CN113463358A - Clothes folding machine and control method - Google Patents
Clothes folding machine and control method Download PDFInfo
- Publication number
- CN113463358A CN113463358A CN202010241818.8A CN202010241818A CN113463358A CN 113463358 A CN113463358 A CN 113463358A CN 202010241818 A CN202010241818 A CN 202010241818A CN 113463358 A CN113463358 A CN 113463358A
- Authority
- CN
- China
- Prior art keywords
- clothes
- manipulator
- clamping piece
- sensor
- folding
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 53
- 230000008569 process Effects 0.000 claims description 24
- 230000001960 triggered effect Effects 0.000 claims description 21
- 235000014676 Phragmites communis Nutrition 0.000 claims description 9
- 230000033001 locomotion Effects 0.000 claims description 9
- 230000007246 mechanism Effects 0.000 description 23
- 230000005540 biological transmission Effects 0.000 description 17
- 238000003825 pressing Methods 0.000 description 11
- 238000003860 storage Methods 0.000 description 8
- 238000001125 extrusion Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 4
- 230000002457 bidirectional effect Effects 0.000 description 2
- 238000002788 crimping Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000007723 transport mechanism Effects 0.000 description 1
Images
Classifications
-
- 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, wherein the clothes folding machine comprises a manipulator for grabbing clothes to enter a clothes folding unit, and the manipulator comprises a fixed first clamping piece and a second clamping piece movably connected with the first clamping piece; the manipulator is characterized by further comprising a driving device, the second clamping piece moves under the driving of the driving device to enable the manipulator to be opened/closed, and the manipulator further comprises a first sensor used for detecting that the manipulator grabs clothes and a second sensor used for detecting that the manipulator is opened/closed in place. According to the clothes grabbing device, the sensor arranged on the manipulator can be used for judging whether the manipulator grabs clothes or not, so that the reliability of the manipulator grabbing clothes is enhanced.
Description
Technical Field
The invention belongs to the field of clothes processing devices, and particularly relates to a clothes folding machine and a control method.
Background
In daily life, the folding storage of clothing that needs will dry, most families all adopt the artifical clothing of drying after folding at present, fold alone by hand or fold the supplementary folding of clothing board and accomodate the clothing folding, waste time, hard. With the development of society, the rhythm of life of people is accelerated, and the time for doing housework becomes littleer, and the clothing of not having time to fold the storage stacks at will, has caused the waste of storage space to a great extent. The improvement of living standard is also along with the increase of clothing kind, and it is more loaded down with trivial details to fold the clothing process, and many clothing people do not know how to fold for the clothing after folding can not obtain fine protection. Therefore, it is necessary to provide a product which is suitable for a home and the like, is used for helping people to automatically fold clothes, can effectively replace the complicated clothes folding work, and relieves people from the complicated housework.
After the clothes are aired, the clothes need to be taken down from the airing rod and loaded into the clothes folding machine to be folded, and the clothes are complex in manual operation, time-consuming and labor-consuming. In the prior art, a scheme that clothes are clamped and enter a clothes folding machine through a movable clamping device exists, but the clamping device is fixed relative to the position of the clothes and cannot be effectively matched with various clothes types, so that the flatness of the loaded clothes is influenced, and the final folding effect is further influenced. Meanwhile, the reliability of the clamping device is to be improved, and the situation that the clamping device starts to move when the clothes are not successfully grabbed exists, or the clothes fall off in the transportation process of the clamping device exists.
The present invention has been made in view of this situation.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the defects of the prior art and provide a clothes folding machine with a manipulator for automatically loading clothes and a control method, wherein the clothes folding machine can judge whether the manipulator successfully grabs the clothes and automatically adjust the clothes, and the automation degree is high.
In order to solve the technical problems, the invention adopts the technical scheme that:
a clothes folding machine comprises a manipulator for grabbing clothes to enter a clothes folding unit, wherein the manipulator comprises a fixed first clamping piece and a second clamping piece movably connected with the first clamping piece; the manipulator is characterized by further comprising a driving device, the second clamping piece moves under the driving of the driving device to enable the manipulator to be opened/closed, and the manipulator further comprises a first sensor used for detecting that the manipulator grabs clothes and a second sensor used for detecting that the manipulator is opened/closed in place.
Further, the first inductor is arranged at the clamping end of the first clamping piece and/or the second clamping piece and is triggered when the first inductor is contacted with clothes;
preferably, the first sensor comprises a microswitch arranged at the clamping end of the first clamping piece, an avoiding groove is arranged at the corresponding position on the clamping end of the second clamping piece, when the manipulator is closed in place, a triggering reed of the microswitch just contacts with the bottom surface of the avoiding groove, and the microswitch is not triggered; when the mechanical arm is closed to grab clothes, the clothes press the trigger reed to trigger the microswitch.
Further, the second sensor is fixedly arranged on the manipulator, the second clamping piece is connected with a triggering piece, and when the manipulator is opened/closed in place, the triggering piece triggers the second sensor;
preferably, the second sensor includes a touch switch, and the trigger contacts and triggers the touch switch when the manipulator is opened/closed in place.
Another object of the present invention is to provide a control method of the above clothes folding machine, wherein in the process that the driving device drives the second clamping piece to move to close the manipulator, if the first sensor is triggered, it is determined that the manipulator grabs the clothes; in the process that the driving device drives the second clamping piece to move to open/close the manipulator, if the second sensor is triggered, the manipulator is judged to be opened/closed in place, and the driving device is controlled to stop driving; and when the manipulator is judged to be closed in place and the first sensor is not triggered, judging that the manipulator fails to grab the clothes.
Further, when the judgment mechanical arm grabs the clothes, the driving device is controlled to drive the second clamping piece to move to a certain degree in the direction of closing the mechanical arm, and then the driving device is controlled to stop driving.
Further, the second clamping piece has a maximum closing stroke, and the maximum closing stroke is a stroke of the movement of the second clamping piece from the opening in-position state to the closing in-position state of the manipulator;
the control method comprises the steps of controlling the manipulator to execute a clothes grabbing program to grab clothes, wherein the clothes grabbing program specifically comprises the following steps:
1) controlling the manipulator to be opened in place;
2) controlling the driving device to drive the second clamping piece to move to close the manipulator and judging whether the first sensor is triggered or not;
3) if the judgment result is yes, the manipulator is judged to grab the clothes, the program is ended, and if the judgment result is no, whether the motion of the second clamping piece reaches the maximum closing stroke is judged;
4) if the judgment result is yes, judging that the manipulator fails to grab the clothes; if the judgment result is negative, returning to the step 2);
preferably, in the step 4), if it is determined that the robot fails to grip the laundry, the process returns to the step 1).
Further, the manipulator is movably mounted on the clothes folding machine in the vertical direction, and the manipulator has the maximum movable range in the vertical direction;
the control method specifically comprises the following steps:
a) controlling the manipulator to move to the highest point of the maximum movable range;
b) executing a clothes grabbing program;
c) if the grabbing failure of the manipulator is judged, judging whether the manipulator is located at the lowest point of the maximum movable range;
d) if yes, determining that the clothes are failed to be grabbed, if not, controlling the manipulator to move downwards for a certain distance, and returning to the step b);
preferably, in the step d), if it is determined that the laundry is not caught, the process returns to the step a).
Further, the manipulator is movably installed on the clothes folding machine along the vertical direction, and between the steps 1) and 2), the manipulator further comprises:
A) controlling the mechanical arm to move to a clothes grabbing height;
B) controlling the manipulator to move to a clothes grabbing position along the horizontal direction;
the clothes grabbing height is that the lower edge of the triggering part of the first sensor is lower than the upper edge of the clamped clothes, and the lowest point of the second clamping piece is higher than the upper edge of the clamped clothes when the manipulator is opened in place.
Furthermore, two mechanical hands are arranged on the clothes folding machine, and the two mechanical hands are controlled by the clothes folding machine independently; when the two manipulators judge that the clothes are grabbed, judging that the clothes are grabbed successfully, and controlling the manipulators to move to drag the clothes into the clothes folding unit; and when judging that any manipulator fails to grab the clothes, controlling the manipulator which fails to grab the clothes to execute the clothes grabbing program again to grab the clothes.
Further, the manipulator is horizontally movably arranged on the clothes folding machine along the direction vertical to the clothes conveying direction; the control method comprises the steps that the clothes folding machine obtains the type of clothes, the mechanical arms are controlled to horizontally move along the direction perpendicular to the clothes conveying direction to adjust the distance between the two mechanical arms, and then the two mechanical arms are controlled to execute a clothes grabbing program.
After the technical scheme is adopted, compared with the prior art, the invention has the following beneficial effects.
The clothes folding machine is provided with the mechanical arm capable of loading clothes into the clothes folding unit, whether the mechanical arm grabs the clothes or not can be judged through the inductor arranged on the mechanical arm, and the reliability of grabbing the clothes by the mechanical arm is enhanced.
According to the control method of the clothes folding machine, after the clothes are grabbed, the second clamping piece is controlled to be closed to a certain degree, the grabbing strength of the manipulator is increased, and the clothes are prevented from falling off in the conveying process.
According to the control method of the clothes folding machine, the condition that the manipulator fails to grab clothes can be sensed through the matching of the first sensor and the second sensor, the manipulator is automatically controlled to open and close to try to grab clothes again, and the probability of successful grabbing of the clothes is increased.
According to the control method of the clothes folding machine, the manipulator is controlled to move from high to low to try to grab clothes, and the clothes with different thicknesses can be stably grabbed.
According to the control method of the clothes folding machine, the two mechanical arms are independently controlled, the distance between the two mechanical arms can be adjusted, the falling position is more accurate when clothes are grabbed, and the probability of successful clothes grabbing is further improved.
The following describes 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, 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 without limiting the invention to the right. It is obvious that the drawings in the following description are only some embodiments, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
FIG. 1 is a schematic structural view of a robot in a closed state according to the present invention;
FIG. 2 is a schematic structural view showing an open state of a robot arm according to the present invention;
FIG. 3 is a schematic view of a first jaw of the robot of the present invention;
FIG. 4 is a schematic diagram of a second jaw of the robot of the present invention;
FIG. 5 is a schematic view of the robot and the robot support of the present invention after they are mounted;
FIG. 6 is a schematic view showing the structure of the robot and the robot holder in another direction after they are mounted in the present invention;
FIG. 7 is a schematic view of the overall construction of the clothes folding machine of the present invention;
FIG. 8 is a schematic view of a portion of a loading unit of the clothes folding machine of the present invention;
fig. 9 is a schematic view of the distribution of the transfer device in the clothes folding unit of the clothes folding machine of the present invention;
FIG. 10 is a flowchart of a control method according to a second embodiment of the present invention;
fig. 11 is a flowchart of a three control method of an embodiment of the present invention.
In the figure: 1. a storage unit; 2. a clothes folding unit; 3. a loading unit; 100. a conveying and conveying device; 110. a first guide plate; 200. an extrusion conveyor; 201 a transport mechanism; 202. an extrusion mechanism; 210; a second guide plate; 300. a folding conveyor; 310. a first folding conveyor; 320. a second folding conveyor; 330. a third folding conveyor; 400. a folding mechanism; 410. a first crimping mechanism; 420. a second crimping mechanism; 510. a manipulator; 511. a first clip piece; 512. a second clip; 513. a connecting member; 514. a first driving device; 515. a transmission member; 516. a mounting seat; 517. a trigger; 518. a first inductor; 520. a fixed seat; 521. a gear; 522. a second driving device; 523. a second inductor; 530. a manipulator support; 531. a rack; 541. a belt drive motor; 542. a drive belt; 543. a lead screw motor; 544. a lead screw; 545. a lead screw nut; 600. a clothes hanger.
It should be noted that the drawings and the description are not intended to limit the scope of the inventive concept in any way, but to illustrate it by a person skilled in the art with reference to specific embodiments.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and the following embodiments are used for illustrating the present invention and are not intended to limit the scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1 to 4, the clothes folding machine of the present invention includes a robot 510 for grasping clothes into a clothes folding unit, the robot 510 including a fixed first jaw 511, and a second jaw 512 movably connected to the first jaw 511; the first driving device 514 is further included, and the second clamping piece 512 is driven by the first driving device 514 to move, so that the manipulator 510 is opened/closed; the robot 510 further includes a first sensor 518 for detecting that the robot 510 catches the laundry and a second sensor 523 for detecting that the robot 510 is opened/closed in place.
In the process that the first driving device 514 drives the second clamping piece 512 to move to close the manipulator 510, if the first sensor 518 is triggered, it is determined that the manipulator 510 grabs the clothes; in the process that the first driving device 514 drives the second clamping piece 512 to move to open/close the manipulator, if the second sensor 523 is triggered, it is determined that the manipulator 510 is opened/closed in place, and the first driving device 514 is controlled to stop driving; when it is determined that the robot 510 is closed in place and the first sensor 518 is not triggered, it is determined that the robot 510 fails to grasp the laundry.
Example one
As shown in fig. 1 to 8, the clothes folding machine according to the present embodiment includes a loading unit 3 having a robot 510 for grasping clothes into the clothes folding unit, a clothes folding unit 2, and a receiving unit 1. The manipulator 510 includes a fixed first clamping piece 511, a second clamping piece 512 hinged to the first clamping piece 511 at a first hinge point, and a connecting piece 513, wherein one end of the connecting piece 513 is hinged to the second clamping piece 512 at a second hinge point, and the second hinge point and the first clamping piece 511 are respectively located at two sides of the second clamping piece 512. The other end of the connecting part 513 can reciprocate in the vertical direction under the driving of the first driving device 514, so as to drive the second clamping piece 512 to rotate, and the manipulator 510 is opened or closed. The first driving device 514 drives the end of the connecting member 513 to move through a transmission structure, the transmission structure includes a transmission member 515 having a certain length in the vertical direction, and a mounting base 516 capable of moving along the transmission member 515, and the end of the connecting member 513 is hinged to the mounting base 516.
Preferably, the transmission member 515 is a rod, and has a side wall provided with a spiral protrusion/groove with a certain length range, and the mounting seat 516 has a through hole, and the inner wall of the through hole has a matching spiral groove/protrusion. The transmission member 515 is inserted into the through hole, and can be driven by the first driving device 514 to rotate, so as to drive the mounting base 516 to reciprocate along the transmission member. Preferably, the transmission member 515 is a transmission screw, and the mounting base 516 is a screw base engaged with the transmission screw.
The first driving device 514 drives the transmission member 515 to rotate forward, so as to drive the mounting base 516 and the upper end of the connecting member 513 to move upward, and the lower end of the connecting member 513 pulls the second clamping piece 512 to rotate to open the manipulator 510. The first driving device 514 drives the transmission member 515 to rotate reversely, so as to drive the mounting base 516 and the upper end of the connecting member 513 to move downwards, and further the lower end of the connecting member 513 presses the second clamping piece 512 downwards, so that the second clamping piece rotates to close the manipulator 510.
The loading unit 3 of the clothes stacker further includes a robot arm support 530 horizontally disposed perpendicular to the clothes conveying direction, and the robot arm support 530 is mounted on a frame of the loading unit 3 and can reciprocate in the vertical direction and the clothes conveying direction by being driven by a driving device. Preferably, a transmission belt 542 and a belt driving motor 541 are arranged in the horizontal direction, the manipulator support 530 is fixedly connected with the transmission belt 542 through a fixing structure, and the belt driving motor 541 drives the transmission belt 542 to transmit, so as to drive the manipulator support 530 to reciprocate along the clothes conveying direction; be provided with screw drive structure in vertical direction, specifically including screw motor 543, lead screw 544 and screw nut 545, manipulator support 530, driving belt 542 and belt drive motor 541 install on vertical motion support, vertical motion support and screw nut 545 fixed connection, screw motor 543 drives lead screw 544 and rotates, and then drives screw nut 545 and vertical motion support reciprocating motion from top to bottom, realizes the holistic up-and-down reciprocating motion of manipulator support 530, driving belt 542 and belt drive motor 541.
The robot 510 is provided with two robots, and each robot is fixedly installed in a fixing seat 520, and the fixing seat 520 is installed on a robot support 530 to be horizontally movable in a direction perpendicular to a clothes conveying direction. Preferably, a rack 531 is disposed on the manipulator bracket 530, and a rotatable gear 521 is correspondingly disposed on the fixing base 520. The gear 521 is connected to the second driving device 522, and can be driven by the second driving device 522 to rotate, so as to drive the fixing base 520 to reciprocate along the robot arm support 530.
The robot 510 further includes a first sensor 518 for detecting that the robot 510 is gripping the laundry and a second sensor 523 for detecting that the robot is open in place.
In a preferred embodiment of the present embodiment, the first sensor 518 is a micro switch disposed at the clamping end of the first clamping piece 511. The clamping end of the first clamping piece 511 is provided with a mounting groove, the micro switch is arranged in the mounting groove, and the trigger reed of the micro switch is arranged outwards. An avoidance groove is formed in a position corresponding to a clamping end of the second clamping piece 512, and when the manipulator 510 is completely closed and no clothes are left between the first clamping piece 511 and the second clamping piece 512, the trigger reed extends into the avoidance groove but does not contact with the bottom surface of the avoidance groove; or the bottom surface of the escape recess is in contact with the trigger spring, but does not press the trigger spring, so that the first sensor 518 is not triggered. When the manipulator 510 grabs the clothes, the clothes are located between the avoiding groove and the trigger spring, and the trigger spring is pressed in the closing process of the manipulator 510, so that the first sensor 518 is triggered.
In a further preferred embodiment of the present invention, the second sensor 523 is fixedly disposed on the fixed seat 520, and the trigger 517 is fixedly connected to the mounting seat 516. Preferably, the second sensor 523 is a touch switch, when the mounting base 516 moves to a certain position, the trigger 517 presses an action reed of the trigger switch to trigger the second sensor 523, and the manipulator 510 is opened in place, that is, the second clamping piece 512 rotates to the position, and the first driving device 514 stops driving.
In the embodiment, the clothes folding machine is provided with the mechanical arm capable of loading clothes into the clothes folding unit, so that the clothes can be automatically loaded into the clothes folding unit; through setting up the inductor on the manipulator, can judge whether the clothing is grabbed to the manipulator, strengthened the reliability that the clothing was grabbed to the manipulator.
Example two
In the present embodiment, as shown in fig. 1 to 8, in the process that the first driving device 514 drives the second clamping piece 512 to rotate to close the manipulator 510, if the first sensor 518 is triggered, it is determined that the manipulator 510 catches the laundry. Preferably, when the determining manipulator 510 catches the clothes, the first driving device 514 is controlled to drive the second clamping piece 512 to move to a certain extent in the direction of closing the manipulator 510, and then the first driving device 514 is controlled to stop driving. The second clamping piece 512 is controlled to be closed to a certain degree after the clothes are grabbed, so that the grabbing strength of the manipulator is increased, and the clothes can be prevented from falling off in the conveying process.
The clothes folding machine judges whether the mechanical arm 510 is closed in place or not through the second sensor 523, and when the mechanical arm 510 is judged to be closed in place and the first sensor 518 is not triggered, the mechanical arm 510 is judged to fail to grab the clothes. Specifically, second jaw 512 has a maximum closing angle, which is the angle at which second jaw 512 rotates from the open-to-position state to the closed-to-position state of robot 510. According to the whole structure of the manipulator 510 and the maximum closing angle, the number of turns required to drive the manipulator 510 from the open-in-place state to the closed-in-place state of the first driving device 514 can be calculated and recorded as the maximum closing number. When the trigger 517 triggers the second sensor 523 during the opening of the manipulator 510, the first driving device 514 stops driving, so that the manipulator 510 is fixed in the open-position state. When the manipulator 510 starts to close from the open-in-place state, the number of turns of the first driving device 514 is recorded, and when the number of turns of the first driving device 514 reaches the maximum number of closed turns under the condition that the first sensor 518 is not triggered, the manipulator is judged to be closed-in-place, and the manipulator 510 fails to grab the clothes, and the first driving device 514 is controlled to stop driving.
When the clothes folding machine of the embodiment is operated, the clothes hanger 600 on which the clothes are hung is controlled to move to the clothes inlet of the clothes folding unit, the manipulator support 530 also moves to the clothes inlet, so that the manipulator 510 is located at a position suitable for grabbing the clothes, and then the manipulator 510 is controlled to execute a clothes grabbing program to grab the clothes. As shown in fig. 10, the laundry gripping procedure specifically includes the following steps:
1) controlling the manipulator to be opened in place;
2) controlling the first driving device to drive the second clamping piece to move to close the manipulator, and judging whether the first sensor is triggered;
3) if the judgment result is yes, the manipulator is judged to grab the clothes, the program is ended, and if the judgment result is no, whether the number of turns of the first driving device reaches the maximum number of closed turns is judged;
4) if the judgment result is yes, judging that the manipulator fails to grab the clothes; and if the judgment result is negative, returning to the step 2).
In a preferable embodiment of the present invention, in step 4), if it is determined that the robot fails to grip the laundry, the process returns to step 1). The manipulator is automatically controlled to open and close when the manipulator fails to grab the clothes, so that the probability of grabbing the clothes by the manipulator can be increased under the condition of reducing human intervention of a user.
In the embodiment, through the matching of the first sensor and the second sensor, the clothes folding machine can judge whether the manipulator catches the clothes, and control the manipulator to automatically open and close when the manipulator fails to catch the clothes and try to catch the clothes again, so that the probability of the manipulator catching the clothes is increased under the condition of no need of user intervention, and the automation degree is high; after the manipulator is judged to grab the clothes, the manipulator is controlled to be continuously closed to a certain degree, so that the grabbing force of the manipulator to the clothes is increased, and the phenomenon that the clothes fall off in the conveying process of the manipulator is avoided, and the subsequent clothes folding process is influenced.
EXAMPLE III
As shown in fig. 1 to 8, the present embodiment is further limited to the second embodiment, and the manipulator 510 has a maximum movable range in the vertical direction, and the maximum movable range is set according to the thickness of the clothes suitable for the clothes folding machine. Be provided with recessed dodge portion on the clothes hanger 600 who is suitable for with the cooperation of folding clothing machine, can provide the dodge space when manipulator 510 snatchs the clothing, avoid manipulator 510 to clip clothes hanger 600. Preferably, the lowest point of the maximum movable range is set such that the lowest point of the robot 510 just touches the lowest point of the escape portion when the robot 510 is fully closed.
As shown in fig. 11, the method for controlling the manipulator to grasp the clothes includes the following steps:
a) controlling the manipulator to move to the highest point of the maximum movable range;
b) executing a clothes grabbing program;
c) if the grabbing failure of the manipulator is judged, judging whether the manipulator is located at the lowest point of the maximum movable range;
d) if yes, the clothes grabbing failure is judged, if no, the manipulator is controlled to move downwards for a certain distance, and the step b) is returned.
In a preferable embodiment of the present invention, in the step d), if it is determined that the clothes catching fails, the process returns to the step a). Preferably, the clothes folding machine records the number of times of clothes grabbing failures, and when the number of times of clothes grabbing failures reaches a preset number N, the program is ended and an alarm is given out, wherein the preset number N can be set by a user or a program default value is adopted.
For clothes with different thicknesses, the most suitable grabbing positions of the clothes are different in height, and particularly, the thicker clothes are more suitable for grabbing at relatively higher positions. For thicker clothes, if a lower grabbing position is adopted, the amount of the grabbed clothes is too much, so that the opening angle of a manipulator for judging when the clothes are grabbed is too large, the manipulator cannot generate enough friction force in the vertical direction to overcome the gravity of the clothes, and the clothes are easy to fall off in the clothes conveying process; for thin clothes, if a higher grabbing position is adopted, the upper edge of the clothes is too thin and cannot be effectively grabbed by a manipulator, so that grabbing failure is easily caused.
In the embodiment, the manipulator is controlled to move from high to low to try to grab clothes, and the clothes with different thicknesses can be stably grabbed, so that the manipulator has good adaptability to the clothes in a larger thickness range.
Example four
As shown in fig. 1 to 8, this embodiment is a further limitation of the second embodiment, and further includes, between the steps 1) and 2):
A) controlling the mechanical arm to move to a clothes grabbing height;
B) controlling the manipulator to move to a clothes grabbing position along the horizontal direction;
the clothes grabbing height is that the lower edge of the trigger reed of the first sensor 518 is lower than the upper edge of the clothes to be grabbed, and the lowest point of the second clamping piece 512 is higher than the upper edge of the clothes to be grabbed when the manipulator 510 is in the open position.
Specifically, the laundry is transferred to the laundry entrance of the clothes folding unit through the clothes hanger 600, the robot arm support 530 moves toward the laundry entrance, stops at a distance from the laundry entrance, and controls the robot arm 510 to be opened in place. Then, the lead screw motor 543 is controlled to drive the manipulator support 530 to move in the vertical direction, so that the manipulator 510 moves to the clothes grabbing height, i.e. the lower edge of the trigger reed of the first sensor 518 moves to a position lower than the upper edge of the grabbed clothes, and the lowest point of the second clamping piece 512 is higher than the upper edge of the grabbed clothes. Preferably, the uniform clothes hanger 600 is used for conveying the clothes, the height of the upper edge of the clamped clothes is constant, and the clothes grabbing height can be a program set value. The robot arm supporter 530 is then controlled to continue moving toward the laundry entrance until it stops when reaching the laundry gripping position, at which time the first jaw 511 and the second jaw 512 are positioned at both sides of the laundry, respectively. Because the lowest point of the second clamping piece 512 is higher than the upper edge of the clamped clothes, the manipulator 510 does not touch the clothes in the moving process of the manipulator 510 to the clothes, and the moving of the manipulator 510 is not influenced.
In the embodiment, the manipulator is controlled to be opened firstly and then moved to the position above the clothes for grabbing, so that the manipulator is prevented from touching the clothes in the opening process to influence the grabbing process; by controlling the clothes grabbing height, the upper edge of the clothes is higher than the lower edge of the first sensor and lower than the lowest point of the second clamping piece when the manipulator is opened in place, the manipulator can move to the clothes grabbing position without obstacle, the first clamping piece and the second clamping piece are respectively positioned on two sides of the clothes, the clothes can be grabbed effectively when the manipulator is closed, and the probability of grabbing the clothes by the manipulator is improved.
EXAMPLE five
As shown in fig. 1 to 8, the present embodiment is further limited to the second embodiment, and the clothes folding machine controls the two manipulators 510 independently. When both the two manipulators 510 judge that the clothes are grabbed, the clothes grabbing is judged to be successful, and the manipulator support 530 is controlled to drive the manipulator 510 to move so as to drag the clothes into the clothes folding unit. When it is determined that any one of the robot arms 510 fails to grip the laundry, the robot arm 510, which fails to grip the laundry, is controlled to again perform the laundry gripping program to grip the laundry.
In a preferred embodiment of the present invention, the control method includes the steps of the clothes folding machine obtaining the type of the clothes, controlling the robot 510 to move horizontally along a direction perpendicular to the clothes conveying direction to adjust the distance between the two robots 510, and controlling the two robots 510 to execute the clothes catching procedure. Specifically, different hangers 600 are used to deliver different types of clothing items, with different hangers 600 having different top surface widths at the hooks. Two sensors are provided on the hanger conveying mechanism for moving the hanger 600 to the clothes inlet of the clothes folding unit in the width direction, when both sensors are activated, the width of the hanger to be conveyed is large, and when only the first sensor is activated, the width of the hanger to be conveyed is small. According to the feedback result of the sensor, the clothes folding machine controls the second driving device 522 to drive the gear 521 to rotate, and further drives the manipulator 510 to move along the manipulator support 530, so that clothes of different types can be better matched, and the grabbing position of the clothes is more accurate.
In the embodiment, the clothes folding machine controls the two mechanical hands independently, the mechanical hand which fails to grab the clothes is controlled independently to try to grab the clothes again, and the mechanical hand which grabs the clothes does not act any more, so that unnecessary operation is avoided; by judging the type of the clothes and controlling the two mechanical arms to move along the mechanical arm support, the distance between the two mechanical arms is adjusted, the falling position is more accurate when the clothes are grabbed, and the probability of clothes grabbing success is further improved.
As shown in fig. 7 and 9, in the above embodiment, the clothes folding machine of the present invention further includes a clothes folding unit 2 for folding the clothes and a storage unit 1 for receiving the folded clothes. The clothes folding unit 2 comprises a rack and a conveying device arranged on the rack, wherein the conveying device comprises a plurality of folding conveying devices, and a folding channel is formed between every two adjacent folding conveying devices. Specifically, the conveyor includes, from top to bottom, a delivery conveyor 100, an extrusion conveyor 200, and a folding conveyor 300.
Clothes enter from the right end of the conveying and conveying device 100 and are conveyed to the left under the driving of the conveying and conveying device 100. The two sides of the conveying and conveying device 100 are provided with foldable turning plates which can be turned upwards to fold the part of the clothes which exceeds the conveying and conveying device 100, so that the width of the clothes is uniform. At the left end of the conveying conveyor 100, there is provided an arc-shaped first guide plate 110, and the laundry is conveyed downward into the lower pressing conveyor 200 under the guidance of the first guide plate 110.
The laundry is transferred to the right on the pressing transfer device 200. The squeezing conveyor 200 includes a conveying mechanism 201 for conveying the laundry and a squeezing mechanism 202 disposed above the conveying mechanism 201 at an angle to the conveying direction, and a squeezing conveying passage is formed therebetween that gradually narrows in the laundry conveying direction. The pressing mechanism 202 comprises two driving rollers and a transmission belt wound on the driving rollers, and the clothes are conveyed rightwards on the pressing and conveying device 200 and are pressed by the lower driving roller in the pressing mechanism 202 when passing through the pressing conveying channel, so that the thickness of the clothes can be more uniform. For good extrusion effect, the right end of the extrusion mechanism 202 is installed in contact with the conveying mechanism 201, and the conveying belt of the conveying mechanism 201 is hollow below the contact point and has a pressing space with a height of at least 10 cm. Preferably, the angle between the conveying mechanism 201 and the pressing mechanism 202 is 6 °. At the right end of the pressing conveyor 200 is provided an arc-shaped second guide plate 210, and the laundry is conveyed downward into the folding conveyor 300 below under the guidance of the second guide plate 210.
The folding conveyor 300 comprises a first folding conveyor 310 capable of bidirectional conveying and a second folding conveyor 320 capable of bidirectional conveying and arranged at the right side of the first folding conveyor 310, and a folding output channel is formed between the first folding conveyor 310 and the second folding conveyor; further includes a third folding conveyor 330 disposed above the second folding conveyor 320 and conveying to the left, a folding conveying path being formed between the first folding conveyor 310 and the third folding conveyor 330. The frame is further provided with a folding mechanism 400, wherein the folding mechanism 400 specifically comprises a first folding mechanism 410 capable of inserting/extracting the folding output channel and pressing the clothes into the folding output channel, and a second folding mechanism 420 capable of inserting/extracting the folding conveying channel and pressing the clothes into the folding conveying channel. The garment is transported out of the pinch conveyor 200 into the third folding conveyor 330 to the left and the first folding conveyor 310 is transported in the same direction to flatten the garment on the third folding conveyor 330 and the first folding conveyor 310.
For a short length of the laundry, one folding is performed in the folding conveyor 300. Specifically, the third folding conveyor 330 is conveyed to the left, the first folding conveyor 310 is conveyed to the right, and the second folding mechanism 420 is moved downward to be inserted into the folding conveyor path, to press the laundry into the folding conveyor path, to be folded and conveyed downward. The second folding conveyor 320 and the first folding conveyor 310 are oppositely conveyed to convey the clothes to the folding output passage, and further conveyed out into the storage unit 1.
Alternatively, the third folding conveyor 330 and the first folding conveyor 310 continue to move leftward to completely convey the laundry to the surface of the first folding conveyor 310, and then the first folding conveyor 310 moves rightward while the second folding conveyor 320 moves rightward to convey a portion of the laundry to the surface of the second folding conveyor 320 through the folding conveying path. Then, the first folding conveyor 310 continues to convey, the second folding conveyor 320 conveys to the left, and meanwhile, the first folding mechanism inserts into the folding output channel to the left, presses the clothes into the folding output channel, and conveys the clothes out of the folding output channel after being folded into the storage unit 1.
For longer length garments, two folds are made in the folding conveyor 300. Specifically, the third folding conveyor 330 and the first folding conveyor 310 transport the garment to the left until the end of the garment completely enters the third folding conveyor 330. The third folding conveyor 330 is conveyed to the left and the first folding conveyor 310 is conveyed to the right while the second folding mechanism 420 is moved downward to be inserted into the folding conveyor path to press the garment into the folding conveyor path, where the first folding occurs and the downward conveyance occurs. The second folding conveyor 320 and the first folding conveyor 310 are conveyed in the same direction, and the folded portion of the laundry is conveyed to the surface of the second folding conveyor 320. Then the second folding conveyor 320 and the first folding conveyor 310 are conveyed in reverse, and at the same time, the first folding mechanism 410 is moved leftward to be inserted into the folding output path, and the clothes are pressed into the folding output path, and are folded for the second time and conveyed out into the storage unit 1.
In a preferred embodiment of the present invention, the first folding conveyor 310 may slide in the left-right direction to approach or separate from the second folding conveyor 320 and the third folding conveyor 330, thereby changing the widths of the folding conveyor path and the folding output path. When the thickness of the folded clothes is large, the first folding conveyor 310 can move leftwards in a self-adaptive manner when the clothes pass through the folding conveying channel and the folding output channel, so that the width of the folding channel is increased, the clothes can pass through smoothly, and the clothes are prevented from being clamped or damaged due to over-extrusion. Through setting up mobilizable first folding conveyer, the width of adjustable folding conveying passageway and folding output channel has the effect that the extrusion leveled the clothing, can also adapt to the clothing in the great thickness scope, all can play good folding effect to the clothing in the great thickness scope.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A clothes folding machine comprises a manipulator for grabbing clothes to enter a clothes folding unit, wherein the manipulator comprises a fixed first clamping piece and a second clamping piece movably connected with the first clamping piece; still include drive arrangement, the second clamping piece moves under drive arrangement's drive, makes the manipulator open/close, its characterized in that: the robot further includes a first sensor for detecting that the robot has caught the laundry and a second sensor for detecting that the robot is opened/closed in place.
2. The garment pleating machine as claimed in claim 1, wherein: the first sensor is arranged at the clamping end of the first clamping piece and/or the second clamping piece and is triggered when the first sensor is contacted with clothes;
preferably, the first sensor comprises a microswitch arranged at the clamping end of the first clamping piece, an avoiding groove is arranged at the corresponding position on the clamping end of the second clamping piece, when the manipulator is closed in place, a triggering reed of the microswitch is embedded into the avoiding groove, and the microswitch is not triggered; when the mechanical arm is closed to grab clothes, the clothes press the trigger reed to trigger the microswitch.
3. The clothes folding machine according to claim 1 or 2, characterized in that: the second sensor is fixedly arranged on the manipulator, the second clamping piece is connected with the trigger piece, and when the manipulator is opened/closed in place, the trigger piece triggers the second sensor;
preferably, the second sensor includes a touch switch, and the trigger contacts and triggers the touch switch when the manipulator is opened/closed in place.
4. A control method of a clothes folding machine according to any one of claims 1 to 3, characterized in that: in the process that the driving device drives the second clamping piece to move to close the manipulator, if the first sensor is triggered, the manipulator is judged to grab clothes; in the process that the driving device drives the second clamping piece to move to open/close the manipulator, if the second sensor is triggered, the manipulator is judged to be opened/closed in place, and the driving device is controlled to stop driving; and when the manipulator is judged to be closed in place and the first sensor is not triggered, judging that the manipulator fails to grab the clothes.
5. The control method according to claim 4, characterized in that: when the manipulator is judged to grab the clothes, the driving device is controlled to drive the second clamping piece to move to a certain degree in the direction of closing the manipulator, and then the driving device is controlled to stop driving.
6. The control method according to claim 4, characterized in that: the second clamping piece has the maximum closing stroke, and the maximum closing stroke is the stroke of the movement of the second clamping piece from the opening in-place state to the closing in-place state of the manipulator;
the control method comprises the steps of controlling the manipulator to execute a clothes grabbing program to grab clothes, wherein the clothes grabbing program specifically comprises the following steps:
1) controlling the manipulator to be opened in place;
2) controlling the driving device to drive the second clamping piece to move to close the manipulator and judging whether the first sensor is triggered or not;
3) if the judgment result is yes, the manipulator is judged to grab the clothes, the program is ended, and if the judgment result is no, whether the motion of the second clamping piece reaches the maximum closing stroke is judged;
4) if the judgment result is yes, judging that the manipulator fails to grab the clothes; if the judgment result is negative, returning to the step 2);
preferably, in the step 4), if it is determined that the robot fails to grip the laundry, the process returns to the step 1).
7. The control method according to claim 6, characterized in that: the manipulator is movably arranged on the clothes folding machine along the vertical direction, and the manipulator has the maximum movable range in the vertical direction;
the control method specifically comprises the following steps:
a) controlling the manipulator to move to the highest point of the maximum movable range;
b) executing a clothes grabbing program;
c) if the manipulator fails to grab the clothes, judging whether the manipulator is located at the lowest point of the maximum movable range;
d) if yes, determining that the clothes are failed to be grabbed, if not, controlling the manipulator to move downwards for a certain distance, and returning to the step b);
preferably, in the step d), if it is determined that the laundry is not caught, the process returns to the step a).
8. The control method according to claim 6, wherein the robot arm is mounted on the clothes folding machine to be movable in a vertical direction, and further comprising, between the steps 1) and 2):
A) controlling the mechanical arm to move to a clothes grabbing height;
B) controlling the manipulator to move to a clothes grabbing position along the horizontal direction;
the clothes grabbing height is that the lower edge of the triggering part of the first sensor is lower than the upper edge of the clamped clothes, and the lowest point of the second clamping piece is higher than the upper edge of the clamped clothes when the manipulator is opened in place.
9. The control method according to claim 6, characterized in that: the clothes folding machine is provided with two mechanical arms, and the two mechanical arms are controlled independently by the clothes folding machine; when the two manipulators judge that the clothes are grabbed, judging that the clothes are grabbed successfully, and controlling the manipulators to move to drag the clothes into the clothes folding unit; and when judging that any manipulator fails to grab the clothes, controlling the manipulator which fails to grab the clothes to execute the clothes grabbing program again to grab the clothes.
10. The control method according to claim 9, characterized in that: the manipulator can be horizontally movably arranged on the clothes folding machine along the direction vertical to the clothes conveying direction; the control method comprises the steps that the clothes folding machine obtains the type of clothes, the mechanical arms are controlled to horizontally move along the direction perpendicular to the clothes conveying direction to adjust the distance between the two mechanical arms, and then the two mechanical arms are controlled to execute a clothes grabbing program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010241818.8A CN113463358A (en) | 2020-03-31 | 2020-03-31 | Clothes folding machine and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010241818.8A CN113463358A (en) | 2020-03-31 | 2020-03-31 | Clothes folding machine and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113463358A true CN113463358A (en) | 2021-10-01 |
Family
ID=77865203
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010241818.8A Pending CN113463358A (en) | 2020-03-31 | 2020-03-31 | Clothes folding machine and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113463358A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR960023453A (en) * | 1994-12-29 | 1996-07-20 | 배순훈 | Door opener of washing machine |
| US20030052141A1 (en) * | 2001-09-20 | 2003-03-20 | Jensen Ag Burgdorf | Folding apparatus for folding pieces of linen |
| US20060191171A1 (en) * | 2005-02-15 | 2006-08-31 | Jensen Ag Burgdorf | Process for aligning a laundry article and device for carrying out the process |
| JP2010110846A (en) * | 2008-11-05 | 2010-05-20 | Panasonic Corp | Robot hand and control device used for the same |
| CN105586762A (en) * | 2016-01-26 | 2016-05-18 | 江苏海狮机械集团有限公司 | Working clothes folding machine |
| CN109105001A (en) * | 2018-10-18 | 2019-01-01 | 石河子大学 | A kind of bergamot pear terminal executor of picking robot and picking method |
| CN208379224U (en) * | 2018-06-25 | 2019-01-15 | 信利半导体有限公司 | A kind of clothing automatic processing device |
| JP2019198491A (en) * | 2018-05-16 | 2019-11-21 | 株式会社アスティナ | Folding unit and folding method |
| CN110629509A (en) * | 2018-06-21 | 2019-12-31 | 青岛海尔智能技术研发有限公司 | Clothes folding machine and control method thereof |
-
2020
- 2020-03-31 CN CN202010241818.8A patent/CN113463358A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR960023453A (en) * | 1994-12-29 | 1996-07-20 | 배순훈 | Door opener of washing machine |
| US20030052141A1 (en) * | 2001-09-20 | 2003-03-20 | Jensen Ag Burgdorf | Folding apparatus for folding pieces of linen |
| US20060191171A1 (en) * | 2005-02-15 | 2006-08-31 | Jensen Ag Burgdorf | Process for aligning a laundry article and device for carrying out the process |
| JP2010110846A (en) * | 2008-11-05 | 2010-05-20 | Panasonic Corp | Robot hand and control device used for the same |
| CN105586762A (en) * | 2016-01-26 | 2016-05-18 | 江苏海狮机械集团有限公司 | Working clothes folding machine |
| JP2019198491A (en) * | 2018-05-16 | 2019-11-21 | 株式会社アスティナ | Folding unit and folding method |
| CN110629509A (en) * | 2018-06-21 | 2019-12-31 | 青岛海尔智能技术研发有限公司 | Clothes folding machine and control method thereof |
| CN110629496A (en) * | 2018-06-21 | 2019-12-31 | 青岛海尔智能技术研发有限公司 | Clothes folding machine and control method thereof |
| CN110629507A (en) * | 2018-06-21 | 2019-12-31 | 青岛海尔智能技术研发有限公司 | Clothes folding machine and control method thereof |
| CN208379224U (en) * | 2018-06-25 | 2019-01-15 | 信利半导体有限公司 | A kind of clothing automatic processing device |
| CN109105001A (en) * | 2018-10-18 | 2019-01-01 | 石河子大学 | A kind of bergamot pear terminal executor of picking robot and picking method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110629490B (en) | Control method of clothes folding machine | |
| US5440810A (en) | Apparatus for feeding and spreading laundry articles | |
| CN110629520B (en) | Folding device, clothes folding machine and control method of clothes folding machine | |
| US10407822B2 (en) | Separator and stacker for textile articles | |
| US20120308339A1 (en) | Separator for articles of laundry | |
| EP2155952A1 (en) | Linen spreader apparatus and method | |
| CN113463358A (en) | Clothes folding machine and control method | |
| CN111826918B (en) | Clothes stacking machine and control method | |
| CN113373670A (en) | Clothes folding machine and control method | |
| CN111254663B (en) | Clothes hanger, clothes folding machine and control method of clothes folding machine | |
| CN111691169A (en) | Control method of clothes folding machine and clothes folding machine | |
| CN112391822A (en) | Clothes folding machine and control method thereof | |
| JP3899003B2 (en) | Two-sheet prevention device for bag and two-sheet prevention device for sheet | |
| CN113367545A (en) | Clothes hanger, clothes folding machine and control method | |
| CN111254688B (en) | Clothes hanger, clothes folding machine and control method of clothes folding machine | |
| JPH07112100A (en) | Device for taking-out cloth or the like |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |