CN113235282A

CN113235282A - Intelligent clothes folding machine and working method thereof

Info

Publication number: CN113235282A
Application number: CN202110687244.1A
Authority: CN
Inventors: 马婧华; 肖鑫; 刘玲玲; 赖昱燃; 万俊辰; 阮琴琴
Original assignee: Chongqing University of Technology
Current assignee: Chongqing University of Technology
Priority date: 2021-06-21
Filing date: 2021-06-21
Publication date: 2021-08-10
Anticipated expiration: 2041-06-21
Also published as: CN113235282B

Abstract

The invention discloses an intelligent clothes folding machine and a working method thereof, wherein the intelligent clothes folding machine comprises a frame body, wherein a synchronous belt guide rail mechanism, a space connecting rod sliding block double-clamping mechanism, a sleeve restraining and flattening mechanism, a double-crank clothes pressing mechanism, a double-rocker folding mechanism and a double-rocker output mechanism are arranged on the frame body; the synchronous belt guide rail mechanism is used for driving the space connecting rod sliding block double-clamping mechanism to move along the length direction of the frame body; the space connecting rod sliding block double-clamping mechanism is used for clamping the clothes and driving the clothes to move into the frame body, and drives the upper half part of the clothes to be folded when moving outwards along the frame body; the sleeve restraining and flatting mechanism is used for folding sleeves of clothes; the double-crank clothes pressing mechanism is used for pressing corresponding positions of clothes; the double-rocker folding mechanism is used for folding the clothes; the double-rocker output mechanism is used for outputting the folded clothes to the outside of the frame body. The utility model has the advantages of the overall structure design benefit of this scheme can be used for family expenses to the problem of need manual fold clothing among the people's daily life has been solved.

Description

Intelligent clothes folding machine and working method thereof

Technical Field

The invention relates to the technical field of intelligent home furnishing, in particular to an intelligent clothes folding machine and a working method thereof.

Background

With the development and progress of the era, the domestic living standard is continuously improved, and a new era of the upgrading of the Chinese household appliance industry is reached under the driving of the rapid development of technologies such as the internet, the internet of things, AI, cloud computing, big data and the like. According to the electronic equipment and system research center promulgated by the Chinese electronic technology standardization research institute, the market scale of the Chinese smart home is increasing at a speed of 20-30% per year, and the development space of the smart home industry is huge; according to the data display of the moxa media network, 2016-2018 years old, China's intelligent homeHouse with house bodyThe market scale increases year by year, and the market scale breaks through 1500 hundred million yuan in 2019 and reaches 1820 hundred million yuan in 2020.

In daily life, people often need to fold the storage with the clothing that dries or the clothing of making, and people fold the clothing in the life generally through manual folding, because the acceleration of society development life rhythm for the time of doing the housework reduces, and the clothing that dries at will is stacked, has both caused the waste of storage space, causes the damage to the clothing again.

The clothes folding machine is a machine capable of automatically folding clothes, and is developed by adjusting the current development situation of the clothes folding machine at home and abroad; although the clothes folding machine is available in the market at present, the clothes folding machine is basically used for folding clothes in a factory assembly line, and a household automatic clothes folding machine is lacked.

Disclosure of Invention

Aiming at the defects in the prior art, the technical problems to be solved by the invention are as follows: how to provide an intelligence that can be used for family expenses and fold clothing machine to solve the problem that needs manual fold clothing among the people's daily life.

In order to solve the technical problems, the invention adopts the following technical scheme:

an intelligent clothes folding machine comprises a frame body, wherein a synchronous belt guide rail mechanism, a space connecting rod sliding block double-clamping mechanism, a sleeve restraining and folding mechanism, a double-crank clothes pressing mechanism, a double-rocker folding mechanism and a double-rocker output mechanism are arranged on the frame body;

the synchronous belt guide rail mechanism is used for driving the space connecting rod sliding block double-clamping mechanism to move along the length direction of the frame body;

the space connecting rod sliding block double-clamping mechanism is used for clamping clothes, can drive the clothes to move into the frame body when driven by the synchronous belt guide rail mechanism to move inwards along the length direction of the frame body, can drive the upper half part of the clothes to be folded onto the main body of the clothes when driven by the synchronous belt guide rail mechanism to move outwards along the length direction of the frame body, and loosens the clothes after driving the upper half part of the clothes to be folded onto the main body of the clothes;

the sleeve restraining and flatting mechanism is used for folding sleeves of clothes onto a main body of the clothes in the process that the clothes move towards the frame body under the action of the space connecting rod sliding block double-clamping mechanism;

the double-crank clothes pressing mechanism is used for pressing corresponding positions of clothes in the process that the synchronous belt guide rail mechanism drives the space connecting rod sliding block double-clamping mechanism to move outwards along the frame body and fold the upper half part of the clothes to the main body of the clothes;

the double-rocker folding mechanism is used for folding the clothes after the space connecting rod sliding block double-clamping mechanism loosens the clothes, and placing the folded clothes on the double-rocker output mechanism;

the double-rocker output mechanism is used for outputting the folded clothes to the outside of the rack body.

In this scheme, the direction of setting for the clothing along the support body removal is support body length direction, and the direction perpendicular with support body length direction is support body width direction in the coplanar, and the two fixture starting position of space connecting rod slider is the position that the clothing begins to remove to the support body, and the two fixture final position of space connecting rod slider is the position that the clothing removed to the support body innermost.

The working principle of the invention is as follows: when the intelligent clothes folding machine folds clothes, the space connecting rod sliding block double-clamping mechanism clamps the clothes at an initial position, then the synchronous belt guide rail mechanism drives the space connecting rod sliding block double-clamping mechanism to move inwards along the length direction of the frame body, and at the moment, the space connecting rod sliding block double-clamping mechanism drives the clothes to move inwards along the length direction of the frame body; in the process that the space connecting rod sliding block double-clamping mechanism drives the clothes to move inwards along the length direction of the frame body, the sleeve restraining and flatting mechanism folds the sleeves of the clothes onto the main body of the clothes.

When the synchronous belt guide rail mechanism drives the space connecting rod sliding block double-clamping mechanism to move inwards to the end point position along the length direction of the frame body, the synchronous belt guide rail mechanism further drives the space connecting rod sliding block double-clamping mechanism to move outwards along the length direction of the frame body, the double-crank clothes pressing mechanism presses the corresponding position of the clothes in the process that the space connecting rod sliding block double-clamping mechanism moves outwards along the length direction of the frame body, and at the moment, the space connecting rod sliding block double-clamping mechanism drives the clothes and folds the upper half part of the clothes onto the main body of the clothes; after the space connecting rod sliding block double-clamping mechanism drives the upper half part of the clothes to be folded onto the main body of the clothes, the space connecting rod sliding block double-clamping mechanism and the double-crank clothes pressing mechanism loosen the corresponding positions of the clothes, and the synchronous belt guide rail mechanism drives the space connecting rod sliding block double-clamping mechanism to move outwards to the initial position along the length direction of the frame body; then the double-rocker folding mechanism folds the clothes, and the folded clothes are placed on the double-rocker output mechanism; and then the folded clothes are output to the outside of the frame body by the double-rocker output mechanism, thereby completing the folding process of the clothes.

According to the invention, through analytical research on a manual clothes folding process, the whole clothes folding process is divided into the steps of pulling in clothes, folding sleeves, folding the upper half part of the clothes, folding the main body part of the clothes and sending out the folded clothes, the clothes are clamped and the upper half part of the clothes are folded by a space connecting rod sliding block double-clamping mechanism through a functional design structure, the clothes are pulled in by a synchronous belt guide rail mechanism, the sleeves are restrained by a flat folding mechanism to realize the folding of the sleeves, the main body part of the clothes is folded by a double-rocker folding mechanism, and finally the folded clothes are sent out by a double-rocker output mechanism. Meanwhile, the integral structure of the scheme is ingenious in design and can be used for household, so that the problem that clothes need to be manually folded in daily life of people is solved.

Preferably, the synchronous belt guide rail mechanism comprises a first driving motor, a first belt pulley and a second belt pulley, a rotating shaft of the first driving motor is connected with the first belt pulley, so that the first driving motor can drive the first belt wheel to rotate, the first belt wheel and the second belt wheel are respectively arranged at two sides of the length direction of the frame body, and the first belt wheel and the second belt wheel are connected through a synchronous belt arranged along the length direction of the frame body, so that the second pulley can follow the first pulley under the action of the timing belt, the space connecting rod sliding block double-clamping mechanism is arranged between the first belt wheel and the second belt wheel, and the space connecting rod sliding block double-clamping mechanism is also fixedly connected with the synchronous belt at the corresponding position, so that the space connecting rod sliding block double-clamping mechanism can move along the length direction of the frame body along with the synchronous belt.

Like this, hold-in range guide rail mechanism is at the during operation, first driving motor rotates and drives first band pulley and rotate, first band pulley rotates and drives the second band pulley through the hold-in range again and rotates, simultaneously, because the two fixture of space connecting rod slider are fixed connection with the hold-in range, therefore, when first band pulley and second band pulley rotate, the hold-in range will remove along the length direction of support body, thereby make the two clamping mechanism of space connecting rod slider follow the length direction removal of hold-in range along the support body, realize from this that hold-in range guide rail mechanism drives the two clamping mechanism of space connecting rod slider along the purpose that support body length direction removed. Meanwhile, the synchronous belt guide rail is simple in structural form control, convenient to install and low in use cost.

Preferably, guide rods are further arranged on two sides of the width direction of the frame body respectively, the space connecting rod sliding block double-clamping mechanism is connected to the guide rods in the corresponding positions in a sliding mode along the two sides of the width direction of the frame body respectively, and the guide rods are of a structure which is inclined downwards gradually from the direction of the first belt wheel to the direction of the second belt wheel.

Like this, through being whole the structure that is the slope gradually downwards from first band pulley place direction to second band pulley place direction with the guide bar design, make under the effect of guide bar, the two fixture of space connecting rod slider will drive the clothing and will follow the slope structure upward movement gradually of guide bar when removing to the support body, the guide bar design of this kind of tilting can reduce the resistance that drags the clothing into the support body, make the clothing can not produce serious deformation because of dragging at the entering in-process, guarantee the folding effect to the clothing.

Preferably, the space link slider double-clamping mechanism comprises a clamping mounting seat, a double-clamping assembly and a clamping driving assembly, wherein the double-clamping assembly is mounted on the clamping mounting seat and used for clamping clothes, and the clamping driving assembly is used for driving the double-clamping assembly to clamp or release the clothes;

the double-clamping assembly comprises a first clamping rod and a second clamping rod which are vertically distributed, the first clamping rod and the second clamping rod are all arranged along the width direction of the frame body and have a set length, the first clamping rod is fixedly arranged on the clamping mounting seat, and the second clamping rod is connected with the clamping driving assembly, so that the clamping driving assembly can drive the second clamping rod to be close to or far away from the first clamping rod for clamping or loosening clothes.

Therefore, when the clothes are required to be clamped to drive the clothes to move into the frame body, the clamping driving assembly drives the second clamping rod to move towards the direction close to the first clamping rod, so that the second clamping rod and the first clamping rod are close to each other to clamp the clothes; when the space connecting rod sliding block double-clamping mechanism further drives the upper half part of the clothes to be folded onto the main body of the clothes and then the clothes need to be loosened, the clamping driving assembly drives the second clamping rod to move towards the direction away from the first clamping rod, so that the first clamping rod and the second clamping rod are mutually far away, and the purpose of loosening the clothes is achieved. Therefore, the clamping driving assembly can realize the effect of clamping or loosening the clothes through controlling the second clamping rod.

Preferably, the clamping driving assembly comprises a first steering engine and connecting rod slider units symmetrically distributed on two sides of the first steering engine along the width direction of the frame body, a middle connecting rod is connected to a rotating shaft of the first steering engine, the rotating shaft of the first steering engine is connected to the middle point of the middle connecting rod in the length direction, and the connecting rod slider units on two sides of the first steering engine are respectively rotatably connected to two sides of the middle connecting rod in the length direction, so that the first steering engine can synchronously drive the connecting rod slider units on two sides to move through the middle connecting rod;

the connecting rod sliding block unit comprises a first connecting rod, a first sliding block, a second connecting rod, a second sliding block, a third connecting rod and a fourth connecting rod, one end of the first connecting rod, which is close to the middle connecting rod, is rotatably connected with the middle connecting rod at a corresponding position, one end of the first connecting rod, which is far away from the first connecting rod and is connected with the middle connecting rod, is rotatably connected with the first sliding block, the first sliding block is slidably connected on the clamping installation seat through a first sliding guide rail, one end of the first sliding block, which is far away from the first connecting rod and is connected with the first connecting rod, is rotatably connected with the second connecting rod, one end of the second connecting rod, which is far away from the second connecting rod, is rotatably connected with the second sliding block, the second sliding block is slidably connected on the clamping installation seat through a second sliding guide rail, and one end of the second sliding block, which is far away from the, the third connecting rod is kept away from its connection the one end of second slider with the fourth connecting rod rotates to be connected, the fourth connecting rod is kept away from its connection the one end of third connecting rod rotates to be connected on the centre gripping mount pad, just the fourth connecting rod be used for with the outside extension of its length direction is still followed to the one end that the third connecting rod is connected forms the extension seted up on the extension along support body width direction runs through the connecting hole of extension, the second supporting rod passes the connecting hole, so that the fourth connecting rod can pass through the connecting hole drives the motion of second supporting rod.

Like this, when needing second supporting rod to remove in order to carry out the centre gripping to the clothing to the direction that is close to first supporting rod, first steering wheel forward rotates, first steering wheel drives middle connecting rod forward and rotates, this moment under the effect of middle connecting rod, middle connecting rod drives the first slider that first connecting rod in the connecting rod slider unit of both sides promoted the corresponding side respectively and removes to the direction of keeping away from first steering wheel, first slider rethread second connecting rod promotes the second slider and removes to the direction that is close to first supporting rod, still will drive the extension of fourth connecting rod through the third connecting rod when the second slider removes to the direction that is close to first supporting rod, thereby make the second supporting rod of connection in the connecting hole department of extension remove to the direction that is close to first supporting rod, make first supporting rod and second supporting rod be close to each other in order to realize the centre gripping to the clothing.

When the second clamping rods are required to move in the direction far away from the first clamping rods so as to loosen clothes, the first steering engine rotates reversely, the first steering engine drives the middle connecting rod to rotate reversely, at the moment, the middle connecting rod drives the first connecting rods in the connecting rod sliding block units on the two sides to respectively pull the first sliding blocks on the corresponding sides to move in the direction close to the first steering engine under the action of the middle connecting rod, the first sliding blocks pull the second sliding blocks to move in the direction far away from the first clamping rods through the second connecting rods, the extending parts which drive the fourth connecting rods through the third connecting rods move in the direction far away from the first clamping rods when the second sliding blocks move, and therefore the second clamping rods connected at the connecting holes of the extending parts move in the direction far away from the first clamping rods, and the first clamping rods and the second clamping rods are far away from each other so as to loosen clothes.

Like this, this scheme just can drive the second supporting rod in the connecting rod slider unit of simultaneous control both sides through a first steering wheel and be close to or keep away from first supporting rod in step to make and have stable clamping-force between second supporting rod and the first supporting rod, the quantity of steering wheel has not only been reduced to the mode of two connecting rod slider units of a steering wheel simultaneous control, the control of still being convenient for simultaneously.

Preferably, the sleeve restraining and folding mechanism comprises a restraining and folding mounting seat and a restraining and folding assembly, the restraining and folding mounting seat is fixed on the frame body at the starting position of the space connecting rod sliding block double-clamping mechanism, the restraining and folding assembly comprises restraining and folding brackets symmetrically distributed on two sides of the clamping driving assembly along the width direction of the frame body, each restraining and folding bracket comprises a connecting part used for being connected with the restraining and folding mounting seat and a restraining and folding part used for carrying out restraining and folding processing on sleeves, and the restraining and folding parts integrally form an arc-shaped structure which obliquely and upwards extends towards the inner side of the frame body along the length direction of the frame body and gradually bends towards the direction of the clamping driving assembly in the extending process.

Like this, when space connecting rod slider double-clamping mechanism is driving the clothing and is removing to the support body, the restraint of restraint fold flat support is folded flat portion and will be played the restraint effect to the coat-sleeve of clothing for the clothing is constantly being pulled into the in-process of support body, the restraint fold flat portion with the neat folding of the coat-sleeve part of clothing in the main part of clothing, make the clothing just fold the coat-sleeve at the in-process that gets into the support body like this, the folding efficiency of clothing has not only been improved, the follow-up clothing process of folding of clothing of also being convenient for simultaneously.

Preferably, the double-crank clothes pressing mechanism comprises two groups of double-crank clothes pressing components which are symmetrically distributed on two sides of the terminal position of the space connecting rod sliding block double-clamping mechanism along the width direction of the frame body, each double-crank clothes pressing component comprises a double-crank clothes pressing mounting seat, the double-crank clothes pressing mounting seats are fixed on the frame body at the terminal position of the space connecting rod sliding block double-clamping mechanism, a second steering engine is arranged on each double-crank clothes pressing mounting seat, a mounting disc is connected to a rotating shaft of each second steering engine, a first connecting rod is arranged on each mounting disc, each first connecting rod extends out of each mounting disc and is connected with a second connecting rod, one end, far away from the second connecting rod, of each second connecting rod is connected with the corresponding first connecting rod and extends upwards, one end, far away from the second connecting rod, of each second connecting rod, far away from the corresponding first connecting rod, extends inwards the frame body along the width direction to form a clothes pressing part, still be equipped with third connecting rod and fourth connecting rod respectively on the length direction of second connecting rod, the head rod the third connecting rod with the fourth connecting rod is followed the length direction parallel arrangement of second connecting rod, just the third connecting rod with its connection is kept away from to the fourth connecting rod the one end of second connecting rod is all rotated and is connected corresponding the position on the double crank press clothing mount pad.

Like this, after the clothing enters into the support body completely, need fold the first half of clothing earlier, space connecting rod slider pair fixture will drag the first half of clothing to the support body external removal this moment, in order to prevent that the main part of clothing from following the removal or taking place to warp when the first half of clothing is folding, make second steering wheel forward rotation this moment, make the second steering wheel drive the one end downwardly moving that the head rod is connected with the second connecting rod, at this moment under the support and the guide effect of third connecting rod and fourth connecting rod, the second connecting rod moves down along the arc route, until the clothing pressing portion on the second connecting rod acts on the corresponding position of clothing and compresses tightly the clothing, second steering wheel stall, clothing pressing portion compresses tightly the clothing all the time at the clothing in-process that the first half of clothing is folding, in order to avoid the deformation when the clothing is folding.

After the clothes are folded in the upper half part, the second steering engine rotates in the direction, so that the second steering engine drives the first connecting rod to move upwards from one end connected with the second connecting rod, the second connecting rod moves upwards along the arc-shaped path under the supporting and guiding effects of the third connecting rod and the fourth connecting rod until the clothes pressing part on the second connecting rod leaves the corresponding position of the clothes to loosen the clothes, and the second steering engine stops rotating, and the clothes pressing part loosens the clothes.

The double-crank clothes pressing mechanism of the scheme uses the second steering engine as a power source and is matched with a double-crank structural form, so that the motion trail of the clothes pressing part is an arc curve, two corners of clothes can be pressed by the double-crank clothes pressing mechanism from top to bottom, the deformation of the clothes in the folding process is prevented, and the upper half part of the clothes is folded neatly.

Preferably, the double-rocker folding mechanism comprises a folding plate assembly and a folding plate driving assembly, the folding plate assembly comprises a first folding plate and a second folding plate which are distributed along the width direction of the frame body, the first folding plate and the second folding plate have the same size along the width direction of the frame body, the first folding plate and the second folding plate are rotatably connected through a first rotating piece arranged along the length direction of the frame body, the size of the first folding plate and the size of the second folding plate along the length direction of the frame body extend from the starting position of the double clamping mechanism of the space connecting rod sliding block to the terminal position of the double clamping mechanism of the space connecting rod sliding block, the second folding plate comprises a first folding part and a second folding part which are distributed along the length direction of the frame body, and the first folding part and the second folding part have the same size along the length direction of the frame body, one side, close to the second folding part, of the first folding part is rotatably connected to the frame body through a second rotating part arranged along the width direction of the frame body, so that the first folding part can rotate relative to the second folding part;

the folding plate driving assembly comprises a first folding driving unit and a second folding driving unit, the first folding driving unit is used for driving the first folding plate to rotate around the second folding plate, and the second folding driving unit is used for driving the first folding part to rotate relative to the second folding part;

the first folding driving unit comprises a first folding steering engine, the first folding steering engine is fixedly connected to the frame body, a first steering engine arm and a first lower folding rocker are arranged on a rotating shaft of the first folding steering engine, the first steering engine arm and the first lower folding rocker are fixedly connected, one end, far away from the first lower folding rocker, of the first lower folding rocker, which is connected with the first folding steering engine, is rotatably connected with a first upper folding rocker, a first folding mounting seat is arranged on the lower end face of the first folding plate, and one end, far away from the first upper folding rocker, of the first upper folding rocker, which is connected with the first lower folding rocker, extends upwards and is rotatably connected to the first folding mounting seat;

the second folding driving unit comprises a second folding steering engine, the second folding steering engine is fixedly connected to the frame body, a second steering engine arm and a second lower folding rocker are arranged on a rotating shaft of the second folding steering engine, the second steering engine arm is fixedly connected with the second lower folding rocker, the second lower folding rocker is far away from the second lower folding rocker to be connected with the second upper folding rocker, a second folding mounting seat is arranged on the lower end face of the first folding portion, and the second upper folding rocker is far away from the second lower folding rocker to be connected with the second lower folding rocker.

In this way, the size of the first folding plate and the second folding plate along the length direction of the frame body extends from the starting position of the space connecting rod sliding block double clamping mechanism to the end position of the space connecting rod sliding block double clamping mechanism, so that when the clothes move towards the frame body under the action of the space connecting rod sliding block double clamping mechanism, the clothes to be folded are always on the first folding plate and the second folding plate, meanwhile, the first folding plate and the second folding plate have the same size along the width direction of the frame body, when the first folding plate rotates around the second folding plate to fold the clothes, the two sides of the clothes along the width direction of the frame body are symmetrically folded, the first folding part and the second folding part have the same size along the length direction of the frame body, when the first folding part rotates around the second folding part to fold the clothes, the two sides of the clothes along the length direction of the frame body are also symmetrically folded, thus, the stacked clothes can be more beautiful.

When the upper half part of the clothes needs to be further folded after being folded, the first folding plate is controlled to rotate around the second folding plate to fold the clothes, at the moment, the first folding steering engine rotates in the forward direction, the first folding steering engine drives the first steering engine arm and the first folding rocker to rotate simultaneously, the first folding rocker rotates to further drive one end, connected with the first folding plate, of the first upper folding rocker to rotate upwards, at the moment, the first upper folding rocker pushes the first folding plate upwards to rotate around the second folding plate, the clothes on the first folding plate are folded onto the second folding plate, and the first folding steering engine rotates in the reverse direction to drive the first folding plate to rotate downwards to reset; when further folding needs to be carried out on clothes, the second folding steering engine rotates in the forward direction, the second folding steering engine drives the second steering engine arm and the second lower folding rocker to rotate simultaneously, the second lower folding rocker rotates and further drives one end, connected with the first folding portion, of the second upper folding rocker to rotate upwards, the second upper folding rocker pushes the first folding portion to rotate upwards around the second folding plate portion, the clothes in the first folding portion are folded onto the second folding portion, the second folding steering engine rotates reversely to drive the first folding portion to rotate downwards to reset, double-rocker folding mechanisms are used for completing twice folding of the clothes, folding of the upper half portions of the sleeves and the clothes is combined, and therefore the folding process of the clothes is completed.

Preferably, the double-rocker output mechanism comprises an output steering engine, the output steering engine is fixedly connected to the frame body, a third steering engine arm and a first output rocker are arranged on a rotating shaft of the output steering engine, the third steering engine arm is fixedly connected with the first output rocker, one end, far away from the first output rocker, of the first output rocker is connected with the third steering engine arm, extends on the plane and is rotatably connected with a second output rocker, one end, far away from the second output rocker, of the second output rocker is connected with the first output rocker, extends on the plane and is connected to the second folding portion, so that the second output rocker can drive the second folding portion to move along the width direction of the frame body.

Therefore, when the clothes are completely folded and placed on the second folding part, the output steering engine rotates in the forward direction, the output steering engine simultaneously drives the third steering engine arm and the first output rocker to rotate, and the first output rocker further drives the second output rocker to push the second folding part to move outwards along the width direction of the frame body, so that the folded clothes can be conveniently taken; after taking away the clothing from the second folding portion, output steering wheel antiport to make the second export rocker pulling second folding portion along the inside removal of width of support body reset, so that carry out the folding next time.

A working method of an intelligent clothes folding machine comprises the following steps:

step 1) the space connecting rod sliding block double-clamping mechanism clamps clothes at an initial position, and the synchronous belt guide rail mechanism drives the space connecting rod sliding block double-clamping mechanism to move inwards along the length direction of the frame body, so that the space connecting rod sliding block double-clamping mechanism drives the clothes to move inwards along the length direction of the frame body;

step 2) in the process that the space connecting rod sliding block double-clamping mechanism drives the clothes to move inwards along the length direction of the frame body, the sleeve restraining and folding mechanism folds sleeves of the clothes onto a main body of the clothes;

step 3) when the synchronous belt guide rail mechanism drives the space connecting rod sliding block double-clamping mechanism to move inwards to the end position along the length direction of the frame body, the synchronous belt guide rail mechanism drives the space connecting rod sliding block double-clamping mechanism to move outwards along the length direction of the frame body, and in the process that the space connecting rod sliding block double-clamping mechanism moves outwards along the length direction of the frame body, the double-crank clothes pressing mechanism presses the corresponding position of the clothes, so that the space connecting rod sliding block double-clamping mechanism drives the upper half part of the clothes to be folded onto the main body of the clothes;

step 4) after the space connecting rod sliding block double-clamping mechanism drives the upper half part of the clothes to be folded onto the main body of the clothes, the space connecting rod sliding block double-clamping mechanism and the double-crank clothes pressing mechanism loosen the corresponding positions of the clothes, and the synchronous belt guide rail mechanism drives the space connecting rod sliding block double-clamping mechanism to move outwards to the initial position along the length direction of the frame body;

step 5) the double-rocker folding mechanism folds the clothes, and the folded clothes are placed on the double-rocker output mechanism;

and 6) outputting the folded clothes to the outside of the frame body by the double-rocker output mechanism.

Compared with the prior art, the scheme has the following advantages:

1. two fixture of space connecting rod slider through a plurality of connecting rods and slider effect, will press from both sides the vertical direction motion of getting the centre gripping subassembly of clothes and turn into the horizontal direction motion of easily controlling, and bilateral symmetry structure makes the motion of two supporting poles of a rudder machine control, makes to press from both sides and gets the clothing and firmly not drop.

2. The sleeve restraining and folding mechanism can restrain sleeves through a special-shaped bent structure, and the sleeves are simply and quickly folded in the process of dragging clothes.

3. The double-crank clothes pressing mechanism depends on the second steering engine as a power source and is matched with the double-crank mechanism, so that the motion trail is an arc curve, two corners of clothes can be pressed tightly by the double-crank clothes pressing mechanism from top to bottom, and the deformation of the clothes in the folding process is prevented.

4. The double-rocker folding mechanism drives one rocker to rotate through the folding steering engine, the middle connecting rod drives the other rocker to rotate, and the clothes are folded.

Drawings

FIG. 1 is a schematic view of the front view of the intelligent clothes folding machine of the present invention;

FIG. 2 is a schematic view of the rear view of the intelligent clothes folding machine of the present invention;

FIG. 3 is a front elevational view of the intelligent clothes folding machine of the present invention;

FIG. 4 is a schematic structural view of a synchronous belt guide rail mechanism and a spatial connecting rod sliding block double-clamping mechanism in the intelligent clothes folding machine of the invention;

FIG. 5 is a schematic structural view of a spatial link slider double-clamping mechanism in the intelligent clothes folding machine of the present invention;

FIG. 6 is a schematic structural view of a sleeve restraining and folding mechanism of the intelligent clothes folding machine of the present invention;

FIG. 7 is a schematic structural view of a double-crank clothes press mechanism in the intelligent clothes folding machine of the present invention;

FIG. 8 is a schematic structural diagram of a rear side view angle of a double-rocker folding mechanism and a double-rocker output mechanism in the intelligent clothes folding machine of the invention;

FIG. 9 is a schematic structural diagram of a front side view angle of a double-rocker folding mechanism and a double-rocker output mechanism in the intelligent clothes folding machine of the present invention;

fig. 10 is a schematic structural diagram of another front side view angle of the dual-rocker folding mechanism and the dual-rocker output mechanism in the intelligent clothes folding machine of the invention (the second folding part is removed).

Description of reference numerals: the frame body 1, a synchronous belt guide rail mechanism 2, a first driving motor 201, a first belt pulley 202, a second belt pulley 203, a synchronous belt 204, a guide rod 205, a space connecting rod slider double-clamping mechanism 3, a clamping mounting seat 301, a middle connecting rod 302, a first connecting rod 303, a first slider 304, a second connecting rod 305, a second slider 306, a third connecting rod 307, a fourth connecting rod 308, a first clamping rod 309, a second clamping rod 310, a sleeve constraint flat folding mechanism 4, a constraint flat folding mounting seat 401, a connecting part 402, a constraint flat folding part 403, a double-rocker folding mechanism 5, a first folding driving unit 501, a second folding driving unit 502, a first folding plate 503, a first folding part 504, a second folding part 505, a first folding steering gear 506, a first lower folding rocker 507, a first upper folding rocker 508, a first folding steering gear 509, a second lower folding rocker 510, a second upper folding rocker 511, a double-rocker output mechanism 6, a space connecting rod 310, a sleeve constraint flat folding mechanism 4, a sleeve folding mechanism and a sleeve folding mechanism, a sleeve folding mechanism, a sleeve folding mechanism, a sleeve folding mechanism, a sleeve folding mechanism, a sleeve, output steering wheel 601, first output rocker 602, second output rocker 603, double-crank press clothing mechanism 7, double-crank press clothing mount pad 701, mounting disc 702, first connecting rod 703, second connecting rod 704, third connecting rod 705, fourth connecting rod 706, pressure clothing portion 707.

Detailed Description

The invention will be further explained with reference to the drawings and the embodiments.

As shown in the attached drawings 1 to 3, the intelligent clothes folding machine comprises a frame body 1, wherein a synchronous belt guide rail mechanism 2, a space connecting rod sliding block double-clamping mechanism 3, a sleeve restraining and flatting mechanism 4, a double-crank clothes pressing mechanism 7, a double-rocker folding mechanism 5 and a double-rocker output mechanism 6 are arranged on the frame body 1;

the synchronous belt guide rail mechanism 2 is used for driving the space connecting rod sliding block double-clamping mechanism 3 to move along the length direction of the frame body 1;

the space connecting rod sliding block double-clamping mechanism 3 is used for clamping clothes, can drive the clothes to move into the frame body 1 when moving inwards along the length direction of the frame body 1 under the driving of the synchronous belt guide rail mechanism 2, can drive the upper half part of the clothes to be folded onto a main body of the clothes when moving outwards along the length direction of the frame body 1 under the driving of the synchronous belt guide rail mechanism 2, and loosens the clothes after driving the upper half part of the clothes to be folded onto the main body of the clothes;

the sleeve restraining and flatting mechanism 4 is used for folding sleeves of clothes onto a main body of the clothes in the process that the clothes move towards the frame body 1 under the action of the space connecting rod sliding block double-clamping mechanism 3;

the double-crank clothes pressing mechanism 7 is used for pressing corresponding positions of clothes in the process that the synchronous belt guide rail mechanism 2 drives the space connecting rod sliding block double-clamping mechanism 3 to move outwards along the frame body 1 and fold the upper half part of the clothes to the main body of the clothes;

the double-rocker folding mechanism 5 is used for folding the clothes after the space connecting rod sliding block double-clamping mechanism 3 loosens the clothes, and placing the folded clothes on the double-rocker output mechanism 6;

the double-rocker output mechanism 6 is used for outputting the folded clothes out of the frame body 1.

In this scheme, the direction of setting for the clothing to move along support body 1 is support body 1 length direction, and the direction perpendicular with support body 1 length direction is support body 1 width direction in the coplanar, and 3 initial positions of the two fixture of space connecting rod slider are the position that the clothing begins to remove to support

body

1, and 3 final positions of the two fixture of space connecting rod slider are the position that the clothing removed support body 1 innermost.

The working principle of the invention is as follows: when the intelligent clothes folding machine folds clothes, the space connecting rod sliding block double-clamping mechanism 3 clamps the clothes at the initial position, then the synchronous belt guide rail mechanism 2 drives the space connecting rod sliding block double-clamping mechanism 3 to move inwards along the length direction of the frame body 1, and at the moment, the space connecting rod sliding block double-clamping mechanism 3 drives the clothes to move inwards along the length direction of the frame body 1; in the process that the space connecting rod sliding block double-clamping mechanism 3 drives the clothes to move inwards along the length direction of the frame body 1, the sleeve restraining and folding mechanism 4 folds the sleeves of the clothes onto the main body of the clothes.

When the synchronous belt guide rail mechanism 2 drives the space connecting rod sliding block double-clamping mechanism 3 to move inwards to the end position along the length direction of the frame body 1, the synchronous belt guide rail mechanism 2 drives the space connecting rod sliding block double-clamping mechanism 3 to move outwards along the length direction of the frame body 1, the space connecting rod sliding block double-clamping mechanism 3 compresses the corresponding position of the clothes in the process of moving outwards along the length direction of the frame body 1, and the space connecting rod sliding block double-clamping mechanism 3 drives the clothes and folds the upper half part of the clothes onto the main body of the clothes; after the space connecting rod sliding block double-clamping mechanism 3 drives the upper half part of the clothes to be folded onto the main body of the clothes, the space connecting rod sliding block double-clamping mechanism 3 and the double-crank clothes pressing mechanism 7 loosen the corresponding positions of the clothes, and the synchronous belt guide rail mechanism 2 drives the space connecting rod sliding block double-clamping mechanism 3 to move outwards to the initial position along the length direction of the frame body 1; then the double-rocker folding mechanism 5 folds the clothes, and the folded clothes are placed on the double-rocker output mechanism 6; and the folded clothes are output to the outside of the frame body 1 by the double-rocker output mechanism 6, so that the folding process of the clothes is completed.

As shown in fig. 4, in the present embodiment, the timing belt guide mechanism 2 includes a first driving motor 201, a first pulley 202, and a second pulley 203, a rotating shaft of the first driving motor 201 is connected to the first pulley 202, so that the first driving motor 201 can drive the first belt pulley 202 to rotate, the first belt pulley 202 and the second belt pulley 203 are respectively arranged at two sides of the length direction of the frame body 1, and the first pulley 202 and the second pulley 203 are connected by a timing belt 204 arranged along the length direction of the frame body 1, so that the second belt pulley 203 can rotate along with the first belt pulley 202 under the action of the synchronous belt 204, the space link slider double-clamping mechanism 3 is arranged between the first belt pulley 202 and the second belt pulley 203, and the space connecting rod sliding block double-clamping mechanism 3 is also fixedly connected with a synchronous belt 204 at a corresponding position, so that the space link slider double clamping mechanism 3 can move along the length direction of the frame body 1 following the synchronous belt 204.

Like this, hold-in range guide mechanism 2 is at the during operation, first driving motor 201 rotates and drives first band pulley 202 and rotate, first band pulley 202 rotates rethread hold-in range 204 and drives second band pulley 203 and rotate, and simultaneously, because the two fixture 3 of space connecting rod slider are fixed connection with hold-in range 204, therefore, when first band pulley 202 and second band pulley 203 rotate, hold-in range 204 will remove along the length direction of support body 1, thereby make the two fixture 3 of space connecting rod slider follow the length direction removal of hold-in range 204 along support body 1, realize from this that hold-in range guide mechanism 2 drives the purpose that the two fixture 3 of space connecting rod slider removed along support body 1 length direction. Meanwhile, the synchronous belt guide rail is simple in structural form control, convenient to install and low in use cost.

In this embodiment, two sides of the frame body 1 in the width direction are further respectively provided with a guide rod 205, the two spatial link slider clamping mechanisms 3 are respectively slidably connected to the guide rods 205 at corresponding positions along the two sides of the frame body 1 in the width direction, and the guide rods 205 are gradually inclined downwards from the direction of the first belt pulley 202 to the direction of the second belt pulley 203.

Like this, through being whole to be the structure that is the slope gradually downwards from the direction of first band pulley 202 place to the direction of second band pulley 203 place with guide bar 205 design for under guide bar 205's effect, when space connecting rod slider double-clamping mechanism 3 will drive the clothing to remove to support body 1 in will follow guide bar 205's slope structure upward movement gradually, this kind of guide bar 205 design of tilting can reduce the resistance that drags the clothing into support body 1, make the clothing can not produce serious deformation because of dragging in the entering process, guarantee the folding effect to the clothing.

As shown in fig. 5, in the present embodiment, the spatial link slider dual clamping mechanism 3 includes a clamping mounting seat 301, and a dual clamping assembly mounted on the clamping mounting seat 301 for clamping the clothes and a clamping driving assembly for driving the dual clamping assembly to clamp or release the clothes;

the double-clamping assembly comprises a first clamping rod 309 and a second clamping rod 310 which are vertically distributed, the first clamping rod 309 and the second clamping rod 310 are arranged along the width direction of the frame body 1 and have a set length, the first clamping rod 309 is fixedly arranged on the clamping mounting seat 301, and the second clamping rod 310 is connected with the clamping driving assembly, so that the clamping driving assembly can drive the second clamping rod 310 to be close to or far away from the first clamping rod 309 to clamp or loosen clothes.

Thus, when the clothes need to be clamped to drive the clothes to move into the frame body 1, the clamping driving assembly drives the second clamping rod 310 to move towards the direction close to the first clamping rod 309, so that the second clamping rod 310 and the first clamping rod 309 are close to each other to clamp the clothes; when the space link slider dual-clamping mechanism 3 further drives the upper half portion of the clothes to be folded onto the main body of the clothes and then the clothes need to be loosened, the clamping driving assembly drives the second clamping rod 310 to move towards the direction away from the first clamping rod 309, so that the first clamping rod 309 and the second clamping rod 310 are away from each other and the purpose of loosening the clothes is achieved. Thus, the clamping driving assembly may achieve the effect of clamping or releasing the laundry by controlling the second clamping bar 310.

In this embodiment, the clamping driving assembly includes a first steering engine and link slider units symmetrically distributed on both sides of the first steering engine along the width direction of the frame body 1, a middle link 302 is connected to a rotating shaft of the first steering engine, the rotating shaft of the first steering engine is connected to the midpoint position of the length direction of the middle link 302, and the link slider units on both sides of the first steering engine are respectively rotatably connected to both sides of the length direction of the middle link 302, so that the first steering engine can synchronously drive the link slider units on both sides to move through the middle link 302;

the connecting rod sliding block unit comprises a first connecting rod 303, a first sliding block 304, a second connecting rod 305, a second sliding block 306, a third connecting rod 307 and a fourth connecting rod 308, one end of the first connecting rod 303 close to the middle connecting rod 302 is rotatably connected with the middle connecting rod 302 at the corresponding position, one end of the first connecting rod 303 far away from the connecting middle connecting rod 302 is rotatably connected with the first sliding block 304, the first sliding block 304 is slidably connected on the clamping mounting seat 301 through a first sliding guide rail, one end of the first sliding block 304 far away from the connecting first connecting rod 303 is rotatably connected with the second connecting rod 305, one end of the second connecting rod 305 far away from the connecting first sliding block 304 is rotatably connected with the second sliding block 306, the second sliding block 306 is slidably connected on the clamping mounting seat 301 through a second sliding guide rail, one end of the second sliding block 306 far away from the connecting second connecting rod 305 is rotatably connected with the third connecting rod 307, one end of the third connecting rod 307 far away from the connecting second sliding block 306 is rotatably connected with the fourth connecting rod 308, the end of the fourth connecting rod 308, which is far from the end connected with the third connecting rod 307, is rotatably connected to the clamping mounting base 301, the end of the fourth connecting rod 308, which is used for being connected with the third connecting rod 307, further extends outwards along the length direction thereof to form an extending portion, a connecting hole which penetrates through the extending portion along the width direction of the frame body 1 is formed in the extending portion, and the second clamping rod 310 penetrates through the connecting hole, so that the fourth connecting rod 308 can drive the second clamping rod 310 to move through the connecting hole.

Thus, when the second clamping bar 310 needs to be moved in a direction close to the first clamping bar 309 to clamp the laundry, the first steering engine rotates positively, the first steering engine drives the middle connecting rod 302 to rotate positively, at this time, under the action of the middle connecting rod 302, the middle connecting rod 302 drives the first connecting rods 303 in the two side connecting rod sliding block units to respectively push the first sliding blocks 304 at the corresponding sides to move towards the direction far away from the first steering engine, the first sliding blocks 304 further push the second sliding blocks 306 to move towards the direction close to the first clamping rod 309 through the second connecting rods 305, while the second sliding blocks 306 move, the extending parts of the fourth connecting rods 308 are also driven to move towards the direction close to the first clamping rod 309 through the third connecting rods 307, so that the second clamping bar 310 coupled at the coupling hole of the extension part is moved in a direction to approach the first clamping bar 309, so that the first clamping bar 309 and the second clamping bar 310 approach each other to achieve clamping of the laundry.

When it is required to move the second clamping bar 310 away from the first clamping bar 309 in order to release the laundry, the first steering gear rotates reversely, the first steering gear drives the middle connecting rod 302 to rotate reversely, at this time, under the action of the middle connecting rod 302, the middle connecting rod 302 drives the first connecting rods 303 in the two side connecting rod sliding block units to respectively pull the first sliding blocks 304 at the corresponding sides to move towards the direction close to the first steering gear, the first sliding blocks 304 pull the second sliding blocks 306 to move towards the direction far away from the first clamping rod 309 through the second connecting rods 305, the second sliding blocks 306 move and simultaneously drive the extending part of the fourth connecting rod 308 to move towards the direction far away from the first clamping rod 309 through the third connecting rods 307, thereby moving the second clamping bar 310 coupled at the coupling hole of the extension part in a direction away from the first clamping bar 309 so that the first clamping bar 309 and the second clamping bar 310 are moved away from each other to release the laundry.

Therefore, according to the scheme, the fourth connecting rod 308 synchronous belt 204 in the connecting rod sliding block units on two sides can be simultaneously controlled through the first steering engine to drive the second clamping rod 310 to be close to or far away from the first clamping rod 309, so that stable clamping force is provided between the second clamping rod 310 and the first clamping rod 309, and the steering engine can be controlled by the mode that the two connecting rod sliding block units are simultaneously controlled, so that the number of the steering engines is reduced, and meanwhile, the control is facilitated.

As shown in fig. 6, in this embodiment, the sleeve restraining and folding mechanism 4 includes a restraining and folding mounting seat 401 and a restraining and folding assembly, the restraining and folding mounting seat 401 is fixed on the frame body 1 at the initial position of the spatial link slider dual-clamping mechanism 3, the restraining and folding assembly includes restraining and folding brackets symmetrically distributed on both sides of the clamping driving assembly along the width direction of the frame body 1, the restraining and folding brackets include a connecting portion 402 for connecting with the restraining and folding mounting seat 401 and a restraining and folding portion 403 for performing restraining and folding processing on sleeves, and the restraining and folding portion 403 is integrally formed in an arc-shaped structure extending obliquely upwards towards the inner side of the frame body 1 along the length direction of the frame body 1 and gradually bending towards the clamping driving assembly during the extending process.

Thus, when the space connecting rod sliding block double-clamping mechanism 3 drives the clothes to move into the frame body 1, the restraining flat folding part 403 of the restraining flat folding support plays a role in restraining the sleeves of the clothes, so that the clothes are continuously pulled into the frame body 1, the restraining flat folding part 403 folds the sleeves of the clothes into the main body of the clothes, the sleeves of the clothes are folded in the process of entering the frame body 1, the folding efficiency of the clothes is improved, and meanwhile, the subsequent clothes folding process of the clothes is facilitated.

As shown in fig. 7, in this embodiment, the dual-crank press-fitting mechanism 7 includes two sets of dual-crank press-fitting assemblies symmetrically distributed on both sides of the terminal position of the space link slider dual-clamping mechanism 3 along the width direction of the frame body 1, each dual-crank press-fitting assembly includes a dual-crank press-fitting seat 701, the dual-crank press-fitting seats 701 are fixed on the frame body 1 at the terminal position of the space link slider dual-clamping mechanism 3, a second steering gear is disposed on each dual-crank press-fitting seat 701, a mounting plate 702 is connected to a rotating shaft of the second steering gear, a first connecting rod 703 is disposed on the mounting plate 702, the first connecting rod 703 extends out of the mounting plate 702 and is connected to a second connecting rod 704, one end of the second connecting rod 704, which is far from the first connecting rod 703, extends upward, and one end of the second connecting rod 704, which is far from the first connecting rod 703, extends inward toward the frame body 1 along the width direction of the frame body 1 to form a press-fitting portion 707, a third connecting rod 705 and a fourth connecting rod 706 are further arranged in the length direction of the second connecting rod 704 respectively, the first connecting rod 703, the third connecting rod 705 and the fourth connecting rod 706 are arranged in parallel along the length direction of the second connecting rod 704, and the ends, far away from the second connecting rod 704, of the third connecting rod 705 and the fourth connecting rod 706 are connected to the double-crank press clothes mounting base 701 at the corresponding positions in a rotating mode.

Therefore, after the clothes completely enter the frame body 1, the upper half part of the clothes needs to be folded firstly, at the moment, the space connecting rod sliding block double-clamping mechanism 3 drags the upper half part of the clothes to move towards the outside of the frame body 1, in order to prevent the upper half part of the clothes from following the movement or deforming when the clothes are folded, the second steering engine is enabled to rotate positively at the moment, the second steering engine drives one end of the first connecting rod 703 connected with the second connecting rod 704 to move downwards, at the moment, under the supporting and guiding effects of the third connecting rod 705 and the fourth connecting rod 706, the second connecting rod 704 moves downwards along an arc-shaped path until a clothes pressing portion 707 on the second connecting rod 704 acts on the corresponding position of clothes and compresses the clothes, the second steering engine stops rotating, the clothes pressing portion 707 compresses the clothes all the time in the process that the upper half of the clothes are folded, and deformation of the clothes during folding is avoided.

After the clothes are folded at the upper half part, the second steering engine rotates in the direction, so that the second steering engine drives one end of the first connecting rod 703 connected with the second connecting rod 704 to move upwards, at the moment, under the supporting and guiding effects of the third connecting rod 705 and the fourth connecting rod 706, the second connecting rod 704 moves upwards along an arc-shaped path until the clothes pressing part 707 on the second connecting rod 704 leaves the corresponding position of the clothes to loosen the clothes, the second steering engine stops rotating, and the clothes pressing part 707 loosens the clothes.

The double-crank clothes pressing mechanism 7 of the scheme uses the second steering engine as a power source and is matched with a double-crank structural form, so that the motion trail of the clothes pressing part 707 is an arc curve, two corners of clothes can be pressed by the double-crank clothes pressing mechanism 7 from top to bottom, the deformation of the clothes in the folding process is prevented, and the upper half part of the clothes is favorably folded neatly.

As shown in fig. 8 and 9, in the present embodiment, the double rocker folding mechanism 5 includes a folding plate assembly and a folding plate driving assembly, the folding plate assembly includes a first folding plate 503 and a second folding plate distributed along the width direction of the frame 1, the first folding plate 503 and the second folding plate have the same size along the width direction of the frame 1, and the first folding plate 503 and the second folding plate are rotatably connected by a first rotating member disposed along the length direction of the frame 1, the size of the first folding plate 503 and the second folding plate along the length direction of the frame 1 extends from the start position of the space link block double clamp mechanism 3 to the end position of the space link block double clamp mechanism 3, the second folding plate includes a first folding portion 504 and a second folding portion 505 distributed along the length direction of the frame 1, the first folding portion 504 and the second folding portion 505 have the same size along the length direction of the frame 1, one side of the first folding portion 504 close to the second folding portion 505 is rotatably connected to the frame body 1 by a second rotating member arranged along the width direction of the frame body 1, so that the first folding portion 504 can rotate relative to the second folding portion 505;

the folding plate driving assembly comprises a first folding driving unit 501 and a second folding driving unit 502, wherein the first folding driving unit 501 is used for driving the first folding plate 503 to rotate around the second folding plate, and the second folding driving unit 502 is used for driving the first folding part 504 to rotate relative to the second folding part 505;

the first folding driving unit 501 comprises a first folding steering engine 506, the first folding steering engine 506 is fixedly connected to the frame body 1, a first steering arm and a first lower folding rocker 507 are arranged on a rotating shaft of the first folding steering engine 506, the first steering arm is fixedly connected with the first lower folding rocker 507, one end, far away from the first folding steering engine 506, of the first lower folding rocker 507 is rotatably connected with a first upper folding rocker 508, a first folding mounting seat is arranged on the lower end face of the first folding plate 503, and one end, far away from the first lower folding rocker 507, of the first upper folding rocker 508 extends upwards and is rotatably connected to the first folding mounting seat;

the second folding drive unit 502 includes the second folding steering wheel 509, the second folding steering wheel 509 fixed connection is on support body 1, and be equipped with folding rocker 510 under second rudder horn and the second in the pivot of second folding steering wheel 509, folding rocker 510 fixed connection under second rudder horn and the second, it is connected folding rocker 511 on the second to keep away from its one end rotation of connecting the second folding steering wheel 509 under the second folding rocker 510, lower terminal surface at first folding portion 504 is equipped with the folding mount pad of second, folding rocker 511 keeps away from its one end of connecting folding rocker 510 under the second on the second and upwards extends and rotate and connect on the folding mount pad of second.

In this way, the size of the first folding plate 503 and the second folding plate along the length direction of the frame body 1 extends from the starting position of the space link slider double clamping mechanism 3 to the ending position of the space link slider double clamping mechanism 3, so that when the clothes move into the frame body 1 under the action of the space link slider double clamping mechanism 3, the clothes to be folded are always on the first folding plate 503 and the second folding plate, meanwhile, the first folding plate 503 and the second folding plate have the same size along the width direction of the frame body 1, when the first folding plate 503 rotates around the second folding plate to fold the clothes, the clothes are symmetrically folded along the two sides of the width direction of the frame body 1, the first folding portion 504 and the second folding portion 505 have the same size along the length direction of the frame body 1, when the first folding portion 504 rotates around the second folding portion 505 to fold the clothes, the clothes are also symmetrically folded along the two sides of the length direction of the frame body 1, so that the folded clothes are more attractive.

When the upper half part of the clothes needs to be further folded after being folded, the first folding plate 503 is firstly controlled to rotate around the second folding plate to fold the clothes, at the moment, the first folding steering engine 506 rotates in the forward direction, the first folding steering engine 506 simultaneously drives the first steering engine arm and the first lower folding rocker 507 to rotate, the first lower folding rocker 507 rotates to further drive one end, connected with the first folding plate 503, of the first upper folding rocker 508 to rotate upwards, at the moment, the first upper folding rocker 508 pushes the first folding plate 503 upwards to rotate around the second folding plate upwards, the clothes on the first folding plate 503 are folded onto the second folding plate, and the first folding steering engine 506 rotates reversely to drive the first folding plate 503 to rotate downwards to reset; when the clothes need to be further folded, the second folding steering engine 509 rotates in the forward direction, the second folding steering engine 509 simultaneously drives the second steering engine arm and the second lower folding rocker 510 to rotate, the second lower folding rocker 510 rotates to further drive one end, connected with the first folding portion 504, of the second upper folding rocker 511 to rotate upwards, at the moment, the second upper folding rocker 511 upwards pushes the first folding portion 504 to rotate upwards around the second folding plate portion, the clothes on the first folding portion 504 are folded onto the second folding portion 505, the second folding steering engine 509 rotates reversely to drive the first folding portion 504 to rotate downwards to reset, and therefore the double-rocker folding mechanism 5 completes twice folding of the clothes and combines folding of the upper half portions of the clothes and the sleeves, and therefore the folding process of the clothes is completed.

As shown in fig. 10, in this embodiment, the double-rocker output mechanism 6 includes an output steering engine 601, the output steering engine 601 is fixedly connected to the frame body 1, a third steering arm and a first output rocker 602 are disposed on a rotating shaft of the output steering engine 601, the third steering arm is fixedly connected to the first output rocker 602, one end of the first output rocker 602, which is far away from the third steering arm, extends on a plane and is rotatably connected to a second output rocker 603, one end of the second output rocker 603, which is far away from the first output rocker 602, extends on the plane and is connected to the second folding portion 505, so that the second output rocker 603 can drive the second folding portion 505 to move along the width direction of the frame body 1.

Therefore, when clothes are completely folded and placed on the second folding part 505, the output steering engine 601 rotates in the forward direction, the output steering engine 601 simultaneously drives the third steering engine arm and the first output rocker 602 to rotate, and the first output rocker 602 further drives the second output rocker 603 to push the second folding part 505 to move outwards along the width direction of the frame body 1, so that the folded clothes can be conveniently taken; after the clothes are taken away from the second folding part 505, the output steering engine 601 rotates reversely, so that the second output rocker 603 pulls the second folding part 505 to move inwards along the width of the frame body 1 for resetting, so as to perform the next folding.

In this embodiment, the device further comprises a control system, the control system is respectively connected with the first driving motor 201, the first steering engine, the second steering engine, the first folding steering engine 506, the second folding steering engine 509 and the output steering engine 601 to respectively control the forward and reverse rotation thereof, a first photosensitive light sensor and a second photosensitive light sensor are respectively arranged on the frame body 1 under the space connecting rod sliding block double-clamping mechanism 3 and under the double-rocker output mechanism 6, when clothes are placed on the space connecting rod sliding block double-clamping mechanism 3, the clothes shield the photoresistors on the first photosensitive photo-sensors, at the moment, the first photosensitive photo-sensors detect no light, the control system starts to operate a clothes-folding program, the control system controls the first driving motor 201 to rotate forward, so that the synchronous belt 204 guide rail mechanism 2 starts to drive the space connecting rod sliding block double-clamping mechanism 3 to move inwards along the frame body 1; after the clothes are stacked, the double-rocker output mechanism 6 drives the stacked clothes to move out of the frame body 1, the photosensitive resistor on the second photosensitive photo sensor is shielded by the clothes, the second photosensitive photo sensor detects no light, when the clothes are taken away from the double-rocker output mechanism 6, the second photosensitive photo sensor detects light, the double-rocker output mechanism 6 moves into the frame body 1 to reset, and meanwhile, the program of stacking the clothes is reset, so that the clothes are ready to be stacked next time.

step 1), clamping the clothes at an initial position by a space connecting rod sliding block double-clamping mechanism 3, and driving the space connecting rod sliding block double-clamping mechanism 3 to move inwards along the length direction of a frame body 1 by a synchronous belt guide rail mechanism 2 so that the space connecting rod sliding block double-clamping mechanism 3 drives the clothes to move inwards along the length direction of the frame body 1;

step 2) in the process that the space connecting rod sliding block double-clamping mechanism 3 drives the clothes to move inwards along the length direction of the frame body 1, the sleeve restraining and folding mechanism 4 folds sleeves of the clothes onto a main body of the clothes;

step 3) when the synchronous belt guide rail mechanism 2 drives the space connecting rod sliding block double-clamping mechanism 3 to move inwards to the end position along the length direction of the frame body 1, the synchronous belt guide rail mechanism 2 further drives the space connecting rod sliding block double-clamping mechanism 3 to move outwards along the length direction of the frame body 1, and the space connecting rod sliding block double-clamping mechanism 3 compresses the corresponding position of the clothes during the outward movement along the length direction of the frame body 1, so that the space connecting rod sliding block double-clamping mechanism 3 drives the upper half part of the clothes to be folded onto the main body of the clothes;

step 4) after the space connecting rod sliding block double-clamping mechanism 3 drives the upper half part of the clothes to be folded onto the main body of the clothes, the space connecting rod sliding block double-clamping mechanism 3 and the double-crank clothes pressing mechanism 7 loosen the corresponding positions of the clothes, and the synchronous belt 204 guide rail mechanism 2 drives the space connecting rod sliding block double-clamping mechanism 3 to move outwards to the initial position along the length direction of the frame body 1;

step 5), the double-rocker folding mechanism 5 folds the clothes, and the folded clothes are placed on the double-rocker output mechanism 6;

and step 6), the double-rocker output mechanism 6 outputs the folded clothes out of the frame body 1.

In the embodiment, in the step 1), the control system controls the first steering engine to rotate in the forward direction to clamp the clothes, after the clamping time is delayed by 2S, the control system controls the first driving motor 201 to rotate in the forward direction, so that the synchronous belt guide rail mechanism 2 drives the space connecting rod sliding block double-clamping mechanism 3 to move inwards along the length direction of the frame body 1, the space connecting rod sliding block double-clamping mechanism 3 drives the clothes to move inwards along the length direction of the frame body 1, and the clamping time is delayed by 2S, so that collision between a clamping assembly and the sleeve restraining and leveling mechanism 4 caused by direct starting can be avoided;

step 3) when the synchronous belt guide rail mechanism 2 drives the space connecting rod sliding block double-clamping mechanism 3 to move inwards to the end position along the length direction of the frame body 1, after 2S of delay, the control system controls the first driving motor 201 to rotate reversely, so that the synchronous belt guide rail mechanism 2 drives the space connecting rod sliding block double-clamping mechanism 3 to move outwards along the length direction of the frame body 1, the control system controls the second steering engine to rotate positively in the process that the space connecting rod sliding block double-clamping mechanism 3 moves outwards along the length direction of the frame body 1, the double-crank clothes pressing mechanism 7 compresses corresponding positions of clothes, so that the space connecting rod sliding block double-clamping mechanism 3 drives the upper half part of the clothes to be folded onto a main body of the clothes, 2S of delay is achieved, and the double-crank clothes pressing mechanism 7 has enough time to complete the action of pressing the clothes;

step 4) after the space connecting rod sliding block double-clamping mechanism 3 drives the upper half part of the clothes to be folded onto the main body of the clothes, the control system controls the first steering engine and the second steering engine to rotate reversely and reset, so that the space connecting rod sliding block double-clamping mechanism 3 and the double-crank clothes pressing mechanism 7 loosen the corresponding positions of the clothes, the first driving motor 201 continuously rotates reversely until the synchronous belt guide rail mechanism 2 drives the space connecting rod sliding block double-clamping mechanism 3 to move outwards to the initial position along the length direction of the frame body 1 and then stops rotating;

step 5), the control system respectively controls the first folding steering engine 506 and the second folding steering engine 509 to rotate in the forward direction to fold clothes, at the moment, the folded clothes are placed on the double-rocker output mechanism 6, and the control system controls the first folding steering engine 506 and the second folding steering engine 509 to rotate in the reverse direction to reset;

and step 6), the control system controls the output steering engine 601 to rotate forwards, so that the double-rocker output mechanism 6 outputs the folded clothes out of the frame body 1, and when the clothes on the double-rocker output mechanism 6 are taken away, the control system controls the output steering engine 601 to rotate reversely to reset, and the clothes are folded.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the technical solutions, and those skilled in the art should understand that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all that should be covered by the claims of the present invention.

Claims

1. An intelligent clothes folding machine is characterized by comprising a frame body, wherein a synchronous belt guide rail mechanism, a space connecting rod sliding block double-clamping mechanism, a sleeve restraining and flat folding mechanism, a double-crank clothes pressing mechanism, a double-rocker folding mechanism and a double-rocker output mechanism are arranged on the frame body;

2. The intelligent clothes folding machine according to claim 1, wherein the synchronous belt guide mechanism comprises a first driving motor, a first belt pulley and a second belt pulley, a rotating shaft of the first driving motor is connected with the first belt pulley so that the first driving motor can drive the first belt pulley to rotate, the first belt pulley and the second belt pulley are respectively arranged at two sides of the length direction of the frame body, the first belt pulley and the second belt pulley are connected through a synchronous belt arranged along the length direction of the frame body so that the second belt pulley can rotate along with the first belt pulley under the action of the synchronous belt, the space link slider double clamping mechanism is arranged between the first belt pulley and the second belt pulley, and the space link slider double clamping mechanism is further fixedly connected with the synchronous belt at a corresponding position, so that the space connecting rod sliding block double-clamping mechanism can move along the length direction of the frame body along with the synchronous belt.

3. The intelligent clothes folding machine according to claim 2, wherein guide rods are respectively arranged on two sides of the width direction of the frame body, the space connecting rod sliding block double-clamping mechanism is respectively connected to the guide rods in the corresponding positions in a sliding manner along the two sides of the width direction of the frame body, and the guide rods are of a structure which is gradually inclined downwards from the direction of the first belt pulley to the direction of the second belt pulley.

4. The intelligent clothes folding machine according to claim 1, wherein the space link slider double-clamping mechanism comprises a clamping mounting seat, a double-clamping assembly and a clamping driving assembly, wherein the double-clamping assembly is mounted on the clamping mounting seat and used for clamping clothes, and the clamping driving assembly is used for driving the double-clamping assembly to clamp or release the clothes;

5. The intelligent clothes folding machine according to claim 4, wherein the clamping driving assembly comprises a first steering engine and connecting rod slider units symmetrically distributed on two sides of the first steering engine along the width direction of the frame body, a middle connecting rod is connected to a rotating shaft of the first steering engine, the rotating shaft of the first steering engine is connected to the middle point of the middle connecting rod in the length direction, and the connecting rod slider units on two sides of the first steering engine are respectively and rotatably connected to two sides of the middle connecting rod in the length direction, so that the first steering engine can synchronously drive the connecting rod slider units on two sides to move through the middle connecting rod;

the connecting rod sliding block unit comprises a first connecting rod, a first sliding block, a second connecting rod, a second sliding block, a third connecting rod and a fourth connecting rod, one end of the first connecting rod, which is close to the middle connecting rod, is rotatably connected with the middle connecting rod at a corresponding position, one end of the first connecting rod, which is far away from the first connecting rod and is connected with the middle connecting rod, is rotatably connected with the first sliding block, the first sliding block is slidably connected on the clamping installation seat through a first sliding guide rail, one end of the first sliding block, which is far away from the first connecting rod and is connected with the first connecting rod, is rotatably connected with the second connecting rod, one end of the second connecting rod, which is far away from the second connecting rod, is rotatably connected with the second sliding block, the second sliding block is slidably connected on the clamping installation seat through a second sliding guide rail, and one end of the second sliding block, which is far away from the second connecting rod, is rotatably connected with the third connecting rod, the third connecting rod is kept away from its connection the one end of second slider with the fourth connecting rod rotates to be connected, the fourth connecting rod is kept away from its connection the one end of third connecting rod rotates to be connected on the centre gripping mount pad, just the fourth connecting rod be used for with the outside extension of its length direction is still followed to the one end that the third connecting rod is connected forms the extension seted up on the extension along support body width direction runs through the connecting hole of extension, the second supporting rod passes the connecting hole, so that the fourth connecting rod can pass through the connecting hole drives the motion of second supporting rod.

6. The intelligent clothes folding machine according to claim 4, wherein the sleeve restraining and folding mechanism comprises a restraining and folding mounting seat and a restraining and folding assembly, the restraining and folding mounting seat is fixed on the frame body at the initial position of the space link slider double-clamping mechanism, the restraining and folding assembly comprises restraining and folding brackets symmetrically distributed on two sides of the clamping driving assembly along the width direction of the frame body, the restraining and folding brackets comprise a connecting part used for being connected with the restraining and folding mounting seat and a restraining and folding part used for carrying out restraining and folding processing on sleeves, and the restraining and folding flat part integrally has an arc-shaped structure which extends obliquely upwards towards the inner side of the frame body along the length direction of the frame body and is gradually bent towards the clamping driving assembly during extension.

7. The intelligent clothes folding machine according to claim 1, wherein the double-crank clothes pressing mechanism comprises two groups of double-crank clothes pressing assemblies symmetrically distributed on two sides of the terminal position of the space connecting rod sliding block double-clamping mechanism along the width direction of the frame body, each double-crank clothes pressing assembly comprises a double-crank clothes pressing mounting seat, each double-crank clothes pressing mounting seat is fixed on the frame body at the terminal position of the space connecting rod sliding block double-clamping mechanism, a second steering gear is arranged on each double-crank clothes pressing mounting seat, a rotating shaft of each second steering gear is connected with a mounting disc, each mounting disc is provided with a first connecting rod, each first connecting rod extends out of the mounting disc and is connected with a second connecting rod, one end, far away from the second connecting rod, of each second connecting rod, connected with the first connecting rod extends upwards, and one end, far away from the second connecting rod, of each second connecting rod, far away from the first connecting rod, extends inwards towards the frame body along the width direction of the frame body to form a clothes pressing part, still be equipped with third connecting rod and fourth connecting rod respectively on the length direction of second connecting rod, the head rod the third connecting rod with the fourth connecting rod is followed the length direction parallel arrangement of second connecting rod, just the third connecting rod with its connection is kept away from to the fourth connecting rod the one end of second connecting rod is all rotated and is connected corresponding the position on the double crank press clothing mount pad.

8. The intelligent folding machine according to claim 1, wherein the double-rocker folding mechanism comprises a folding plate assembly and a folding plate driving assembly, the folding plate assembly comprises a first folding plate and a second folding plate distributed along the width direction of the frame body, the first folding plate and the second folding plate have the same size along the width direction of the frame body, the first folding plate and the second folding plate are rotatably connected through a first rotating member arranged along the length direction of the frame body, the size of the first folding plate and the second folding plate along the length direction of the frame body extends from the initial position of the space link slider double clamping mechanism to the final position of the space link slider double clamping mechanism, the second folding plate comprises a first folding portion and a second folding portion distributed along the length direction of the frame body, the first folding part and the second folding part have the same size in the length direction of the frame body, and one side of the first folding part, which is close to the second folding part, is rotatably connected to the frame body through a second rotating part arranged in the width direction of the frame body, so that the first folding part can rotate relative to the second folding part;

9. The intelligent clothes folding machine according to claim 1, wherein the double-rocker output mechanism comprises an output steering engine, the output steering engine is fixedly connected to the frame body, a third steering engine arm and a first output rocker are arranged on a rotating shaft of the output steering engine, the third steering engine arm is fixedly connected to the first output rocker, one end, far away from the first output rocker, of the first output rocker, connected with the third steering engine arm extends on a plane and is rotatably connected with a second output rocker, one end, far away from the second output rocker, of the second output rocker, connected with the first output rocker extends on the plane and is connected to the second folding portion, and therefore the second output rocker can drive the second folding portion to move along the width direction of the frame body.

10. The working method of the intelligent clothes folding machine according to claim 1, characterized by comprising the following steps: