;
fig. 21 is a schematic view of a control method of the clothes folding machine of the present invention.
In the figure: 1000. a clothes folding machine; 100. a hanger; 1. a main body; 11. a stopper; 111. a limiting column; 1111. a first limit structure; 12. a pressing member; 121. a pressing part; 122. a wing portion; 123. a return device; 13. a third limiting structure; 14. a power mechanism; 141. a drive member; 142. a first link; 143. a second link; 15. a sliding groove; 2. a clothes supporting arm; 21. a second limit structure; 22. an avoidance structure; 23. a rotating shaft; 3. a hanging part;
200. a touch mechanism; 300. a hanger conveying mechanism; 311. a first hanging rod; 312. a second hanging rod; 321. a first moving member; 322. a first drive belt; 323. a first guide rail; 324. a first motor; 331. a second moving member; 332. a second belt; 333. a second guide rail; 334. a second motor; 335. a robot arm.
It should be noted that the drawings and the description are not intended to limit the scope of the inventive concept in any way, but to illustrate it by a person skilled in the art with reference to specific embodiments.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and the following embodiments are used for illustrating the present invention and are not intended to limit the scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example one
As shown in fig. 1 to 5, the clothes folding machine of the present invention comprises a clothes hanger, wherein the clothes hanger 100 comprises a main body 1 and two clothes supporting arms 2, a hanging part 3 is arranged at the upper part of the main body 1 for hanging the clothes hanger 100, the clothes supporting arms 2 are rotatably arranged on the main body 1, the clothes supporting arms 2 can rotate to a position close to the horizontal position for supporting clothes, and can also rotate to the vertical position, and the two arms can be folded to release the clothes hung on the clothes supporting arms 2.
The clothes supporting arm 2 is arranged on the main body 1 through a rotating shaft 23, and the clothes supporting arm 2 can rotate at a certain angle by taking the rotating shaft 23 as a circle center. The rotating angle can be limited by a corresponding limiting mechanism, and the clothes support arm 2 is prevented from over-rotating.
The control of the expansion and the folding of the clothes support arm of the clothes rack is realized by a limiting piece 11 and a pressing piece 12 which are arranged in the main body. Limiting mechanisms are arranged between the limiting part 11 and the clothes supporting arms 2 and correspond to each other, so that the limiting structures can support the clothes supporting arms 2 at positions close to the horizontal position to be in an opening state, and clothes can be hung as shown in fig. 2. The connection between the limiting member 11 and the pressing member 12 is not rigid contact, but the limiting member 11 can deform or move to realize flexible connection, the pressing member 12 can apply force to the limiting member 11 or move the limiting member 11, so that the limiting member 11 can make the limiting structure between the clothes supporting arm 2 and the limiting member 11 lose the limit on the clothes supporting arm 2 due to the change of shape or the change of position, thereby forming a state that the clothes supporting arm 2 rotates downwards to be folded, and releasing clothes hung on the clothes supporting arm 2 as shown in fig. 3.
As shown in fig. 4, which is a partial enlarged view of a part B in fig. 2, the limiting member 11 includes two limiting posts 111 corresponding to the two clothes supporting arms 2, respectively, the limiting posts 111 are provided with a first limiting structure 1111, the clothes supporting arms 2 are provided with a second limiting structure 21 matching with the first limiting structure 1111, the overall limiting posts 111 are irregular columns and can generate certain deformation, that is, one end of each limiting post 111 can be fixed on the main body 1, and the other end can swing freely, so as to drive the first limiting structure 1111 to be separated from the second limiting structure 2121. The spacing post 111 is thus able to move between positions where the first spacing structure 1111 contacts and moves away from the second spacing structure 21.
The first limiting structure 1111 and the second limiting structure 21 may also be in other shapes, but they need to be matched to limit the supporting arm 2, and they can be separated from each other to release the limiting effect of the supporting arm 2.
As shown in fig. 4 and 5, the limiting column 111 can be deformed to be restored, so that the limiting protrusion of the limiting column 111 can be automatically restored to the position corresponding to the limiting groove of the clothes support arm 2, the limiting column 111 is vertically disposed in the figure, one end of the limiting column 111 is fixedly connected with the inner wall of the main body 1, and the other end of the limiting column can move along the horizontal direction.
The pressing member 12 includes at least two parts, one part is located inside the main body 1 and used for controlling the position-limiting post 111, the other part is a pressing portion 121 located outside the main body 1, the part located inside the main body 1 needs to control the two position-limiting posts 111 of the position-limiting member 11 at the same time, the part located inside the main body 1 includes two fin portions 122, the fin portions 122 are respectively abutted against the position-limiting posts 111, as shown in fig. 4 and 5, the fin portions 122 are obliquely arranged, one fin portion 122 is abutted against the free end of the position-limiting post 111 on the left side, the other fin portion 122 is abutted against the free end of the position-limiting post 111 on the right side, and the fin portion 122 is obliquely arranged and has a certain angle, so that the fin portion 122 can generate a transverse acting force on the position-limiting post 111 in the process of moving up and down, so that the position-limiting post 111 is far away from the clothes-supporting arm 2, thereby separating the first position-limiting structure 1111 from the second position-limiting structure 2121, the limiting function of the limiting column 111 on the clothes supporting arm 2 disappears, the clothes supporting arm 2 rotates downwards, folding and folding of the clothes supporting arm 2 are achieved, and at the moment, if clothes are hung on the clothes supporting arm 2, the supporting function on the clothes is lost.
The wing part 122 has an inclined surface which abuts against the limit post 111, and in order to facilitate the movement of the limit post 111 on the inclined surface, the abutting end parts of the limit post 111 and the inclined surface are also provided with inclined surfaces with the same angle as the inclined surfaces, so that the free end of the limit post 111 can easily slide on the inclined surface of the wing part 122. As shown in fig. 4 and 5, the pressing member 12 is located below the position-limiting member 11, the wing portion 122 of the pressing member 12 is V-shaped, and the pressing portion 121 of the pressing member 12 extends from the bottom opening of the main body 1 and can receive an upward force from the outside, so as to apply a horizontal force to the position-limiting column 111 toward the middle.
For convenience of installation and production of parts, the limiting column 111 can be provided with two inverted U-shaped legs to form a complete part, a clamping groove is formed in the main body 1, and the part can be directly installed in the clamping groove through a limiting mechanism and extends out of the two legs to form the limiting column 111. As shown in fig. 4 and 5.
Because the outside can exert ascending effort to pressing portion 121, in order to guarantee to press portion 121 can return outside popping out main part 1, therefore pressing piece 12 still is provided with return means for want main part 1 internal shift when pressing piece 12 received external effort, after the effect of force disappears, can kick-back automatically, return to the position that does not exert the effort. The return device may be a spring, one end of the spring is abutted against the inner wall of the main body 1 opposite to the pressing piece 12, and the other end of the spring is abutted against the end of the pressing piece 12 located inside the main body 1, so that when the pressing piece 12 moves towards the inside of the main body 1, the spring generates a reverse acting force, and when the external force is eliminated, the acting force of the spring pushes the pressing piece 12 back to the original position. As shown in the figure, the spring is disposed between the two limiting posts 111 and is substantially parallel to the limiting posts 111, in order to ensure that the position of the spring does not change, and the limiting posts 111 should not be changed first, the portion of the pressing member 12 located inside the main body 1 has a cylindrical structure for the spring to be sleeved, so as to ensure that the spring does not shift. Corresponding structures are also provided at the other degree of the spring stop to prevent the spring from shifting.
In order to ensure that the clothes supporting arms 2 rotate in a specific angle, prevent the clothes supporting arms from being excessively rotated to lose reasonable support for the clothes, or prevent the two clothes supporting arms 2 from excessively rotating to collide when being folded, a third limiting structure 13 is arranged in the main body 1, and as shown in fig. 4 and 5, the clothes supporting arms 2 are also provided with corresponding limiting structures which are matched with the limiting mechanisms in the main body 1. When the clothes supporting arm 2 is in the unfolded state, the first limiting structure 1111 and the second limiting structure 2121 stop to prevent the clothes supporting arm 2 from rotating downwards, and the third limiting structure 1313 is arranged at the upper part of the clothes supporting arm 2 to prevent the clothes supporting arm 2 from rotating upwards again. When the clothes supporting arm 2 is folded, the clothes supporting arm 2 can rotate downwards to form a folded state, at the moment, the first limiting structure 1111 and the second limiting structure 2121 are far away from each other, so that the first limiting structure 1111 cannot limit the second limiting structure 2121, the clothes supporting arm 2 rotates downwards due to the gravity, and when the clothes supporting arm rotates to be close to the vertical direction, the second limiting structure 2121 and the third limiting structure 1313 are stopped to prevent the clothes supporting arm 2 from further rotating. The first limit structure 1111 cannot be matched with the second limit structure 21.
Example two
The clothes hanger of the clothes folding machine of the present invention can also be seen from fig. 6, and the clothes hanger of the present embodiment is different from the clothes hanger of the previous embodiment in that the pressing member 12 is provided with a power mechanism 14 for driving the pressing member 12 to move.
The structure of the clothes rack is basically the same as that of the previous embodiment. The clothes hanger folding device comprises a main body 1, a clothes supporting arm 2 and a hanging part 3, wherein the same limiting part 11 and a pressing part 121 are also arranged in the main body 1, the clothes hanger folding is realized by applying an acting force to the pressing part 121 through the outside in the previous embodiment, in the present embodiment, a power mechanism 14 is arranged on a pressing part 12, and the power mechanism 14 can drive the pressing part 12 to move, so that the clothes hanger folding is realized.
The power mechanism 14 includes a driving member 141 and a transmission member, and the transmission member is used for transmitting the power generated by the driving member 141 to the pressing member 12, so that the pressing member 12 can move, thereby generating a force action on the limiting member 11, realizing the limiting structure, and rotating and folding the clothes supporting arm 2.
The driving member 141 is a motor and has a motor shaft capable of outputting power, the driving member includes a first link 142 and a second link 143, as shown in fig. 6, one end of the first link 142 is fixedly connected to the motor shaft, one end of the first link 142 is rotatably connected to the second link 143, and the other end of the second link 143 is connected to the pressing member 12 to drive the pressing member 12 to move.
In the above embodiment, the bottom of the main body 1 is provided with an opening for the pressing part 121 of the pressing member 12 to protrude, so as to be able to receive an external force. In the embodiment, since the motor drives the pressing member 12 to move, the pressing member 12 does not need to be disposed outside the main body 1, but since a moving path of the pressing member 12 needs to be ensured, a sliding groove 15 is disposed in the main body 1 for the pressing member 12 to move linearly, and preferably, as shown in the figure, the pressing member 12 can move up and down along the sliding groove 15 to apply a force to the stopper rod 111.
The first link 142 is relatively short and is fixedly connected to the motor shaft, and when the motor shaft rotates, the first link 142 can be driven to rotate, as shown in fig. 6, the first link 142 can rotate clockwise in the circumferential direction to drive the second link 143 to move upward, and the other end of the second link 143 is connected to the pressing member 12, so as to drive the pressing member 12 to move upward along the sliding groove 15.
Because the motor shaft can rotate reversely, the connecting rod can enable the pressing piece 12 to return under the reverse acting force of the motor shaft, but an elastic piece can be arranged between the pressing piece 12 and the main body 1, so that the pressing piece 12 can return without the loss of electric power. One end of the elastic element abuts against one end of the pressing element 12 facing the limiting column 111, and the other end abuts against the inner wall of the main body 1. The elastic member and the second link 143 are disposed in a staggered manner without interference.
Because the clothes hanger is provided with the motor, the folding of the clothes supporting arm 2 can be controlled through the rotation of the motor, and the clothes hanger can also be provided with a control unit which can control the on-off of the motor and the rotation direction of the motor shaft so as to control the folding of the clothes supporting arm 2.
The clothes rack further comprises a signal transmission unit used for receiving and/or sending signals, and the signal transmission unit is in communication connection with the control unit. The clothes rack can be matched with a clothes folding machine or other devices for use, so that a signal which is sent by the clothes folding machine or other devices and needs to fold the clothes rack can be received, and the wireless control of the clothes rack is realized.
As shown in fig. 7 and 8, the present invention further includes a clothes folding machine 1000, wherein the clothes folding machine 1000 includes the clothes hanger 100 according to the first embodiment, the clothes folding machine 1000 further includes a touch mechanism 200, and the touch mechanism 200 is used for applying a force to the pressing portion 121 of the pressing member 12 of the clothes hanger 100, so that the clothes hanger 100 can be folded.
Fig. 9 is a partially enlarged view of fig. 8. Fig. 9 shows the position of the touch mechanism 200, and when the hanger 100 is conveyed to the touch mechanism 200, the touch mechanism 200 can move up and down to apply a force to the pressing portion 121 at the bottom of the body 1 of the hanger 100.
When the clothes are hung on the clothes hanger 100, the clothes folding machine 1000 conveys the clothes to the touch mechanism 200, the touch mechanism 200 and the pressing piece 12 stop abutting and releasing the clothes supporting arm 2, the clothes supporting arm 2 of the clothes hanger 100 is folded downwards, and the clothes are taken down by the clothes folding machine 1000.
Since the clothes folding machine 1000 needs to convey the clothes hangers 100, the clothes folding machine 1000 may further be provided with a clothes hanger conveying mechanism 300, as shown in fig. 10 and 11, where fig. 11 is a top view of the clothes hanger conveying mechanism 300, and the clothes hanger conveying mechanism 300 is used for conveying the clothes hangers 100 to the touch mechanism 200. The hanger 100 is folded when the touch mechanism 200 applies a force to the hanger 100, and the hanger transport mechanism 300 can transport the folded hanger 100 to a position where the hanger 100 is to be retrieved.
The clothes folding machine 1000 is provided with a hanging rod of the clothes rack 100 for hanging the clothes rack 100, the hanging rod is provided with a clothes rack conveying mechanism 300, and the clothes rack conveying mechanism 300 can move the clothes rack 100. The clothes hanger conveying mechanism 300 is provided with a manipulator 335, the manipulator 335 can clamp the clothes hanger 100 and can release the clothes hanger 100, the clothes hanger 100 is provided with a hanging part 3, and the manipulator 335 can clamp the clothes hanger 100 and move the clothes hanger 100 relative to the hanging part 3.
The hanging rod of the clothes hanger 100 can be provided with one or more than one, the hanging rod of the clothes hanger 100 at least comprises a first hanging rod 311, after the clothes are supported on the clothes hanger 100, a user can hang the clothes hanger 100 hung with the clothes on the first hanging rod 311, and the manipulator 335 can also convey the clothes hanger 100 along the first hanging rod 311 to a position where the clothes hanger 100 is separated from the clothes.
The hanger 100 further comprises a second hanging bar 312, the second hanging bar 312 is used for hanging the hanger 100 after being separated from the clothes, and the hanger conveying mechanism 300 can also convey the hanger 100 to the second hanging bar 312 for recycling the hanger 100; preferably, the first hanging rod 311 and the second hanging rod 312 are arranged in parallel and suspended at the end of the clothes hanger 100 separated from the clothes as shown in fig. 10.
The hanger conveying mechanism 300 comprises an X-direction moving mechanism and a Y-direction moving mechanism, the X-direction moving mechanism enables the manipulator 335 to move along the direction of the hanging rod, and the Y-direction moving mechanism can drive the manipulator 335 to move perpendicular to the horizontal direction of the hanging rod. In order to ensure that the manipulator 335 can move in the X direction and the Y direction simultaneously, the Y-direction moving mechanism is arranged on the X-direction mechanism, so that the X-direction moving mechanism can drive the Y-direction moving mechanism to move integrally, and the Y-direction moving mechanism can also drive the manipulator 335 to move in the Y direction, so that the manipulator 335 can move to any position within the range of the clothes hanger conveying mechanism 300.
The specific arrangement mode of the X-direction moving mechanism is that the X-direction moving mechanism includes a first moving member 321, a first transmission belt 322 and a first guide rail 323, the first moving member 321 is disposed on the first guide rail 323 and can move along the first guide rail 323, and the first transmission belt 322 drives the first moving member 321 to move along the first guide rail 323. A portion of the first belt 322 is fixedly coupled to a corresponding structure of the first moving member 321. The X-direction moving mechanism is further provided with a first motor 324, and when the first motor 324 is turned on, the first driving belt 322 is driven to rotate, so that the first moving member 321 moves along the first guide rail 323.
The specific arrangement manner of the Y-direction moving mechanism is that the Y-direction moving mechanism includes a second moving member 331, and further includes a second belt 332 and a second guide rail 333, the second moving member 331 is disposed on the second guide rail 333 and can move along the second guide rail 333, the second belt 332 drives the second moving member 331 to move along the second guide rail 333, and a part of the second belt 332 is fixedly connected with a corresponding structure of the second moving member 331. The Y-direction moving mechanism is further provided with a second motor 334, and when the second motor 334 is turned on, the second motor drives the second transmission belt 332 to rotate, so that the second moving member 331 moves along the second guide rail 333.
The X-direction moving mechanism drives the Y-direction moving mechanism to move, the whole Y-direction moving mechanism is fixedly arranged on the first moving part 321, and the manipulator 335 is arranged on the second moving part 331 of the Y-direction moving mechanism.
The clothes folding machine 1000 is provided with a touch mechanism 200, and the touch mechanism 200 needs to touch the unfolded clothes hanger 100, so that the touch mechanism 200 is preferably aligned with the first hanging rod 311, so that the clothes hanger conveying mechanism 300 can directly convey the clothes hanger 100 to the touch mechanism 200 along the X direction, and the touch mechanism 200 controls the clothes hanger 100.
The touch mechanism 200 comprises a touch piece capable of moving up and down, and presses a folding switch of the clothes hanger 100, the folding switch is the pressing portion 121, or the touch piece is of a fixed structure, the manipulator 335 can move up and down to drive the folding switch of the clothes hanger 100 to move up and down at the position of the touch piece to trigger the folding switch, or the touch piece is provided with an inclined surface, and the touch piece has longitudinal acting force on the clothes hanger 100 when the clothes hanger 100 moves horizontally, so that the pressing portion 121 can move towards the inside of the main body 1.
The latching mechanism 200 further includes a channel mechanism for positioning the hanger 100 on the hanging portion 3 to align the hanger 100 with a touch member to prevent the folding switch from being touched, and to prevent the hanger 100 from being secured while the touch member applies a force to the hanger 100 to prevent the hanger 100 from being pulled off the manipulator 335.
The clothes folding machine 1000 has other devices to grasp the clothes, and the clothes hanger 100 is folded to complete the transfer of the clothes. The clothes folding machine 1000 is provided with a gripping mechanism inside, and the clothes hanger 100 is provided with an avoiding structure 22 for avoiding the gripping mechanism.
The control method of the clothes folding machine comprises the following steps: the manipulator moves to the position above the clothes rack according to the position of the clothes rack, grabs the clothes rack, and moves the clothes rack to the touch mechanism to fold the clothes rack.
The manipulator can move and open and close. The movement of the manipulator is realized through a moving mechanism, the moving mechanism can comprise an X-direction moving mechanism and a Y-direction moving mechanism which move the manipulator, and the clothes hanger conveying mechanism can convey clothes hangers in the horizontal direction. The opening and closing of the manipulator can be realized through the opening and closing mechanism, the claw part of the manipulator can be opened through the opening and closing mechanism, and the claw part of the manipulator can be closed to grab the clothes hanger.
The position of the clothes hanger can be obtained by arranging corresponding positioning devices on the clothes hanger and/or the clothes folding machine, and the position of the clothes hanger can be fed back to the clothes folding machine in real time, so that the position of the clothes hanger obtained by the manipulator can be accurately grabbed. The clothes folding machine can also be provided with a camera and other devices to judge the current position image of the clothes hanger, so that the real-time position of the clothes hanger is obtained, and the movement of the clothes hanger conveying mechanism is guided. The position of the clothes hanger can be judged according to the distance between the clothes hanger and a certain part of the clothes folding machine, and whether the clothes hanger reaches the designated position or not can be judged through distance induction.
In the case of a first hanging rod, the manipulator conveys the clothes rack to a touch mechanism, and the control method of the clothes folding machine comprises the following steps:
s1: the manipulator grabs the clothes rack on the first hanging rod;
s2: the manipulator moves the clothes rack to the touch mechanism along the first hanging rod;
s3: the contact mechanism is contacted with the clothes hanger folding switch to fold the clothes hanger.
In step S1, the manipulator acquires the position of the hanger by the positioning device and moves above the hanger by the moving mechanism so that the manipulator is aligned with the hanger longitudinally; fig. 12 to fig. 13 are schematic diagrams of step S1, before the manipulator captures the clothes, the clothes folding machine further needs to determine whether the manipulator is in an open state, when the manipulator is in the open state, the manipulator aligns to the clothes hanger for capturing, and when the manipulator is in a closed state, the clothes hanger conveying mechanism starts the opening and closing mechanism to adjust the manipulator to the open state. And the clothes hanger conveying mechanism starts the first motor and/or the second motor to move the position of the manipulator until the manipulator is positioned right above the target clothes hanger.
In step S2, the opening and closing mechanism controls the robot to grasp the hanger and move to the touch mechanism in the first hanging bar direction by the moving mechanism. Fig. 13 to 14 are schematic views of step S2, in which the clothes hanger is moved along the first hanging rod by the clothes hanger conveying device, and the first hanging rod is parallel to the X direction, so that the clothes hanger can be moved along the first hanging rod only by driving the first motor.
The manipulator only moves one clothes rack at a time, and moves the clothes rack closest to the touch mechanism, and the clothes racks are sequentially conveyed to the touch mechanism by the clothes rack conveying mechanism according to the sequence. The clothes folding machine needs to judge whether the clothes rack is closest to the touch mechanism or not so as to guide the movement of the mechanical hand.
In step S3, after the clothes hanger touches the touch mechanism, the robot stops moving, and the clothes folding machine has other devices to grab the clothes, fold the clothes hanger, and complete the transfer of the clothes. The clothes folding machine is internally provided with a grabbing mechanism, the clothes hanger is provided with an avoiding structure for avoiding the grabbing mechanism, and fig. 14 to 15 are schematic diagrams of step S3.
The clothes rack needs to be recovered and placed, the clothes folding machine is further provided with a second hanging rod, and the control method further comprises the step that the clothes rack is recovered and placed at the second hanging rod through the manipulator. The second hanging rod is provided with a folded clothes rack, and no supported clothes exist.
The movement is stopped when the hanger transport mechanism transports the hanger to the touch mechanism, and the clothes folding machine is provided with a device for receiving clothes. The link comprises the following steps:
s4: the manipulator moves to a position corresponding to the second hanging rod;
s5: the manipulator moves the clothes rack along the second hanging rod;
s6: the manipulator opens to release the clothes rack, so that the clothes rack is hung on the second hanging rod.
In step S4, the robot arm moves again after the clothes are completely separated from the clothes hanger, and the moving mechanism moves the robot arm in a horizontal direction perpendicular to the hanging bar so that the clothes hanger is aligned with the second hanging bar, and fig. 15 to 16 are schematic diagrams of step S4.
In step S5, the moving mechanism moves the manipulator in the direction of the second hanging rod to retrieve the clothes rack; fig. 16 to 17 are schematic diagrams of step S5.
In step S6, the opening and closing mechanism controls the robot to release the hanger so that the hanger is hung at the second hanging bar, and fig. 17 to 18 are schematic diagrams of step S6.
The clothes folding machine also needs to judge whether clothes needing to be folded exist on the first hanging rod, and when clothes hangers with the clothes hung on the first hanging rod exist, the manipulator executes the whole process again according to the steps. After the robot arm places the clothes hanger on the second hanging bar, the moving mechanism moves the robot arm to the upper part of the first hanging bar, and the steps S1-S6 are repeated.
The control method is shown in fig. 19 and 20.
The invention also comprises a clothes folding machine, which comprises the clothes racks in the second embodiment, and the clothes folding machine is also provided with a clothes rack conveying mechanism which can convey the clothes racks, wherein the clothes rack conveying mechanism is as described above.
Because the clothes rack in the second embodiment has the motor which can drive the pressing part to move, the clothes folding machine can control the clothes rack by means of signals without arranging a touch mechanism.
The clothes rack can comprise a control unit, the control unit is electrically connected with the power mechanism or is in signal connection with the power mechanism, and the control unit can control the power mechanism to start and stop and the direction of power provided by the power mechanism. That is, when the power mechanism includes a motor and a motor shaft disposed on the motor, the control unit can control the rotation and the rotation direction of the motor. The clothes hanger is further provided with a signal transmission unit, the signal transmission unit can receive instructions from the clothes folding machine, when the clothes folding machine needs to fold the clothes hanger, the signal transmission unit receives corresponding instructions, the control unit processes the instructions, and the driving motor provides power for the pressing piece, so that the clothes supporting arm is folded.
The specific control method comprises the following steps: the clothes folding machine sends a folding signal to the clothes hanger through the signal transmission system, the clothes hanger receives the folding signal through the signal transmission unit and then starts the driving mechanism, the driving mechanism rotates to drive the first connecting rod to rotate circumferentially, and the second connecting rod drives the pressing piece to move towards the limiting column, so that the limiting column is separated from the clothes supporting arm, and the folding of the clothes supporting arm is realized.
The clothes folding machine further comprises a distance measuring device, and the distance measuring device is used for detecting the distance between the clothes rack and the touch mechanism.
The clothes folding machine can judge whether the clothes rack is conveyed to the touch mechanism through the distance measuring device, namely, the distance between the clothes rack and the touch mechanism is zero, or the distance is smaller than a certain set value, and then the clothes rack can be judged to be conveyed to the touch mechanism.
When the clothes hanger is conveyed to the touch mechanism, the touch mechanism can drive the folding switch of the clothes hanger to touch so as to fold the clothes hanger, the folding switch of the clothes hanger is a structure for controlling the clothes hanger to be automatically folded, and the structure of the clothes hanger is the pressing part 121.
The distance measuring device can measure distance through laser, the distance measuring device comprises a laser transmitter and a laser receiver, the laser transmitter and the laser receiver are both arranged at a touch mechanism, the clothes hanger can reflect laser, the laser is reflected to the laser receiver along the original path, and the distance is judged through the time consumed by the path that the laser passes.
Clothes hanger has the main part, the main part can be provided with the smooth surface, can reflect the laser of laser emitter transmission, and the smooth surface that sets up is just relative with laser emitter in clothes hanger's the main part, can be so that the laser of clothes hanger reflection can be followed former way and returned and caught by laser receiver.
When clothes hanger placed the peg on clothes hanger conveying mechanism, or when being got and remove along the peg direction by the manipulator clamp, the smooth surface homoenergetic that the main part set up can reflect laser, and range unit can be before carrying and the distance of carrying the in-process to clothes hanger and touching mechanism measures.
The touch mechanism further comprises a driving device capable of driving the touch piece to move up and down, the clothes folding machine further comprises a control unit, the control unit is in communication connection with the driving device, and the control unit is in communication connection with the distance measuring device.
The invention also comprises a control method of the clothes folding machine with the distance measuring device, and the clothes folding machine controls the starting and stopping of the touch mechanism according to the distance between the touch mechanism and the clothes hanger so as to control the folding switch of the clothes hanger.
As shown in fig. 21, the control unit of the clothes folding machine is in communication connection with the distance measuring device, so that the distance measuring unit can obtain a measured value of the distance between the clothes hanger and the touch mechanism fed back in real time, when the distance between the clothes hanger and the touch mechanism is smaller than a set value, the clothes hanger can be considered to have reached a position closest to the touch mechanism, the control unit of the clothes folding machine can judge that the clothes hanger reaches a specified position, a touch part of the touch mechanism corresponds to a pressing part arranged on a clothes hanger body, the touch part can act on the pressing part, the control unit is in communication connection with a driving device of the touch mechanism, the driving device is started to enable the touch part to move, an acting force is applied to the pressing part of the clothes hanger, a structure inside the clothes hanger body enables a clothes supporting arm to be folded downwards under the acting force, and clothes are separated from the clothes hanger. When the measured value of the distance between the clothes rack and the touch mechanism is larger than the set value, the control unit judges that the clothes rack is not conveyed to the designated position, and the control unit does not act. The measurement value of the distance is obtained and the judgment process is real-time measurement and judgment, so that the position of the clothes hanger can be timely obtained in the moving process, and the clothes hanger is acted.
Because the relative position of the touch mechanism and the clothes hanger conveying unit does not change, the distance between the clothes hanger and the touch mechanism can be utilized by the clothes hanger conveying mechanism, the current position of the clothes hanger is judged by acquiring the distance between the clothes hanger and the touch mechanism, and the distance can be used for guiding the movement of a manipulator of the clothes hanger conveying mechanism so as to clamp and convey the clothes hanger.
The control unit judges the placement position of the clothes hanger and clamps the clothes hanger according to the distance between the clothes hanger and the touch mechanism, the process is carried out on a static device of the clothes hanger, namely the clothes hanger is hung on a hanging rod of the clothes hanger, and after the control unit obtains the distance between the clothes hanger and the touch mechanism, the control unit guides the manipulator to act so as to accurately clamp the clothes hanger and convey the clothes hanger.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. A clothes folding machine comprising a clothes hanger is characterized in that: the clothes hanger comprises a main body and two clothes supporting arms, wherein the clothes supporting arms are rotatably arranged on the main body, the clothes hanger also comprises a limiting part and a pressing part, a corresponding limiting structure is arranged between the limiting part and the clothes supporting arms to enable the clothes supporting arms to be opened, and the pressing part can move the limiting part to cancel the limiting of the clothes supporting arms to enable the clothes supporting arms to be closed;
the clothes rack is provided with a folding switch, the clothes folding machine further comprises a touch mechanism for pressing the folding switch of the clothes rack to fold the clothes rack, and the clothes folding machine further comprises a distance measuring device for detecting the distance between the clothes rack and the touch mechanism;
the clothes folding machine further comprises a clothes hanger conveying mechanism capable of conveying clothes hangers, and the clothes hanger conveying mechanism is provided with a manipulator; the clothes folding machine further comprises a first hanging rod used for hanging a clothes rack carrying clothes; the clothes rack conveying mechanism conveys the clothes racks to the touch mechanism along the first hanging rod;
the distance measuring device is arranged at the touch mechanism and comprises a laser transmitter and a laser receiver, and the clothes hanger can reflect laser; the clothes hanger conveying mechanism judges the placement position of the clothes hanger according to the distance between the clothes hanger and the touch mechanism, the manipulator is controlled to move the clothes hanger closest to the touch mechanism at each time, and the clothes hangers are conveyed to the touch mechanism in sequence.
2. The garment pleating machine as claimed in claim 1, wherein: the main body is provided with a reflecting surface for reflecting laser.
3. The garment pleating machine as claimed in claim 1, wherein: the part of the pressing piece positioned outside the main body is a folding switch.
4. The garment pleating machine as claimed in claim 1, wherein: the distance measuring device can measure the distance between the clothes hanger and the touch mechanism before and during conveying.
5. The clothes folding machine according to claim 1, characterized in that: the contact mechanism comprises a contact piece, the contact piece corresponds to the position of the folding switch, the folding switch is positioned at the bottom of the main body, and the contact piece and the folding switch can move up and down relatively to press the folding switch.
6. The garment pleating machine as claimed in claim 5, wherein: the touch mechanism further comprises a driving device capable of driving the touch piece to move up and down, the clothes folding machine further comprises a control unit, the control unit is in communication connection with the driving device, and the control unit is in communication connection with the distance measuring device.
7. A garment hanger, characterized by: application to a clothes folding machine according to any one of claims 1 to 6.
8. A method of controlling a clothes folding machine according to any one of claims 1 to 6, characterized by: the clothes folding machine controls the touch mechanism to touch the clothes rack according to the distance between the touch mechanism and the clothes rack.
9. The control method of a clothes folding machine according to claim 8, characterized in that: the control unit obtains the distance between the clothes hanger and the touch mechanism measured by the distance measuring device, when the distance between the clothes hanger and the touch mechanism is smaller than a set value, the control unit judges that the clothes hanger reaches the touch mechanism, and the control unit starts the driving device to enable the touch piece to press the folding switch of the clothes hanger to enable the clothes supporting arm to be folded.
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