CN110629524B - A kind of control method of clothes folding machine and clothes folding machine - Google Patents

Abstract

The invention discloses a control method of a clothes folding machine and the clothes folding machine. The clothes folding machine is provided with a folding platform, the folding platform is provided with a clothes inlet end and a clothes end point end, a clothes tail turning plate is arranged at the clothes inlet end and turns over towards the middle of the folding platform, a plurality of sensors are arranged on the folding platform along the path of clothes entering the folding platform, the clothes folding machine is provided with a master control system, and the control method is that the master control system judges the length range of the clothes according to signals of the sensors. Through setting up a plurality of sensors at clothing entering direction, sense the length scope that the clothing judged the clothing through the sensor, need not increase complicated identification process, to the clothing of the long scope of different clothing, folding platform has different places position and folding process to make the clothing homoenergetic of various lengths obtain reasonable folding, and avoid the clothing condition of kick-backing of the board back clothing of turning over a book of the clothing tail.

Description

A kind of control method of clothes folding machine and clothes folding machine

technical field

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

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 also brings 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, and 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 of a clothes folding machine for home use.

There are many types of clothes that need to be worn every day. The industrially used clothes folding machines can only provide a single program to fold a specific type of clothes. Due to the difference in size of clothes, if the same folding process is used for clothes of different sizes, it cannot be achieved. A good folding effect cannot bring convenience to home users, so there is a lack of a more intelligent folding machine suitable for folding different types of clothes on the market.

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 control method of a clothes folding machine and a clothes folding machine.

In order to solve the above-mentioned technical problems, the basic conception of the technical scheme adopted in the present invention is:

A control method of a clothes folding machine, wherein the clothes folding machine has a folding platform, the folding platform has a clothing entry end and a clothing end end, and a clothing tail flap is arranged at the clothing entry end to be folded to the middle of the folding platform, and the folding platform is along the A plurality of sensors are arranged on the path of the clothes entering the folding platform, the clothes folding machine has a main control system, and the control method is that the main control system judges the length range of the clothes according to the signals of the sensors.

The distance between the clothing entry end and the clothing end end of the folding platform is L1, the clothing moves from the clothing entry end to the clothing end end, the length of the clothing tail flap along the clothing entry direction is L2, and the folding platform is provided with a first sensor and a second sensor. Two sensors, the first sensor is arranged at the clothing entry end, and the second sensor is arranged at a distance X1 from the first sensor along the clothing entry direction, X1=L1-L2;

The control method is as follows: the clothing moves along the clothing entering direction, when the first sensor does not sense the clothing, the main control system determines whether the second sensor senses the clothing, and when the second sensor does not sense the clothing, it determines the clothing length X< X1; when the second sensor senses the clothes, it is determined that the length of the clothes is X>X1.

The clothing end end of the folding platform is provided with a body flap to fold to the middle of the folding platform, and a third sensor is arranged at the clothing end end, and the distance between the third sensor and the first sensor is L1;

The control method is as follows: when the clothing length X<X1, the main control system controls the clothing to stop moving when the third sensor senses the clothing, so that the edge of the clothing reaches the end of the clothing, and controls the body flap to fold to the middle of the folding platform.

A fourth sensor is also arranged on the folding platform, and the fourth sensor is arranged at a distance X2 from the first sensor in the clothing entry direction, (L1-L2)<X2<L1; preferably, X2=L1- L2/2;

The control method is that the clothes move along the direction in which the clothes enter, and when the first sensor does not sense the clothes, the main control system determines whether the second sensor senses the clothes; when the second sensor senses the clothes, it further determines whether the fourth sensor senses the clothes. to clothing;

When the fourth sensor does not sense the clothes, it is determined that the clothes length X1<X<X2;

When the fourth sensor senses the clothes, it is determined that the clothes length X>X2.

When the clothing length is X1<X<X2, the main control system controls the clothing to stop moving when the first sensor does not sense the clothing, and then controls the clothing tail flap and the clothing body flap to be folded in turn;

When the clothing length X>X2, the main control system controls the clothing to stop moving when the third sensor senses the clothing, so that the clothing moves to the end of the clothing, and then controls the clothing tail flap and the clothing body flap to fold in turn.

The folding platform is also provided with a fifth sensor, and the fifth sensor is arranged at a position away from the first sensor L2 along the clothing entry direction. When the clothing length is X1<X<X2, the main control system controls the clothing at the fifth sensor. When the sensor does not sense the clothes, it stops moving, and then controls the body flap to fold;

When the clothing length X>X2, the main control system controls the clothing to stop moving when the third sensor senses the clothing, so that the clothing moves to the end of the clothing, and then controls the clothing tail flap and the clothing body flap to fold in turn.

The folding platform is provided with a drop plate, the drop plate is arranged between the clothes body flap and the clothes tail flap, and the drop plate moves to form a clothes drop command to drop the clothes; the control method is that after the clothes are folded, the main control system is completed. , control the movement of the drop plate to form the clothes drop port, and at the same time the clothes tail flap is folded towards the clothes drop port.

A clothes folding machine includes a folding platform, the folding platform has a clothing entry end and a clothing end end, the clothing entry end is provided with a clothing tail flap and folded to the middle of the folding platform, and the folding platform enters and folds along the clothing. A plurality of sensors are arranged on the path of the platform, and the clothes folding machine further includes a main control system, and the main control system judges the length range of the clothes according to the signals of the sensors.

The distance between the clothing entry end of the folding platform and the clothing end end is L1, the length of the clothing tail flap along the clothing entry direction is L2, the folding platform is provided with a first sensor and a second sensor, and the first sensor is provided on the clothing. At the entry end, the second sensor is arranged at a distance X1 from the first sensor along the clothing entry direction, where X1=L1-L2;

Preferably, the clothing end of the folding platform is provided with a body flap to fold to the middle of the folding platform, and a third sensor is provided at the clothing end, and the distance between the third sensor and the first sensor is L1.

The folding platform is also provided with a fourth sensor, and the distance between the fourth sensor and the first sensor in the clothing entry direction is X2, (L1-L2)<X2<L1; preferably, X2=L1-L2/ 2;

Further preferably, a fifth sensor is further provided on the folding platform, and the fifth sensor is provided at a position away from the first sensor L2 along the clothing entry direction.

After adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art.

By arranging multiple sensors in the clothing entry direction, the length range of the clothing can be judged only by whether the sensor senses the clothing without adding a complex identification process. For clothing with different clothing length ranges, the folding platform has different folding processes. Therefore, clothes of various lengths can be folded reasonably;

When the tail of the clothes only has a smaller edge on the tail flap, when the tail flap is folded to the middle, the clothes will spring back, which makes the folding process of the clothes tail invalid. The method is to lay the clothes in a position where the tail flap can be completely covered, so that the tail of the clothes has sufficient length to be folded, and the rebound of the clothes can be prevented from affecting the final folding effect of the clothes.

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 is a schematic diagram of the internal structure of the clothes folding machine of the present invention;

Fig. 2 is the schematic diagram of the clothes conveying device of the clothes folding machine of the present invention;

Fig. 3 is the folding platform schematic diagram of the clothes folding machine of the present invention;

FIG. 4 is a schematic diagram of the arrangement of the folding platform sensor of the present invention;

Figure 5 is a side view of the folding machine of the present invention;

Fig. 6 is the front view of the clothes folding machine of the present invention;

Figure 7, Figure 8 is a schematic diagram of the internal state of the storage unit of the present invention;

Fig. 9 is the position schematic diagram of the push-pull device and the lifting device of the present invention;

Figure 10 is a schematic diagram of the position of the push-pull device and the clothes carrier of the present invention;

Figure 11 is a schematic diagram of the cooperation between the lifting device and the clothes carrying device of the present invention;

Fig. 12 is the control method of the clothes folding machine of the present invention.

In the figure: 1. Folding unit; 1111, first moving part; 1112, X-direction guide rail; 1121, second moving part; 1122, Z-direction guide rail; 113, connecting rod; 114, clamping part; 12, folding platform; 1211, clothing side flap; 1212, clothing body flap; 1213, clothing tail flap; 1221, the first drop plate; 1222, the second drop plate;

2. Storage unit; 21. Clothes carrying device; 211. Through hole; 22. Lifting device; 221. Support rod; 222, Upper slide rail; 223, Lower rail; evade mouth;

3. Clothes rack conveying unit; 31. Clothes rack;

51, the first sensor; 52, the second sensor; 53, the third sensor; 54, the fourth sensor; 55, the fifth sensor; 56, the sixth sensor; A, the clothing entry end; B, the clothing end end.

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 terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation or a specific orientation. construction and operation, and therefore should not be construed as limiting the invention.

In the description of the present invention, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense, unless otherwise expressly specified and limited, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; it can be mechanical connection or electrical connection; it can be directly connected or indirectly connected 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.

The clothes folding machine of the present invention is shown in FIG. 1 , the clothes folding machine folds the clothes by taking off the clothes supported on the clothes hanger, and after laying them flat, the clothes are folded many times.

The clothes folding machine includes a clothes hanger conveying unit 3, a folding unit 1, and a storage unit 2. The clothes hanger conveying unit 3 conveys the clothes hangers 31 supporting the clothes to the folding unit 1, and the clothes hangers 31 can be folded. Release, the folding unit 1 is provided with a clothes conveying device and a folding platform 12, the folding platform has a horizontal surface for placing clothes and folding the clothes, the clothes conveying device can remove the clothes on the clothes rack 31 Lay the garment on the folded platform.

Fig. 2 is a schematic diagram of a clothes conveying device, the clothes conveying device includes a moving mechanism and a clamping mechanism, the moving mechanism includes an X-direction moving mechanism and a Z-direction moving mechanism, the X-direction moving mechanism can move in the horizontal direction, and the Z-direction moving mechanism can be To move in the vertical direction, the X-direction moving mechanism includes a first moving part 1111, an X-direction guide rail 1112 and a first driving motor, and the first driving motor drives the first moving part 1111 to move on the X-direction guide rail 1112, and similarly , the Z-direction moving mechanism includes a second moving part 1121 , a Z-direction guide rail 1122 and a second driving motor, the second driving motor drives the second moving part 1121 to move on the Z-direction guide rail 1122 . As shown in FIG. 2 , the Z-direction moving mechanism is provided on the first moving part 1111 , and the first moving part 1111 can drive the Z-direction moving mechanism to move along the X-direction guide rail 1112 when the first driving motor is driven, while the Z-direction The second moving part 1121 of the moving mechanism can move along the Z-direction guide rail 1122 under the driving of the second driving motor, so the second moving part 1121 can be anywhere in the plane area formed by the X-direction guide rail 1112 and the Z-direction guide rail 1122 .

The X-direction moving mechanism includes at least a first limit position and a second limit position, the first moving part 1111 moves between the first limit position and the second limit position, and the first moving part 1111 is located at the first limit position to ensure the clamp The holding mechanism is capable of gripping the clothes on the hanger 31, and when the first moving part 1111 is located at the second limiting position, the clothes are guaranteed to be released at the designated position of the folding platform; the Z-direction moving mechanism at least includes a top limiting position and a bottom limiting position, the second The moving part 1121 moves between the top restricting position and the bottom restricting position. When the second moving part 1121 is at the top restricting position, it ensures that the clamping mechanism can grip the clothes on the hanger 31. When the second moving part 1121 is at the bottom restricting position, it ensures that The clothes are detached from the hanger 31 .

As shown in FIG. 2, the clamping mechanism includes a connecting rod 113 and two clamping parts 114, the connecting rod 113 is fixed on the second moving part 1121, and the direction of the connecting rod is the same as the Z-direction guide rail 1122 and the X-direction The plane formed by the guide rail 1112 is vertical, the connecting rod 113 itself is set horizontally, the two clamping parts 114 are arranged on the connecting rod 113 and are arranged at intervals, and the second moving part 1121 can drive the connecting rod 113 to move above the folding platform, thereby The clamping portion 114 is driven to move.

The clamping part 114 can be opened and closed, and the clamping part can clamp the clothes on the hanger by opening and closing, and can also release the clothes by opening to place the clothes on the folding platform. The two clamping parts are arranged at intervals, and the distance between the two clamping parts matches the avoidance part on the hanger. The clothes hanger 31 has a foldable clothes support arm, and the clothes support arm has a downwardly recessed avoidance part. When the clipping portion 114 picks up the laundry, the laundry in the avoidance portion can be clipped without clipping the clothes support arm, so that the laundry can be removed from the hanger smoothly.

The control method of the above-mentioned clothes folding machine includes, the clothes folding machine has a clothes hanger folded position, and when the clothes hanger 31 is located at the clothes hanger folded position, the clothes stacker controls the clamping mechanism to open and close the clothes on the clothes hanger 31, and put the clothes on the clothes hanger 31. After 31 is folded, the clamping mechanism is moved to separate the clothes from the clothes hanger 31 .

The disengagement process is as follows: the folding machine drives the Z-direction moving mechanism to separate the clothes from the hanger. Specifically, the folding machine turns on the second motor to drive the second moving part to move downward, so that the clamping mechanism drives the clothes to move downward. The Z-direction movement is stopped when the bottom of the folded clothes support arm of the hanger is completely disengaged. When the clothes are separated from the hanger, the clothes stacker drives the X-direction moving mechanism to drag the clothes on the folding platform. Specifically, the clothes stacker turns on the first motor to drive the clothes to move to the other side of the folding platform. When it stops moving at the limit position, the folding machine controls the clamping mechanism to release the clothes so that the clothes are laid flat on the folding platform.

As shown in FIG. 1 and FIG. 2 , the clothes stacker includes a clothes hanger 31 , which is used to support the clothes with the clothes hanger 31 and then hang them at the clothes hanger conveying unit 3 . The lower part of the main body is provided with a folding switch, and the folding switch is used to control the folding of the clothes supporting arm. When the folding switch is pressed, the two symmetrically arranged clothes support arms will sag downward to form a folded shape, and the clothes supported by the clothes support arms will be released. The clothes folding machine further includes a trigger mechanism, which is used to touch the folding switch to control whether the clothes hanger 31 can be folded to release the clothes. The clothes hanger conveying unit 3 can deliver the clothes hanger 31 to the trigger mechanism. The triggering mechanism includes a driving part and a moving part. The driving part can be a motor, which is used to provide a driving force for the moving part to move. The moving part can move under the driving of the driving part. When moving, a force is applied to the folding switch of the hanger 31 to trigger the folding switch to fold the clothes support arm.

As shown in FIG. 3 and FIG. 4 , the folding unit 1 includes a horizontally arranged folding platform, and the folding platform is provided with a folding flap, which is used to fold the clothes. The drop plate can be folded down to form an opening on the folding platform, and the folded clothes can be dropped directly from this opening. The folding machine of the present invention is provided with a storage unit 2 at the lower part of the folding unit 1 , the folding unit 1 and the storage unit 2 can be communicated through the opening position, and the clothes are directly dropped into the storage unit 2 from the opening for storage.

The specific structure of the folding platform is shown in the figure. The folding flap includes at least two garment side flaps 1211 and a garment body flap 1212. The garment side flaps 1211 are located on both sides of the folding platform and are used to adjust the width direction of the clothes. After finishing, the clothes body turning plate 1212 can fold the clothes in the length direction, and make the finally folded clothes located at the drop plate.

The garment side flaps 1211 are oppositely arranged on both sides of the folding platform, and are folded to the middle of the folding platform for folding both sides of the garment. The garment body flaps 1212 and the drop plates are arranged on the two garment side flaps Between the plates 1211 and the body flap 1212 and the drop plate have the same width and are aligned, the garment body flap 1212 can be folded in the direction of the down plate, and the garment side flap, the garment body flap and the drop plate are integrally formed. Rectangular arrangement.

The folding flap also includes a tail flap 1213, which is arranged on one side of the folding platform to fold the bottom of the garment. The turning plate 1212 and the falling plate are arranged in a rectangular shape as a whole. The clothes tail flap 1213 can organize the lower part of the clothes that are too long, so as to ensure that all the clothes fall on the upper surface of the folding platform, and it is convenient for other folding flaps to fold the clothes. After the clothes are folded, they enter the storage unit 2 through the opening formed by the opened drop plate. The drop plate includes a first drop plate 1221 and a second drop plate 1222 arranged opposite to each other. The first drop plate 1221 and the second drop plate 1222 Fold down from the middle to the bottom to form an opening on the folding platform to allow the clothes to fall.

Since different clothes have different coverages after being laid flat, the clothes folding machine may be provided with a clothes identification unit for identifying the size of the clothes, which may be a sensing device disposed on the folding flap, so as to obtain the coverage of the clothes. range, and guide the action of the folding flap. The control method of the above-mentioned clothes folding machine can be that after the clothes are laid flat on the folding platform, the clothes folding machine controls the folding flaps to fold them in sequence, and when the clothes body flaps fold the clothes to the falling flaps, the clothes folding machine controls the falling. The plate opens to allow the laundry to fall.

As shown in FIG. 4 , the clothes folding machine of the present invention has a folding platform, and the folding platform has a clothing entry end A and a clothing end B. During the process of conveying the clothing by the clothing conveying device, the clothing flows from the clothing entry end A to the clothing. The terminal end moves in the direction of B, and on the folding platform, the arrangement of each folding flap is such that the tail flap 1213 is arranged at the clothing entry end A, and the garment tail flap 1213 is folded to the middle of the folding platform, so as to fold the tail of the garment. tidy.

Due to the difference in the length of the clothes, if the clothes are transported to the end of the clothes, they may not cover the tail flap, may cover part of the tail flap, or may completely cover the tail flap. Due to the different states of the tail flap, the clothes stacker needs to control the position of the clothes and the action of the flap differently according to the different lengths of the clothes.

For the judgment of the length and position of the clothes, the judgment is made by the signals fed back by a plurality of sensors. The sensor can be a photoelectric sensor. When the sensor senses the clothes, it has different signal feedback than when it does not sense the clothes. The clothes folding machine has a main control system, the main control system can judge the length range of the clothes according to the signal of the sensor.

During the conveying process of the clothes, there are multiple sensors on the moving path of the clothes, and the clothes generally move along the symmetry line of the folding platform. On the line of symmetry, so that the sensor obtains accurate clothing position.

As shown in Figure 4, the distance between the clothing entry end of the folding platform and the clothing end end is L1, the clothing moves from the clothing entry end to the clothing end end, and the length of the clothing tail flap along the clothing entry direction is L2. The gap between the board, the falling board and the tail flap is small, so it can be ignored. The distance between the clothing entry end and the clothing end can be considered as the total length of the clothing body flap, the falling board and the clothing tail flap. If the length of the tail flap is L2, it can be considered that the total length of the body flap and the drop plate is (L1-L2). The function of the clothes body flap is to fold the finished clothes in half for the last time, so that the clothes are all located at the position of the drop plate. Therefore, preferably, the body turning plate and the falling plate can be set to have the same length, so that the clothes are folded more evenly after the last turning.

The folding platform is provided with a first sensor 51 and a second sensor 52, the first sensor is arranged at the entry end of the clothing, and the second sensor is arranged at a distance X1 from the first sensor along the clothing entry direction, X1=L1- L2.

Since X1 can be considered as the length of the body flap and the drop plate, the purpose of setting the first sensor and the second sensor is to judge the comparison between the clothing length X and the total length of the body flap and the drop plate. When the clothing length is less than X1 , which means that after the clothes are transported to the end of the clothes, the laid clothes only cover the body flap and the falling plate in the length direction, but not the tail flap. When the clothes are short, the tail flap can be left without any action Clothes can be folded.

In order to ensure that the clothes are accurately conveyed to the end of the clothes, a third sensor 53 is arranged at the end of the clothes. The distance of a sensor in the direction of the clothing path is L1.

After judging the length of the clothes X>X1, the main control system can directly control the tail flap to fold the tail of the clothes, so that the clothes are located on the drop plate. When going up, after the tail flap is folded, the tail of the garment will rebound and fall back to the tail flap again, making the folding of the tail flap ineffective.

In order to solve this problem, a fourth sensor 54 is also provided on the folding platform, and the fourth sensor is arranged at a distance X2 from the first sensor in the clothing entry direction, (L1-L2)<X2<L1.

The length between the fourth sensor 54 and the first sensor 51 is the length of the clothing when the clothing only partially covers the tail flap. When the clothing length X can only cover part of the clothing tail flap, the clothing needs to be treated differently.

Preferably, the distance between the first sensor 51 and the fourth sensor 54 is X2=L1-L2/2; with the length of the clothing covering the general clothing tail flap as the limit, different treatments are performed when covering the smaller half of the clothing tail flap, When covering more than half of the tail flap, because of the larger coverage, the same treatment can be performed on the length of the garment when all the tail flap is covered.

For the clothes whose length X is between X1 and X2, that is, the clothes that only cover a small half of the tail flap when the clothes are transported to the end of the clothes, the treatment method is to not transport the clothes to the end of the clothes for folding. Instead, the clothing is placed in a position where the clothing can cover the tail flap, so that the tail flap can fold the tail of the clothing once.

Another treatment method is to continue conveying the clothes to a position beyond the end of the clothes, so that the tail of the clothes no longer covers the tail flap, so that the action of the tail flap is not required. The folding platform is also provided with a fifth sensor 55, the fifth sensor 55 is arranged at a position along the clothing entry direction from the first sensor L2, the fifth sensor 55 can detect whether the tail of the clothing is completely separated from the clothing tail flap .

In this way, the sixth sensor 56 can also be provided to detect the position of the clothes, so that the clothes reach the position where the clothes tail flap will not be covered. As shown in FIG. 4 , the distance between the sixth sensor 56 and the junction of the drop plate and the clothing tail flap 1213 is X2, so that the clothing stops when conveying to the sixth sensor, so as to ensure that the clothing will not cover the clothing tail flap.

With the above sensor settings, the clothes folding machine has the following control method: the timing when the main control system determines the length of the clothes is when the first sensor cannot sense the clothes.

The clothing moves along the clothing entry direction. When the first sensor does not sense the clothing, the main control system judges whether the second sensor senses the clothing. When the second sensor does not sense clothing, it judges the clothing length X<X1; When the second sensor senses the clothes, it is judged that the length of the clothes is X>X1.

When the clothing length X<X1, the main control system controls the clothing to stop moving when the third sensor senses the clothing, so that the edge of the clothing reaches the end of the clothing, and controls the first drop plate to fold to the middle of the folding platform.

When the clothes length X>X1, the length range of the clothes can be further judged through the feedback signal of the fourth sensor. The clothing moves along the clothing entry direction, when the first sensor does not sense clothing, the main control system determines whether the second sensor senses clothing; when the second sensor senses clothing, further determines whether the fourth sensor senses clothing;

When the fourth sensor does not sense the clothes, it is determined that the clothes length X1<X<X2;

When the fourth sensor senses the clothes, it is determined that the clothes length X>X2.

When the clothing length is X1<X<X2, the main control system controls the clothing to stop moving when the first sensor does not sense the clothing, and then controls the clothing tail flap and the clothing body flap to be folded in turn;

When the clothes length X>X2, the main control system controls the clothes to stop moving when the third sensor senses the clothes, so that the clothes move to the end of the clothes when the third sensor senses the clothes, and then controls the clothes tail flap and the clothes body to turn over. The plates are folded in turn.

When the length of the clothes is X1<X<X2, there is another control method: the main control system controls the clothes to stop moving when the fifth sensor does not sense the clothes, and then controls the body flap to fold;

When the clothing length X>X2, the main control system controls the clothing to stop moving when the third sensor senses the clothing, so that the clothing moves to the end of the clothing, and then controls the clothing tail flap and the clothing body flap to fold in turn.

As shown in FIG. 12 , after the first judgment, the main control system can obtain the relationship between clothing length X and X1. When X>X1, further judgment is performed to determine the relationship between clothing length X and X2.

After the clothes are folded, the main control system controls the movement of the drop plate to form the clothes drop port, and at the same time the tail flap is folded towards the clothes drop port, so as to prevent some clothes from being folded through the body flap. It falls on the clothes tail flap and cannot be dropped from the clothes drop port.

The clothes folding machine of the present invention has a folding chamber and a storage chamber. In order to facilitate the user to take out the stored clothes from the inside of the clothes folding machine, the storage chamber can be provided with a push-pull device, which can carry the folded clothes from the inside of the chamber. out for the user to remove the laundry.

A clothes carrying device 21 is provided at a position of the storage chamber corresponding to the clothes drop opening of the folding chamber, and a movable push-pull device 24 is arranged in the storage chamber to drive the clothes carrier to move.

As shown in Figures 5-8, the lower part of the clothes carrier is provided with a lifting device 22 to drive the clothes carrier 21 to move up and down. When the folding unit clothes are folded, the lifting device drives the clothes carrier to rise to a position close to the clothes drop port. After a piece of clothing is folded, since the clothing occupies a certain space, the lifting device drives the clothing carrying device to move downwards to reserve space for the next piece of folded clothing. Due to the limited space of the storage chamber, when the clothes carrying capacity on the clothes carrier reaches the upper limit, the clothes need to be taken out of the chamber by the push-pull device.

Since the lifting mechanism has a driving device such as a motor, the lifting mechanism is fixed inside the cavity and does not move with the push-pull device, which can ensure the stability of the wiring of each part of the lifting mechanism, and will not cause damage to the wiring components during the movement process.

The push-pull device is provided with a limiting mechanism, and the limiting mechanism can limit the movement of the clothes carrier 21 so that the clothes carrier 21 is disengaged from the lifting device 22 . As shown in FIG. 9 , the push-pull device 24 has a bottom wall, and the bottom wall has an escape port 241 for avoiding the lifting device. The size of the escape port is smaller than or equal to the size of the clothes carrier. The edge of the escape port is used for Limit the clothes carrier.

The size relationship between the avoidance port and the clothes carrier may be that the size of the clothes carrier is larger than the size of the avoidance port, and the clothes carrier rests on the bottom wall at the edge of the avoidance port so as to be separated from the lifting device. It is also possible that the size of the escape opening is equal to the size of the clothes carrier, and the clothes carrier can just be inserted into the position of the escape port, so that the bottom wall of the push-pull device and the clothes carrier form an integral clothes carrier surface.

The upper part of the escape opening has a larger opening and the lower part has a smaller opening, and the clothes carrying device can be inserted into the bottom wall of the push-pull device from the upper part of the escape opening; preferably, the edge of the escape opening is provided with a stepped structure, or It is a sloping slope, so that the clothes carrier can fall into the position of the escape opening without falling.

A matching structure is arranged between the clothes carrier 21 and the lifting device 22 to limit the horizontal relative movement of the clothes carrier and the lifting device; the bottom of the clothes carrier is in concave and convex fit with the upper surface of the lifting device, and the lifting device can drive the clothes carrier in a certain position. The range moves up and down, and there is no horizontal relative displacement between the two.

In order to make the cooperation between the clothes carrying device and the lifting device more stable, a plurality of concave parts may be provided on the clothes carrying device, and the upper surface of the lifting device is provided with convex parts corresponding to the concave parts; similarly, it is also possible to A raised portion is provided on the clothes carrier, and a recessed portion is provided on the lifting device.

The clothes carrier device includes at least two concave parts, the upper surface of the lifting device is provided with a convex part 261 corresponding to the concave parts, as shown in FIG. It gradually shrinks to form inclined sides, and has a smooth transition at the end; the concave part of the clothes carrier is a through hole 211 that penetrates the clothes carrier 21 , as shown in FIG. 10 . Since the protruding portion has an inclined side surface, it can play a certain guiding role when the clothes carrier device is reconnected after being disengaged from the lifting device. Since the push-pull device needs to drive the clothes-carrying device to perform horizontal displacement, after the push-pull device and the clothes-carrying device are returned to their positions, there may be a certain position difference in the vertical direction between the clothes-carrying device and the lifting device. It is convenient to adjust the position of the clothing carrier within a small displacement range, so as to ensure that the protruding part can be smoothly inserted into the through hole.

The push-pull device can be set as a drawer-shaped structure, and a horizontal slide rail is provided on the inner wall of the storage chamber. The push-pull device is provided with a drive device to drive the push-pull device to move along the slide rail, so that the push-pull device can be automatically ejected, and the user does not need to manually pull out.

As shown in FIG. 8 , the lifting device 22 includes two crossed support rods 221 to form an X-shaped structure. The middle of the support rods 221 is connected by a fixed shaft and can rotate relatively. The support structure includes two sets of symmetrically arranged X-shaped mechanisms. Forms a stable and retractable support structure.

The support rod 221 has a fixed end and a movable end so as to realize the relative rotation between the two support rods 221 and realize the lifting and lowering. The lifting device 22 further includes an upper slide rail 222 and a lower slide rail 223 . One end of one support rod 221 of the X-shaped structure moves along the upper slide rail 222 , and one end of the other support rod 221 moves along the lower slide rail 223 .

The lifting device 22 is provided with a motor to control the movement of the support rod 221. One end of the support rod 221 is fixedly connected with a transmission member. The motor drives the support rod 221 to move through the transmission member. Preferably, the transmission member is composed of a screw and a nut. The nut is fixedly connected with the support rod 221, the lead screw rotates with the motor, and the nut is sleeved on the screw rod and moves horizontally with the rotation of the screw rod.

In the control method of the above-mentioned clothes folding machine, the clothes folding machine controls the clothes carrying device to descend, and after the clothes carrying device is restrained by the push-pull device and disengaged from the lifting device, the clothes stacker displays or controls the state of the push-pull device.

After all the clothes in the clothes stacker are folded, or when the clothes loaded by the clothes carrier reaches the maximum capacity, the clothes stacker controls the lifting device to descend to the height where the lifting device and the clothes carrier are completely separated, and the clothes stacker displays or Control the state of the push-pull device;

When the clothes carrier needs to be disengaged from the lifting device, one is that the amount of clothes on the clothes carrier reaches the upper limit, and there is no more space on the upper part of the clothes carrier to hold new clothes, so the user needs to remove the clothes to remove the clothes. To receive newly folded clothes, the push-pull device and the clothes carrier need to be ejected. The other is that after the clothes stacker folds all the clothes, no more clothes need to be dropped on the clothes carrier. The upper part may still have space, but since the folding process has ended, the user needs to take out the clothes of this batch. Therefore, in any of the above situations, the lifting device can be completely disengaged from the clothes carrier, so that the user can pull the clothes independently. Pull out the push-pull device to take clothes, or the push-pull device automatically pops up for the user to take clothes. After all the clothes in the clothes stacker are folded, or when the clothes loaded by the clothes carrier reaches the maximum capacity, the clothes stacker controls the lifting device to descend to the lowest height, which can ensure that the convex part and the concave part are completely complete. Disengagement does not impede the horizontal movement of the garment carrier.

During the working process of the clothes folding machine, the push-pull device should be locked to prevent the user from accidentally pulling it apart, which may cause the clothes carrying device to be dislocated, or damage the lifting device. When completely separated from the lifting device, the clothes stacker locks the push-pull device, and after the clothes carrier device is completely separated from the lift device, the clothes stacker unlocks the push-pull device.

In order to facilitate the user to check the status of the push-pull device, after the clothes stacker unlocks the push-pull device, the clothes stacker will display the status of the push-pull device through the indicator light or display screen to remind the user to take clothes, or, the drive device of the push-pull device of the clothes stacker will make the push-pull device pop up.

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 (7)

1. A clothes folding machine, characterized in that it comprises a folding platform, the folding platform has a clothing entry end and a clothing end end, and the clothing entry end is provided with a clothing tail flap to fold to the middle of the folding platform, and the folding The platform is provided with a plurality of sensors along the path of the clothes entering the folding platform, the clothes folding machine further includes a main control system, and the main control system judges the length range of the clothes according to the signals of the sensors; The distance between the clothing entry end of the folding platform and the clothing end end is L1, the length of the clothing tail flap along the clothing entry direction is L2, the folding platform is provided with a first sensor and a second sensor, and the first sensor is provided on the clothing. At the entry end, the second sensor is arranged at a distance X1 from the first sensor along the clothing entry direction, where X1=L1-L2; The clothing end end of the folding platform is provided with a body flap to fold to the middle of the folding platform, and a third sensor is arranged at the clothing end end, and the distance between the third sensor and the first sensor is L1; A fourth sensor is also provided on the folding platform, and the distance between the fourth sensor and the first sensor in the clothing entry direction is X2, (L1-L2)<X2<L1. 2. The clothes folding machine according to claim 1, wherein X2=L1-L2/2. 3 . The clothes folding machine according to claim 2 , wherein a fifth sensor is further provided on the folding platform, and the fifth sensor is provided at a position away from the first sensor L2 along the clothing entry direction. 4 . 4. A method for controlling a clothes folding machine according to any one of claims 1 to 3, wherein the clothes move from the clothes entering end to the clothes ending end, and the control method is that the clothes move along the clothes entering direction, When the first sensor does not sense clothing, the main control system determines whether the second sensor senses clothing, and when the second sensor does not sense clothing, it determines the clothing length X<X1; When the second sensor senses the clothes, it is judged that the length of the clothes is X>X1, and it is further judged whether the fourth sensor senses the clothes; When the fourth sensor does not sense the clothes, it is determined that the length of the clothes is X1<X<X2, the main control system controls the clothes to stop moving when the first sensor does not sense the clothes, and then controls the tail flap and the body flap to turn over in turn. fold; When the fourth sensor senses the clothes, it is judged that the length of the clothes is X>X2, and the main control system controls the clothes to stop moving when the third sensor senses the clothes, so that the clothes move to the end of the clothes, and then controls the tail flap and the body of the clothes. The flaps are folded in turn. 5. The control method of a clothes folding machine according to claim 4, wherein the control method is: when the clothes length X<X1, the main control system controls the clothes to stop moving when the third sensor senses the clothes to make the clothes edge Reach the end of the clothing, and control the body flap to fold to the middle of the folding platform. 6 . The method for controlling a clothes folding machine according to claim 4 , wherein a fifth sensor is further arranged on the folding platform, and the fifth sensor is arranged at a position away from the first sensor L2 along the clothes entering direction. 7 . , when the clothing length is X1<X<X2, the main control system controls the clothing to stop moving when the fifth sensor does not sense the clothing, and then controls the body flap to fold; When the clothing length X>X2, the main control system controls the clothing to stop moving when the third sensor senses the clothing, so that the clothing moves to the end of the clothing, and then controls the clothing tail flap and the clothing body flap to fold in turn. 7. The control method of a clothes folding machine according to any one of claims 4-6, wherein the folding platform is provided with a drop plate, and the drop plate is arranged between the clothes body flap and the clothes tail flap During the time, the drop plate moves to form the clothes drop password and the clothes drop; The control method is as follows: after the clothes are folded, the main control system controls the drop plate to move to form the clothes drop port, and at the same time the clothes tail flap is folded toward the clothes drop port.

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