CN109957957B - Automatic clothes stacking machine device and method based on embedded system - Google Patents
Automatic clothes stacking machine device and method based on embedded system Download PDFInfo
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- CN109957957B CN109957957B CN201910199595.0A CN201910199595A CN109957957B CN 109957957 B CN109957957 B CN 109957957B CN 201910199595 A CN201910199595 A CN 201910199595A CN 109957957 B CN109957957 B CN 109957957B
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- object placing
- placing plate
- steering engine
- aluminum pipe
- clothes
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F89/00—Apparatus for folding textile articles with or without stapling
- D06F89/02—Apparatus for folding textile articles with or without stapling of textile articles to be worn, e.g. shirts
Abstract
The invention discloses an automatic clothes stacking machine device and method based on an embedded system. The device comprises a bottom plate, a storage platform, three translation rotating devices and five limiting devices, wherein the storage platform mainly comprises six storage plates which are arranged in an array form; the translation rotating device and the limiting device are both fixed on the upper surface of the bottom plate, and the limiting device drives the limiting piece connected with the rudder disc to rotate by means of rotation of the rudder disc, so that the clothes are compacted and folded; the steering engine contained in the translation rotating device is fixed on a steering engine base by two L-shaped fixing pieces, the base is sleeved on a screw rod and a guide rail, and the steering engine is driven by a stepping motor along with the screw rod to translate in the horizontal direction. The automatic clothes folding machine is ingenious in design and orderly in operation, can realize automation of clothes folding process, improves production efficiency, liberates labor force, and has immeasurable benefits for household daily use and factory production.
Description
Technical Field
The invention relates to an automatic clothes stacking machine, in particular to an automatic clothes stacking machine device and method based on an embedded system.
Background
In the current society of rapid development, the life trivia of clothes is annoying to people who are forced by fast-paced life, and investigation data show that 750 days of flowers are on clothes washing in the life of ordinary people, and 375 days are spent on clothes folding without eye lifting. Not only life, in social production, because factory machine intelligence is low, a lot of extremely fine actions are difficult to finish, and the clothes stacking flow of most clothing manufacturing enterprises still adopts manual operation, and factory assembly line operation efficiency is still not very high. In summary, the automatic clothes folding machine has great development space and immeasurable significance in improving the life quality and happiness of people and improving the social productivity mode.
The existing automatic clothes folding machine mainly comprises a sliding clothes folding machine, a folded plate type clothes folding machine, a double-rod type clothes folding machine and a clothes rolling type clothes folding machine. However, the sliding type clothes stacking machine has the defects of large volume and untidy folded clothes; the folding plate type clothes folding machine has the defect of more folds; the double-rod type clothes stacking machine is high in price and complex in structure although being superior in technical aspect, and is difficult to flow on the market; the rolling clothes type clothes stacking machine has the defects that only light and thin clothes can be folded, and the volume is relatively large. In summary, the automatic clothes folding machine is deficient in the aspects of clothes folding quality, the volume of the clothes folding machine and the cost. Although there are many patents at home and abroad for designing and improving the clothes folding machine, the design of strong practicability, good expansibility, high efficiency, low manufacturing cost and simple operability still does not appear, the design of a control system is not mature enough, and a great development space is still provided for innovative structures or clothes folding machines integrating various structures.
Disclosure of Invention
In order to solve the problems in the background technology, the invention provides an automatic clothes stacking machine device and method based on an embedded system, and the device has small volume, is convenient to store and carry, and has simpler mechanical structure and process and easier operation compared with the prior clothes stacking machine.
The technical scheme adopted by the invention is as follows:
1. automatic clothes stacking machine device based on embedded system
The invention comprises a bottom plate, a storage platform, three translation rotating devices and five limiting devices, wherein the storage platform mainly comprises six storage plates which are arranged in a 3*2 array mode, the same gap is reserved between every two adjacent storage plates, each storage plate is fixed on the upper surface of the bottom plate through a copper column, the three translation rotating devices comprise a translation rotating device I, a translation rotating device II and a translation rotating device III, the translation rotating device I and the translation rotating device II are respectively fixed on the upper edge and the lower edge of the bottom plate and are respectively close to the upper side and the lower side of the storage platform, and the translation rotating device III is fixed on the upper surface of the bottom plate and is close to one left side and right side of the storage platform.
The six object placing plates are respectively an object placing plate I, an object placing plate II, an object placing plate III, an object placing plate IV, an object placing plate V and an object placing plate VI, the object placing plate I, the object placing plate II and the object placing plate III are respectively arranged opposite to the object placing plate IV, the object placing plate V and the object placing plate VI from top to bottom, the object placing plate II is positioned between the object placing plate I and the object placing plate III, the object placing plate V is positioned between the object placing plate IV and the object placing plate VI, and the object placing plate III and the object placing plate VI are positioned on one side close to the translation rotating device III.
The translation and rotation device mainly comprises a translation mechanism and a rotation mechanism; the translation mechanism comprises a stepping motor, a motor support, a screw rod, two screw rod supports, a guide rail, two guide rail supports, two total brackets and a steering engine base I, wherein the screw rod is arranged parallel to the side edge of the base plate, two ends of the screw rod are respectively arranged on the two screw rod supports, the two screw rod supports are respectively arranged on the upper end faces of the two total brackets fixed on the upper surface of the base plate, the guide rail supports are respectively fixed on the lower end faces of the two total brackets, a guide rail is fixed between the two guide rail supports, the steering engine base I is sleeved on the screw rod and the guide rail, the steering engine base I is connected with the screw rod through threads, one end of the screw rod is connected with an output shaft of the stepping motor, and the stepping motor is fixed on the upper surface of the base plate through the motor support; the rotating mechanism comprises a steering engine I, a steering engine support I, L-shaped firmware, T-shaped firmware and an aluminum pipe, wherein the steering engine I is installed on the upper surface of a steering engine base I through the L-shaped firmware fixed on two sides of the steering engine I, two sides of the bottom of the steering engine support I are installed on bearings on the other two sides of the steering engine I, the T-shaped firmware is installed on the upper end face of the steering engine support I and mainly comprises a horizontal plane and a vertical plane fixed in the middle of the horizontal plane, the vertical plane is fixed with the aluminum pipe towards one side of the object placing platform through a shaft sleeve, and the extending direction of the aluminum pipe is perpendicular to the screw rod.
The limiting device comprises a steering engine II, steering engine brackets II, a steering engine base II, a steering wheel disc, plastic sheets and limiting sheets, wherein the steering engine base II is fixed on the upper surface of the bottom plate, the steering engine II is fixed on the steering engine base II through the steering engine brackets II arranged on two sides of the steering engine II, the steering wheel disc is arranged on the upper surface of the steering engine II, and the steering wheel disc is connected with the limiting sheets through the plastic sheets; the limiting device is fixed on the upper surfaces of the bottom plates corresponding to the two vertex angles, which are close to one side of the translation rotating device, of the object placing plate II and the object placing plate V, the limiting device is fixed on the upper surface of the bottom plate corresponding to the vertex angle, which is close to the object placing plate II, of the lower side edge of the object placing plate I, arc-shaped grooves are formed in the positions, corresponding to the vertex angles, of the object placing plates, of the limiting device, a rudder disc of the limiting device is located in the arc-shaped grooves, and the limiting piece of the limiting device rotates around the rudder disc on the upper surface of the object placing plate.
Steering wheel I, steering wheel II, step motor all link to each other with control circuit, control circuit includes power strip, voltage stabilizing module, main control board, three drive plates and eight steering wheel control module, and three drive plates all link to each other with the power strip, and the power strip links to each other with the main control board through voltage stabilizing module, and every drive plate and every steering wheel control module all link to each other with the main control board, and every drive plate all is connected with a step motor, and steering wheel I, steering wheel II all link to each other with steering wheel control module.
IN the control circuit, a power panel L pin and an N pin are connected to a mains supply, a +V pin and a COM pin of the power panel are respectively connected with an IN+ pin and an IN-pin of a voltage stabilizing module, vcc pins of three driving boards are respectively connected with a +V pin and an IN+ pin of the voltage stabilizing module of the power panel, a vout pin of the voltage stabilizing module is connected with a vin pin of a main control panel, an IN pin of each steering engine control module is connected with an out pin of the main control panel, vcc pins of each steering engine control module are respectively connected with a vcc pin of the main control panel, DIR+, PLS+, ENA+ of each driving board are respectively connected with a PLS pin, a DIR pin and an ENA pin of the main control panel, and A+ pin, A+ pin and B+ pin of each driving board are respectively connected with H, I pin, J pin and K pin of a corresponding stepping motor.
In the translation rotating device, the screw rod is driven by the stepping motor to rotate, so that the steering engine base I positioned on the screw rod is driven to move back and forth along the screw rod; the steering engine support I is driven by the steering engine I to rotate around the bearing so as to drive the aluminum pipe to do rotary motion.
In the limiting device, the steering wheel is driven by the steering engine II to perform rotary motion, so that the limiting piece connected with the steering wheel is driven to perform rotary motion.
U-shaped screws are arranged at positions close to the arc-shaped grooves of the object placing plate, and U-shaped protrusions are formed on the surface of the object placing plate by the U-shaped screws; the limiting piece of the limiting device is lifted upwards under the action of the U-shaped screw when rotating from one side edge to the other side edge of the object placing plate. The plastic sheet connected with the limiting sheet is bendable and deformable.
The aluminum pipe of translation rotary device I extends to put thing board II, and the aluminum pipe of translation rotary device II extends to put thing board V, and the aluminum pipe of translation rotary device III extends to put thing board I from putting thing board III.
The aluminum pipe can pass through a gap between two adjacent object placing plates.
A gap with the width of 2cm is arranged between two adjacent object placing plates, so that the aluminum pipe can move up and down conveniently.
2. Operation method based on clothes stacking machine device
The method comprises the following steps:
step S1: in the initial state, the aluminum pipe of the translation rotating device I moves and rotates to the position below a gap between the object placing plate IV and the object placing plate V, the aluminum pipe of the translation rotating device II moves and rotates to the position below a gap between the object placing plate II and the object placing plate III, the aluminum pipe of the translation rotating device III moves and rotates to the position below a gap between the object placing plate I and the object placing plate IV, all limiting sheets on the upper surfaces of the object placing plate II and the object placing plate V rotate to horizontal positions and are positioned at the side edge position close to one side of the translation rotating device, and the limiting sheet on the upper surface of the object placing plate I rotates to the side edge position close to one side of the object placing plate II;
step S2: the clothes are flatly paved at the middle position of the upper surface of the object placing platform, and all limiting pieces on the upper surfaces of the object placing plate II and the object placing plate V are rotated from the horizontal position to the vertical position and are pressed on the upper surface of the clothes;
step S3: the aluminum pipe of the object placing plate V passes through a gap between the object placing plate IV and the object placing plate V to rotate upwards to the upper part of the gap, and the aluminum pipe is translated to the other side from one side of the object placing plate V, so that clothes on the object placing plate I and the object placing plate IV are driven to be turned over to the middle position, and then the aluminum pipe is driven to be translated to one side of the object placing plate V and then rotated to the highest position in the vertical direction; the aluminum pipe of the object placing plate II passes through the gap and rotates upwards to the upper part of the gap, and the aluminum pipe is translated from one side of the object placing plate II to the other side, so that clothes on the object placing plate III and the object placing plate VI are driven to be folded to the middle position, and then the aluminum pipe is driven to translate to one side of the object placing plate II and then rotate to the highest position in the vertical direction;
step S4: all limiting sheets on the upper surfaces of the object placing plates II and V are rotated from the vertical position to the horizontal position;
step S5: rotating the limiting piece of the object placing plate I to the side edge position of the object placing plate II, which is close to the object placing plate V, and pressing the limiting piece on the middle part of the clothes;
step S6: the aluminum pipe of the translation rotating device III is rotated upwards to pass through a gap between the object placing plate I and the object placing plate IV, and after the aluminum pipe contacts clothes, the aluminum pipe is translated from the lower side edge of the object placing plate II to the upper side edge of the object placing plate II, so that the clothes on the object placing plate V are driven to be folded to the object placing plate II;
step S7: the limiting piece of the object placing plate I is rotated to the lower side edge of the object placing plate I, so that clothes on the object placing plate II are driven to move to the object placing plate IV;
step S8: full homing link: the aluminum pipes of the translation rotating device I, the translation rotating device II and the translation rotating device III are translated and rotated to the position where the initial state of the step S1 is located; and (3) rotating the limiting piece of the object placing plate I to the position where the initial state of the step S1 is located.
In the step S2, the clothes are flatly laid between the limiting pieces of the object placing plate ii and the object placing plate v.
In the step S4, all the limiting pieces of the object placing plate ii and the object placing plate v leave the clothes, and the limiting effect on the clothes is lost.
The invention has the beneficial effects that:
1) By improving the appearance of the clothes folding machine, the volume of the clothes folding machine is reduced
The invention combines the appearance advantages of various clothes folding machines, and finally achieves the appearance effect of small volume by adopting a mode of hiding the slide bars. And the portable electric heating device is made of light and firm materials, is convenient to carry and store, and is more durable.
2) Adopts the clothes folding process, almost no wrinkles are generated on the clothes
Because the clothes stacking strategy of the matched work of the sliding rod and the limiting piece is adopted, the clothes placed on the object placing platform can be effectively prevented from sliding, and compared with the traditional sliding type clothes stacking machine and the folding plate type clothes stacking machine, the clothes stacking machine has fewer or even no folds in the clothes stacking process.
3) The mechanism of the clothes folding machine is simple, easy to operate and high in efficiency
All the structures of the invention are exposed in the line of sight of the masses, so that the target clothes folding function is finished by a concise and exquisite design, and the operation is convenient; the invention has simple structure, simple clothes folding steps, continuous operation and high efficiency.
4) Can continuously operate and has good repeatability
After one piece of clothes is overlapped, the invention can complete accurate full homing of each slide bar and each limiting piece before a second piece of clothes is put on, which makes full preparation for carrying out second clothes overlapping. According to the design, the clothes folding machine has continuous working performance and can repeatedly fold clothes.
Drawings
Fig. 1 is a general assembly schematic of the present invention.
FIG. 2 is a top view of the storage platform of the present invention.
Fig. 3 is a detailed view of the translational rotation device of the present invention.
Fig. 4 is a detailed view of the stop device of the present invention.
Fig. 5 is a schematic view of a translational rotation device according to the present invention.
Fig. 6 is a top view of the overall device of the present invention.
Fig. 7 is a schematic view of a limiting device according to the present invention.
FIG. 8 is a schematic diagram of the control circuit of the present invention.
Fig. 9 is a working state diagram of step S2 in the embodiment of the present invention.
Fig. 10 is a working state diagram of step S3 in the embodiment of the present invention.
Fig. 11 is a working state diagram of step S4 in the embodiment of the present invention.
Fig. 12 is a working state diagram of step S5 in the embodiment of the present invention.
Fig. 13 is a working state diagram of step S6 in the embodiment of the present invention.
Fig. 14 is a working state diagram of step S7 in the embodiment of the present invention.
In the figure: 1. the device comprises a storage plate I, a storage plate II, a storage plate 3, a storage plate III, a storage plate 4, a storage plate IV, a storage plate 5, a storage plate V, a storage plate 6, a storage plate VI, 7, an aluminum pipe, 10, a limiting piece, 15, steering gears I, 16, steering gears II, 17, steering gears brackets I, 18, steering gears brackets II, 21, a bottom plate, 23, steering gears, 24, L-shaped firmware, 25, a total bracket, 26, a stepping motor, 27, a motor support, 28, a screw rod, 29, a screw rod support, 30, a guide rail, 31, a guide rail support, 32, T-shaped firmware, 33, U-shaped screws, 34, fastening screws, 35, plastic sheets, 36, driving plates, 37, a power source plate 38, a voltage stabilizing module, 40, a storage platform, 41, a translation rotating device, 42, a limiting device, 44 and a control circuit.
Detailed Description
The invention is further described below with reference to the drawings and examples.
As shown in fig. 1, the invention comprises a bottom plate 21, a placement platform 40, three translational rotation devices 41 and five limiting devices 42, wherein the placement platform 40 mainly comprises six placement plates arranged in a 3*2 array form, the same gap is reserved between every two adjacent placement plates, each placement plate is fixed on the upper surface of the bottom plate 21 through a copper column, the three translational rotation devices 41 comprise a translational rotation device i, a translational rotation device ii and a translational rotation device iii, the translational rotation device i and the translational rotation device ii are respectively fixed on the upper edge and the lower edge of the bottom plate 21 and respectively close to the upper side and the lower side of the placement platform 40, and the translational rotation device iii is fixed on the upper surface of the bottom plate 21 and close to one left side and right side of the placement platform 40.
As shown in fig. 2, the six object placing plates are respectively an object placing plate i 1, an object placing plate ii 2, an object placing plate iii 3, an object placing plate iv 4, an object placing plate v 5 and an object placing plate vi 6, the object placing plate i 1, the object placing plate ii 2 and the object placing plate iii 3 are respectively arranged opposite to the object placing plate iv 4, the object placing plate v 5 and the object placing plate vi 6 up and down, the object placing plate ii 2 is positioned between the object placing plate i 1 and the object placing plate iii 3, the object placing plate v 5 is positioned between the object placing plate iv 4 and the object placing plate vi 6, and the object placing plate iii 3 and the object placing plate vi 6 are positioned at one side close to the translation rotation device iii.
As shown in fig. 3 and 5, the translational rotation device 41 is mainly composed of a translational mechanism and a rotation mechanism; the translation mechanism comprises a stepping motor 26, a motor support 27, a screw rod 28, two screw rod supports 29, a guide rail 30, two guide rail supports 31, two total brackets 25 and a steering engine base I45, wherein the screw rod 28 is arranged parallel to the side edge of the bottom plate 21, two ends of the screw rod 28 are respectively arranged on the two screw rod supports 29, the two screw rod supports 29 are respectively arranged on the upper end faces of the two total brackets 25 fixed on the upper surface of the bottom plate 21, the guide rail supports 31 are respectively fixed on the lower end faces of the two total brackets 25, the guide rail 30 is fixed between the two guide rail supports 31, the steering engine base I45 is sleeved on the screw rod 28 and the guide rail 30, the steering engine base I45 is connected with the screw rod 28 through threads, one end of the screw rod 28 is connected with an output shaft of the stepping motor 26, and the stepping motor 26 is fixed on the upper surface of the bottom plate 21 through the motor support 27; the rotating mechanism comprises a steering engine I15, a steering engine support I17, L-shaped firmware 24, T-shaped firmware 32 and an aluminum pipe 7, wherein the steering engine I15 is installed on the upper surface of a steering engine base I45 through the L-shaped firmware 24 fixed on two sides of the steering engine I15, two sides of the bottom of the steering engine support I17 are installed on bearings on the other two sides of the steering engine I15, the T-shaped firmware 32 is installed on the upper end surface of the steering engine support I17, the T-shaped firmware 32 mainly comprises a horizontal plane and a vertical plane fixed in the middle of the horizontal plane, the aluminum pipe 7 is fixed on one side of the vertical plane facing a storage platform 40 through a shaft sleeve, and the extension direction of the aluminum pipe 7 is perpendicular to a screw rod 28.
As shown in fig. 4, the limiting device 42 comprises a steering engine ii 16, a steering engine bracket ii 18, a steering engine base ii 46, a steering wheel 23, a plastic sheet 35 and a limiting sheet 10, wherein the steering engine base ii 46 is fixed on the upper surface of the bottom plate 21, the steering engine ii 16 is fixed on the steering engine base ii 46 through the steering engine brackets ii 18 arranged on two sides of the steering engine ii 16, the steering wheel 23 is arranged on the upper surface of the steering engine ii 16, the steering wheel 23 is connected with the limiting sheet 10 through the plastic sheet 35, and the steering wheel 23 is connected with the plastic sheet 35 through a fastening screw 34; the upper surfaces of the bottom plates 21 corresponding to the two vertex angles of the object placing plate II 2 and the object placing plate V5, which are close to one side of the translation rotating device 41, are respectively fixed with a limiting device 42, the upper surfaces of the bottom plates 21 corresponding to the vertex angles of the object placing plate II 2, which are positioned at the lower side edge of the object placing plate I1, are respectively fixed with a limiting device 42, arc grooves are respectively formed in the positions of the vertex angles of the object placing plates, which correspond to the limiting devices 42, the rudder disc 23 of the limiting devices 42 is positioned in the arc grooves, and the limiting pieces 10 of the limiting devices 42 rotate around the rudder disc 23 on the upper surfaces of the object placing plates.
As shown in fig. 7, the positions close to the arc-shaped grooves of the object placing plate are provided with U-shaped screws 33, and the U-shaped screws 33 form U-shaped bulges on the surface of the object placing plate; the limiting piece 10 of the limiting device 42 is lifted upwards under the action of the U-shaped screw 33 when rotating from one side edge to the other side edge of the object placing plate. The plastic sheet 35 connected to the stopper sheet 10 is bendable and deformable.
As shown in fig. 6, the aluminum pipe 7 of the translational rotation device i extends to the placement plate ii 2, the aluminum pipe 7 of the translational rotation device ii extends to the placement plate v 5, and the aluminum pipe 7 of the translational rotation device iii extends from the placement plate iii 3 to the placement plate i 1.
As shown in FIG. 8, the steering gears I15, II 16 and 26 are all connected with the control circuit 44, the control circuit 44 comprises a power panel 37, a voltage stabilizing module 38, a main control panel, three driving boards 36 and eight steering gear control modules, the steering gears I15 of the three translational rotation devices are respectively controlled by three steering gear control modules (steering gears 1, 2 and 3), the steering gears II 16 of the five limiting devices 42 are respectively controlled by five steering gear control modules (steering gears 4, 5, 6, 7 and 8), the three driving boards 36 are all connected with the power panel 37, the power panel 37 is connected with the main control panel through the voltage stabilizing module 38, and each driving board 36 is connected with one stepping motor 26.
IN the control circuit 44, the pin of the power panel 37L is connected to the mains supply, the pin +v and the pin COM of the power panel 37 are connected to the pin +v and the pin IN of the voltage stabilizing module 38, the pin vcc of the three driving boards 36 is connected to the pin +v of the power panel 37 and the pin IN of the voltage stabilizing module 38, the pin vout of the voltage stabilizing module 38 is connected to the vin pin of the main control board, the pin IN of each steering control module is connected to the out pin corresponding to the main control board, the pin vcc of each steering control module is connected to the pin vcc of the main control board, the three input pins dir+, pls+, ena+ of each driving board 36 are connected to the output pins vcc of the main control board, the PLS-pin DIR-pin of each driving board 36 are connected to the plus pin, DIR pin of the main control board, the ENA-pin of the three driving boards 36 are connected to the ENA1 pin ENA2 pin, ENA3 pin of the main control board, the pin a+pin a, the pin a-B, the motor-pin B, the motor-B pin corresponding to the step-I, and the step-J pin J of each driving board 36 are connected to the step-J.
In the specific implementation, the main control board is an Arduino Mega board, the model of the steering engine I15 and the model of the steering engine II 16 are JX PDI-6221MG, and Arduino digital output pins are used for control; the power panel 37 is S-100-36, the stepper motor 26 is J-5718HB5401, and the three drive panels 36 are DQ542, all controlled by differential method. The whole device is powered by a control circuit 44, a Power panel 37 in the control circuit 44 is connected with household 220V alternating current, the Power panel 37 adopts a 200W synchronous voltage reduction module, a live wire and a zero wire of 220V commercial Power are respectively connected with an L pin and an N pin of the Power panel, the Power panel converts the 220V commercial Power into +36V direct current, the +36V direct current can be directly connected with vcc of a Power part of three driving boards after being output, and a GND pin of the Power part of the driving boards is grounded to realize Power supply for a stepping motor; the output of the power panel 39 is connected with the input end of the voltage stabilizing module, the voltage stabilizing module 38 reduces the voltage of 36V direct current to 5V and outputs the direct current to the Arduino Mega panel for supplying power, the Arduino Mega panel is directly connected with the direct current and supplies power to the steering engine control module, the eight steering engine control modules share the 5V input and the ground, and the signal ends respectively occupy one digital output pin of the Arduino. The voltage stabilizing module, the Arduino Mega board, the driving board, the stepping motor and the steering engine control module are all grounded.
Specific examples:
the operation method of the clothes stacking machine device comprises the following steps:
step S1: in the initial state, the aluminum pipe 7 of the translation rotating device I moves and rotates to the position below a gap between the object placing plate IV 4 and the object placing plate V5, the aluminum pipe 7 of the translation rotating device II moves and rotates to the position below a gap between the object placing plate II 2 and the object placing plate III 3, the aluminum pipe 7 of the translation rotating device III moves and rotates to the position below a gap between the object placing plate I1 and the object placing plate IV 4, all limiting pieces 10 on the upper surfaces of the object placing plate II 2 and the object placing plate V5 rotate to horizontal positions, and the limiting pieces 10 on the upper surface of the object placing plate I1 rotate to the position near the side edge of the object placing plate II 2;
step S2: as shown in fig. 9, the clothes are flatly laid on the middle position of the upper surface of the object placing platform 40, the limiting piece 10 on the left side of the object placing plate v 5 rotates 90 degrees anticlockwise, the limiting piece 10 on the right side of the object placing plate v 5 rotates 90 degrees clockwise and is pressed on the lower half part of the clothes; the limiting piece 10 on the right side of the object placing plate II 2 rotates 90 degrees anticlockwise, the limiting piece 10 on the left side of the object placing plate V5 rotates 90 degrees clockwise and is pressed on the upper half part of the clothes;
step S3: as shown in fig. 10, the aluminum tube 7 of the storage plate v 5 rotates clockwise for 30 ° to pass through the gap, contacts clothes, is just positioned on the upper surface of the storage plate v 5, horizontally moves to the right of the storage plate v 5 immediately adjacent to the storage plate, horizontally moves in the opposite direction for the same path, rotates clockwise for 30 ° to the highest point in the vertical direction, and is stationary above the storage plate v 5; the aluminum pipe 7 of the object placing plate II 2 rotates anticlockwise for 30 degrees to pass through the gap, contacts clothes, is just positioned on the upper surface of the object placing plate II 2, horizontally moves leftwards to the leftmost end of the object placing plate II 2 by clinging to the object placing plate, reversely translates for the same path, rotates anticlockwise for 30 degrees to the highest point in the vertical direction, and is static above the object placing plate II 2;
step S4: as shown in fig. 11, all the limiting pieces 10 on the upper surfaces of the placement plate ii 2 and the placement plate v 5 are rotated to the initial state position of step S1;
step S5: as shown in fig. 12, the limiting piece 10 of the storage plate i 1 is rotated clockwise by 90 ° to press the middle part of the clothes;
step S6: as shown in fig. 13, the aluminum tube 7 of the translation rotation device iii rotates counterclockwise for 30 ° in the vertical plane (see direction of the sliding rod) to pass through the gap, contacts with clothes, is just on the plane of the object placing plate, then horizontally moves to the leftmost end of the object placing plate ii 2 close to the object placing plate (see direction of the sliding rod), returns to the same path again, and rotates counterclockwise for 30 ° to the highest point in the vertical direction;
step S7: as shown in fig. 14, the limiting plate 10 of the storage plate i 1 is rotated clockwise by 180 ° to leave the clothes on the storage plate iv 4, and then rotated counterclockwise by 270 ° to return to the original position;
step S8: full homing link: the translation rotating device I, the translation rotating device II and the aluminum pipe 7 of the translation rotating device III are translated and rotated to the position where the initial state of the step S1 is located; rotating the limiting piece 10 of the object placing plate I1 to the position where the initial state of the step S1 is located;
step S9: after all returns to the original position, the next task signal is waited.
Claims (9)
1. Automatic folding clothing machine device based on embedded system, its characterized in that: the automatic lifting device comprises a bottom plate (21), a storage platform (40), three translation rotating devices (41) and five limiting devices (42), wherein the storage platform (40) mainly comprises six storage plates which are arranged in a 3*2 array mode, the same gap is reserved between every two adjacent storage plates, each storage plate is fixed on the upper surface of the bottom plate (21) through a copper column, the three translation rotating devices (41) comprise a translation rotating device I, a translation rotating device II and a translation rotating device III, the translation rotating device I and the translation rotating device II are respectively fixed on the upper edge and the lower edge of the bottom plate (21) and are respectively close to the upper side and the lower side of the storage platform (40), and the translation rotating device III is fixed on the upper surface of the bottom plate (21) and is close to one left side and right side of the storage platform (40);
the six object placing plates are respectively an object placing plate I (1), an object placing plate II (2), an object placing plate III (3), an object placing plate IV (4), an object placing plate V (5) and an object placing plate VI (6), the object placing plate I (1), the object placing plate II (2) and the object placing plate III (3) are respectively arranged opposite to the object placing plate IV (4), the object placing plate V (5) and the object placing plate VI (6), the object placing plate II (2) is positioned between the object placing plate I (1) and the object placing plate III (3), the object placing plate V (5) is positioned between the object placing plate IV (4) and the object placing plate VI (6), and the object placing plate III (3) and the object placing plate VI (6) are positioned on one side close to the translation rotating device III;
the translation and rotation device (41) mainly comprises a translation mechanism and a rotation mechanism; the translation mechanism comprises a stepping motor (26), a motor support (27), a screw rod (28), two screw rod supports (29), a guide rail (30), two guide rail supports (31), two total supports (25) and a steering engine base I (45), wherein the screw rod (28) is arranged parallel to the side edge of a bottom plate (21), two ends of the screw rod (28) are respectively arranged on the two screw rod supports (29), the two screw rod supports (29) are respectively arranged on the upper end surfaces of the two total supports (25) fixed on the upper surface of the bottom plate (21), the guide rail supports (31) are respectively fixed on the lower end surfaces of the two total supports (25), the guide rail (30) are fixed between the two guide rail supports (31), the steering engine base I (45) is sleeved on the screw rod (28) and the guide rail (30), one end of the screw rod (28) is connected with an output shaft of the stepping motor (26) through threads, and the stepping motor (26) is fixed on the upper surface of the bottom plate (21) through the motor support (27); the rotating mechanism comprises a steering engine I (15), a steering engine bracket I (17), L-shaped firmware (24), T-shaped firmware (32) and an aluminum pipe (7), wherein the steering engine I (15) is installed on the upper surface of a steering engine base I (45) through the L-shaped firmware (24) fixed on two sides of the steering engine I (15), two sides of the bottom of the steering engine bracket I (17) are installed on bearings on the other two sides of the steering engine I (15), the T-shaped firmware (32) is installed on the upper end surface of the steering engine bracket I (17), the T-shaped firmware (32) mainly comprises a horizontal plane and a vertical plane fixed in the middle of the horizontal plane, the aluminum pipe (7) is fixed on one side of the vertical plane, facing to a storage platform (40), through a shaft sleeve, and the extending direction of the aluminum pipe (7) is perpendicular to a screw rod (28);
the limiting device (42) comprises a steering engine II (16), a steering engine support II (18), a steering engine base II (46), a steering wheel (23), a plastic sheet (35) and a limiting sheet (10), wherein the steering engine base II (46) is fixed on the upper surface of the bottom plate (21), the steering engine II (16) is fixed on the steering engine base II (46) through the steering engine support II (18) arranged on two sides of the steering engine II (16), the steering wheel (23) is arranged on the upper surface of the steering engine II (16), and the steering wheel (23) is connected with the limiting sheet (10) through the plastic sheet (35); the upper surfaces of the bottom plates (21) corresponding to two vertex angles, which are close to one side of the translation rotating device (41), of the object placing plate II (2) and the object placing plate V (5) are respectively fixed with a limiting device (42), the upper surfaces of the bottom plates (21) corresponding to the vertex angles, which are close to the object placing plate II (2), of the lower side edge of the object placing plate I (1) are respectively fixed with a limiting device (42), arc grooves are formed in the positions, corresponding to the vertex angles of the object placing plates, of the limiting devices (42), rudder discs (23) of the limiting devices (42) are positioned in the arc grooves, and limiting pieces (10) of the limiting devices (42) rotate around the rudder discs (23) on the upper surfaces of the object placing plates;
the operation method of the automatic clothes stacking machine device comprises the following steps:
step S1: in an initial state, the aluminum pipe (7) of the translation rotating device I moves and rotates to the position below a gap between the object placing plate IV (4) and the object placing plate V (5), the aluminum pipe (7) of the translation rotating device II moves and rotates to the position below a gap between the object placing plate II (2) and the object placing plate III (3), the aluminum pipe (7) of the translation rotating device III moves and rotates to the position below a gap between the object placing plate I (1) and the object placing plate IV (4), all limiting pieces (10) on the upper surfaces of the object placing plate II (2) and the object placing plate V (5) rotate to horizontal positions, the limiting pieces (10) on the upper surface of the object placing plate I (1) are positioned at side edge positions close to one side of the object placing plate II (2);
step S2: the clothes are flatly paved on the middle position of the upper surface of the object placing platform (40), and all the limiting pieces (10) on the upper surfaces of the object placing plate II (2) and the object placing plate V (5) are rotated from the horizontal position to the vertical position and are pressed on the upper surface of the clothes;
step S3: the aluminum pipe (7) of the object placing plate V (5) passes through a gap between the object placing plate IV (4) and the object placing plate V (5) to rotate upwards to the upper part of the gap, and the aluminum pipe (7) is translated to the other side from one side of the object placing plate V (5), so that clothes on the object placing plate I (1) and the object placing plate IV (4) are driven to be turned to the middle position, and then the aluminum pipe (7) is driven to be translated to one side of the object placing plate V (5) and then rotated to the highest position in the vertical direction; the aluminum pipe (7) of the object placing plate II (2) passes through the gap and rotates upwards to the upper part of the gap, the aluminum pipe (7) is translated from one side of the object placing plate II (2) to the other side, so that clothes on the object placing plate III (3) and the object placing plate VI (6) are driven to be turned over to the middle position, and then the aluminum pipe (7) is driven to translate to one side of the object placing plate II (2) and then rotate to the highest position in the vertical direction;
step S4: all limiting sheets (10) on the upper surfaces of the object placing plate II (2) and the object placing plate V (5) are rotated from a vertical position to a horizontal position;
step S5: rotating the limiting piece (10) of the object placing plate I (1) to the side edge position of the object placing plate II (2) close to the object placing plate V (5) and pressing the limiting piece on the middle part of the clothes;
step S6: the aluminum pipe (7) of the translation rotation device III is rotated upwards to pass through a gap between the object placing plate I (1) and the object placing plate IV (4), after the aluminum pipe (7) contacts clothes, the aluminum pipe is translated from the lower side edge of the object placing plate II (2) to the upper side edge of the object placing plate II (2), so that the clothes on the object placing plate V (5) are driven to be folded to the object placing plate II (2);
step S7: the limiting piece (10) of the object placing plate I (1) is rotated to the lower side edge of the object placing plate I (1), so that clothes on the object placing plate II (2) are driven to move to the object placing plate IV (4);
step S8: full homing link: the translation rotating device I, the translation rotating device II and the aluminum pipe (7) of the translation rotating device III are translated and rotated to the position where the initial state of the step S1 is located; and (3) rotating the limiting piece (10) of the object placing plate I (1) to the position where the initial state of the step S1 is located.
2. The automatic clothes stacking machine device based on the embedded system according to claim 1, wherein the steering engine I (15), the steering engine II (16) and the stepping motor (26) are all connected with the control circuit (44), the control circuit (44) comprises a power panel (37), a voltage stabilizing module (38), a main control panel, three driving panels (36) and eight steering engine control modules, the three driving panels (36) are all connected with the power panel (37), the power panel (37) is connected with the main control panel through the voltage stabilizing module (38), each driving panel (36) and each steering engine control module are all connected with the main control panel, each driving panel (36) is connected with one stepping motor (26), and the steering engine I (15) and the steering engine II (16) are all connected with the steering engine control modules.
3. The automatic clothes folding machine device based on the embedded system according to claim 2, wherein IN the control circuit (44), an L pin and an N pin of the power panel (37) are connected to a commercial power, a +V pin and a COM pin of the power panel (37) are respectively connected to an IN+ pin and an IN-pin of the voltage stabilizing module (38), vcc pins of three driving boards (36) are respectively connected to a +V pin of the power panel (37) and an IN+ pin of the voltage stabilizing module (38), a vout pin of the voltage stabilizing module (38) is connected to a vin pin of the main control board, an IN pin of each steering engine control module is connected to an out pin of the main control board, a vcc pin of each steering engine control module is connected to a vcc pin of the main control board, DIR+, PLS+, ENA+ of each driving board (36) are respectively connected to a V output pin of the main control board, a PLS-pin, a DIR-pin, an ENA-pin of each driving board (36) are respectively connected to a PLS pin of the main control board, a corresponding pin of the driving boards, an IN pin of the driving boards, and a corresponding driving boards, and a positive H pin of the driving boards (26, J and J, respectively.
4. The automatic clothes stacking machine device based on the embedded system according to claim 1, wherein in the translation rotating device (41), the screw rod (28) is driven by the stepping motor (26) to rotate, so that the steering engine base I (45) on the screw rod (28) is driven to move back and forth along the screw rod (28); the steering engine bracket I (17) is driven by the steering engine I (15) to rotate around the bearing so as to drive the aluminum pipe (7) to do rotary motion.
5. The automatic clothes stacking machine device based on the embedded system according to claim 1, wherein in the limiting device (42), the steering wheel (23) is driven by the steering engine II (16) to perform rotary motion, so that the limiting piece (10) connected with the steering wheel (23) is driven to perform rotary motion.
6. The automatic clothes stacking machine device based on the embedded system according to claim 1, wherein the U-shaped screws (33) are arranged at positions close to the arc-shaped grooves of the object placing plate, and the U-shaped screws (33) form U-shaped bulges on the surface of the object placing plate; the limiting piece (10) of the limiting device (42) is lifted upwards under the action of the U-shaped screw (33) when rotating from one side edge to the other side edge of the object placing plate.
7. The automatic clothes stacking machine device based on the embedded system according to claim 1, wherein the aluminum pipe (7) of the translation rotating device I extends to the object placing plate II (2), the aluminum pipe (7) of the translation rotating device II extends to the object placing plate V (5), and the aluminum pipe (7) of the translation rotating device III extends from the object placing plate III (3) to the object placing plate I (1).
8. A method of operating a machine for the production of garments, according to any one of claims 1 to 7, characterized in that,
the method comprises the following steps:
step S1: in an initial state, the aluminum pipe (7) of the translation rotating device I moves and rotates to the position below a gap between the object placing plate IV (4) and the object placing plate V (5), the aluminum pipe (7) of the translation rotating device II moves and rotates to the position below a gap between the object placing plate II (2) and the object placing plate III (3), the aluminum pipe (7) of the translation rotating device III moves and rotates to the position below a gap between the object placing plate I (1) and the object placing plate IV (4), all limiting pieces (10) on the upper surfaces of the object placing plate II (2) and the object placing plate V (5) rotate to horizontal positions, the limiting pieces (10) on the upper surface of the object placing plate I (1) are positioned at side edge positions close to one side of the object placing plate II (2);
step S2: the clothes are flatly paved on the middle position of the upper surface of the object placing platform (40), and all the limiting pieces (10) on the upper surfaces of the object placing plate II (2) and the object placing plate V (5) are rotated from the horizontal position to the vertical position and are pressed on the upper surface of the clothes;
step S3: the aluminum pipe (7) of the object placing plate V (5) passes through a gap between the object placing plate IV (4) and the object placing plate V (5) to rotate upwards to the upper part of the gap, and the aluminum pipe (7) is translated to the other side from one side of the object placing plate V (5), so that clothes on the object placing plate I (1) and the object placing plate IV (4) are driven to be turned to the middle position, and then the aluminum pipe (7) is driven to be translated to one side of the object placing plate V (5) and then rotated to the highest position in the vertical direction; the aluminum pipe (7) of the object placing plate II (2) passes through the gap and rotates upwards to the upper part of the gap, the aluminum pipe (7) is translated from one side of the object placing plate II (2) to the other side, so that clothes on the object placing plate III (3) and the object placing plate VI (6) are driven to be turned over to the middle position, and then the aluminum pipe (7) is driven to translate to one side of the object placing plate II (2) and then rotate to the highest position in the vertical direction;
step S4: all limiting sheets (10) on the upper surfaces of the object placing plate II (2) and the object placing plate V (5) are rotated from a vertical position to a horizontal position;
step S5: rotating the limiting piece (10) of the object placing plate I (1) to the side edge position of the object placing plate II (2) close to the object placing plate V (5) and pressing the limiting piece on the middle part of the clothes;
step S6: the aluminum pipe (7) of the translation rotation device III is rotated upwards to pass through a gap between the object placing plate I (1) and the object placing plate IV (4), after the aluminum pipe (7) contacts clothes, the aluminum pipe is translated from the lower side edge of the object placing plate II (2) to the upper side edge of the object placing plate II (2), so that the clothes on the object placing plate V (5) are driven to be folded to the object placing plate II (2);
step S7: the limiting piece (10) of the object placing plate I (1) is rotated to the lower side edge of the object placing plate I (1), so that clothes on the object placing plate II (2) are driven to move to the object placing plate IV (4);
step S8: full homing link: the translation rotating device I, the translation rotating device II and the aluminum pipe (7) of the translation rotating device III are translated and rotated to the position where the initial state of the step S1 is located; and (3) rotating the limiting piece (10) of the object placing plate I (1) to the position where the initial state of the step S1 is located.
9. The method according to claim 8, wherein in the step S2, the clothes are laid flat between the limiting pieces (10) of the placement plate ii (2) and the placement plate v (5).
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| CN110924115B (en) * | 2019-12-04 | 2022-06-07 | 北华大学 | Intelligent clothes folding device |
| CN112726171B (en) * | 2020-12-25 | 2023-05-12 | 山西大同大学 | Automatic folding machine capable of folding into cylinder |
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