CN108797071A - A kind of full-automatic clothes folding machine - Google Patents

A kind of full-automatic clothes folding machine Download PDF

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Publication number
CN108797071A
CN108797071A CN201810646909.2A CN201810646909A CN108797071A CN 108797071 A CN108797071 A CN 108797071A CN 201810646909 A CN201810646909 A CN 201810646909A CN 108797071 A CN108797071 A CN 108797071A
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CN
China
Prior art keywords
clothes hanger
axis
clothing
gripper jaw
folding
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201810646909.2A
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Chinese (zh)
Inventor
缪珂
蔡慧娴
郑先清
陈澄磊
郑凯
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jinhua Ud Industrial Design Co Ltd
Original Assignee
Jinhua Ud Industrial Design Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jinhua Ud Industrial Design Co Ltd filed Critical Jinhua Ud Industrial Design Co Ltd
Priority to CN201810710411.8A priority Critical patent/CN108755067B/en
Priority to CN201810646909.2A priority patent/CN108797071A/en
Publication of CN108797071A publication Critical patent/CN108797071A/en
Priority to CN201910030336.5A priority patent/CN110629491B/en
Priority to CN201910030359.6A priority patent/CN110629492B/en
Priority to CN201910030330.8A priority patent/CN110629490B/en
Priority to CN201910080382.6A priority patent/CN110629498B/en
Priority to CN201910083052.2A priority patent/CN110629499B/en
Priority to CN201910079456.4A priority patent/CN110629493B/en
Priority to CN201910079490.1A priority patent/CN110629494B/en
Priority to CN201910079841.9A priority patent/CN110629497B/en
Priority to CN201910079837.2A priority patent/CN110629496B/en
Priority to CN201910079499.2A priority patent/CN110629495B/en
Priority to CN201910106190.8A priority patent/CN110629500A/en
Priority to CN201910106332.0A priority patent/CN110629505B/en
Priority to CN201910106333.5A priority patent/CN110629506B/en
Priority to CN201910106209.9A priority patent/CN110629502A/en
Priority to CN201910106331.6A priority patent/CN110629504A/en
Priority to CN201910106210.1A priority patent/CN110629503B/en
Priority to CN201910106208.4A priority patent/CN110629501A/en
Priority to CN201910119015.2A priority patent/CN110629507A/en
Priority to CN201910159151.4A priority patent/CN110629508A/en
Priority to CN201910174648.3A priority patent/CN110629509B/en
Priority to CN201910189027.2A priority patent/CN110629511B/en
Priority to CN201910188651.0A priority patent/CN110629510B/en
Priority to CN201910190702.3A priority patent/CN110629515B/en
Priority to CN201910190724.XA priority patent/CN110629516B/en
Priority to CN201910190452.3A priority patent/CN110629513B/en
Priority to CN201910191218.2A priority patent/CN110629517A/en
Priority to CN201910190152.5A priority patent/CN110629512B/en
Priority to CN201910190700.4A priority patent/CN110629514B/en
Priority to CN201910271937.5A priority patent/CN110629518B/en
Priority to CN201910347541.4A priority patent/CN110629519B/en
Priority to CN201910422243.7A priority patent/CN110629522A/en
Priority to CN201910422236.7A priority patent/CN110629521B/en
Priority to CN201910422234.8A priority patent/CN110629520B/en
Priority to PCT/CN2019/090901 priority patent/WO2019242549A1/en
Priority to PCT/CN2019/090900 priority patent/WO2019242548A1/en
Priority to PCT/CN2019/090898 priority patent/WO2019242547A1/en
Priority to PCT/CN2019/091636 priority patent/WO2019242592A1/en
Priority to PCT/CN2019/091639 priority patent/WO2019242595A1/en
Priority to PCT/CN2019/091637 priority patent/WO2019242593A1/en
Priority to CN201910529820.2A priority patent/CN110629524B/en
Priority to CN201910529819.XA priority patent/CN110629523B/en
Priority to PCT/CN2019/092350 priority patent/WO2019242758A1/en
Priority to PCT/CN2019/092352 priority patent/WO2019242759A1/en
Priority to CN201910543708.4A priority patent/CN110629528B/en
Priority to PCT/CN2019/092181 priority patent/WO2019242709A1/en
Priority to CN201910540802.4A priority patent/CN110629525A/en
Priority to CN201910542089.7A priority patent/CN110629527B/en
Priority to CN201910541321.5A priority patent/CN110629526B/en
Pending legal-status Critical Current

Links

Classifications

    • 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

Abstract

The present invention provides a kind of full-automatic clothes folding machines, it includes frame, control module and closes folding clothes hanger, and clothes sleeve is on closing folding clothes hanger；It is equipped with transport system, including the first gripper jaw and X-axis driving device one, and X-axis driving device one drives the crawl of the first gripper jaw to close folding clothes hanger and moved along X axis, is equipped in terminal and collapses the structure for closing folding clothes hanger；Dragging system, including two the second gripper jaws, Z axis driving device one, X-axis driving device two, after the conjunction folding clothes hanger gathering clothings are captured by two the second gripper jaws, Z axis driving device one drives the second gripper jaw to be moved down along Z axis, and then X-axis driving device two drives the second gripper jaw to be moved along X axis；Folded clothing system, including folded clothing platform, several pieces of returning face plates and overturning drive device, when the second above-mentioned gripper jaw declines in front of folded clothing platform, the second gripper jaw pulls clothing and is divided in folded clothing platform surface along X axis again, and the clothing is overturn superposition by returning face plate successively.

Description

A kind of full-automatic clothes folding machine
Technical field
The present invention relates to automatic production line field, especially a kind of full-automatic clothes folding machine.
Background technology
In the epoch of intelligent family, any work is all tended to robot to complete by people, as dish-washing machine, clothes folding machine with It the epoch and generates.
Full-automatic clothes folding machine can be divided into household and commercialization, and the clothes folding machine of household has been popularized in foreign countries, such as FoldiMate Automatic clothes folding machine, this equipment is suitble to use in nuclear family or drycleaner's, and it folds effect for large-scale clothing factory Rate or too low, therefore the clothes folding machine of existing commercialization also is groping to design.
Commercial automatic clothes folding machine has more mature technology in folding convenient, but a large amount of clothes folding is related to How dragging entrance, the separation of clothing and hanging rod of clothing, realize efficiently pick and place etc. problem, these problems are all without effective Solution.
Invention content
The purpose of the present invention is being directed to the existing above problem, a kind of kind of a full-automatic clothes folding machine is provided.
Object of the invention can be realized by the following technical scheme：A kind of full-automatic clothes folding machine, it includes frame, control Module and conjunction folding clothes hanger, clothes sleeve is on closing folding clothes hanger；
It is characterized in that, being equipped with：
Transport system, including the first gripper jaw and X-axis driving device one, X-axis driving device one drive the first gripper jaw to grab It takes conjunction folding clothes hanger and is moved along X axis, be equipped in terminal and collapse the structure for closing folding clothes hanger；
Dragging system, is docked with transport system, including two the second gripper jaws, Z axis driving device one, X-axis driving device Two, clothings are captured by two the second gripper jaws after the conjunction folding clothes hanger gathering, Z axis driving device one drives the second gripper jaw along Z Axis moves down, and then X-axis driving device two drives the second gripper jaw to be moved along X axis；
Folded clothing system, including folded clothing platform, several pieces of returning face plates and overturning drive device, the second above-mentioned gripper jaw decline When in front of folded clothing platform, the second gripper jaw pulls clothing and is divided in folded clothing platform surface, the clothing along X axis again Overturn superposition successively by returning face plate.
The transport system includes guide rod and positioning seat, and guide rod is furnished along X axis, closes folding clothes hanger and hangs over guiding On bar, guide rod and positioning seat docking, the first gripper jaw clip conjunction folding clothes hanger when being detached from from guide rod one end, close folding clothes hanger and rigid Enter the setting position of positioning seat well.
The conjunction folding clothes hanger includes hang part, hanger body and side arm, and the side arm and hanger body on both sides are hinged, clothes hanger Main body is equipped with lower press button and elastic pushing portion, and being hinged one end in side arm is equipped with eave tile, and the both sides in the elasticity pushing portion are equipped with Edge, side arm eave tile is buckled in realization level on edge and fixes when two side arms level, the lower press button energy pushing elastic pushing portion Make its deformation, so that eave tile is detached from from edge, side arm nature vertical hanging.
The elastic pushing portion includes the elastic piece continuously bent, and edge, bullet are bent out in the both sides in elastic pushing portion Property pushing portion below be equipped with the suspension column that extends downwardly, and be openning shape below elastic pushing portion, lower press button is equipped with opening upwards Horn-like lateral plate, the opening in the elasticity pushing portion is opposite with lower press button flare openings, and suspension column is withstood on lateral plate, When being pushed up on press button instantly, suspension column makes both sides edge spacing reduce along lateral plate slid inward, to generate extruding, the pushing Button is equipped with the newel upwardly extended, and spring is cased on newel, is withstood in elastic pushing portion above the spring.
The hang part is equipped with a circle groove, and the pawl head of first gripper jaw is equipped with protrusion, and protrusion can clip in groove.
Interval trough is equipped with above the positioning seat, the hang part for closing folding clothes hanger limits in interval trough, the positioning seat Equipped with unlocking mechanism, unlocking mechanism includes cam motor, cam and movable plate, and the cam motor is located on positioning seat, cam With cam motor axis connection, movable plate is inserted into hanger body bottom from clothing neckline and touches lower press button, and movable plate can be fixed Up and down in the seat of position, the cam rolls position and is against below movable plate.
The spacing of second gripper jaw is remained at no more than the width for closing folding clothes hanger expansion, two the second gripper jaws It closes within folding clothes hanger width, the left and right shoulder position of the second gripper jaw holding clothes, the second clamping claw clip is by Z axis driving device One driving moves downwardly to the front of folded clothing platform, and the conjunction folding clothes hanger is detached from after collapsing from clothing neckline, is equipped with X-axis driving dress It sets two the second gripper jaws of driving to translate along folded clothing tabletop of platform, the second gripper jaw is discharged when clothing is laid in folded clothing platform, The second gripper jaw extreme lower position is with folded clothing tabletop of platform spacing in 1~20cm.
The full-automatic clothes folding machine includes clothes hanger recovery system and at least a storage bar, clothes hanger recovery system include Y-axis Driving device one, Y-axis driving device one drive the first gripper jaw to be moved along Y-axis, and first gripper jaw clamping is collapsed Conjunction folding clothes hanger is moved to along Y-axis in storage bar to be arranged one by one.
Folded clothing platform is equipped with the side lamination of preceding lamination, rear lamination and both sides, returning face plate is connected below each lamination, before described It is equipped with the outlet to fall among lamination and rear lamination, exit is equipped with overturning valve block, and clothing, which is reversed plate and is pushed into outlet, to fall off； Equipped with output stage, output stage is docked at outlet lower section.
It is connected on electric rotating machine, presses equipped with sleeve foldable structure, including left and right tabletting and two driving levers, the tabletting Piece can be rotated to folded clothing platform surface, collar side when the tabletting is located at clothing tiling；Driving lever is located on electric pushrod, if Have left and right driving device push electric pushrod move left and right, the driving lever in readiness in folded clothing platform both sides, and It is close to folded clothing platform both sides, the driving lever can rise to folded clothing tabletop of platform or more, and then along moving playing surface, described dials Bar is higher than tabletting when moving.
Compared with prior art, the automatic superposition of a large amount of clothings may be implemented in the present invention, with automatic clothes hanger and clothing The functions such as disengaging, automatic clothes feeding, automatic superposition and automatic submitting, continuous velocity is fast, and work efficiency is high is appropriate to large size Clothing factory uses.
Description of the drawings
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the upper frame schematic diagram of the present invention.
Fig. 3 is the dragging system schematic of the present invention.
Fig. 4 is that the positioning seat of the present invention connects clothes hanger schematic diagram.
Fig. 5 is that clothes hanger schematic internal view is rolled in the conjunction of the present invention.
Fig. 6 is that clothes hanger gathering schematic diagram is rolled in the conjunction of the present invention.
Fig. 7 is the folded clothing platform schematic diagram of the present invention.
Fig. 8 is that the clothing of the present invention moves down schematic diagram.
Fig. 9 is that the clothing of the present invention pulls schematic diagram along folded clothing platform.
In figure, 1 frame；2 upper frames；The first gripper jaws of 2-1；3 storage bars；4 guide rods；5 close folding clothes hanger；6 positioning seats；7 Two gripper jaws；8 folded clothing platforms；9 output stages；10X axis slide bar one；11 first motors；12X shaft transmission belts one；13X axis sliding blocks One；14 second motors；15Y axis sliding block one；16 connecting plates；17Y shaft transmission belts one；18Y axis slide bar one；19 locating racks；20 Three motors；21Z axis sliding block one；22X axis sliding block two；23Z axis slide bar one；24Z shaft transmission belts one；25 X-axis driving belts two； 26 the 4th motors；27 X-axis slide bars two；28 hang parts；29 grooves；30 side arms；30-1 collapses portion；31 hanger bodies；32 elasticity push away The portion of squeezing；33 edges；34 eave tiles；35 lateral plates；36 suspension columns；37 springs；38 lower buttons；Lamination after 39；Lamination before 40；41 side laminations； 42 valve blocks；43 outlets；44 driving levers；45 electric pushrods；46 or so driving devices；47 tablettings；6-1 movable plates；6-2 cams；6-3 is convex Turbin generator；100 clothings.
Specific implementation mode
The invention will be further described with reference to the accompanying drawings and examples.
Shown in Fig. 1-Fig. 2, the present invention includes control module, transport system and clothes hanger recovery system, transport system and clothes hanger Recovery system is located on upper frame 2, including closes folding clothes hanger 5, the first gripper jaw 2-1, X-axis driving device one and Y-axis driving device one.
X-axis driving device one includes X-axis slide bar 1, X-axis slide block 1, X-axis driving belt 1, X-axis slide bar 1 On upper frame 2, X-axis slide block 1 is sleeved on X-axis slide bar 1, and X-axis slide block 1 links with X-axis driving belt 1, if There are first motor 11 and belt pulley that X-axis driving belt 1 is driven to move.
Y-axis driving device one includes Y-axis slide bar 1, Y-axis sliding block 1, Y-axis driving belt 1, Y-axis slide bar 1 It is fixed in X-axis slide block 1, Y-axis sliding block 1 is sleeved on Y-axis slide bar 1, Y-axis sliding block 1 and Y-axis driving belt 1 Linkage.Y-axis driving belt 1 is driven to move equipped with the second motor 14 and belt pulley.Y-axis sliding block 1 is equipped with connecting plate 16, First gripper jaw 2-1 is located at 16 lower section of connecting plate.
First gripper jaw 2-1 drives folding by pneumatic or motor, and the open-close ways of the first gripper jaw 2-1 are existing skill Art.
Upper frame 2 is equipped with a guide rod 4 and a storage bar 3,3 arranged parallel of guide rod 4 and storage bar.Guide rod 4 One end is docked with a positioning seat 6, and the hook portion for closing folding clothes hanger 5 hooks on guide rod 4 by the first gripper jaw 2-1 along X axis Positioning seat 6 is pulled and entered, folding clothes hanger 5 is closed and is just stuck on positioning seat 6 after the disengaging of guide rod 4.Close folding clothes hanger 5 and clothing 100 on positioning seat 6 be detached from after the first gripper jaw 2-1 grab clamping close folding clothes hanger 5 enter storage bar 3, the first gripper jaw along Y-axis 2-1 accurately hooks the hook portion for closing folding clothes hanger 5 in storage bar 3, and 3 tail portion of storage bar is equipped with tail hook and can prevent from closing folding clothes hanger 5 It is detached from from tail portion.
Upper frame 2 is equipped with several induction identifiers, and induction identifier disposes one by one along guide rod 4, and induction identifier is used 5 position of folding clothes hanger is closed in identification.For example, row's infrared inductor is correspondingly provided on upper frame 2, it is red when closing folding clothes hanger 5 and being put into Outside line inductor is blocked and position signal is issued control module, and control module controls the first gripper jaw 2-1 to designated position Folding clothes hanger 5 will be closed to be clamped.The hang part 28 is equipped with a circle groove 29, and the pawl head of the first gripper jaw 2-1 is equipped with protrusion, convex Portion can clip to fast and easy in groove 29 and be clamped.
Shown in Fig. 5-Fig. 6, it includes hang part 28, hanger body 31 and side arm 30 to close folding clothes hanger 5.The side arm 30 and clothing on both sides Frame body 31 is hinged, and hanger body 31 is equipped with lower press button and elastic pushing portion 32, and it is eave tile 34 that the side arm 30, which is hinged one end, The both sides in the elasticity pushing portion 32 are equipped with edge 33, and 30 eave tile 34 of side arm, which is buckled on edge 33, when two side arms 30 are horizontal realizes Level is fixed.Elastic pushing portion 32 includes the elastic piece continuously bent, and edge 33, bullet are bent out in the both sides in elastic pushing portion 32 Property the lower section of pushing portion 32 be equipped with the suspension column 36 extended downwardly, and 32 lower section of elastic pushing portion is openning shape, and lower press button is equipped with and opens The opening of the upward horn-like lateral plate 35 of mouth, the elasticity pushing portion 32 is opposite with lower press button flare openings, and suspension column 36 withstand on lateral plate 35, and when being pushed up on press button instantly, suspension column 36 makes both sides edge along 35 slid inward of lateral plate, to generate extruding 33 spacing reduce.The lower press button is equipped with the newel upwardly extended, and spring 37,37 top of the spring are cased on newel It withstands in elastic pushing portion 32, makes to relax between lower press button and elastic pushing portion 32, press tighter power at any time.When Elasticity pushing portion 32 deforms when being pushed up on lower press button, and eave tile 34 is detached from from edge 33, the natural vertical hanging of side arm 30.
Shown in Fig. 4,6 top of the positioning seat is equipped with interval trough, and the first gripper jaw 2-1 will close folding clothes hanger 5 and be put into positioning seat 6 On, the hang part 28 for closing folding clothes hanger 5 is limited in interval trough.Positioning seat 6 is equipped with cam motor 6-3, cam 6-2 and movable plate 6-1, the cam motor 6-3 are located on positioning seat 6, cam 6-2 and cam motor 6-3 axis connections, and movable plate 6-1 is from clothing 100 necklines are inserted into 31 bottom of hanger body and touch lower press button, and movable plate 6-1 can be up and down in positioning seat 6, described Cam 6-2 rolls position and is against below movable plate 6-1.Since clothes can cover the side arm 30 for closing folding clothes hanger 5, it is therefore desirable to clothing Frame body 31 exposes from 100 neckline of clothing, and when the first gripper jaw 2-1 is placed, movable plate 6-1 is inserted into 31 bottom of hanger body, Conjunction folding clothes hanger 5 is equivalent to be placed on movable plate 6-1 and support.Movable plate 6-1, which clicks lower button 38, makes conjunction roll over 5 side arm 30 of clothes hanger from water Level state collapses.
Dragging system, shown in Fig. 3, including two the second gripper jaws 7, the second gripper jaw 7 using existing electric machine structure or It is that existing pneumatic structure is opened and closed.The spacing of second gripper jaw 7, which is not more than, closes the width that folding clothes hanger 5 is unfolded, two second Gripper jaw 7 remains within conjunction folding 5 width of clothes hanger.Keep two second clampings that can clip to 100 shoulder position of clothing, by the The left and right shoulder position of two gripper jaws, 7 holding clothes 100.Second gripper jaw 7 folder is driven by Z axis driving device one, also by X-axis Driving device two drives.
The driving of X-axis driving device two includes X-axis slide bar 2 27, X-axis slide block 2 22 and X-axis driving belt 2 25, X-axis slide bar 2 27 are fixed on frame 1, and X-axis slide block 2 22 is sleeved on X-axis slide bar 2 27, X-axis slide block 2 22 and X-axis driving belt 2 25 It is dynamic；Frame 1 is equipped with the 4th motor 26 and belt pulley, and belt pulley drives X-axis driving belt 2 25 to move, the X-axis slide block two 22 connect with Z axis driving device one.
Z axis driving device one includes Z axis slide bar 1, Z axis sliding block 1 and Z-axis transmission belt 1, Z axis slide bar 1 It is connected in X-axis slide block 2 22, Z axis sliding block 1 is sleeved on Z axis slide bar 1, Z axis sliding block 1 and Z-axis transmission belt 1 Linkage；Equipped with third motor 20 and belt pulley, belt pulley drives Z-axis transmission belt 1 to move, on the Z axis sliding block 1 Equipped with locating rack 19, the second gripper jaw 7 is connected on locating rack 19.
Second gripper jaw 7Z axial downward movements close folding clothes hanger 5 and are fixed on positioning seat 6 at this time to the front of folded clothing platform 8 It above and is detached from from 100 neckline of clothing, closing folding 5 side arm 30 of clothes hanger can be collapsed with stress, and second gripper jaw 7 is most Lower position and 8 table top spacing of folded clothing platform are translated in 1~20cm, then the second gripper jaw 7 along 8 table top X axis of folded clothing platform, The second gripper jaw 7 is discharged when clothing 100 is laid in folded clothing platform 8.
Shown in Fig. 7, it includes several pieces of returning face plates and overturning drive device to fold clothing platform 8, driving device can be motor or It is curved arm rod structure, folds the side lamination 41 that clothing platform 8 is equipped with preceding lamination 40, rear lamination 39 and both sides, connected below each lamination It is equipped with the outlet 43 to fall among returning face plate, the preceding lamination 40 and rear lamination 39, overturning valve block 42, clothing are equipped at outlet 43 Object 100, which is reversed plate and is pushed into outlet, 43 to fall off；Equipped with output stage 9, output stage 9 is docked at 43 lower section of outlet.Equipped with sleeve Sub- foldable structure, including left and right tabletting 47 and two driving levers 44, the tabletting 47 are connected on electric rotating machine, and tabletting 47 can revolve Folded 8 surface of clothing platform is gone to, the tabletting 47 is located at collar side when clothing 100 tiles；Driving lever 44 is located at electric pushrod 45 On, equipped with left and right driving device 46 push electric pushrod 45 move left and right, the driving lever 44 in readiness in folded clothing 8 both sides of platform, and it is close to folded 8 both sides of clothing platform, the driving lever 44 can rise to folded 8 table top of clothing platform or more, then along It moves playing surface, the position of the driving lever 44 when moving is higher than 47 position of tabletting.
Clothing 100 is selected clothing 100 by side by rear preceding lamination 40, lamination, side lamination 41 to varus, then opens outlet 43, so that clothing 100 is fallen to output stage 9 and sends out.Output stage 9 could be provided as the shear shank structure of X-shaped, can drive It is moved up and down, and one piece of push plate, which can be arranged, in 9 table top of output stage releases clothing 100.
The present invention recovery method include：
Shown in Fig. 8-Fig. 9, the conjunction folding clothes hanger 5 that side arm 30 can be closed to folding is unfolded, and closes and hangs clothing 100 on folding clothes hanger 5, closes folding Clothes hanger 5 is suspended to one by one on guide rod 4, and will close folding clothes hanger 5 by the first gripper jaw 2-1 pushes positioning seat 6, closes folding clothes hanger 5 from leading It is just stuck on positioning seat 6 after being exported on bar 4,
The second gripper jaw 7 is driven to be clipped at the both sides shoulder of clothing 100,
Unlocking mechanism on positioning seat 6, which will close the folding unlock of clothes hanger 5, makes conjunction roll over 5 side arm 30 of clothes hanger from level to hanging down naturally,
Second gripper jaw 7 crawl clothing 100 is moved down along Z axis, and 5 holding position of conjunction folding clothes hanger is constant, and conjunction is made to roll over clothing Frame 5 is detached from from the neckline of clothing 100,
Second gripper jaw 7 captures clothing 100 to the front of folded clothing platform 8, keeps 7 extreme lower position of the second gripper jaw flat with folded clothing 8 table top spacing of platform in 1~20cm,
Second gripper jaw 7 pulls clothing 100 along folded 8 tabletop translation of clothing platform, when clothing 100 is laid in folded clothing platform 8 When discharge the second gripper jaw 7.
Close folding 5 side arm 30 of clothes hanger be equipped with collapses portion 30-1, the cloth for collapsing clothing 100 at portion 30-1 always with side arm 30 It does not contact, the second gripper jaw 7, which is clipped in, can clamp directly to cloth collapsing at portion 30-1.
After closing folding clothes hanger 5 with the disengaging of clothing 100, the first gripper jaw 2-1 clips to an other storage by folding clothes hanger 5 is closed On bar 3.
Several induction identifiers are equipped with along guide rod 4, are controlled after sensing 5 position of conjunction folding clothes hanger on guide rod 4 First gripper jaw 2-1 rolls over 5 corresponding position of clothes hanger to conjunction.
The folding limit of clothes hanger 5 is closed on positioning seat 6, the solving locking key for closing folding clothes hanger 5 is set to the bottom for closing 5 center of folding clothes hanger.
When clothing 100 hangs over conjunction folding clothes hanger 5, solving locking key is exposed from the neckline of clothing 100, and positioning seat 6 is equipped with activity Plate 6-1, movable plate 6-1 are inserted into the solving locking key bottom for being placed in and closing folding clothes hanger 5 from neckline, and activity can be clicked movable plate 6-1 upwards Solving locking key makes 5 suspension downwards of side arm 30 of conjunction folding clothes hanger.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power Profit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent requirements of the claims Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.

Claims (10)

1. a kind of full-automatic clothes folding machine, it includes frame, control module and closes folding clothes hanger, and clothes sleeve is on closing folding clothes hanger；
It is characterized in that, being equipped with：
Transport system, including the first gripper jaw and X-axis driving device one, X-axis driving device one drive the crawl of the first gripper jaw to close Folding clothes hanger is simultaneously moved along X axis, is equipped in terminal and is collapsed the structure for closing folding clothes hanger；
Dragging system, is docked with transport system, including two the second gripper jaws, Z axis driving device one, X-axis driving device two, institute It states and captures clothing by two the second gripper jaws after conjunction folding clothes hanger collapses, Z axis driving device one drives the second gripper jaw downward along Z axis Mobile, then X-axis driving device two drives the second gripper jaw to be moved along X axis；
Folded clothing system, including folded clothing platform, several pieces of returning face plates and overturning drive device, when the second above-mentioned gripper jaw declines at In front of folded clothing platform, the second gripper jaw pulls clothing and is divided in folded clothing platform surface along X axis again, and the clothing is by turning over Flap overturns superposition successively.
2. a kind of full-automatic clothes folding machine according to claim 1, which is characterized in that the transport system includes guide rod And positioning seat, guide rod are furnished along X axis, are closed folding clothes hanger and are hung on the guide bar, guide rod and positioning seat docking, the first clamping Claw clip conjunction folding clothes hanger when being detached from from guide rod one end, closes folding clothes hanger and just into the setting position of positioning seat.
3. a kind of full-automatic clothes folding machine according to claim 1 or 2, which is characterized in that the conjunction folding clothes hanger includes hooking Extension portion, hanger body and side arm, the side arm and hanger body on both sides are hinged, and hanger body is equipped with lower press button and elasticity is pushed Portion is hinged one end in side arm and is equipped with eave tile, and the both sides in the elasticity pushing portion are equipped with edge, side arm eave tile card when two side arms level It is buckled in realization level on edge to fix, the lower press button energy pushing elastic pushing portion makes its deformation, makes eave tile be detached from from edge, side Arm nature vertical hanging.
4. a kind of full-automatic clothes folding machine according to claim 3, which is characterized in that the elastic pushing portion includes continuous The elastic piece of bending bends out edge in the both sides in elastic pushing portion, the suspension column extended downwardly is equipped with below elastic pushing portion, and And elastic pushing portion lower section is openning shape, lower press button is equipped with the horn-like lateral plate of opening upwards, and the elasticity pushing portion opens Mouth is opposite with lower press button flare openings, and suspension column is withstood on lateral plate, and when being pushed up on press button instantly, suspension column is inwardly slided along lateral plate It is dynamic, so that both sides edge spacing is reduced to generate extruding, the lower press button is equipped with the newel upwardly extended, on newel It is cased with spring, is withstood in elastic pushing portion above the spring.
5. a kind of full-automatic clothes folding machine according to claim 3, which is characterized in that the hang part is equipped with a circle groove, The pawl head of first gripper jaw is equipped with protrusion, and protrusion can clip in groove.
6. a kind of full-automatic clothes folding machine according to claim 3, which is characterized in that be equipped with interval above the positioning seat Slot, the hang part for closing folding clothes hanger limit in interval trough, and the positioning seat is equipped with unlocking mechanism, and unlocking mechanism includes cam electricity Machine, cam and movable plate, the cam motor are located on positioning seat, and cam and cam motor axis connection, movable plate are led from clothing Mouth is inserted into hanger body bottom and touches lower press button, and movable plate can be up and down in positioning seat, the cam rolled portion Position is against below movable plate.
7. a kind of full-automatic clothes folding machine according to claim 1 or 2, which is characterized in that the spacing of second gripper jaw No more than the width for closing folding clothes hanger expansion, two the second gripper jaws remain within conjunction folding clothes hanger width, the second gripper jaw The left and right shoulder position of holding clothes, before the second clamping claw clip moves downwardly to folded clothing platform by the driving of Z axis driving device one Side, the conjunction folding clothes hanger are detached from after collapsing from clothing neckline, are equipped with X-axis driving device two and are driven the second gripper jaw flat along folded clothing Platform tabletop translation, discharges the second gripper jaw when clothing is laid in folded clothing platform, the second gripper jaw extreme lower position with it is folded Clothing tabletop of platform spacing is in 1~20cm.
8. a kind of full-automatic clothes folding machine according to claim 1 or 2, which is characterized in that the full-automatic clothes folding machine includes Clothes hanger recovery system and at least a storage bar, clothes hanger recovery system include Y-axis driving device one, and Y-axis driving device one drives First gripper jaw is moved along Y-axis, and the conjunction folding clothes hanger that first gripper jaw clamping is collapsed is moved to storage bar along Y-axis On arrange one by one.
9. a kind of full-automatic clothes folding machine according to claim 1 or 2, which is characterized in that folded clothing platform be equipped with preceding lamination, after The side lamination of lamination and both sides, each lamination lower section connect returning face plate, going out for whereabouts are equipped among the preceding lamination and rear lamination Mouthful, exit is equipped with overturning valve block, and clothing, which is reversed plate and is pushed into outlet, to fall off；Equipped with output stage, output stage is docked at Outlet lower section.
10. a kind of full-automatic clothes folding machine according to claim 9, which is characterized in that be equipped with sleeve foldable structure, including a left side Right tabletting and two driving levers, the tabletting are connected on electric rotating machine, and tabletting can be rotated to folded clothing platform surface, the pressure Collar side when piece is located at clothing tiling；Driving lever is located on electric pushrod, is equipped with left and right driving device and is pushed electric pushrod or so It is mobile, the driving lever in readiness in folded clothing platform both sides, and be close to fold clothing platform both sides, on the driving lever energy Folded clothing tabletop of platform or more is risen to, then along moving playing surface, the position of the driving lever when moving is higher than tabletting position.
CN201810646909.2A 2018-06-21 2018-06-21 A kind of full-automatic clothes folding machine Pending CN108797071A (en)

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CN201810710411.8A CN108755067B (en) 2018-06-21 2018-06-21 Full-automatic clothes carrying and clothes hanger separating and recycling method
CN201810646909.2A CN108797071A (en) 2018-06-21 2018-06-21 A kind of full-automatic clothes folding machine
CN201910030336.5A CN110629491B (en) 2018-06-21 2019-01-14 Clothes folding machine
CN201910030359.6A CN110629492B (en) 2018-06-21 2019-01-14 Clothes hanger, clothes folding machine and control method of clothes folding machine
CN201910030330.8A CN110629490B (en) 2018-06-21 2019-01-14 Control method of clothes folding machine
CN201910080382.6A CN110629498B (en) 2018-06-21 2019-01-28 Clothes folding machine and control method thereof
CN201910083052.2A CN110629499B (en) 2018-06-21 2019-01-28 Clothes folding machine and control method thereof
CN201910079456.4A CN110629493B (en) 2018-06-21 2019-01-28 Clothes folding machine and control method thereof
CN201910079490.1A CN110629494B (en) 2018-06-21 2019-01-28 Clothes folding machine and control method thereof
CN201910079841.9A CN110629497B (en) 2018-06-21 2019-01-28 Clothes folding machine and control method thereof
CN201910079837.2A CN110629496B (en) 2018-06-21 2019-01-28 Clothes folding machine and control method thereof
CN201910079499.2A CN110629495B (en) 2018-06-21 2019-01-28 Clothes folding machine and control method thereof
CN201910106190.8A CN110629500A (en) 2018-06-21 2019-02-02 Clothes treatment device and control method thereof
CN201910106332.0A CN110629505B (en) 2018-06-21 2019-02-02 Clothes folding machine and control method
CN201910106333.5A CN110629506B (en) 2018-06-21 2019-02-02 Clothes folding machine and control method
CN201910106209.9A CN110629502A (en) 2018-06-21 2019-02-02 Clothes treatment device and control method thereof
CN201910106331.6A CN110629504A (en) 2018-06-21 2019-02-02 Clothes folding machine and control method
CN201910106210.1A CN110629503B (en) 2018-06-21 2019-02-02 Clothes folding machine and control method thereof
CN201910106208.4A CN110629501A (en) 2018-06-21 2019-02-02 Clothes treatment device and control method thereof
CN201910119015.2A CN110629507A (en) 2018-06-21 2019-02-18 Clothes folding machine and control method thereof
CN201910159151.4A CN110629508A (en) 2018-06-21 2019-03-04 Clothes folding machine and control method thereof
CN201910174648.3A CN110629509B (en) 2018-06-21 2019-03-08 Clothes folding machine and control method thereof
CN201910189027.2A CN110629511B (en) 2018-06-21 2019-03-13 Clothes folding machine and control method thereof
CN201910188651.0A CN110629510B (en) 2018-06-21 2019-03-13 Clothes folding machine and control method thereof
CN201910190702.3A CN110629515B (en) 2018-06-21 2019-03-13 Clothes folding machine and control method thereof
CN201910190724.XA CN110629516B (en) 2018-06-21 2019-03-13 Clothes folding machine
CN201910190452.3A CN110629513B (en) 2018-06-21 2019-03-13 Control method of clothes folding machine
CN201910191218.2A CN110629517A (en) 2018-06-21 2019-03-13 Clothes folding machine and control method thereof
CN201910190152.5A CN110629512B (en) 2018-06-21 2019-03-13 Clothes folding machine and control method
CN201910190700.4A CN110629514B (en) 2018-06-21 2019-03-13 Clothes folding machine and control method
CN201910271937.5A CN110629518B (en) 2018-06-21 2019-04-04 Clothes hanger, clothes folding machine and control method of clothes folding machine
CN201910347541.4A CN110629519B (en) 2018-06-21 2019-04-28 Clothes hanger, clothes folding machine and control method of clothes folding machine
CN201910422243.7A CN110629522A (en) 2018-06-21 2019-05-21 Clothes treatment device and control method thereof
CN201910422236.7A CN110629521B (en) 2018-06-21 2019-05-21 Clothes folding machine and control method thereof
CN201910422234.8A CN110629520B (en) 2018-06-21 2019-05-21 Folding device, clothes folding machine and control method of clothes folding machine
PCT/CN2019/090901 WO2019242549A1 (en) 2018-06-21 2019-06-12 Laundry folding machine and control method
PCT/CN2019/090900 WO2019242548A1 (en) 2018-06-21 2019-06-12 Hanger, laundry folding machine, and laundry folding machine control method
PCT/CN2019/090898 WO2019242547A1 (en) 2018-06-21 2019-06-12 Clothes folding machine and control method
PCT/CN2019/091636 WO2019242592A1 (en) 2018-06-21 2019-06-18 Clothing treatment device and control method therefor
PCT/CN2019/091639 WO2019242595A1 (en) 2018-06-21 2019-06-18 Flipping device, laundry folding machine, and method for controlling laundry folding machine
PCT/CN2019/091637 WO2019242593A1 (en) 2018-06-21 2019-06-18 Hanger, clothes folding machine and control method for clothes folding machine
CN201910529820.2A CN110629524B (en) 2018-06-21 2019-06-19 Control method of clothes folding machine and clothes folding machine
CN201910529819.XA CN110629523B (en) 2018-06-21 2019-06-19 Clothes folding machine and control method thereof
PCT/CN2019/092350 WO2019242758A1 (en) 2018-06-21 2019-06-21 Clothes folding machine and control method therefor, and clothes treating apparatus
PCT/CN2019/092352 WO2019242759A1 (en) 2018-06-21 2019-06-21 Garment folding device and control method thereof
CN201910543708.4A CN110629528B (en) 2018-06-21 2019-06-21 Control method of clothes folding machine and clothes folding machine
PCT/CN2019/092181 WO2019242709A1 (en) 2018-06-21 2019-06-21 Clothes folding machine and control method therefor
CN201910540802.4A CN110629525A (en) 2018-06-21 2019-06-21 Clothes folding machine, control method of clothes folding machine and clothes treatment device
CN201910542089.7A CN110629527B (en) 2018-06-21 2019-06-21 Clothes folding machine and control method thereof
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CN201910030330.8A Active CN110629490B (en) 2018-06-21 2019-01-14 Control method of clothes folding machine
CN201910030336.5A Active CN110629491B (en) 2018-06-21 2019-01-14 Clothes folding machine
CN201910030359.6A Active CN110629492B (en) 2018-06-21 2019-01-14 Clothes hanger, clothes folding machine and control method of clothes folding machine
CN201910079490.1A Active CN110629494B (en) 2018-06-21 2019-01-28 Clothes folding machine and control method thereof
CN201910079499.2A Active CN110629495B (en) 2018-06-21 2019-01-28 Clothes folding machine and control method thereof
CN201910079841.9A Active CN110629497B (en) 2018-06-21 2019-01-28 Clothes folding machine and control method thereof
CN201910079837.2A Active CN110629496B (en) 2018-06-21 2019-01-28 Clothes folding machine and control method thereof
CN201910079456.4A Active CN110629493B (en) 2018-06-21 2019-01-28 Clothes folding machine and control method thereof
CN201910080382.6A Active CN110629498B (en) 2018-06-21 2019-01-28 Clothes folding machine and control method thereof
CN201910083052.2A Active CN110629499B (en) 2018-06-21 2019-01-28 Clothes folding machine and control method thereof
CN201910106333.5A Active CN110629506B (en) 2018-06-21 2019-02-02 Clothes folding machine and control method
CN201910106209.9A Pending CN110629502A (en) 2018-06-21 2019-02-02 Clothes treatment device and control method thereof
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CN201910106332.0A Active CN110629505B (en) 2018-06-21 2019-02-02 Clothes folding machine and control method
CN201910106331.6A Withdrawn CN110629504A (en) 2018-06-21 2019-02-02 Clothes folding machine and control method
CN201910106208.4A Pending CN110629501A (en) 2018-06-21 2019-02-02 Clothes treatment device and control method thereof
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CN201910119015.2A Pending CN110629507A (en) 2018-06-21 2019-02-18 Clothes folding machine and control method thereof
CN201910159151.4A Pending CN110629508A (en) 2018-06-21 2019-03-04 Clothes folding machine and control method thereof
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CN201910190152.5A Active CN110629512B (en) 2018-06-21 2019-03-13 Clothes folding machine and control method
CN201910189027.2A Active CN110629511B (en) 2018-06-21 2019-03-13 Clothes folding machine and control method thereof
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CN201910190700.4A Active CN110629514B (en) 2018-06-21 2019-03-13 Clothes folding machine and control method
CN201910188651.0A Active CN110629510B (en) 2018-06-21 2019-03-13 Clothes folding machine and control method thereof
CN201910271937.5A Active CN110629518B (en) 2018-06-21 2019-04-04 Clothes hanger, clothes folding machine and control method of clothes folding machine
CN201910347541.4A Active CN110629519B (en) 2018-06-21 2019-04-28 Clothes hanger, clothes folding machine and control method of clothes folding machine
CN201910422243.7A Pending CN110629522A (en) 2018-06-21 2019-05-21 Clothes treatment device and control method thereof
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CN201910540802.4A Pending CN110629525A (en) 2018-06-21 2019-06-21 Clothes folding machine, control method of clothes folding machine and clothes treatment device
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CN201910030359.6A Active CN110629492B (en) 2018-06-21 2019-01-14 Clothes hanger, clothes folding machine and control method of clothes folding machine
CN201910079490.1A Active CN110629494B (en) 2018-06-21 2019-01-28 Clothes folding machine and control method thereof
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CN201910106209.9A Pending CN110629502A (en) 2018-06-21 2019-02-02 Clothes treatment device and control method thereof
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CN201910106332.0A Active CN110629505B (en) 2018-06-21 2019-02-02 Clothes folding machine and control method
CN201910106331.6A Withdrawn CN110629504A (en) 2018-06-21 2019-02-02 Clothes folding machine and control method
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Application publication date: 20181113