CN113373667B - Clothes folding machine and control method thereof - Google Patents
Clothes folding machine and control method thereof Download PDFInfo
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- CN113373667B CN113373667B CN202010218776.6A CN202010218776A CN113373667B CN 113373667 B CN113373667 B CN 113373667B CN 202010218776 A CN202010218776 A CN 202010218776A CN 113373667 B CN113373667 B CN 113373667B
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- 238000000034 method Methods 0.000 title claims abstract description 82
- 238000001514 detection method Methods 0.000 claims abstract description 38
- 230000007246 mechanism Effects 0.000 claims description 72
- 238000001125 extrusion Methods 0.000 claims description 25
- 230000008569 process Effects 0.000 claims description 18
- 230000002441 reversible effect Effects 0.000 claims description 17
- 238000012546 transfer Methods 0.000 claims description 17
- 230000005540 biological transmission Effects 0.000 claims description 4
- FFBHFFJDDLITSX-UHFFFAOYSA-N benzyl N-[2-hydroxy-4-(3-oxomorpholin-4-yl)phenyl]carbamate Chemical compound OC1=C(NC(=O)OCC2=CC=CC=C2)C=CC(=C1)N1CCOCC1=O FFBHFFJDDLITSX-UHFFFAOYSA-N 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 7
- 238000005259 measurement Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 7
- 230000009286 beneficial effect Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 239000003086 colorant Substances 0.000 description 2
- 238000007373 indentation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000007493 shaping process Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F89/00—Apparatus for folding textile articles with or without stapling
- D06F89/02—Apparatus for folding textile articles with or without stapling of textile articles to be worn, e.g. shirts
Abstract
The invention discloses a clothes folding machine and a control method thereof, wherein the clothes folding machine comprises a conveying device, a control device and a control device, wherein the conveying device is used for driving clothes to be folded to move for folding; a laundry length detecting unit for identifying a laundry length of laundry to be stacked; the main control system is respectively connected with the conveying device and the clothes length detection unit, and controls the conveying device to fold clothes to be folded according to the clothes length information detected by the length detection unit; the invention can not only realize reliable measurement of the length of the dynamic clothes without stopping, but also control the folding procedure of the conveying device according to the length of the clothes, thereby ensuring that the clothes with different lengths can obtain tidy and standard clothes folding effect under the same or different folding procedures.
Description
Technical Field
The invention belongs to the field of clothes folding machines, and particularly relates to a clothes folding machine and a control method thereof.
Background
In the age of rapid development, the living standard of people is continuously improved, and intelligent home is being applied to various aspects in life; the pace of life of people is also faster and faster, and time is more precious for everyone, but studies have shown that we take 375 days on a stack of clothing for a total lifetime. At present, most of household clothes are manually folded and dried, and are folded and stored by independent manual folding or auxiliary folding of a clothes folding plate, so that time and labor are wasted, and as the types of clothes are increased, clothes folding is more complicated, and many clothes people are not aware of the mode of folding, so that the living experience of people is greatly influenced. The new generation consumer group is willing to accept intelligent experience, is willing to buy a bill for own preference, but is unwilling to waste precious time on complicated matters, and the clothes stacking machine is a product derived from the upgrading of the clothes stacking experience requirement of the new generation consumer group, so that the automatic clothes folding is realized, the complicated clothes stacking work can be effectively replaced, and the people are liberated from the complicated household labor.
The clothes folding machine adopts different folding methods according to different forms and sizes of clothes, and generally needs to achieve a neat clothes folding effect through transverse folding and longitudinal folding. The measurement technology of the clothes size is an important foundation for realizing the clothes stacking technology, the daily clothes to be worn are various, the clothes stacking machine can only provide a single program to fold specific clothes types, and the clothes cannot achieve good folding effect if the same folding process is adopted for the clothes with different sizes due to the size difference.
The present invention has been made in view of this.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a clothes folding machine and a control method thereof.
In order to solve the technical problems, the invention adopts the basic conception of the technical scheme that:
the invention provides a clothes stacking machine, which comprises
The conveying device is used for driving the clothes to be folded to move for folding;
a laundry length detecting unit for identifying a laundry length of laundry to be stacked;
the main control system is respectively connected with the conveying device and the clothes length detection unit, and controls the conveying device to fold clothes to be folded according to the clothes length information detected by the length detection unit.
Further, the conveying device comprises a squeezing conveying device, the squeezing conveying device comprises a conveying mechanism, the conveying mechanism comprises two rotating rollers and a conveying belt arranged on the two rotating rollers, and the length detection unit comprises a first sensor for sensing the position of clothes on the conveying belt and a second sensor for detecting the rotation angle of the rotating rollers;
preferably, the two rotating rollers comprise a driving rotating roller and a driven rotating roller connected with the driving rotating roller through a conveyor belt, and the second sensor is arranged on a rotating shaft of the driving rotating roller;
preferably, the first sensor is a photoelectric sensor connected with the main control system;
preferably, the second sensor is a rotation angle encoder connected with the main control system.
Further, the extrusion conveying device further comprises an extrusion mechanism, the extrusion mechanism comprises a roller assembly matched with the conveying mechanism, and the length detection unit further comprises a third sensor matched with the first sensor and used for detecting the rotation angle of the roller assembly;
preferably, the roller assembly comprises a driving roller, and the third sensor is connected with the driving roller;
Preferably, the roller assembly further comprises a driven roller connected with the driving roller, and the third sensor is connected with the driven roller;
preferably, the third sensor is a corner encoder connected with the main control system;
preferably, the conveying mechanism has a third conveying path.
Further, the extrusion conveying device comprises a second guide plate, the second guide plate is arranged on one side of the conveying mechanism, and a fourth conveying path communicated with the third conveying path is formed between the conveying mechanism and the second guide plate.
Further, the conveying device further comprises a conveying and conveying device, the conveying and conveying device comprises a first conveying and conveying device and a first guide plate, the first conveying and conveying device is provided with a first conveying path, a second conveying path communicated with the first conveying path is formed between the first guide plate and the first conveying and conveying device, and clothes are conveyed to a third conveying path after being conveyed to the second conveying path along the first conveying path;
preferably, the folding device further comprises a width folding device arranged on the first conveying and conveying device and used for folding two sides of the clothes to be folded.
Further, the conveying device further comprises a folding conveying device, the folding conveying device comprises a first folding conveying device and a second folding conveying device, the first folding conveying device is provided with a fifth conveying path, the second folding conveying device is provided with a sixth conveying path, a seventh conveying path is formed between the first folding conveying device and the second folding conveying device, and clothes passing through the fourth conveying path are conveyed to the fifth conveying path and the sixth conveying path in sequence and then sent to the seventh conveying path;
Preferably, the folding conveyor further comprises a third folding conveyor, an eighth conveyor path communicated with the seventh conveyor path is formed between the third folding conveyor and the second folding conveyor, and a ninth conveyor path communicated with the seventh conveyor path and the eighth conveyor path is formed between the third folding conveyor and the first folding conveyor;
preferably, the folding and conveying device further comprises a third guide plate, wherein a tenth conveying path communicated with the sixth conveying path is formed between the third guide plate and the second folding and conveying device;
preferably, the laundry dryer further comprises a folding mechanism which can press the laundry to be folded into the seventh conveying path or the eighth conveying path.
The invention also provides a control method of the clothes folding machine, and the main control system controls the conveying device to fold clothes to be folded according to the length of the clothes detected by the length detection unit.
Further, the method for controlling the length detection unit to obtain the length of the clothes by the main control system comprises the following steps: in the process that the main control system controls the conveying device to convey clothes, the length detection unit is controlled to acquire signals of the length of the clothes, and the length of the clothes is calculated according to the signals detected by the length detection unit;
The method specifically comprises the following steps:
the radius r of the active rotating roller is measured in advance;
recording the value theta of the second sensor when the first sensor senses the head end of the clothes in the clothes conveying process 1 ；
Continuing to convey the clothes, and recording the value theta of the second sensor when the first sensor senses the tail end of the clothes 2 ；
The main control system calculates the laundry length L for the value detected by the second sensor,
the clothes length measuring and calculating method comprises the following steps:
L＝r*(θ 2 -θ 1 )；
or alternatively
The radius r of the active roller is measured in advance;
in the clothes conveying process, when the first sensor senses the head end of the clothes, the numerical value theta of the third sensor connected with the driving roller of the pressing mechanism is recorded 1 ；
Continuing to convey the clothes, and recording the numerical value theta of a third sensor connected with the driving roller when the first sensor senses the tail end of the clothes 2 ；
The main control system calculates the laundry length L for the value detected by the third sensor,
the clothes length measuring and calculating method comprises the following steps:
L＝r*(θ 2 -θ 1 )；
or alternatively
Measuring the radius r of the driven roller in advance;
in the clothes conveying process, when the first sensor senses the head end of clothes, the numerical value theta of the third sensor connected with the driven roller of the pressing mechanism is recorded 1 ；
Continuing to convey the clothes, when the first sensor senses the tail end of the clothes, recording the numerical value theta of the third sensor connected with the driven roller 2 ；
The main control system calculates the laundry length L for the value detected by the third sensor,
the clothes length measuring and calculating method comprises the following steps:
L＝r*(θ 2 -θ 1 )。
further, the length of the laundry is preset to be L ', the main control system obtains the detection result of the length detection unit, and when the length L of the laundry to be stacked is less than or equal to L', the main control system controls the transmission device, and the method comprises the following steps:
s1, controlling the first folding conveying device and the second folding conveying device to move in the positive direction to convey a part of clothes to be folded to a fifth conveying path, and conveying a part of clothes to be folded to a sixth conveying path;
s2, controlling the forward direction movement of the first folding conveying device, and simultaneously controlling the reverse direction movement of the second folding conveying device to fold the clothes into a seventh conveying path;
s3, controlling the forward direction movement of the third folding conveyor, and controlling the reverse direction movement of the second folding conveyor to enable the clothes to enter an eighth conveying path for folding;
preferably, in step S2, the method further includes controlling the folding mechanism to press the laundry, so that the laundry is folded in half and enters the seventh conveying path;
further, step S12 is further included before step S1, in which the movement of the conveying mechanism is controlled, and the laundry is conveyed from the third conveying path to the fourth conveying path and then to the fifth conveying path;
Preferably, in step S12, the laundry is pressed by the pressing mechanism by the third conveying path, then enters the fourth conveying path, and is conveyed to the fifth conveying path by the fourth conveying path;
further, step S11 is further included before step S12, in which the first conveying and conveying device is controlled to move, so that the laundry is conveyed from the first conveying path to the second conveying path and then to the third conveying path;
preferably, in step S11, the laundry is folded and shaped on both sides of the laundry by the first conveying path through the width folding device, and then enters the second conveying path, and the laundry is conveyed to the third conveying path by the second conveying path.
Further, the length of the laundry is preset to be L ', the main control system obtains the detection result of the length detection unit, and when the length L of the laundry is greater than L', the main control system controls the transmission device to include the following steps:
s1', controlling the first folding conveying device and the second folding conveying device to move in the positive direction together to convey a part of the clothes to be folded to a fifth conveying path, a part of the clothes to be folded to a sixth conveying path, and a part of the clothes to be folded to a tenth conveying path;
s2', controlling the forward direction movement of the first folding conveyor, and simultaneously controlling the reverse direction movement of the second folding conveyor to fold the clothes into a seventh conveying path;
S3', controlling the third folding conveyor to move in the opposite direction, and enabling the second folding conveyor to continue to move in the opposite direction so that the clothes enter a ninth conveying path I for folding;
s4', controlling the third folding conveyor to move in the forward direction, and enabling the second folding conveyor to continue to move in the reverse direction so that the clothes are sent into the eighth conveying path for folding;
preferably, in step S2', the method further includes controlling the folding mechanism to press the laundry, so that the laundry is folded in half and enters the seventh conveying path;
preferably, in step S4', the method further includes controlling the folding mechanism to press the laundry, so that the laundry is folded in half and enters the eighth conveying path;
further, step S12 'is further included before step S1', wherein the movement of the conveying mechanism is controlled to convey the clothes from the third conveying path to the fourth conveying path and then to the fifth conveying path;
preferably, in step S12', the laundry is pressed by the pressing mechanism by the third conveying path, then enters the fourth conveying path, and is conveyed to the fifth conveying path by the fourth conveying path;
further, step S11 'is further included before step S12', the first conveying and conveying device is controlled to move, and the clothes are conveyed to the second conveying path from the first conveying path and then conveyed to the third conveying path;
Preferably, in step S11', the laundry is folded and shaped on both sides of the laundry by the first conveying path through the width folding device, and then enters the second conveying path, and the laundry is conveyed to the third conveying path by the second conveying path.
After the technical scheme is adopted, compared with the prior art, the invention has the following beneficial effects:
the invention can realize reliable measurement of the length of the clothes in the clothes conveying process, is beneficial to improving the clothes folding processing efficiency of the clothes folding machine, adopts the sensing technology to detect the edges of the clothes, is beneficial to improving the clothes processing capacity of the clothes folding machine for different colors and materials, adopts the encoder to measure the actual running distance of the belt line in a contact manner, directly improves the measurement accuracy and precision of the length of the clothes, and ensures that the clothes folding device can adapt to the length of the clothes to determine the folding position, thereby ensuring that the clothes with different lengths can obtain the tidy and standard clothes folding effect under the same or different folding programs.
The following describes the embodiments of the present invention in further detail with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. It is evident that the drawings in the following description are only examples, from which other drawings can be obtained by a person skilled in the art without the inventive effort. In the drawings:
FIG. 1 is a schematic view of the construction of the garment stacker of the present invention;
FIG. 2 is a front view of FIG. 1 of the present invention;
FIG. 3 is a schematic diagram of a control method of the present invention;
FIG. 4 is a second schematic diagram of the control method of the present invention;
FIG. 5 is a schematic diagram III of the control method of the clothes folding machine of the present invention;
FIG. 6 is a schematic diagram of a method of controlling a garment stacker of the present invention;
FIG. 7 is a schematic diagram fifth embodiment of a control method of the garment stacker of the present invention;
FIG. 8 is a schematic diagram of a control method of the present invention;
FIG. 9 is a schematic diagram seven of the control method of the garment stacker of the present invention;
in the figure:
110. a first conveying and conveying device; 111. a first conveying belt; 120. a first guide plate; 131. a first folding flap; 132. a second fold flap;
210. a conveying mechanism; 211. a first extrusion conveyor belt; 212. actively rotating the roller; 213. a driven rotating stick; 220. a second guide plate; 230. an extrusion mechanism; 231. extruding the conveyor belt; 232. a driving roller; 233. a driven roller;
310. a first folding conveyor; 311. a first folding conveyor belt; 320. a second folding conveyor; 321. a second folding conveyor belt; 330. a third fold conveyor; 331. a third folding conveyor belt; 340. a third guide plate; 351. a first folding mechanism; 352. a second folding mechanism;
511. A first inductor; 512. a second inductor;
A. a first conveyance path; B. a second conveyance path; C. a third conveyance path; D. a fourth conveyance path; E. a fifth conveyance path; F. a sixth conveyance path; G. a seventh conveyance path; H. an eighth conveyance path; I. a ninth conveyance path; J. tenth conveyance path.
It should be noted that these drawings and the written description are not intended to limit the scope of the inventive concept in any way, but to illustrate the inventive concept to those skilled in the art by referring to the specific embodiments.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions in the embodiments will be clearly and completely described with reference to the accompanying 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 directions or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The invention relates to a clothes folding machine, which comprises a conveying device, wherein clothes to be folded can be folded through the conveying process of the conveying device; specifically, the conveying device comprises a conveying and conveying device, an extrusion and conveying device connected with the conveying and conveying device and a folding and conveying device connected with the extrusion and conveying device, and the clothes to be folded sequentially pass through the conveying and conveying device, the extrusion and conveying device and the folding and conveying device, so that the clothes to be folded are in a folded state; specifically, the width folding device is designed on the conveying and conveying device to fold and shape two sides of clothes, the extruding mechanism capable of adjusting the extruding interval in a self-adapting mode is designed on the extruding and conveying device, flatness of the clothes is guaranteed, the folding and shaping is carried out on the length direction of the clothes on the folding and conveying device, and the folding of the clothes to be treated is completed through carrying out multiple auxiliary shaping on the clothes.
Example 1
As shown in fig. 1-2, the conveying and conveying device includes a first conveying and conveying device 110 and a first guide plate 120 disposed at one side of the first conveying and conveying device 110, the first conveying and conveying device 110 has a first conveying path a, a second conveying path B communicating with the first conveying and conveying device 110 is formed between the first guide plate 120 and the first conveying and conveying device, and after the laundry is conveyed along the first conveying path a to the second conveying path B, the laundry is conveyed downward, so that the laundry can be conveyed smoothly in the first conveying path a, the first conveying path a can be disposed horizontally, so as to ensure that the laundry cannot slide on the first conveying path a, and is convenient to sort the laundry in the width direction, and when the first conveying path a is disposed horizontally, the second conveying path B is disposed obliquely downward or vertically downward, and when the laundry is conveyed into the second conveying path B, the laundry slides from the second conveying path B to the next conveying path.
Wherein the first conveying and transporting device 110 comprises two rotating rollers and a first conveying and transporting belt 111 arranged on the two rotating rollers, and the clothes fall down to a third transporting path C along a first guide plate 120 in a second transporting path B;
In order to enable the clothes on the first conveying path a to smoothly enter the second conveying path B, the conveying and conveying device further comprises a width folding device, the width folding device is arranged on two sides of the first conveying path a and comprises a first folding turning plate 131 and a second folding turning plate 132, and the first folding turning plate 131 and the second folding turning plate 132 are arranged on two sides, perpendicular to the conveying direction, of the first conveying path a in a reversible mode. When the width folding devices are disposed at both sides of the first conveying path a, when the laundry is not folded in the length direction by the laundry folding machine, the laundry is first arranged in the width direction, and the first folding flap 131 and the second folding flap 132 are folded sequentially or simultaneously, and both sides of the laundry are folded and then conveyed into the second conveying path B.
In the above-mentioned embodiment, the conveying devices are mutually matched, and when the clothes are folded into the conveying path, the width folding device is arranged to enable the clothes to be folded in the width at the position where the clothes are required to be folded, and then the clothes are further conveyed into the next conveying path, so that the folding conveying process is smoothly carried out.
Example two
As shown in fig. 1-2, the squeeze conveying apparatus includes a conveying mechanism 210 and a second guide plate 220, the conveying mechanism 210 has a third conveying path C communicating with a second conveying path B, the third conveying path C is horizontally disposed, the second guide plate 220 is disposed at one side of the conveying mechanism 210, a fourth conveying path D communicating with the third conveying path C is formed between the second guide plate 220 and the conveying mechanism 210, and laundry falls down from the second conveying path B to enter the third conveying path C, then continues to be conveyed to the fourth conveying path D, and then falls down from the fourth conveying path D to the next conveying path;
Wherein the conveying mechanism 210 includes two rotating rollers and a first pressing conveyor 211 provided on the two rotating rollers, and laundry falls down to a fifth conveying path E along a second guide plate 220 in a fourth conveying path D.
In addition, because the clothes have different lengths, if the positions of the clothes with different lengths on the folding conveyor are the same, the effect of the clothes with different lengths is different and the uniformity is poor under the same folding mode, so that the positions of the clothes on the folding conveyor are required to be controlled according to the lengths of the clothes to achieve better folding effect, and the clothes with different lengths are folded to have uniform and regular shapes.
Specifically, the conveying mechanism 210 includes two rotating rollers and a first pressing conveyor 211 disposed on the two rotating rollers, and the length detecting unit includes a first sensor 511 for sensing a laundry position on the first pressing conveyor 211 and a second sensor 512 for detecting a rotating angle of the rotating rollers;
Preferably, the first sensor is disposed on the first press conveyor 211; the two rotating rollers include a driving rotating roller 212 and a driven rotating roller 213 connected with the driving rotating roller 212 through a first extruding conveyor 211, and the second sensor 512 is disposed on a rotating shaft of the driving rotating roller 212;
preferably, the first sensor 511 is a photoelectric sensor connected to a main control system; more preferably, the photoelectric sensor is a correlation photoelectric sensor; preferably, the second sensor 512 is a rotation angle encoder connected to the main control system.
According to the technical scheme, the invention further provides a method for measuring the length of clothes, which specifically comprises the following steps of: in the process that the main control system controls the conveying device to convey clothes, the length detection unit is controlled to acquire signals of the length of the clothes, and the length of the clothes is calculated according to the signals detected by the length detection unit, and the method specifically comprises the following steps of:
the radius r of the active rotation roller 212 is measured in advance;
during the clothes conveying process, when the first sensor 511 senses the head end of the clothes, the first sensor 511 generates a feedback signal, and the current value theta of the second sensor 512 is recorded 1 ；
Continuing to convey the clothes, when the first sensor 511 senses the tail of the clothes, the feedback signal of the first sensor 511 disappears, and a second sense is recordedNumerical value θ of the reactor 512 2 ；
The main control system calculates the laundry length L for the value detected by the second sensor 512,
the clothes length measuring and calculating method comprises the following steps:
L＝r*(θ 2 -θ 1 )；
in addition, the extrusion conveying device of the present invention further includes an extrusion mechanism 230, where the extrusion mechanism 230 is obliquely disposed between the first conveying device 110 and the conveying mechanism 210, the extrusion mechanism 230 may include a roller assembly and an extrusion conveying belt 231 sleeved on the roller assembly, an included angle between the extrusion conveying belt 231 and the first extrusion conveying belt 211 is a certain angle, the specific angle of the included angle may be 6 degrees, and in the process of conveying the to-be-stacked clothing through the third conveying path C, the elasticity of the first extrusion conveying belt 211 and/or the extrusion conveying belt 231 adapts to clothing with different thicknesses, so that the extrusion mechanism extrudes the clothing, and the clothing is smoother and then enters the fourth conveying path D;
the length detecting unit of the present invention may be further provided on the pressing mechanism 230, and further includes a third sensor which is matched with the first sensor 511 and detects a rotation angle of the roller assembly;
Preferably, the roller assembly includes a driving roller 232, and the third sensor is connected to the driving roller 232; preferably, the third sensor is a corner encoder connected with the main control system;
further, the method for controlling the length detection unit to obtain the length of the clothes by the main control system comprises the following steps: in the process that the main control system controls the conveying device to convey clothes, the length detection unit is controlled to acquire signals of the length of the clothes, and the length of the clothes is calculated according to the signals detected by the length detection unit, and the method specifically comprises the following steps of:
the radius r of the active roller 232 is measured in advance;
during the clothes conveying process, when the first sensor 511 senses the head end of the clothes, the first sensor 511 generates a feedback signal, and at this time, a third sensor connected with the driving roller is recordedValue of θ of the device 1 ；
Continuing to convey the clothes, when the first sensor 511 senses the tail end of the clothes, the first sensor 511 generates a feedback signal to disappear, and the value theta of the third sensor connected with the driving roller is recorded 2 ；
The main control system calculates the laundry length L for the value detected by the third sensor,
the clothes length measuring and calculating method comprises the following steps:
L＝r*(θ 2 -θ 1 )；
unlike the above embodiment of the present invention, the roller assembly further includes a driven roller 233 connected to the driving roller 232, and the third sensor is connected to the driven roller 233;
The radius r of the driven roller 233 is measured in advance;
when the first sensor 511 senses the head end of the laundry during the laundry transfer, the value θ of the third sensor connected to the driven roller 233 is recorded 1 ；
Continuing to convey the clothes, when the first sensor 511 senses the tail end of the clothes, the value θ of the third sensor connected to the driven roller 233 is recorded 2 ；
The main control system calculates the laundry length L for the value detected by the third sensor,
the clothes length measuring and calculating method comprises the following steps:
L＝r*(θ 2 -θ 1 )。
in the clothing length detection method, the correlation type photoelectric sensor consists of two parts, namely a light emitter and a light receiver, when no obstacle exists between the two parts, the light emitter of the sensor emits light, the light receiver receives the light, and at the moment, the light receiver outputs a low-level signal; conversely, when an obstacle exists between the light emitter and the light receiver, the light receiver outputs a high-level signal at the moment; the position of the edge of the clothes can be judged through the change of the signal level; the rotation angle encoder records the rotation angle of the current active rotating roller at any time, the edge of the twice clothes passes through the sensor to trigger the jump of the two output states of the sensor, the corresponding reading value of the encoder is recorded at the moment of state jump, and the length of the clothes can be calculated through the relation between the rotation angle of the rotating roller and the linear displacement of the conveying line
The length detection unit is beneficial to improving the efficiency of the clothes stacking treatment of the clothes stacking machine; the opposite-irradiation photoelectric sensing technology is adopted to detect the edges of clothes, so that the capability of the clothes stacking machine for processing clothes with different colors and materials is improved; the encoder is adopted to measure the actual walking distance of the conveyor belt in a contact manner, so that the measuring accuracy and precision of the length of the clothes are directly improved, and the folding uniformity of the clothes is improved.
Example III
As shown in fig. 1-2, the folding conveyor includes a first folding conveyor 310 and a second folding conveyor 320, the first folding conveyor 310 has a fifth conveyor path E communicating with a fourth conveyor path D, the second folding conveyor 320 has a sixth conveyor path F, a seventh conveyor path G is formed between the first folding conveyor 310 and the second folding conveyor 320, an entering end of the seventh conveyor path G is located between the fifth conveyor path E and the sixth conveyor path F, the laundry falls down to the fifth conveyor path E via the fourth conveyor path D and then continues to be conveyed to the sixth conveyor path F, a portion of the laundry is located on the fifth conveyor path E, a portion of the laundry is located on the sixth conveyor path F, and then the laundry is folded back into a seventh conveyor path G;
The first folding conveyor 310 includes two rotating rollers and a first folding conveyor 311 sleeved on the two rotating rollers, the first folding conveyor 311 is not horizontally arranged but has a certain angle with the horizontal plane, the second folding conveyor 320 includes at least three rotating rollers and a second folding conveyor 321 arranged on the rotating rollers, the second folding conveyor 321 can rotate in two directions, and can convey clothes in a forward direction and in a reverse direction, and different conveying processes for the clothes can be realized by changing the rotation reverse direction in different stages;
further, the folding and conveying device further includes a third folding and conveying device 330, the third folding and conveying device 330 is opposite to the second folding and conveying device 320 to form an eighth conveying path H communicated with the seventh conveying path G, the third folding and conveying device 330 is disposed below the first folding and conveying device 310, a ninth conveying path I communicated with the seventh conveying path G and the eighth conveying path H is formed between the third folding and conveying device 310, the third folding and conveying device 330 includes at least three rotating rollers and a third folding and conveying belt 331 disposed on the rotating rollers, the third folding and conveying belt 331 can rotate bidirectionally, not only can forward convey clothes, but also can reversely convey the clothes, and different conveying processes for the clothes can be realized by changing rotation reverse directions at different stages.
Further, a third guide plate 340 may be further included, the third guide plate 340 being disposed at one side of the second folding conveyor 320, and forming a tenth conveying path J communicating with the sixth conveying path F with the second folding conveyor 320;
in order to enable the clothes to smoothly enter the folded conveying path, the clothes folding machine is further provided with a telescopic folding mechanism, and the folding mechanism can press the clothes into the conveying path.
The folding mechanism comprises a first folding mechanism 41, the first folding mechanism 41 can press down the clothes at the inlet of the seventh conveying path G, so that the clothes form folds required during the first folding, and the clothes to be folded are pressed to the seventh conveying path G, so that the clothes are prevented from moving along a given route, and the clothes are prevented from being unable to form a folded state.
Preferably, the first folding mechanism 41 may be configured as a retractable pressing plate, when the clothes need to pass, the pressing plate is in a retracted state, the conveying of the clothes is not affected, and when the clothes reach a designated position, the pressing plate is pressed down to fold the clothes, and the clothes are pressed into the next conveying path from the folding position.
The folding mechanism further includes a second folding mechanism 42, which functions substantially the same as the first folding mechanism, and which can be extended and contracted to make the laundry indentation, and to press the laundry along the indentation position into the eighth conveying path H, so that the laundry is conveyed along the predetermined path.
Preferably, the second folding mechanism 42 may be configured as a retractable pressing plate, and when the clothes need to pass through, the pressing plate is in a retracted state, so that the clothes are not affected, and when the clothes reach a designated position, the pressing plate is pressed down to fold the clothes, and the clothes are pressed into the next conveying path from the folding position.
The clothes folding machine in the embodiment is matched with each other through a plurality of conveying paths to complete clothes folding, and the clothes folding machine has compact internal structure and small whole machine volume; when the clothes are folded and enter the conveying path, the folding mechanism is arranged, so that the clothes are firstly folded at the position to be folded, and then the folding mechanism is used for further pressing the clothes into the conveying path, so that the folding and conveying process is smoothly carried out.
Example IV
As shown in fig. 3-5, the present invention further provides a control method using the above-mentioned clothes folding machine, the method comprising: the main control system controls the conveying device to fold the clothes to be folded according to the length of the clothes detected by the length detection unit.
Specifically, the method includes presetting the length of the clothes to be L, preferably, L '=62 cm, obtaining a detection result of the length detection unit by the main control system, and controlling the conveying device to act by the main control system when the length L of the clothes to be stacked is smaller than or equal to L', wherein the steps include:
Step S11, controlling the first conveying and conveying device 110 to move in the positive direction, conveying the clothes from the first conveying path to the second conveying path B, and then conveying the clothes to the third conveying path C;
preferably, in step S11, the laundry is folded and shaped on both sides of the laundry by the first conveying path a through the width folding device, and then enters the second conveying path B;
step S12, controlling the conveying mechanism 210 to move reversely, conveying the clothes from the third conveying path C to the fourth conveying path D and then to the fifth conveying path E;
preferably, in step S12, the laundry is pressed by the pressing mechanism through the third conveying path C, then enters the fourth conveying path D, and is conveyed to the fifth conveying path E through the fourth conveying path D;
s1, controlling the first folding conveyor 310 and the second folding conveyor 320 to move in the positive direction to convey a part of the clothes to be folded to a fifth conveying path E and a part of the clothes to be folded to a sixth conveying path F;
the clothes are divided into two parts which are respectively positioned on two conveying paths, wherein the two parts can be two parts with equal length, the two parts can be 1/3 length of the two parts is positioned on a fifth conveying path E, the 2/3 length of the two parts is positioned on a sixth conveying path F, and the two parts can be distributed in other ways, so that the two parts can be conveyed to different positions according to different clothes to form folds at proper positions, and the clothes form a state to be folded;
S2, controlling the first folding conveyor 310 to continue to move in the forward direction, and simultaneously controlling the second folding conveyor 320 to move in the reverse direction, so that the clothes positioned in the fifth conveying path E and the sixth conveying path F are folded in half and enter the seventh conveying path G;
the folded state is not limited to a state that the clothes are folded at a 1/2 length, but two parts of the clothes are relatively overlapped;
preferably, in step S2, the method further includes controlling the first folding mechanism to press the laundry, so that the laundry forms a crease required for first folding, and the laundry located in the fifth conveying path E and the sixth conveying path F is folded in half into the seventh conveying path G, so as to prevent the laundry from not travelling according to a predetermined route, and prevent the laundry from being unable to form a folded state;
s3, controlling the third folding conveyor 330 to move in the forward direction, and controlling the second folding conveyor 320 to continue to move in the reverse direction, so that the clothes enter the eighth conveyor H from the seventh conveyor G for folding;
then, the laundry folded through the eighth conveying path H of the conveying device enters the storage device below the conveying device to be stored.
As shown in fig. 6 to 9, unlike the above embodiment, the present invention further provides another folding method, in which the laundry length is preset to L ', the main control system obtains the detection result of the length detection unit, and when the laundry length L is greater than L', the main control system controls the transmission device to include the following steps:
Step S11', controlling the first conveying and conveying device 110 to move in the positive direction, conveying the clothes from the first conveying path to the second conveying path B, and then conveying the clothes to the third conveying path C;
preferably, in step S11', the laundry is folded and shaped on both sides of the laundry by the first conveying path a through the width folding device, and then enters the second conveying path B;
step S12', controlling the conveying mechanism 210 to move reversely, conveying the clothes from the third conveying path C to the fourth conveying path D and then to the fifth conveying path E;
preferably, in step S12', the laundry is pressed by the pressing mechanism through the third conveying path C, then enters the fourth conveying path D, and is conveyed to the fifth conveying path E through the fourth conveying path D;
s1', controlling the first folding conveyor 310 and the second folding conveyor 320 to move in the positive direction, and conveying a part of the clothes to be folded to a fifth conveying path E, a part of the clothes to be folded to a sixth conveying path F, and a part of the clothes to be folded to a tenth conveying path J;
the clothes are divided into three parts which are respectively positioned on three conveying paths, wherein the three parts can be three parts with equal length, the three parts can be 1/4 length positioned on a fifth conveying path E, the 2/4 length is positioned on a sixth conveying path F, the 1/4 length is positioned on a tenth conveying path J, and the three parts can be distributed in other ways, so that the clothes can be conveyed to different positions according to different clothes, folds can be formed at proper positions, and the clothes can form a folded state;
S2', controlling the first folding conveyor 310 to continue to move in the forward direction, and simultaneously controlling the second folding conveyor 320 to move in the reverse direction, so that the clothes are folded in half and enter a seventh conveying path G;
the folded state is not limited to a state that the clothes are folded at a 1/2 length, but two parts of the clothes are relatively overlapped;
preferably, in step S2', the method further includes controlling the first folding mechanism to press the laundry, so that the laundry forms a crease required for the first folding, and the laundry located in the fifth conveying path E and the sixth conveying path F is folded in half into the seventh conveying path G, so as to prevent the laundry from not travelling according to a predetermined route, and prevent the laundry from being unable to form a folded state;
s3', controlling the third folding conveyor 330 to move reversely, enabling the second folding conveyor 320 to continue to move reversely, enabling the first folding conveyor 310 to continue to move in the forward direction, and enabling the clothes to enter the ninth conveying path I for folding;
s4', controlling the third folding conveyor 330 to move in the forward direction, and continuing the second folding conveyor 320 to move in the reverse direction, so that the clothes are sent to the eighth conveying path H for folding;
preferably, in step S4', the method further includes controlling the second folding mechanism to press the laundry, so that the laundry forms a crease required for the second folding, and the laundry located in the seventh conveying path G and the ninth conveying path I is folded in half into the eighth conveying path G, so as to prevent the laundry from not traveling along the predetermined path, and prevent the laundry from being unable to form a folded state.
Then, the laundry folded through the eighth conveying path H of the conveying device enters the storage device below the conveying device to be stored.
In the above, the forward movement means leftward movement based on the orientation shown in the drawings, and the reverse movement means rightward movement based on the orientation shown in the drawings.
According to the control method of the clothes folding machine, disclosed by the invention, the folding mode of clothes on the conveying device is controlled by detecting the length of the clothes to be folded, so that good clothes folding effects of clothes with different lengths can be obtained under the same folding procedure, and the folded clothes with different lengths are uniform, standard and tidy in shape.
The foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited to the above-mentioned embodiment, but is not limited to the above-mentioned embodiment, and any simple modification, equivalent change and modification made by the technical matter of the present invention can be further combined or replaced by the equivalent embodiment without departing from the scope of the technical solution of the present invention.
Claims (31)
1. A machine for folding clothes, characterized in that: comprising
The conveying device is used for driving the clothes to be folded to move for folding;
a laundry length detecting unit for identifying a laundry length of laundry to be stacked;
the main control system is respectively connected with the conveying device and the clothes length detection unit, and controls the conveying device to fold clothes to be folded according to the clothes length information detected by the length detection unit;
the conveying device comprises an extrusion conveying device, the extrusion conveying device comprises a conveying mechanism, the conveying mechanism comprises two rotating rollers and a conveying belt arranged on the two rotating rollers, and the length detection unit comprises a first sensor used for sensing the position of clothes on the conveying belt and a second sensor used for detecting the rotation angle of the rotating rollers.
2. A machine according to claim 1, characterized in that: the two rotating rollers comprise driving rotating rollers and driven rotating rollers connected with the driving rotating rollers through conveyor belts, and the second sensor is arranged on a rotating shaft of the driving rotating rollers.
3. A machine according to claim 1, characterized in that: the first sensor is a photoelectric sensor connected with the main control system.
4. A machine according to claim 1, characterized in that: the second sensor is a corner encoder connected with the main control system.
5. A machine according to claim 1, characterized in that: the extrusion conveying device further comprises an extrusion mechanism, the extrusion mechanism comprises a roller assembly matched with the conveying mechanism, and the length detection unit further comprises a third sensor matched with the first sensor and used for detecting the rotation angle of the roller assembly.
6. A machine as claimed in claim 5, wherein: the roller assembly comprises a driving roller, and the third sensor is connected with the driving roller.
7. A machine as claimed in claim 6, wherein: the roller assembly further comprises a driven roller connected with the driving roller, and the third sensor is connected with the driven roller.
8. A machine as claimed in claim 5, wherein: the third sensor is a corner encoder connected with the main control system.
9. A machine according to any one of claims 1-8, characterized in that: the conveying mechanism has a third conveying path.
10. A machine according to claim 9, wherein: the extrusion conveying device comprises a second guide plate, the second guide plate is arranged on one side of the conveying mechanism, and a fourth conveying path connected with the third conveying path is formed between the conveying mechanism and the second guide plate.
11. A machine according to claim 9, wherein: the conveying device further comprises a conveying device, the conveying device comprises a first conveying device and a first guide plate, the first conveying device is provided with a first conveying path, a second conveying path communicated with the first conveying path is formed between the first guide plate and the first conveying device, and clothes are conveyed to the second conveying path along the first conveying path and then conveyed downwards to a third conveying path.
12. A machine as claimed in claim 11, wherein: the folding device is arranged on the first conveying and conveying device and used for folding two sides of the clothes to be folded.
13. A machine as claimed in claim 10, wherein: the transfer device further comprises a folding transfer device, the folding transfer device comprises a first folding transfer device and a second folding transfer device, the first folding transfer device is provided with a fifth transfer path, the second folding transfer device is provided with a sixth transfer path, a seventh transfer path is formed between the first folding transfer device and the second folding transfer device, and clothes passing through the fourth transfer path are sequentially transferred to the fifth transfer path and the sixth transfer path and then sent to the seventh transfer path.
14. A machine as claimed in claim 13, wherein: the folding device further comprises a third folding conveying device, an eighth conveying path communicated with the seventh conveying path is formed between the third folding conveying device and the second folding conveying device, and a ninth conveying path communicated with the seventh conveying path and the eighth conveying path is formed between the third folding conveying device and the first folding conveying device.
15. A machine as claimed in claim 13, wherein: the folding conveyor further comprises a third guide plate, and a tenth conveying path communicated with the sixth conveying path is formed between the third guide plate and the second folding conveying device.
16. A machine as claimed in claim 14, wherein: and a folding mechanism capable of pressing the clothes to be folded into the seventh conveying path or the eighth conveying path.
17. A control method using the clothes stacking machine according to any one of claims 1 to 16, characterized in that: the main control system controls the conveying device to fold the clothes to be folded according to the length of the clothes detected by the length detection unit.
18. The control method of a garment stacker according to claim 17, wherein: the method for controlling the length detection unit to acquire the length of the clothes by the main control system comprises the following steps: in the process that the main control system controls the conveying device to convey clothes, the length detection unit is controlled to acquire signals of the length of the clothes, and the length of the clothes is calculated according to the signals detected by the length detection unit;
The method specifically comprises the following steps:
the radius r of the active rotating roller is measured in advance;
recording the value theta of the second sensor when the first sensor senses the head end of the clothes in the clothes conveying process 1 ；
Continuing to convey the clothes, and recording the value theta of the second sensor when the first sensor senses the tail end of the clothes 2 ；
The main control system calculates the laundry length L for the value detected by the second sensor,
the clothes length measuring and calculating method comprises the following steps:
L＝r*(θ 2 -θ 1 )；
or alternatively
The radius r of the active roller is measured in advance;
in the clothes conveying process, when the first sensor senses the head end of the clothes, the numerical value theta of the third sensor connected with the driving roller of the pressing mechanism is recorded 1 ；
Continuing to convey the clothes, and recording the numerical value theta of a third sensor connected with the driving roller when the first sensor senses the tail end of the clothes 2 ；
The main control system calculates the laundry length L for the value detected by the third sensor,
the clothes length measuring and calculating method comprises the following steps:
L＝r*(θ 2 -θ 1 )；
or alternatively
Measuring the radius r of the driven roller in advance;
in the clothes conveying process, when the first sensor senses the head end of clothes, the numerical value theta of the third sensor connected with the driven roller of the pressing mechanism is recorded 1 ；
Continuing to convey the clothes, when the first sensor senses the tail end of the clothes, recording the numerical value theta of the third sensor connected with the driven roller 2 ；
The main control system calculates the laundry length L for the value detected by the third sensor,
the clothes length measuring and calculating method comprises the following steps:
L＝r*(θ 2 -θ 1 )。
19. the control method of a garment stacker according to claim 18, wherein: the length of the clothes is preset as L ', the main control system obtains the detection result of the length detection unit, and when the length L of the clothes to be stacked is smaller than or equal to L', the main control system controls the conveying device to comprise the following steps:
s1, controlling the first folding conveying device and the second folding conveying device to move in the positive direction, and conveying a part of clothes to be folded to a fifth conveying path and a part of clothes to be folded to a sixth conveying path;
s2, controlling the forward direction movement of the first folding conveying device, and simultaneously controlling the reverse direction movement of the second folding conveying device to fold the clothes into a seventh conveying path;
s3, controlling the forward direction movement of the third folding conveyor, and controlling the reverse direction movement of the second folding conveyor to enable the clothes to enter the eighth conveying path for folding.
20. The control method of a garment stacker according to claim 19, wherein: in step S2, the method further includes controlling the folding mechanism to press the laundry, so that the laundry is folded in half and enters the seventh conveying path.
21. The control method of a garment stacker according to claim 19, wherein: the step S1 is preceded by a step S12 of controlling the movement of the conveying mechanism to convey the clothes from the third conveying path to the fourth conveying path and then to the fifth conveying path.
22. The control method of a garment stacker according to claim 21, wherein: in step S12, the laundry is pressed by the pressing mechanism from the third conveying path, then enters the fourth conveying path, and is conveyed to the fifth conveying path by the fourth conveying path.
23. The control method of a garment stacker according to claim 21, wherein: the step S12 is preceded by a step S11 of controlling the first conveying and conveying device to move, conveying the clothes from the first conveying path to the second conveying path, and then conveying the clothes to the third conveying path.
24. The control method of a garment stacker according to claim 23, wherein: in step S11, the laundry is folded and shaped on both sides of the laundry by the first conveying path through the width folding device, and then enters the second conveying path, and the laundry is conveyed to the third conveying path by the second conveying path.
25. The control method of a garment stacker according to claim 18, wherein: the length of the clothes is preset as L ', the main control system obtains the detection result of the length detection unit, and when the length L of the clothes is larger than L', the main control system controls the transmission device to comprise the following steps:
s1', controlling the first folding conveying device and the second folding conveying device to move in the positive direction to convey a part of clothes to be folded to a fifth conveying path, a part of clothes to be folded to a sixth conveying path, and a part of clothes to be folded to a tenth conveying path;
s2', controlling the forward direction movement of the first folding conveyor, and simultaneously controlling the reverse direction movement of the second folding conveyor to fold the clothes into a seventh conveying path;
s3', controlling the third folding conveyor to move in the opposite direction, and enabling the second folding conveyor to continue to move in the opposite direction so that the clothes enter a ninth conveying path I for folding;
s4', controlling the third folding conveyor to move in the forward direction, and enabling the second folding conveyor to continue to move in the reverse direction, so that the clothes are sent into the eighth conveying path for folding.
26. The method of claim 25, wherein: in step S2', the method further includes controlling the folding mechanism to press the laundry, so that the laundry is folded in half and enters the seventh conveying path.
27. The method of claim 25, wherein: in step S4', the method further includes controlling the folding mechanism to press the laundry, so that the laundry enters the eighth conveying path.
28. The method of claim 25, wherein: the step S1 'is preceded by a step S12', wherein the movement of the conveying mechanism is controlled to convey the clothes from the third conveying path to the fourth conveying path and then to the fifth conveying path.
29. The method of claim 28, wherein: in step S12', the laundry is pressed by the pressing mechanism from the third conveying path, then enters the fourth conveying path, and is conveyed to the fifth conveying path by the fourth conveying path.
30. The method of claim 28, wherein: the step S12 'is preceded by a step S11', which is to control the movement of the first conveying and conveying device, so as to convey the clothes from the first conveying path to the second conveying path and then to the third conveying path.
31. The method of claim 30, wherein: in step S11', the laundry is folded and shaped on both sides of the laundry by the first conveying path through the width folding device, and then enters the second conveying path, and the laundry is conveyed to the third conveying path by the second conveying path.
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