CN110629512B - A kind of clothes folding machine and control method - Google Patents

Abstract

The invention belongs to the field of clothing processing equipment, and specifically discloses a clothes stacking machine. The clothes stacking machine includes a folding unit and a clothes storage unit, the clothes storage unit is arranged at the lower part of the folding unit, and the clothes storage unit further includes clothes A conveying device, which conveys the clothes folded by the folding unit to the clothes storage unit for storage. The clothes folding machine provided by the invention can avoid the situation that the clothes are easily shaken and scattered during the process of dropping the clothes from the folding unit into the storage unit, and improve the forming effect of the folded clothes.

Description

A kind of clothes folding machine and control method

technical field

The invention belongs to the field of clothes treatment, and in particular relates to a clothes folding machine and a control method.

Background technique

In daily home life, it is necessary to fold and store dried clothes or prepared clothes. In daily life, people usually fold clothes manually. Due to the accelerated pace of life in social development, the time for doing housework is reduced, and the time for drying is reduced. The random stacking of clothes not only causes a waste of storage space, but also causes damage to the clothes; the improvement of living standards has also brought about an increase in the types of clothes, and users cannot master the folding and storage skills for different clothes, so that the folded clothes Clothes cannot be well protected. Unevenly folded clothes still need to be ironed before wearing. Therefore, it is necessary to provide a small size, high degree of automation and beautiful appearance. There are many, the folding machines used in industry can only provide a single program to fold a specific type of clothing, and can not bring convenience to home users, so there is a lack of a more intelligent folding clothes suitable for folding different types of clothing in the market. machine.

At present, the design of the folding mechanism of the clothes folding machine mainly adopts the "folding board" folding method. After folding the clothes on the folding board, the clothes need to be turned over to drop the clothes. On the clothes storage board, after the multiple pieces are folded and stored, take out the folded clothes together. When the clothes are folded and dropped onto the clothes storage plate, the clothes will be shaken and scattered, resulting in a poor final garment forming effect.

The present invention has been made in view of this.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art, and to provide a clothes folder that can avoid the situation that the clothes are easily shaken off during the process of dropping the clothes from the folding unit into the storage unit, and improve the forming effect of the folded clothes.

In order to solve the above technical problems, the present invention provides a clothes folding machine, which includes a folding unit and a clothes storage unit, the clothes storage unit further includes a clothes conveying device, and the clothes conveying device conveys the clothes folded by the folding unit to the clothes storage unit storage in.

Further, the folding unit includes a folding platform, the clothes storage unit includes a storage platform, and the clothes transporting device is arranged between the folding platform and the storage platform to transport the clothes folded from the folding platform to the storage platform for storage, preferably , the clothes storage unit is arranged at the lower part of the folding unit.

Further, the clothes conveying device includes a clothes fetching board and a retractable support structure, the clothes fetching board is arranged on the supporting structure, and the height of the clothes fetching board is adjusted by the expansion and contraction of the supporting structure;

Preferably, the highest position of the clothes taking board moving under the driving of the support structure is flush with the folding platform, and the lowest position of the clothes taking board moving under the driving of the support structure is to move to the storage platform.

Further, the telescopic structure is a plurality of telescopic rods arranged on the outer edge of the storage platform, and a clothing channel is formed between the plurality of telescopic rods, the clothes taking platform and the storage platform, and the clothes on the clothes taking plate are Drop onto the storage platform from the channel.

Further, the clothes fetching board includes a first clothes fetching board and a second clothes fetching board, the end of the telescopic rod in contact with the first clothes fetching board and the second clothes fetching board is provided with a slide rail, and the The first clothes taking board and the second clothes taking plate are respectively arranged on the slide rails, the first and second clothes taking plates slide along the slide rails in opposite directions to form openings, and the clothes on the clothes taking plates pass through the openings. on the storage platform.

Further, the folding platform includes folding flaps, the folding flaps include two garment side flaps and a garment body flap, the garment body flaps are located between the two garment side flaps, and the garment side flaps are located between the two garment side flaps. The flap and the body flap form a concave shape, and the highest position of the clothes taking plate is moved to the concave opening under the driving of the telescopic rod. board.

Further, a sensing device is provided on the lower surface of the clothes taking board for sensing the clothes on the storage platform.

Another object of the present invention is to provide a control method for the above-mentioned clothes folding machine, which controls the clothes transporting device to transport the clothes folded by the folding unit to the clothes storage unit for storage.

Further, when the clothes taking board of the clothes conveying device is raised to the folding platform, the clothes stacker is controlled to lay the clothes to be folded on the folding platform. board.

Further, after the folding platform completes the folding action of the clothes, the clothes taking board is controlled to descend, and when the sensing device on the clothes taking board senses the clothes that have been stored on the storage platform, the clothes taking board stops descending, and the first clothes taking board and the clothes taking board are controlled. The second clothes-taking board slides in the opposite direction along the slide rail, so that the clothes fall above the stored clothes; if no clothes are sensed, the clothes-taking board is controlled to continue to descend until it reaches the storage platform, and at this time, the first clothes-taking board is controlled The clothes-taking board and the second clothes-taking board slide in opposite directions along the slide rails, so that the clothes fall onto the storage platform.

After adopting the above-mentioned technical scheme, the present invention has the following beneficial effects compared with the prior art:

1. In the present invention, the clothes are transported from the folding platform to the storage platform by setting the clothes transporting device, so as to avoid the problem that the clothes are shaken and scattered when the clothes are directly dropped onto the storage platform and the molding effect is poor;

2. In the present invention, the highest movable distance of the clothes-taking board of the clothes conveying device is set at a position flush with the folding platform, and the folding platform can directly land on the clothes-taking flap after folding the clothes, eliminating the need to pass The process that the falling flap is folded and the clothes are dropped, further ensures the molding effect of the folded clothes when they fall into the clothes taking board;

3. In the present invention, by setting the clothes-taking board as a first clothes-taking board and a second clothes-taking board that can slide in opposite directions, the first clothes-taking board and the second clothes-taking The plate slides in the opposite direction to form an opening, and the clothes fall into the storage platform from the opening, so as to ensure the molding effect of the clothes falling into the storage platform. 4. The support structure of the clothing conveying device of the present invention is a telescopic rod arranged on the surrounding edge of the storage platform, and a clothing channel is formed between the storage platform, the telescopic rod and the clothes taking board, and the folded clothes are stored on the storage platform through the clothing channel, In addition, the folded laundry is limited to the passage, so as to ensure that the folded laundry will not fall during the continuous accumulation of the storage platform, and further ensure the forming effect of the folded laundry.

The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

Description of drawings

The accompanying drawings, as a part of the present invention, are used to provide further understanding of the present invention, and the exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but do not constitute an improper limitation of the present invention. Obviously, the drawings in the following description are only some embodiments, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort. In the attached image:

Fig. 1-Fig. 3 is the structure schematic diagram of the folding board of the clothes folding machine of embodiment 1;

Fig. 4-Fig. 5 is the structural representation of the clothes folding machine of embodiment 2;

Fig. 6 is the structure schematic diagram of the clothes stacking board of embodiment 2;

7-8 are schematic structural diagrams of the clothes taking board of the clothes conveying device according to Embodiment 2;

FIG. 9 is a schematic structural diagram of a folding platform of the clothes folding machine of Example 3. FIG.

1 is the folding unit, 11 is the folding platform, 111 is the body flap, 1111 is the first auxiliary rib located on the garment body flap, 112 is the garment side flap, 1121 is the first auxiliary rib located on the garment side flap, 113 is the falling flap, 1131 is the second auxiliary rib, 114 is the tail flap, 1141 is the first auxiliary rib located on the tail flap, 115 is the ventilation hole, 116 is the sleeve gather side panel, 1161 is the gather guide Side, 117 is the clothes guide plate, 118 is the driving motor, 119 is the clothes tail sensor, 120 is the distance sensor, 1111 is the first auxiliary rib, 2 is the storage unit, 21 is the clothes taking board, 211 is the first clothes taking board , 212 is the second clothes taking board, 22 is the telescopic rod, 23 is the storage platform, 24 is the slide rail, 3 is the clothes to be folded, 4 is the folded clothes, and 5 is the manipulator.

It should be noted that these drawings and written descriptions are not intended to limit the scope of the present invention in any way, but to illustrate the concept of the present invention to those skilled in the art by referring to specific embodiments.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and the following embodiments are used to illustrate the present invention , but are not intended to limit the scope of the present invention.

In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "inside", "outside", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, It is not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as limiting the invention.

In the description of the present invention, it should be noted that, unless otherwise expressly specified and limited, the terms "installed", "connected", "connected", "contacted" and "connected" should be understood in a broad sense, for example, it may be The fixed connection can also be a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations.

Example 1

A clothes folding machine includes a folding unit and a clothes storage unit, the clothes storage unit is located below the folding unit, and the clothes are stored in the clothes storage unit after being folded by the folding unit. As shown in FIG. 1 and FIG. 3 , the folding unit includes a folding platform, the folding platform includes a clothes stacking board, and the clothes stacking board includes a body flap 111 for folding the body, and a body for folding the sleeves. The garment side flaps 112 located on both sides of the garment body flap 111, and the garment tail flap 114 for folding the garment tail, the garment folding board also includes a drop flap 113, and the drop flap 113 is located on the garment body. Between the flap 111 and the tail flap 114 , the clothes folded through the garment side flap 112 , the garment tail flap 114 and the garment body flap 111 in turn are located on the falling flap 113 . The plate 113 is folded downwards, so that the folded clothes fall into the clothes storage unit for storage. The garment side flaps 112 , the garment body flaps 111 , the garment tail flaps 114 and the drop flaps 113 form a rectangular structure. The width of the garment tail flap 114 can be set to be the same as that of the garment body flap 111 and located between the garment side flaps 112 on both sides; The width is the sum of the body flaps 111 and the side flaps 112 on both sides. As shown in FIG. 3 , one end of the garment side flap 112 close to the garment tail flap 114 is further provided with a sleeve gathering side plate 116 , and the outer edge of the garment sleeve gathering side plate 116 is inclined toward the garment tail to form a gathering Guide edge 1161, when the clothes are laid flat on the folding platform in the direction of the arrow, the sleeves of the clothes are in contact with the sleeve gathering side panels 116. Clothes are moved toward the stacking board while being gathered up, and finally the sleeves are completely gathered, so that the clothing is laid flat on the stacking board. As shown in FIG. 3 , a clothes guide plate 117 is also provided on the outer edge of the clothes tail flap 114 to guide the clothes to be laid flat and folded on the platform.

However, because the clothes have a certain thickness, the end away from the rotating shaft of the stacking board cannot be completely fitted with the clothes after being turned over, and the clothes cannot be fully flattened. At the same time, there is a certain adsorption between the clothes and the folding board. When the folding board folds the clothes and returns to the initial position, the clothes will follow the folding board and return to the original position due to the adhesion between the clothes and the folding board. The initial position greatly affects the molding effect of the clothing. Therefore, an auxiliary folding mechanism for assisting the folding of the clothes is provided on the clothes folding board, which can realize the overall flattening of the clothes and reduce the adsorption effect between the clothes and the clothes folding board, so as to achieve a better flattening effect on the clothes. and molding effect.

Further, the auxiliary folding mechanism includes a first auxiliary rib arranged on the folding flap and used to assist the flattening of the clothes. As shown in FIG. 1 , the first auxiliary rib is disposed on the garment side flap 112 and/or the garment body flap 111 . As shown in FIG. 1 and FIG. 2 , the garment body flap 111 includes a garment body rotating end that folds the garment body flap 111 , and a plurality of first auxiliary ribs 1111 are arranged on the garment body flap 111 . The plurality of first auxiliary ribs 1111 are evenly spaced along the direction perpendicular to the rotating end of the clothing body, and the height of each first auxiliary rib 1111 gradually increases from the direction close to the rotating end of the clothing body to the direction away from the rotating end of the clothing body. Since the clothing body has a certain thickness, the height of the first auxiliary rib 1111 away from the rotating end of the clothing body is set to be higher than the height near the rotating end of the clothing body, so that after the clothing body flap 111 is folded over, it can be ensured that The body is fully flattened.

As shown in FIG. 1 , the garment-side flap 112 includes a garment-side rotating end that folds the garment-side flap 112 , and a plurality of first auxiliary ribs 1121 are arranged on the garment-side flap 112 . An auxiliary rib 1121 is evenly spaced along the direction parallel to the garment side rotating end, and the height of the first auxiliary rib 1121 near the garment side rotating end is smaller than the height of the first auxiliary rib 1121 away from the garment side rotating end. Since the sleeve has a certain thickness, the height of the first auxiliary rib 1121 away from the rotating end of the garment side is set higher than the height of the first auxiliary rib 1121 close to the rotating end of the garment side, so that after the sleeve flap is folded, the clothing can be guaranteed. The body flap 111 is used to fully flatten the sleeves.

Further, as shown in FIG. 1 , the first auxiliary rib may also be arranged on the garment tail flap 114 , and the garment tail flap 114 includes a garment tail rotating end that folds the garment tail flap 114 . A plurality of first auxiliary ribs 1141 are arranged on the tail flap 114, and the plurality of first auxiliary ribs 1141 are evenly spaced along the direction perpendicular to the rotating end of the clothes tail, and the height of each first auxiliary rib 1141 varies from the height of the The direction of the rotating end of the tail increases gradually in the direction away from the rotating end of the tail; since the tail has a certain thickness, the height of the first auxiliary rib 1141 away from the rotating end of the tail is set higher than the height close to the rotating end of the tail, so that the body is turned over. After the plate 111 is folded over, it can be ensured that the clothing body turning plate 111 can fully flatten the clothing tail. Preferably, the width of the garment tail flap 114 is equal to the width of the garment body flap 111 .

Further, as shown in FIG. 1 , the auxiliary folding mechanism further includes a second auxiliary rib 1131 arranged on the falling flap 113 to reduce the friction between the clothes and the falling flap 113 ; the falling flap 113 It includes a first flap and a second flap. The first flap and the second flap are folded from the middle to the bottom to form an opening on the folding platform to allow the clothes to fall. The second auxiliary rib 1131 is arranged on the first flap. flap and second flap. The falling flap 113 includes a falling rotating end that folds the first flap and the second flap downward, and the second auxiliary rib 1131 is arranged perpendicular to the falling rotating end; preferably, the second auxiliary rib 1131 A plurality of circular ribs protruding from the first flap and the second flap and arranged at intervals perpendicular to the direction of the falling rotating end are used to reduce the contact area between the clothing and the falling flap 113, reducing the The frictional force during the falling process of the clothes can better ensure the forming effect of the clothes.

Further, as shown in FIGS. 1 and 2 , the auxiliary folding mechanism further includes a plurality of ventilation holes 115 opened on the clothes stacking board to prevent the clothes from adhering to the clothes stacking board. Due to the adsorption between the clothes and the folding board, after the folding board completes the folding action, when it returns to the initial position, the clothes will follow the folding board and return to the initial position due to the adhesion between the clothes and the folding board. , which greatly affects the molding effect of clothing. Opening the ventilation holes 115 on the stacking plate can remove the air between the clothes and the stacking plate during the process of stacking the clothes, thereby reducing the adsorption effect between the clothes and the stacking plate, so that the clothes have a better molding effect. The plurality of ventilation holes 115 are evenly arranged along one side/both sides of the first auxiliary rib and/or the second auxiliary rib 1131 ; the ventilation holes 115 are arranged on the body flap 111 and/or the garment side flap 112 , and/or on the tail flap 114 .

Example 2

As shown in FIG. 4 and FIG. 5 , a clothes folding machine includes a folding unit 1 and a clothes storage unit 2 . The clothes storage unit 2 is arranged at the lower part of the folding unit 1 . After the clothes 3 to be folded are folded in the folding unit 1 Enter the clothes storage unit 2 for storage. In order to prevent the folded laundry 4 from being shaken and scattered during the process of entering the storage unit 2 , in order to obtain a better molding effect, the laundry storage unit 2 further includes a laundry conveying device, which folds the folding unit 1 . The clothes are transported to the clothes storage unit 2 to be stored.

Further, the folding unit 1 includes a folding platform 11 on which the clothes 3 to be folded are laid flat and folded, the clothes storage unit 2 includes a storage platform 23 , and the clothes conveying device is arranged on the folding platform 11 and the folding platform 11 . Between the storage platforms 23, the clothes folded by the folding platform 11 are transported to the storage platform 23 for storage.

Further, the clothes conveying device includes a clothes fetching board 21 and a support structure, and the clothes fetching board 21 is arranged on the support structure. The support structure can be lifted and lowered, and the height of the clothes taking board 21 can be adjusted by the lift of the support structure; The two supporting columns are horizontally arranged, and the supporting columns can move up and down along the rails, and the clothes taking board 21 is arranged on the two supporting columns. When the support column moves up and down between the folding platform 11 and the storage platform 23 along the track, it also drives the clothes taking board 21 to move up and down, thereby moving the folded clothes on the folding platform 11 to the storage platform 23 for storage. .

Or the support structure is telescopic, and the height of the clothes taking board 21 is adjusted by the expansion and contraction of the support structure; A clothes channel is formed between the telescopic rod 22, the clothes taking platform and the storage platform 23. The clothes on the clothes taking plate 21 fall onto the storage platform 23 from the channel, and the folded clothes 4 are always limited to the channel. In the process of continuous accumulation of clothes, even if the stacked clothes 4 are piled higher and higher, they will not be scattered, so as to ensure that the stacked clothes 4 are always in a neat state and further ensure the molding effect of the clothes.

Preferably, the highest position of the clothes taking board 21 that moves under the driving of the support structure is flush with the folding platform 11 , and the lowest position that the clothes taking board 21 moves under the driving of the supporting structure is to move to the storage platform 23, thereby reducing the height difference between the clothes from the folding platform 11 entering the clothes taking board 21, and reducing the height difference between the clothes taking board 21 and the storage platform 23, the clothes are on the folding platform 11, the clothes taking board 21 and During the transfer process between the storage platforms 23, it will not be shaken and scattered.

Further, as shown in FIG. 7 and FIG. 8 , the clothes taking plate 21 includes a first clothes taking plate 211 and a first clothes taking plate 212 , the telescopic rod 22 is connected with the first clothes taking plate 211 and the first clothes taking plate 212 . A sliding rail 24 is provided at the contact end of the clothes taking plate 212, the first clothes taking plate 211 and the first clothes taking plate 212 are respectively arranged on the sliding rail 24, and the first clothes taking plate 211 and the first clothes taking plate 212 The sliding rails 24 are slid in opposite directions to form an opening, and the clothes on the clothes taking board 21 are dropped onto the storage platform 23 from the opening.

Further, as shown in FIG. 6 , the folding platform 11 includes folding flaps, and the folding flaps include two garment side flaps 112 and a garment body flap 111 , and the garment body flaps 111 are located on the two garment flaps. Between the side flaps 112 , the garment side flaps 112 and the garment body flaps 111 are enclosed in a concave shape, and the highest position of the clothes taking plate 21 moved under the driving of the telescopic rod 22 is to move to a concave shape At the opening of the folding platform 11, the clothes just fall on the clothes taking board 21 after the folding platform 11 is folded.

Alternatively, the folding platform 11 includes a folding flap, and the folding flap includes two garment side flaps 112 and a garment body flap 111 , and the garment body flap 111 is located between the two garment side flaps 112 , Between the two garment side flaps 112 are also provided a falling flap and a garment tail flap 114 , the falling flap is located between the garment body flap 111 and the garment tail flap 114 , and the laundry 3 to be folded is placed on the folding platform 11 . After being folded and formed, it is placed on the falling flap. The falling flap includes a first flap and a second flap. A sliding rail 24 is provided on the side where the flaps on both sides of the garment are in contact with the falling flap. A flap and a second flap are respectively arranged on the slide rail 24. The first flap and the second flap can slide along the slide rail 24 in opposite directions to form an opening, and the clothes on the falling flap can fall from the opening. on the clothes taking board 21 of the clothes conveying device. Or only one drop flap is included, and one side of the body flap 111 in contact with the drop, or one side of the garment side flap 112, or one side of the garment tail flap 114 is provided with a slide rail 24, and the falling flap is provided with a slide rail 24. The plate is arranged on the sliding rail 24. When the clothes are folded and located on the falling flap, the falling flap moves along the sliding rail 24 toward the body flap 111, or moves toward the garment side flap 112, or moves toward the garment tail. Thereby, an opening is formed, from which the laundry falls onto the laundry board 21 .

Further, a sensing device is provided on the lower surface of the clothes taking board 21 for sensing the clothes on the storage platform 23 . When there are clothes on the clothes taking board 21, the clothes conveying device starts to move downward, and the sensing device at the lower part of the clothes taking plate 21 starts to sense the clothes on the storage platform 23. When the sensing device senses the clothes, the clothes conveying device stops moving. When the clothes are not sensed, keep moving until the clothes taking board 21 moves to the storage platform 23 .

Another object of the present invention is to provide a method for controlling the above-mentioned clothes folding machine, which controls the clothes transporting device to transport the clothes folded by the folding unit 1 to the clothes storage unit 2 for storage.

Further, when the clothes taking board 21 of the clothes conveying device is raised to the folding platform 11, the clothes stacker is controlled to lay the clothes to be folded on the folding platform 11. After the clothes are folded by the folding platform 11, the folded clothes are Just located on the clothes taking board 21 .

Further, after the folding platform 11 completes the folding action of the clothes, the clothes taking plate 21 is controlled to descend. When the sensing device on the clothes taking plate 21 senses the clothes that have been stored on the storage platform 23, the clothes taking plate 21 stops descending, and controls the first A clothes taking plate 211 and a first clothes taking plate 212 slide in opposite directions along the slide rail 24, so that the clothes fall above the stored clothes; if no clothes are sensed, the clothes taking plate 21 is controlled to continue to descend until reaching the At the storage platform 23 , the first clothes taking plate 211 and the first clothes taking plate 212 are controlled to slide in opposite directions along the slide rails 24 , so that the clothes fall onto the storage platform 23 .

Example 3

As shown in FIG. 9 , a clothes folding machine includes a folding platform 11 , a manipulator 5 for holding the clothes 3 to be folded, and a motor 118 for driving the manipulator 5 to run in the direction of the folding platform 11 . The manipulator 5 folds the clothes to be folded. 3. Clamp and lay the clamped clothes on the folding platform 11 for folding under the drive of the motor 118. Since the clothes have different lengths, if the positions of the clothes of different lengths on the folding platform 11 are the same, they will be folded in the same way. Therefore, it is necessary to control the position of the clothes on the folding platform 11 according to the length of the clothes to achieve a better folding effect, and to make the clothes of different lengths folded. Uniform and regular shape, the present invention controls the stop position of the clothes on the folding platform 11 by setting the clothes length detecting device 120 on the clothes folding machine, and detecting the length of the clothes to be folded by the clothes length detecting device 120 . The clothes length detecting device 120 can be set at any position of the clothes stacker, and can directly measure the clothes length through the clothes 3 to be stacked during the hanging process, or obtain clothes length information by scanning the clothes 3 to be stacked.

Further, the folding platform 11 is provided with a clothing tail sensor 119 for sensing the clothing tail. The manipulator 5 clamps the clothing and spreads the clothing on the folding platform 11 in the direction shown by the arrow. During the process, the length detection device 120 is activated. Detection, when the clothing tail sensor 119 detects the clothing tail, the length detection device 120 ends the detection, so as to obtain clothing length information; preferably, the folding platform 11 includes a folding flap and a falling flap, and the folding flap includes a For the tail flap and the body flap, the garment tail sensor 119 is arranged on the garment tail flap, and the length detection device 120 is arranged on the garment body flap.

Another object of the present invention is to propose a control method for the above-mentioned clothes folding machine, by detecting the length of the clothes to be folded to control the stop position of the clothes on the folding platform 11, so as to ensure that clothes of different lengths can be folded under the same folding program. A better effect of folding clothes is obtained, thereby ensuring uniform, standardized and neat shapes of clothes of different lengths after being folded.

Further, the folding flap includes a body flap with a length of A, and a falling flap with a length of B. When the length of the garment is L≤A+B, the tail of the garment is controlled to stay on the falling flap, and the garment is folded. When the garment side flap, the garment tail flap and the garment body flap move in sequence or the garment tail flap does not move, the falling flap finally completes the action of dropping the garment. In order to avoid unnecessary trouble caused by changing the clothes folding procedure, it is preferable that the clothes side flaps, the clothes tail flaps and the garment body flaps act in sequence when the clothes are folded.

Further, when the length of the clothes is L=A+B, the collar of the control clothes stays at the outer edge of the body flap. Since there is no clothing on the tail flap, the tail flap can be folded without load or does not move. , the body flap is folded in half.

Further, when the length of the clothes is L<A+B, the middle part of the clothes is controlled to stay in the middle of the body flap and the falling flap. When folding clothes, since there is no clothes on the tail flap, the tail flap can be empty. Folded or not, the body flaps are folded in half, showing the shape of a long bottom and a short top, or a short bottom and a long shape.

Further, the folding flap also includes a falling flap with a length of C. When the length of the garment is L≥A+B+C, the collar of the control garment stays at the outer edge of the garment body flap. When the clothes are folded out of the tail flap, the side flap, the tail flap and the body flap move in sequence, and finally the falling flap completes the action of dropping the garment.

Further, when A+B<L<A+B+C, the position of the clothes on the folding platform 11 is controlled by comparing the length X with the preset value, wherein the length X=L-A-B, that is, the clothes exceed the body. The length of the flap and the falling flap, the default value is the minimum length that the tail part of the garment falls into the tail flap to complete the folding, the default value=C/N, preferably, N≥2, when the garment is folded, the garment side The flap, the tail flap and the body flap move in sequence, and finally the falling flap completes the action of dropping the garment.

Further, when X<preset value, it means that when the manipulator 5 pulls the clothes to the outer edge of the body flap, the part of the clothes that exceeds the length of the body flap and the drop flap cannot be completed on the tail flap. Folding, then control the clothing feeding distance on the folding platform 11 to be less than or equal to the sum of the length of the clothing body and the preset value. After clamping the clothing, the manipulator 5 spreads the clothing on the folding platform 11. During this process, the clothing moves along the folding platform. 11 The distance traveled is the distance into clothing. When the clothing feeding distance is less than or equal to the sum of the length of the clothing body and the preset value, the collar of the clothing has stopped moving before reaching the outer edge of the clothing body flap, and the clothing tail is located on the clothing tail flap Long enough to complete the fold.

Or, when X<preset value, control the manipulator 5 to pull the collar of the garment to the outer edge of the garment body flap. Since the length of the garment located on the garment tail flap is small, the overall shape of the garment after the garment is folded is reduced. The influence is not great, at this time, the tail flap can be controlled to not move, only the side flap and the body flap move in sequence, and finally the falling flap is used to complete the action of dropping the garment.

Further, when X≥preset value, since the length of the clothes on the tail flap is sufficient to complete the folding, the collar of the control clothes stays at the outer edge of the body flap.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention in any form. Although the present invention has been disclosed above with preferred embodiments, it is not intended to limit the present invention. Within the scope of the technical solution of the present invention, personnel can make some changes or modifications to equivalent examples of equivalent changes by using the above-mentioned technical content, but any content that does not depart from the technical solution of the present invention is based on the technical solution of the present invention. Substantially any simple modifications, equivalent changes and modifications made to the above embodiments still fall within the scope of the solutions of the present invention.

Claims (10)

1. The clothes folding machine is characterized by comprising a folding unit and a clothes containing unit, wherein the clothes containing unit further comprises a clothes conveying device which conveys clothes folded by the folding unit into the clothes containing unit for containing; the clothes receiving unit comprises a receiving platform, and the clothes conveying device conveys the folded clothes to the receiving platform for receiving;

the clothes conveying device comprises a clothes taking plate and a telescopic supporting structure, wherein the clothes taking plate is arranged on the supporting structure, and the height of the clothes taking plate is adjusted through the telescopic movement of the supporting structure; the telescopic supporting structure is a plurality of telescopic rods arranged on the outer side edge of the storage platform, a clothes channel is defined among the telescopic rods, the clothes taking plate and the storage platform, and clothes on the clothes taking plate fall on the storage platform from the channel.

2. A clothes folding machine according to claim 1, wherein said folding unit comprises a folding platform, said clothes transport means being arranged between the folding platform and the receiving platform.

3. A clothes folding machine according to claim 2, wherein said clothes receiving unit is provided at a lower portion of the folding unit.

4. A clothes folding machine according to claim 2, wherein the highest position of the take-up board moved by the support structure is flush with the folding platform, and the lowest position of the take-up board moved by the support structure is moved to the receiving platform.

5. The clothes folding machine according to claim 1, wherein the clothes taking plates comprise a first clothes taking plate and a second clothes taking plate, slide rails are arranged at one ends of the telescopic rods, which are in contact with the first clothes taking plate and the second clothes taking plate, the first clothes taking plate and the second clothes taking plate are respectively arranged on the slide rails, the first clothes taking plate and the second clothes taking plate slide along the slide rails in opposite directions to form an opening, and clothes on the clothes taking plates fall onto the storage platform from the opening.

6. The clothes folding machine according to claim 2, wherein the folding platform comprises two folding flaps, the folding flaps comprise two clothes side flaps and a clothes body flap, the clothes body flap is located between the two clothes side flaps, the clothes side flaps and the clothes body flap enclose a concave shape, the highest position of the clothes taking plate moved by the driving of the telescopic rod is an opening moved to the concave shape, and clothes just fall on the clothes taking plate after the folding platform is folded.

7. A clothes folding machine according to any one of claims 1 to 6, wherein the lower surface of the clothes pick-up plate is provided with sensing means for sensing clothes on the take-up platform.

8. A method for controlling a clothes folding machine according to any one of claims 1 to 7, wherein the clothes carrying device is controlled to carry the clothes folded by the folding unit to the clothes receiving unit for receiving.

9. The method of claim 8, wherein the clothes folding machine is controlled to lay the clothes to be folded flat on the folding platform when the clothes taking plate of the clothes conveyor is lifted to the folding platform, and the folded clothes are located on the clothes taking plate just after the folding platform folds the clothes.

10. The method as claimed in claim 9, wherein the folding platform controls the clothes taking plate to descend after the folding action of the clothes is completed, the clothes taking plate stops descending when the sensing device on the clothes taking plate senses the clothes received on the receiving platform, and the first clothes taking plate and the second clothes taking plate are controlled to slide along the slide rail in opposite directions, so that the clothes fall above the received clothes; if the clothes are not sensed, the clothes taking plate is controlled to continuously descend until the clothes reach the storage platform, and at the moment, the first clothes taking plate and the second clothes taking plate are controlled to slide towards opposite directions along the sliding rail, so that the clothes fall onto the storage platform.

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