CN110512407B - Clothes folding robot and clothes folding method thereof - Google Patents
Clothes folding robot and clothes folding method thereof Download PDFInfo
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- CN110512407B CN110512407B CN201910669540.1A CN201910669540A CN110512407B CN 110512407 B CN110512407 B CN 110512407B CN 201910669540 A CN201910669540 A CN 201910669540A CN 110512407 B CN110512407 B CN 110512407B
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- 238000011084 recovery Methods 0.000 claims description 37
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F89/00—Apparatus for folding textile articles with or without stapling
- D06F89/02—Apparatus for folding textile articles with or without stapling of textile articles to be worn, e.g. shirts
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Abstract
A clothes folding robot and a clothes folding method thereof are disclosed, wherein in the robot, a dial-up device is configured to dial up clothes hung on the robot, a rotary disc tiling device is configured to convert the clothes from a hanging state to a tiling state, a clothes folding device is configured to fold the tiled clothes, in response to a tiling command, a processing device sends a dial-up signal to a first motor, the first motor drives a hanging grid to move at a preset dial-up speed by a preset dial-up displacement via a crank slider mechanism, the processing device sends a tiling signal to a second motor, the second motor drives a rotary disc clothes hanging rod to move to the tiling position via a rotary disc, when the rotary disc hanging rod moves to the tiling position, a clothes hanger opening and closing key closes the clothes hanger to enable the clothes to be tiled on the folding plate in response to the type of the clothes identified by an identification unit, a folding motion control unit sends a folding motion command to the clothes folding device, the linkage mechanism and the cam mechanism drive the folding plate to be obliquely folded based on the folding motion instruction so as to fold the clothes.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a clothes folding robot and a clothes folding method thereof.
Background
The clothes which are dried and washed clean need to be folded and stored in each family, however, the quantity of clothes in one family is large, the folding modes of different clothes are different, and therefore, the clothes folding operation is very tedious and time-consuming. In order to liberate both hands of people and improve the life quality of people, a robot capable of realizing the automatic clothes folding function needs to be designed.
The automatic clothes folding machine and the intelligent wardrobe, such as the foldiamate automatic clothes folding machine, which appear on the market at present need to hang the folded clothes on a clothes rack of the machine before use and control the movement of an internal rod piece through a program to realize the folding of the clothes, while the Laundroid intelligent wardrobe released by japan is characterized in that the clothes can enter the wardrobe in any state, and a plurality of complex sensors are adopted inside the Laundroid and are matched with identification software, a machine learning technology, a mechanical arm technology and the like, but the working cycle is long.
The above information disclosed in this background section is only for enhancement of understanding of the background of the invention and therefore it may contain information that does not form the prior art that is well known to those of ordinary skill in the art.
Disclosure of Invention
In view of the above problems, the present invention provides a clothes folding robot, which includes,
a setting device configured to set a laundry hung thereon, the setting device including,
a clothes rail configured to support a hanger to hang a clothes, the hanger openably and closably supporting the clothes,
a hanging grid configured to dial-in a clothes located above the hanging rod, the hanging grid including a plurality of gap grids corresponding to the hangers,
a slider-crank mechanism configured to drive the suspension lattice to move, the slider-crank mechanism being driven via a first motor control;
a carousel tile configured to convert the laundry from a suspended state to a tiled state, the carousel tile comprising,
a turntable driven to rotate by a second motor,
a carousel bar configured to receive hangers from the dial-up device, the carousel bar being disposed around a periphery of the carousel,
the clothes rack opening and closing key is arranged on the rotary plate clothes hanging rod to open and close the clothes rack;
a garment folding device configured to fold a laid garment, the garment folding device comprising,
a plurality of folding plates configured to be tiltably foldable, the folding plates being located below the turntable deck,
a cam mechanism driving the folding plate to be tilted at a predetermined angle,
a movable bearing frame configured to fold over the folding plate,
a link mechanism that drives the movable bearing bracket so that the folding plate is folded in a predetermined direction;
a processing device which is connected with the dial-up device, the rotary disc tiling device and the clothes folding device and comprises an identification unit for identifying the type of clothes and a folding motion control unit based on the type of clothes, wherein,
responding to a tiling instruction, the processing device sends a dial-up signal to the first motor, the first motor drives the hanging grid to move for preset dial-up displacement at a preset dial-up speed through the slider-crank mechanism, the processing device sends a tiling signal to the second motor, the second motor drives the turntable clothes hanging rod to move to a tiling position through the turntable, when the turntable clothes hanging rod moves to the tiling position, the clothes hanger opening-closing key closes the clothes hanger to enable clothes to be tiled on the folding plate,
in response to the type of the laundry identified by the identification unit, the folding motion control unit sends a folding motion command to the laundry folding device, and the link mechanism and the cam mechanism drive the folding plate to be tilted and folded based on the folding motion command to fold the laundry.
In the clothes folding robot, the clothes folding robot also comprises a clothes hanger recovery device connected with the processing device, the clothes hanger recovery device comprises,
a hanger retrieval rail configured to adjust relative positions of the slider-crank device and a hanger, the hanger retrieval rail being located directly above the carousel tiling device,
a hanger recycling bar configured to cooperate with the turntable hanging bar to recycle the closed hangers, the hanger recycling bar being located at one side of the hanger recycling guide,
a slider-crank device actuating said hangers to move to said hanger recovery bar,
when the turnplate clothes hanging rod rotates to the highest point of the turnplate, the processing device sends a recovery instruction to enable the crank slider device to actuate the clothes hanger to move to the clothes hanger recovery rod.
In the clothes folding robot, the clothes hanger recovery device further comprises a spherical hinge support which is rotatably connected with the clothes hanger recovery rod, and when the clothes hanger moves to the clothes hanger recovery rod, the spherical hinge support lifts the clothes hanger.
In the clothes folding robot, the clothes folding robot also comprises a clothes outlet transmission device connected with the processing device, the clothes outlet transmission device comprises,
a rack support base supporting the laundry outlet transferring device,
a screw rod supported by the frame support base,
an eccentric wheel connected to the screw to be movable in a screw direction,
a connecting rod, one end of which is connected with the eccentric wheel, the other end of which is connected with the chute to eccentrically actuate the chute,
and the clothes conveying sliding plate is arranged on the sliding chute and is communicated with the clothes folding plate to receive and convey clothes to a preset outlet.
In the clothes folding robot, the hanging grids are arranged in the hanging grid motion track, the hanging grids move for one cycle to transmit the clothes positioned at the forefront of the hanging grids to the rotary plate clothes hanging rod, the next clothes is in a preparation state, and after the previous clothes are folded, the hanging grids start the next working cycle to transfer the forefront clothes to the rotary plate clothes hanging rod.
In the clothes folding robot, folding plates connected through hinges are distributed into six rows of four rows, wherein the first row, the second row, the fifth row and the sixth row are used for folding sleeves of clothes, the third row and the fourth row are used for folding a body of the clothes, the first row, the second row and the third row are used for folding the clothes of the upper half and simultaneously controlling the folding of the clothes with different sizes, and the fourth row is used for folding long-leg trousers of the clothes.
In the clothes folding robot, the processing device comprises a digital signal processor, an Application Specific Integrated Circuit (ASIC) or a Field Programmable Gate Array (FPGA), and the processing unit comprises one or more Read Only Memories (ROM), a Random Access Memory (RAM), a flash memory or an Electronic Erasable Programmable Read Only Memory (EEPROM).
In the clothes folding robot, the clothes hanger opening and closing key is sleeved on the rotary table clothes hanging rod, when clothes are attached to the clothes folding plate, the processing device controls the clothes hanger opening and closing key to close the clothes hanger, and at the moment, the clothes folding plate is correspondingly inclined to match with the flat laying of the clothes.
In the clothes folding robot, the clothes types comprise a T-shirt, a skirt and trousers, and the clothes hanger is an openable clothes hanger.
According to another aspect of the present invention, a clothes folding method of the clothes folding robot includes the steps of,
firstly, the clothes are hung on the clothes hanging rod below the hanging grid, the processing device sends a dial-up signal to the first motor in response to a tiling instruction, the first motor drives the hanging grid to move at a preset dial-up speed for a preset dial-up displacement through the crank slider mechanism,
a second step, the processing device sends a tiling signal to the second motor, the second motor drives the rotary plate to hang the clothes rod to move to a tiling position through the rotary plate, when the rotary plate hangs the clothes rod to move to the tiling position, the clothes rack opening and closing key closes the clothes rack to enable the clothes to be tiled on the folding plate,
and a third step of, in response to the type of the laundry identified by the identification unit, the folding motion control unit sending a folding motion command to the laundry folding device, the link mechanism and the cam mechanism driving the folding plate to be tilted and folded based on the folding motion command to fold the laundry.
Compared with the prior art, the invention has the beneficial effects that:
the clothes folding device can fully automatically fold the hung clothes, and the folding plates are driven to be obliquely folded through various folding motion instructions based on the clothes types so as to fold the clothes, so that the clothes folding speed is improved, and manual intervention is not needed.
The above description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly apparent, and to make the implementation of the content of the description possible for those skilled in the art, and to make the above and other objects, features and advantages of the present invention more obvious, the following description is given by way of example of the specific embodiments of the present invention.
Drawings
Various other advantages and benefits of the present invention will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. It is obvious that the drawings described below are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. Also, like parts are designated by like reference numerals throughout the drawings.
In the drawings:
fig. 1 is a schematic structural view of a clothes folding robot according to an embodiment of the present invention;
FIG. 2 is a schematic mechanical diagram of a clothes folding robot according to one embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a transfer device of a clothes folding robot according to an embodiment of the invention;
fig. 4 is a schematic structural view of a turntable tiling device of the clothes folding robot according to one embodiment of the present invention;
FIG. 5 is a schematic structural diagram of an openable clothes hanger of the clothes folding robot according to one embodiment of the invention;
FIG. 6 is a schematic structural view of a clothes rack recycling device of the clothes folding robot according to one embodiment of the invention;
fig. 7 is a schematic structural view of a folding device of the clothes folding robot according to one embodiment of the invention;
FIG. 8 is a schematic front view of a folding device of a clothes folding robot according to one embodiment of the present invention;
FIG. 9 is a schematic perspective top view of a folding device of a clothes folding robot according to one embodiment of the present invention;
FIG. 10 is a schematic top view of a folding device of a clothes folding robot according to one embodiment of the present invention;
fig. 11 is a schematic structural view of an exit transfer device of the clothes folding robot according to an embodiment of the present invention;
fig. 12 is another configuration diagram of an exit transport apparatus of the clothes folding robot according to one embodiment of the present invention;
FIG. 13 is a schematic view of a partial configuration of an exit conveyor of the clothes folding robot in accordance with one embodiment of the present invention;
fig. 14 is a schematic step diagram of a coating method according to an embodiment of the present invention.
The invention is further explained below with reference to the figures and examples.
Detailed Description
Specific embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While specific embodiments of the invention are shown in the drawings, it should be understood that the invention may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
It should be noted that certain terms are used throughout the description and claims to refer to particular components. As one skilled in the art will appreciate, various names may be used to refer to a component. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. The description which follows is a preferred embodiment of the invention, but is made for the purpose of illustrating the general principles of the invention and not for the purpose of limiting the scope of the invention. The scope of the present invention is defined by the appended claims.
For the purpose of facilitating understanding of the embodiments of the present invention, the following description will be made by taking specific embodiments as examples with reference to the accompanying drawings, and the drawings are not to be construed as limiting the embodiments of the present invention.
For a better understanding, as shown in fig. 1, a setting device configured to set a laundry hung thereon, the setting device comprising,
a clothes rail configured to support a hanger to hang a clothes, the hanger openably and closably supporting the clothes,
a hanging grid configured to dial-in a clothes located above the hanging rod, the hanging grid including a plurality of gap grids corresponding to the hangers,
a slider-crank mechanism configured to drive the suspension lattice to move, the slider-crank mechanism being driven via a first motor control;
a carousel tile configured to convert the laundry from a suspended state to a tiled state, the carousel tile comprising,
a turntable driven to rotate by a second motor,
a carousel bar configured to receive hangers from the dial-up device, the carousel bar being disposed around a periphery of the carousel,
the clothes rack opening and closing key is arranged on the rotary plate clothes hanging rod to open and close the clothes rack;
a garment folding device configured to fold a laid garment, the garment folding device comprising,
a plurality of folding plates configured to be tiltably foldable, the folding plates being located below the turntable deck,
a cam mechanism driving the folding plate to be tilted at a predetermined angle,
a movable bearing frame configured to fold over the folding plate,
a link mechanism that drives the movable bearing bracket so that the folding plate is folded in a predetermined direction;
a processing device which is connected with the dial-up device, the rotary disc tiling device and the clothes folding device and comprises an identification unit for identifying the type of clothes and a folding motion control unit based on the type of clothes, wherein,
responding to a tiling instruction, the processing device sends a dial-up signal to the first motor, the first motor drives the hanging grid to move for preset dial-up displacement at a preset dial-up speed through the slider-crank mechanism, the processing device sends a tiling signal to the second motor, the second motor drives the turntable clothes hanging rod to move to a tiling position through the turntable, when the turntable clothes hanging rod moves to the tiling position, the clothes hanger opening-closing key closes the clothes hanger to enable clothes to be tiled on the folding plate,
in response to the type of the laundry identified by the identification unit, the folding motion control unit sends a folding motion command to the laundry folding device, and the link mechanism and the cam mechanism drive the folding plate to be tilted and folded based on the folding motion command to fold the laundry.
In one embodiment, the folding clothes robot comprises a hanging clothes single piece poking device, a turntable flatting device, a clothes hanger recycling device, a clothes folding device and a clothes outlet conveying device. The hanging clothes single piece poking and conveying device is positioned at the upper left of the robot, and a motor drives a crank sliding block mechanism to work to drive a hanging grid to move; the turntable tiling device is arranged above the middle of the robot, and the motor drives the turntable to rotate so as to drive the suspended clothes to be tiled to the clothes folding plate; the clothes hanger recovery device is positioned at the left upper part of the wheel disc and used for recovering clothes hangers; the clothes folding device is positioned below the wheel disc and can drive the clothes folding plate to fold clothes; the clothes outlet transmission device is positioned at the left of the clothes folding plate, and the folded clothes are transmitted to the outlet by the clothes outlet transmission device.
In one embodiment, the hanging clothes single-piece poking device comprises a clothes hanging rod, a hanging grid, a plurality of connecting rods, a hanging grid moving track, a sliding block and a motor. The hanging clothes single-piece poking device realizes that a plurality of clothes in a hanging state are poked to the part of the rotary table tiling device one by one. The clothes hanging rod is arranged below the single-piece pulling device for hanging clothes. The upper part of the clothes hanging rod is provided with a hanging grid, and the clothes rack corresponding to each piece of clothes is hung in one gap grid so as to realize the distribution treatment of the clothes. The upper part of the suspension grid is a suspension grid motion track, the track comprises a slide block, the front part and the left part of the track are provided with a plurality of connecting rods and motors, and the connecting rods and the motors jointly form a crank slide block mechanism of the suspension grid to realize the movement of the suspension grid. After the hanging grid moves for one period, one hanging clothes positioned at the leftmost side of the hanging grid can be transmitted to the rotary disc tiling device, and the next clothes is in a ready state. After the previous piece of clothing is folded, the next work cycle of the hanging grid begins, and the leftmost piece of clothing is still conveyed to the turntable flat part.
In one embodiment, the turntable tiling device comprises a turntable, a turntable clothes hanging rod, a motor box and a clothes hanger opening and closing button. The rotary table spreading device mainly realizes the spreading of single clothes on the clothes folding plate and controls the openable clothes hanger to be pulled out of the clothes by the clothes hanger opening and closing key. The turntable is positioned at the center of the whole turntable tiling device, and the rotation of the turntable is controlled by a motor; the rotary plate clothes hanging rod is arranged on the rotary plate, and single clothes are conveyed to the rotary plate clothes hanging rod by the single clothes hanging and conveying device; the clothes rack opening and closing key is sleeved on the rotary plate clothes hanging rod, when clothes are almost completely attached to the clothes folding plate, the clothes rack opening and closing key is controlled by an automatic program, the opening and closing key on the clothes rack is pressed, and the clothes rack is folded and retracted, so that the clothes can be conveniently pulled out from the clothes. The clothes hanger uses the openable clothes hanger which is already appeared on the market.
In one embodiment, the clothes hanger recycling device comprises a clothes hanger recycling guide rail, a plurality of connecting rods, a motor, a clothes hanger recycling rod and a spherical hinge support. The clothes rack recovery device realizes the recovery of the clothes rack which is pulled away from the clothes and is in a folding state. The clothes hanger recycling guide rail is positioned right above the turntable tiling device, the clothes hanger recycling guide rail comprises a sliding block, the sliding block can transfer the clothes hanger from a turntable clothes hanging rod to the clothes hanger recycling rod, and the sliding block is controlled by a crank sliding block mechanism consisting of a plurality of connecting rods and a motor; the clothes hanger recycling rod is located on the right side of the clothes hanger recycling guide rail and controlled by the spherical hinge support, and lifting of the clothes hanger is achieved so that the next clothes laying process is not disturbed.
In one embodiment, the clothes folding device comprises 20 folding plates, folding part hinges, screws, nuts and the like, a plurality of connecting rods, screw rods, shafts, motors, folding plate supports, moving bearing frames, cam mechanisms and spring columns. The clothes folding device mainly realizes the folding of clothes, and can set the folding methods of different clothes such as T-shirts, skirts, trousers and the like by a control program. The folded sheet is located clothing folding device's the top, also is the below of carousel tiling device promptly, and 20 folded sheets are by hinge connection, and board distribution state is: the fourth row is used for folding the long-leg trousers, and the fourth row only has three and four rows because the folding problem of the sleeves does not need to be considered at the long-leg trousers; the cam mechanism is positioned above the folding plate support at the lowest part, the motion of the cam mechanism can realize the inclination of the clothes folding plate in the clothes folding process so as to assist the clothes to be better folded, and the spring upright post is used for providing enough inclined space for the clothes folding plate in the clothes folding process and is positioned at the left of the clothes folding device; the movable bearing frame and the screw rod are positioned below the clothes folding plate, the shaft moves under the rotation of the screw rod so as to realize the control of different plates, and the movable bearing frame is used for controlling the turnover of the plates; the connecting rod mechanism is positioned below the movable bearing frame and used for controlling the turnover control of the movable bearing frame.
In one embodiment, the clothes outlet transmission device comprises a connecting support seat, a sliding chute, a clothes conveying sliding plate, a sliding block, an eccentric wheel, a screw rod, a plurality of connecting rods and a motor. The clothes outlet device mainly realizes the transportation of folded clothes, and after the folding of the clothes is finished, the clothes outlet transmission device transports the clothes to the outlet end of the robot to complete a working cycle. The connecting support seat is positioned at the lowest part of the clothes outlet transmission device and is used for supporting the device; the clothes conveying sliding plate is positioned at the uppermost part of the clothes outlet conveying device, after the clothes folding plate folds the clothes, the clothes folding plate tilts again, the folded clothes are conveyed to the clothes conveying sliding plate, and the clothes conveying sliding plate is controlled by the deformation crank sliding block mechanism and can convey the clothes to the outlet; the deformation crank sliding block mechanism consists of a sliding chute, a sliding block, an eccentric wheel and a connecting rod, is positioned below the clothes conveying sliding plate and the rail thereof, and is controlled by a motor; the screw rod controls the back and forth movement of the clothes conveying sliding plate, so that different kinds of clothes can be conveyed to different outlets.
In one embodiment, the robot combines host automatic program control with mechanism motion, the host control part comprising: hang check motor control system, rim plate motor control system, clothes hanger button automatic program control system, clothes hanger recovery unit motor control system, fold clothing board motion control system, clothing export transmission device motor system:
in the suspension grid motor control system, the motion of the suspension grid is controlled by a crank slider mechanism, and the rotating speed and the rotating direction of a crank are controlled by a motor and the control system. After the clothes are conveyed, the hanging grids stop working until the clothes are folded, and then the next cycle of work is started.
In the wheel disc motor control system, a clothes hanger is pushed to a rotary disc clothes hanging rod through a hanging grid, the rotary disc starts to rotate clockwise, and the rotating speed and the rotating direction are controlled by a motor. When the rotary plate clothes hanging rod moves to the highest point of the rotary plate, the rotary plate stops moving, and the rotary plate continues to rotate until the clothes hanger recovery process is finished, so that clothes in the next period are tiled. In the automatic program control system of the clothes rack key, clothes are basically laid on the clothes folding plate, the clothes rack key is triggered, the clothes rack folding button on the clothes rack is pressed, and the clothes rack is folded, so that the clothes rack can be more conveniently pulled out of the clothes.
In the clothes hanger recovery device motor control system, when the clothes hanging rod rotates to the highest point of the rotary table, the clothes hanger recovery control system starts to work. The clothes hanger is pushed to the clothes hanging rod of the fixed spherical hinge support by the aid of the crank slider device, the clothes hanging rod on the hinge support rotates and rises after receiving the clothes hanger, and influence on next cycle of movement of the rotary table is avoided. In the clothes folding plate motion control system, when the rotary table rotates to enable clothes to be attached to the clothes folding plate, the clothes folding plate is inclined at a certain angle through rotation of the cam mechanism, the clothes are attached in a matching mode, and when the clothes are completely attached to the clothes folding plate, the clothes folding plate returns to the horizontal position. The clothes folding plate control mechanism starts to control the movement of the part plate of the clothes folding plate so as to realize the folding of the clothes.
In the motor system of the clothes outlet transmission device, when folded clothes slide to the clothes outlet transmission device through the inclination of the clothes folding plate, the clothes contact the clothes conveying sliding plate to trigger the motion control system of the clothes conveying sliding plate, the clothes conveying sliding plate slowly moves outwards under the control of the crank sliding block mechanism, so that the clothes are completely received by the clothes conveying sliding plate, and the clothes conveying sliding plate starts to incline after moving to a limited position, so that the clothes are conveyed out from the outlet.
For the clothes folding robot, people can hang a plurality of clothes hung on a clothes hanger into the right clothes hanging end of the robot, the robot conducts the work of flatly laying and folding the clothes, after the flatly laying is finished, the clothes folding plate can automatically identify the types of the clothes, the program can automatically select the most appropriate folding mode according to different types and sizes of the clothes, and meanwhile, the robot can conduct the study of the novel clothes folding mode regularly. After one work cycle is finished, the stacked clothes are conveyed to an outlet position, and the robot carries out the next work cycle. Different types of clothes can be conveyed to different outlets, and the clothes management and storage work in the later period is facilitated for people. And after all the clothes are folded, the robot finishes working and the folding work is finished.
For a further understanding of the invention, with reference to fig. 1-13, the folding machine comprises a suspended garment piece transferring device 1, a carousel tiling device 2, a hanger retrieving device 3, a garment folding device 4, a garment exit transport device 5.
The hanging clothes single-piece poking and conveying device 1 comprises a hanging grid moving track 101, a motor 102, a plurality of connecting rods 103, a hanging grid 104, a clothes hanging rod 105 and a sliding block 106.
The hanging clothes single-piece poking device realizes that a plurality of clothes in a hanging state are poked to the part of the rotary table tiling device one by one. The clothes hanging rod 105 is installed below the single-piece stirring and conveying device for hanging clothes, the hanging grid 104 is arranged above the clothes hanging rod, and a clothes rack corresponding to each piece of clothes is hung in one gap grid so as to realize the stirring and conveying treatment of the clothes. A suspension grid motion track 101 is arranged above the suspension grids, the track comprises a slide block 106, a plurality of connecting rods 103 and motors are arranged in front of and on the left of the track, and the connecting rods and the motors jointly form a crank-slide block mechanism of the suspension grids to realize the movement of the suspension grids. After the hanging grid moves for one period, a hanging clothes at the leftmost position of the hanging grid can be transmitted to the rotary disc laying device, the next clothes is in a preparation state, and after the previous clothes is folded, the next working period of the hanging grid starts, and the leftmost clothes are still conveyed to the rotary disc laying part.
In one embodiment, the hanging clothes single-piece poking and conveying device 1 is positioned at the upper left of the robot, and a crank-slider mechanism is driven by a motor to work to drive a hanging grid to move; the turntable tiling device 2 is arranged above the middle of the robot, and a motor drives a turntable to rotate so as to drive the suspended clothes to be tiled to the clothes folding plate; the clothes hanger recovery device 3 is positioned at the left upper part of the wheel disc and used for recovering clothes hangers; the clothes folding device 4 is positioned below the wheel disc and can drive the clothes folding plate to fold clothes; a laundry outlet transfer device 5 is located to the left of the folding plate from which the folded laundry is transferred to the outlet.
In one embodiment, a hanging rod 105 is installed below the single-piece conveying device for hanging clothes, a hanging grid 104 is arranged above the hanging rod, and a corresponding clothes rack of each piece of clothes is hung in one clearance grid to realize the distribution treatment of the clothes. A suspension grid motion track 101 is arranged above the suspension grids, the track comprises a slide block 106, a plurality of connecting rods 103 and motors are arranged in front of and on the left of the track, and the connecting rods and the motors jointly form a crank-slide block mechanism of the suspension grids to realize the movement of the suspension grids.
The turntable tiling device 2 comprises a turntable 201, a turntable clothes hanging rod 202, a clothes hanger opening and closing button 203 and a motor box 204.
In one embodiment, the turntable 201 is located at the center of the whole turntable tiling device, and the rotation of the turntable is controlled by a motor; the rotary plate clothes hanging rod 202 is arranged on the rotary plate, and single clothes are conveyed to the rotary plate clothes hanging rod by the single clothes hanging rod stirring device; the clothes rack opening and closing key 203 is sleeved on the rotary plate clothes hanging rod 202, when clothes are almost completely attached to the clothes folding plate, the clothes rack opening and closing key is controlled by an automatic program, the opening and closing key on the clothes rack is pressed, and the clothes rack is folded and retracted, so that the clothes can be conveniently pulled out from the clothes.
The turntable tiling device mainly realizes the tiling of single clothes on the clothes folding plate, and the clothes rack opening and closing button 203 controls the clothes rack which can be opened and closed to be drawn out from the clothes. The turntable 201 is positioned at the center of the whole turntable tiling device, and the rotation of the turntable is controlled by a motor 204; the rotary plate clothes hanging rod 202 is arranged on the rotary plate, and single clothes are conveyed to the rotary plate clothes hanging rod by the single clothes hanging rod stirring device; the clothes rack opening and closing key 203 is sleeved on the rotary plate clothes hanging rod 202, when clothes are almost completely attached to the clothes folding plate, the clothes rack opening and closing key is controlled by an automatic program, the opening and closing key on the clothes rack is pressed, and the clothes rack is folded and retracted, so that the clothes can be conveniently pulled out from the clothes.
The clothes hanger recovery device 3 comprises a clothes hanger recovery guide rail 301, a plurality of connecting rods 302, a motor 303, a clothes hanger recovery rod 305, a sliding block 306 and a spherical hinge support 304.
The clothes rack recovery device realizes the recovery of the clothes rack which is pulled away from the clothes and is in a folding state. The clothes hanger recovery guide rail 301 is positioned right above the turntable tiling device, the clothes hanger can be conveyed to the clothes hanger recovery rod 305 from the turntable clothes hanging rod 202 by the slide block 306, and the slide block is controlled by a crank slide block mechanism consisting of a plurality of connecting rods 302 and a motor 303; the clothes hanger recycling rod is positioned on the right side of the clothes hanger recycling guide rail and controlled by the spherical hinge support 304, so that the clothes hanger can ascend, and the next clothes laying process is prevented from being interfered.
The clothes folding device 4 comprises 20 folding plates 401, folding part hinges 410, screws 409, nuts and the like, a plurality of connecting rods, a screw 406, a shaft 407, a motor 408, a folding plate support, a moving bearing frame 402, a cam mechanism 403, a spring upright 405 and a moving wheel 404.
The clothes folding device mainly realizes the folding of clothes, and can set the folding methods of different clothes such as T-shirts, skirts, trousers and the like by a control program. The folded sheet is located clothing folding device's the top, that is the below of carousel tiling device, as shown in fig. 10, and 20 folded sheets are with hinge connection, and its distribution state is: four rows of six rows-the first, second, fifth and sixth rows are used for folding 311 and 316 and 325 of the sleeves of the long-sleeve clothes and 330, the third and fourth rows are used for folding 317 and 324 of the clothes body, the first, second and third rows are mainly used for folding the clothes of the upper half body, meanwhile, the folding of the clothes with different sizes can be controlled, and the fourth row is used for folding 320 and 324 of the long-leg trousers; the cam mechanism 403 is positioned above the lowermost folding plate support, during the clothes flatting process, the cam mechanism moves to realize the inclination of the clothes folding plate so as to assist the clothes to be flatly laid better, and the spring upright 405 is used for providing enough inclined space for the clothes folding plate during the clothes folding process and is positioned at the left of the clothes folding device; the movable bearing frame 402 and the screw 406 are positioned below the clothes folding plate, the shaft moves under the rotation of the screw to realize the control of different plates, and the movable bearing frame is used for controlling the turnover of the plates; the connecting rod mechanism is positioned below the movable bearing frame and used for controlling the turnover control of the movable bearing frame.
The clothes outlet transmission device 5 comprises a connecting support base 504, a sliding chute 502, a clothes conveying sliding plate 501, a sliding block, an eccentric wheel 505, a screw 503, a plurality of connecting rods 508 and a motor 506.
The clothes outlet device mainly realizes the transportation of folded clothes, and after the folding of the clothes is finished, the clothes outlet transmission device transports the clothes to the outlet end of the robot to complete a working cycle. A rack support base 504 is positioned at the lowermost portion of the laundry outlet transfer device for supporting the same; the clothes conveying sliding plate 501 is positioned at the uppermost part of the clothes outlet conveying device, after the clothes folding plate folds the clothes, the clothes folding plate tilts again, the folded clothes are conveyed to the clothes conveying sliding plate, and the clothes conveying sliding plate is controlled by a deformation crank sliding block mechanism and can convey the clothes to an outlet; the deformation crank sliding block mechanism consists of a sliding chute 502, a sliding block, an eccentric wheel 505 and a plurality of connecting rods 508, is positioned below the clothes conveying sliding plate and the track thereof, and is controlled by a motor; the screw 503 controls the front and back movement of the clothes-feeding sliding plate.
The working process is as follows:
for the clothes folding robot, people can hang a plurality of clothes hung on the clothes hanger into the right clothes hanging end of the robot, and at the moment, the robot starts to tile and fold the clothes.
People hang the clothing to hang in the little clearance check of check, hang the check and send one piece of clothing to the carousel to hang on the clothing pole under the drive of slider-crank mechanism, when a clothing was in the carousel on hanging the clothing pole, the carousel began to rotate under the drive of motor, folded plate also carries out corresponding slope this moment in order to cooperate the tiling of clothing.
After the tiling is finished, the clothes hanger opening and closing button presses an openable and closable button on the clothes hanger, the clothes hanger is pulled away from clothes, the clothes hanger is taken to the clothes hanger recovery device by the rotary plate clothes hanging rod, the clothes hanger recovery device conveys the clothes hanger to the clothes hanger recovery rod by poking through the slider-crank mechanism, and the spherical hinge support drives the clothes hanger recovery rod to ascend so as not to interfere with the tiling of the clothes in the next period.
After the clothes hanger is completely recovered, the clothes folding plate automatically identifies the type of clothes, the program automatically selects the most appropriate folding mode, and different plates are folded under the control of the screw and the movable bearing frame.
After the clothes are folded, the cam mechanism enables the clothes folding plate to incline anticlockwise, the clothes are conveyed to a clothes conveying sliding plate of the clothes outlet conveying device, and the clothes conveying sliding plate conveys the clothes to a corresponding outlet under the control of the screw rod.
After one work cycle is finished, the stacked clothes are conveyed to an outlet position, and the robot carries out the next work cycle.
In a preferred embodiment of the clothes folding robot, the clothes folding robot further comprises a clothes hanger recovery device connected with the processing device, the clothes hanger recovery device comprises,
a hanger retrieval rail configured to adjust relative positions of the slider-crank device and a hanger, the hanger retrieval rail being located directly above the carousel tiling device,
a hanger recycling bar configured to cooperate with the turntable hanging bar to recycle the closed hangers, the hanger recycling bar being located at one side of the hanger recycling guide,
a slider-crank device actuating said hangers to move to said hanger recovery bar,
when the turnplate clothes hanging rod rotates to the highest point of the turnplate, the processing device sends a recovery instruction to enable the crank slider device to actuate the clothes hanger to move to the clothes hanger recovery rod.
In a preferred embodiment of the clothes folding robot, the clothes hanger retrieving device further comprises a ball hinge support which is rotatably connected with the clothes hanger retrieving rod, and the ball hinge support lifts the clothes hanger when the clothes hanger moves to the clothes hanger retrieving rod.
In a preferred embodiment of the clothes folding robot, the clothes folding robot further comprises a clothes outlet transmission device connected with the processing device, the clothes outlet transmission device comprises,
a rack support base supporting the laundry outlet transferring device,
a screw rod supported by the frame support base,
an eccentric wheel connected to the screw to be movable in a screw direction,
a connecting rod, one end of which is connected with the eccentric wheel, the other end of which is connected with the chute to eccentrically actuate the chute,
and the clothes conveying sliding plate is arranged on the sliding chute and is communicated with the clothes folding plate to receive and convey clothes to a preset outlet.
In a preferred embodiment of the clothes folding robot, the hanging grids are arranged in the hanging grid movement track, the hanging grids move for one cycle to transmit the clothes positioned at the forefront of the hanging grids to the rotary plate clothes rail, the next clothes is in a ready state, and after the previous clothes are folded, the hanging grids start the next working cycle to transfer the forefront clothes to the rotary plate clothes rail.
In the preferred embodiment of the clothes folding robot, the folding plates connected by the hinges are distributed into six rows, wherein the first, second, fifth and sixth rows are used for folding sleeves of clothes, the third and fourth rows are used for folding bodies of the clothes, the first, second and third rows are used for folding upper-body clothes and simultaneously controlling folding of clothes with different sizes, and the fourth row is used for folding long-leg trousers of the clothes.
In a preferred embodiment of the robot for folding clothes, the processing device comprises a digital signal processor, an application specific integrated circuit ASIC or a field programmable gate array FPGA, and the processing unit comprises one or more of a read only memory ROM, a random access memory RAM, a flash memory or an electrically erasable programmable read only memory EEPROM.
In a preferred embodiment of the clothes folding robot, the clothes rack opening and closing key is sleeved on the rotary plate clothes hanging rod, when clothes are attached to the clothes folding plate, the processing device controls the clothes rack opening and closing key to close the clothes rack, and at the moment, the clothes folding plate is correspondingly inclined to match with the flat-laying of the clothes.
In the preferred embodiment of the clothes folding robot, the clothes types comprise T-shirts, skirts and trousers, and the clothes hangers are openable clothes hangers.
As shown in fig. 14, a clothes folding method of the clothes folding robot includes the steps of,
a first step S1, the clothes are hung on the clothes hanging rod under the hanging grid, in response to the tiling command, the processing device sends a dial signal to the first motor, the first motor drives the hanging grid to move at a preset dial displacement at a preset dial speed through the crank-slider mechanism,
a second step S2, the processing device sends a tiling signal to the second motor, the second motor drives the rotary plate to hang the clothes rod to move to the tiling position through the rotary plate, when the rotary plate hangs the clothes rod to move to the tiling position, the clothes rack opening and closing button closes the clothes rack to enable the clothes to be tiled on the folding plate,
a third step S3, in response to the type of the laundry identified by the identification unit, the folding motion control unit sends a folding motion command to the laundry folding device, and the link mechanism and the cam mechanism drive the folding plate to be tilted and folded based on the folding motion command to fold the laundry.
Industrial applicability
The clothes folding robot and the clothes folding method thereof can be manufactured and used in the robot field.
The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (9)
1. A clothes folding robot comprises a clothes folding mechanism,
a setting device configured to set a laundry hung thereon, the setting device including,
a clothes rail configured to support a hanger to hang a clothes, the hanger openably and closably supporting the clothes,
a hanging grid configured to dial-in a clothes located above the hanging rod, the hanging grid including a plurality of gap grids corresponding to the hangers,
a slider-crank mechanism configured to drive the suspension lattice to move, the slider-crank mechanism being driven via a first motor control;
a carousel tile configured to convert the laundry from a suspended state to a tiled state, the carousel tile comprising,
a turntable driven to rotate by a second motor,
a carousel bar configured to receive hangers from the dial-up device, the carousel bar being disposed around a periphery of the carousel,
the clothes rack opening and closing key is arranged on the rotary plate clothes hanging rod to open and close the clothes rack;
a garment folding device configured to fold a laid garment, the garment folding device comprising,
a plurality of folding plates configured to be tiltably foldable, the folding plates being located below the turntable deck,
a cam mechanism driving the folding plate to be tilted at a predetermined angle,
a movable bearing frame configured to fold over the folding plate,
a link mechanism that drives the movable bearing bracket so that the folding plate is folded in a predetermined direction;
a processing device which is connected with the dial-up device, the rotary disc tiling device and the clothes folding device and comprises an identification unit for identifying the type of clothes and a folding motion control unit based on the type of clothes, wherein,
responding to a tiling instruction, the processing device sends a dial-up signal to the first motor, the first motor drives the hanging grid to move for preset dial-up displacement at a preset dial-up speed through the slider-crank mechanism, the processing device sends a tiling signal to the second motor, the second motor drives the turntable clothes hanging rod to move to a tiling position through the turntable, when the turntable clothes hanging rod moves to the tiling position, the clothes hanger opening-closing key closes the clothes hanger to enable clothes to be tiled on the folding plate,
in response to the type of the laundry identified by the identification unit, the folding motion control unit sends a folding motion command to the laundry folding device, the link mechanism and the cam mechanism drive the folding plate to be tilted and folded based on the folding motion command to fold the laundry,
the clothes hanger recovery device connected with the processing device comprises a clothes hanger recovery device,
a hanger retrieval rail configured to adjust relative positions of the slider-crank device and a hanger, the hanger retrieval rail being located directly above the carousel tiling device,
a hanger recycling bar configured to cooperate with the turntable hanging bar to recycle the closed hangers, the hanger recycling bar being located at one side of the hanger recycling guide,
a slider-crank device actuating said hangers to move to said hanger recovery bar,
when the turnplate clothes hanging rod rotates to the highest point of the turnplate, the processing device sends a recovery instruction to enable the crank slider device to actuate the clothes hanger to move to the clothes hanger recovery rod.
2. A garment stacker as in claim 1, wherein the hanger retrieving device further comprises a ball-hinged support rotatably coupled to the hanger retrieving bar, the ball-hinged support lifting the hanger when the hanger is moved to the hanger retrieving bar.
3. The clothes folding robot according to claim 1, wherein the clothes folding robot further comprises a clothes outlet transfer device connected to the processing device, the clothes outlet transfer device comprising,
a rack support base supporting the laundry outlet transferring device,
a screw rod supported by the frame support base,
an eccentric wheel connected to the screw to be movable in a screw direction,
a connecting rod, one end of which is connected with the eccentric wheel, the other end of which is connected with the chute to eccentrically actuate the chute,
and the clothes conveying sliding plate is arranged on the sliding chute and is communicated with the clothes folding plate to receive and convey clothes to a preset outlet.
4. The clothes folding robot as claimed in claim 1, wherein the hanging grid is provided in the hanging grid moving track, the hanging grid moves for one cycle to transfer a clothes at the forefront of the hanging grid to the rotary plate clothes rail and the next clothes is in a ready state, after the previous clothes are folded, the hanging grid starts the next working cycle to transfer the forefront clothes to the rotary plate clothes rail.
5. The garment folding robot as claimed in claim 1, wherein the hinged folding plates are distributed in six rows, of which the first, second, fifth and sixth rows are for folding the sleeves of the garment, the third and fourth rows are for folding the body of the garment, the first, second and third rows are for folding the upper body of the garment while controlling the folding of the different sized garments, and the fourth row is for folding the trousers of the long legs of the garment.
6. The garment folding robot as claimed in claim 1, wherein the processing means comprise a digital signal processor, an application specific integrated circuit ASIC or a field programmable gate array FPGA, and the processing unit comprises one or more of a read only memory ROM, a random access memory RAM, a flash memory or an electrically erasable programmable read only memory EEPROM.
7. The clothes folding robot as claimed in claim 1, wherein the clothes hanger opening and closing button is sleeved on the rotary plate clothes hanging rod, when the clothes are attached to the clothes folding plate, the processing device controls the clothes hanger opening and closing button to close the clothes hanger, and the clothes folding plate is correspondingly inclined to match the tiling of the clothes.
8. The clothes folding robot as claimed in claim 1, wherein the clothes types include T-shirts, skirts, and trousers, and the clothes hangers are openable and closable clothes hangers.
9. A clothes folding method of the clothes folding robot according to any one of claims 1 to 8, comprising the steps of,
firstly, the clothes are hung on the clothes hanging rod below the hanging grid, the processing device sends a dial-up signal to the first motor in response to a tiling instruction, the first motor drives the hanging grid to move at a preset dial-up speed for a preset dial-up displacement through the crank slider mechanism,
a second step, the processing device sends a tiling signal to the second motor, the second motor drives the rotary plate to hang the clothes rod to move to a tiling position through the rotary plate, when the rotary plate hangs the clothes rod to move to the tiling position, the clothes rack opening and closing key closes the clothes rack to enable the clothes to be tiled on the folding plate,
and a third step of, in response to the type of the laundry identified by the identification unit, the folding motion control unit sending a folding motion command to the laundry folding device, the link mechanism and the cam mechanism driving the folding plate to be tilted and folded based on the folding motion command to fold the laundry.
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| CN201910669540.1A CN110512407B (en) | 2019-07-24 | 2019-07-24 | Clothes folding robot and clothes folding method thereof |
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| CN113622173B (en) * | 2020-05-09 | 2024-01-05 | 勤好(南通)智能科技有限公司 | Portable automatic ironing clothes stacking machine |
| CN111776373A (en) * | 2020-08-20 | 2020-10-16 | 苏州大学 | Automatic clothes folding device |
| CN112626820A (en) * | 2020-12-29 | 2021-04-09 | 武汉科技大学 | Single-motor-driven automatic clothes folding machine |
| CN113529389B (en) * | 2021-06-07 | 2023-04-07 | 湖南工学院 | Airing clothes folding machine |
| CN113371256B (en) * | 2021-08-16 | 2021-11-02 | 南通寝尚纺织品有限公司 | A clothing equipment for packing for clothing production |
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| IL208400A0 (en) * | 2010-10-03 | 2010-12-30 | Fold For Me Ltd | Apparatus for folding textile articles |
| CN109208299B (en) * | 2017-06-29 | 2022-01-18 | 无锡小天鹅电器有限公司 | Clothes folding method of clothes folding machine |
| CN108797071A (en) * | 2018-06-21 | 2018-11-13 | 金华优地工业设计有限公司 | A kind of full-automatic clothes folding machine |
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