CN213232896U

CN213232896U - Quick automatic clothes folding device

Info

Publication number: CN213232896U
Application number: CN202021519420.8U
Authority: CN
Inventors: 瞿浩东; 唐晶; 张名琦; 叶昊聪; 凌玲
Original assignee: Huazhong University of Science and Technology
Current assignee: Huazhong University of Science and Technology
Priority date: 2020-07-28
Filing date: 2020-07-28
Publication date: 2021-05-18
Anticipated expiration: 2030-07-28

Abstract

The utility model belongs to the technical field of household devices, and discloses a quick automatic clothes folding device, which comprises a body structure, a folding structure, three four-bar driving mechanisms, two rotating mechanisms and at least two translation mechanisms, wherein the at least two translation mechanisms are respectively arranged in the body structure, and the at least two translation mechanisms are divided into two groups; the rotating mechanism is arranged on the body structure, the folding structure comprises two dropping plates, two side plates and a folding plate which are arranged side by side, and the dropping plates and the folding plate are positioned between the two side plates; the two dropping plates are respectively connected with the two rotating mechanisms; the folding plate is connected with a four-bar driving mechanism connected with the body structure; the two side plates are respectively in rotating connection with the other two four-bar driving mechanisms, and the two corresponding four-bar driving mechanisms are respectively connected with the two groups of translation mechanisms. The utility model discloses an it is automatic, simple structure, volume and noise are all less.

Description

Quick automatic clothes folding device

Technical Field

The utility model belongs to the technical field of the household device is relevant, more specifically relates to a quick automatic clothes folding device.

Background

In the usual clothes folding process, the problems of excessive energy and time consumption caused by too large amount of clothes, unsatisfactory effect caused by no control of clothes folding quality and the like are often encountered. Therefore, how to simplify the physical labor of people and ensure the speed and the quality, and meanwhile, it is necessary to consider a clothes folding platform or a clothes folding machine related to humanization, and with the proposal of innovative ideas such as intelligent home and the like, a clothes folding platform (machine) capable of releasing two hands is needed more urgently.

The clothes folding machines in the market at present are divided into two types, one type is a manual clothes folding plate which is driven, for example, the clothes folding plate of patent CN209807943U, and the clothes folding machines are not controlled, namely, a plurality of plastic plates with fixed shapes are formed by hinging, namely, clothes are flatly laid on the clothes, and the process of folding the clothes is achieved by manually turning the plates, but the manual labor is not liberated essentially, the clothes folding quality is not easy to control, the efficiency is low, the clothes folding machines can be continued only by manually taking the clothes away and continuously laying the next clothes after the clothes are folded, and the clothes folding machines are not essentially different from the original manual clothes folding machines.

The second is a fully automated robotic type. The clothes hanger is mainly divided into an electric motor, a belt transmission mechanism, an incomplete gear mechanism, a slider-crank mechanism, a gear rack mechanism, a gear mechanism, a clamping mechanism, a clothes folding mechanism and the like by integrating the existing examples at home and abroad, for example, the patent CN110438787A adopts the gear transmission mechanism, the belt transmission mechanism and the like, and the fixed clothes are also clamped by clamping claws. The patent CN108677504A uses the retractable plate to compress and clamp, which greatly causes the possibility of damaging the clothes, but the occupied volume is large, such as the Laundroid clothes folding robot, which is a foreign product, and the volume and noise similar to the air conditioner are eliminated gradually. In short, the existing clothes folding equipment has large volume, large vibration noise, high maintenance cost of the machine, easy damage of clothes by a clamping mechanism and the like.

SUMMERY OF THE UTILITY MODEL

To the above defect of prior art or improve the demand, the utility model provides a quick automatic clothes device that folds, fold the problem that the clothing device can not fold the clothing automatically, current automatic clothes machine that folds is bulky, the noise is too big, with high costs, the claw fragile clothing in order to fold the manual clothing board of will solving, its closed-loop control that adopts to fold clothing board and four-bar linkage to constitute motion and step motor accomplishes automatic clothes that fold, and realized automaticly, simple structure, volume and noise are all less.

In order to achieve the above object, according to an aspect of the present invention, there is provided a quick and automatic clothes folding device, which includes a body structure, a folding structure, three four-bar driving mechanisms, two rotating mechanisms and at least two translation mechanisms, wherein at least two translation mechanisms are respectively disposed in the body structure, and at least two translation mechanisms are divided into two groups; the rotating mechanism is arranged on the body structure,

the folding structure comprises two dropping plates, two side plates and a folding plate which are arranged side by side, wherein the dropping plates and the folding plate are positioned between the two side plates; the two dropping plates are respectively connected with the two rotating mechanisms; the folding plate is connected with a four-bar driving mechanism connected with the body structure; the two side plates are respectively in rotating connection with the other two four-bar driving mechanisms, and the two corresponding four-bar driving mechanisms are respectively connected to the two groups of translation mechanisms.

Further, the clothes folding device further comprises a controller, the controller is respectively connected with a four-bar driving mechanism, the translation mechanism and the rotating mechanism, and the four-bar driving mechanism connected with the side plate drives the side plate to rotate towards the falling plate or away from the falling plate through rotation so as to fold or reset the clothes on one side; the four-bar driving mechanism connected to the folding plate drives the folding plate to rotate towards the dropping plate or away from the dropping plate through rotation so as to fold or reset the clothes on the dropping plate integrally; the rotating mechanism drives the falling plate to turn over through rotation so that the clothes folded on the falling plate fall into the drawer or reset.

Further, the drawer is located below the drop plate; the side plates are driven to move through the translation mechanism so as to change the distance between the side plates and the falling plates.

Furthermore, the body structure comprises a box body in a shape of Chinese character 'ao', the drawer and two supporting plates, the drawer is arranged in an accommodating groove formed in the box body, two ends of each supporting plate are respectively connected to two opposite side walls of the box body, and the two supporting plates are arranged at intervals; the translation mechanism is arranged on the supporting plate.

Further, the material of the box body is an attractive material.

Further, rotary mechanism including set up motor cabinet on the bottom surface of accepting groove, with the motor cabinet interval sets up bear seat, motor element and rotate the piece, motor element sets up on the motor cabinet, its output shaft is in the one end of a polished rod, the other end of polished rod connect with rotating bear the seat, rotate a piece fixed connection in the polished rod, the board that drops connect in rotate the piece.

Further, the four-bar driving mechanism comprises a panel, at least one frame, a first rocker, a side link, a second rocker, a flange coupler, a telescopic cross connecting piece, an angle adjusting piece, a cross reducing connecting piece and a first motor, wherein the frame is arranged on the surface of the panel facing the folding structure, and the four-bar driving mechanism is connected to the folding structure through the frame; the first motor is arranged on the surface of the panel facing the bottom surface of the containing groove, one end of the cross reducing connecting piece is fixedly connected to an output shaft of the first motor, and the other end of the cross reducing connecting piece is fixedly connected to one end of the first rocker; the other end of the first rocker is fixedly connected to one end of the telescopic cross-shaped connecting piece, the other end of the telescopic cross-shaped connecting piece is connected to one end of the side link, the other end of the side link is connected to one end of the second rocker through the angle adjusting piece, and the other end of the second rocker is connected to the flange coupler through the telescopic cross-shaped connecting piece.

Furthermore, the side plates are slidably connected to the corresponding racks of the four-bar driving mechanisms, and the corresponding flange couplings are connected to the side plates.

Furthermore, the translation mechanism comprises a second motor, a conversion seat, a screw rod and bearing seats, the two bearing seats are arranged on the supporting plate at intervals, two ends of the screw rod are respectively and rotatably connected to the two bearing seats, an output shaft of the second motor is connected to one end of the screw rod, the conversion seat is sleeved on the screw rod, and the screw rod is in threaded connection with the conversion seat.

Further, the translation mechanism is connected to the corresponding four-bar driving mechanism through the conversion seat.

Generally, through the utility model discloses the above technical scheme who conceives compares with prior art, the utility model provides a quick automatic folding clothing device mainly has following beneficial effect:

1. fold the clothing device and realized automatic folding clothing and accomodate, replace manual folding by automatic folding, it is easy and simple to handle, alleviateed people's manual work greatly, the clothing folding efficiency is higher, has folded the automatic falling of clothes and has piled up neatly, does not need artifical sign indicating number neat.

2. The folding quality of clothing is higher, reduces the damage degree of clothes greatly, and the whole operation is more steady, and has added the feedback, effectively guarantees the operation safety.

3. The folding structure is simplified by adopting the four-bar mechanism, the moment required by folding is reduced, the energy is saved, the cost is reduced, and the popularization and the application are facilitated.

4. The plate is used as a carrier for folding the clothes, so that the use of operating claws is avoided, the clothes cannot be damaged due to pulling of the claws in the folding process, and the folding process is softer.

5. The sound-absorbing box has the advantages that reasonable and compact spatial layout is adopted, the size is small, sound-absorbing materials are attached to the inner side of the box body, the noise is low, the cost is low, and the sound-absorbing box is more suitable for being used at home.

Drawings

Fig. 1 is a schematic view of the rapid automatic clothes folding device provided by the present invention along an angle;

FIG. 2 is a partial schematic view of the quick automatic garment folding device of FIG. 1;

FIG. 3 is a perspective view of the quick automatic clothes folding apparatus of FIG. 1;

FIG. 4 is a partial perspective view of the quick automatic garment folding device of FIG. 1 at an angle;

FIG. 5 is a partial perspective view of the quick automatic garment folding device of FIG. 1 at another angle;

fig. 6 is a perspective view of the translating mechanism and the drop plate of fig. 1.

The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein: 1-side plate, 2-dropping plate, 3-folding plate, 4-first hinge part, 5-first rocker, 6-side link, 7-second rocker, 8-frame, 9-drawer, 10-second hinge part, 11-flange coupling, 12-telescopic cross connecting piece, 13-angle adjusting piece, 14-cross reducing connecting piece, 15-first motor, 16-second motor, 17-conversion seat, 18-lead screw, 19-bearing seat, 20-polished rod, 21-motor component, 22-rotating piece and 23-box.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. Furthermore, the technical features mentioned in the embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

Referring to fig. 1, fig. 2, fig. 3 and fig. 4, the present invention provides a quick and automatic clothes folding device, which includes a body structure, a folding structure, three four-bar driving mechanisms, two rotating mechanisms and four translation mechanisms, wherein the four translation mechanisms are respectively disposed in the body structure, and the four translation mechanisms are respectively located at four vertices of the same rectangle, and two of the translation mechanisms are a group. The three four-bar driving mechanisms are respectively connected to the folding structures, and the two four-bar driving mechanisms are respectively connected to the two groups of translation mechanisms. The two rotating mechanisms are also respectively connected to the folding structure, the rotating mechanisms and the four-bar driving mechanism are both used for driving the folding structure to rotate, and the translation mechanism is used for driving the four-bar driving mechanism to horizontally move so as to drive the folding structure to partially move. It is understood that in other embodiments, the number of the translation mechanisms may be increased or decreased according to actual needs, such as 2, 3, or 5.

The folding device further comprises a controller, wherein the controller is connected with the rotating mechanism, the translation mechanism and the four-bar driving mechanism and is used for controlling the rotating mechanism, the translation mechanism and the four-bar driving mechanism so as to realize automatic folding of clothes.

The body structure comprises a box body 23 in a shape like a Chinese character 'ao', a drawer 9 and two supporting plates, wherein the drawer 9 is arranged in an accommodating groove formed in the box body 23, two ends of the supporting plates are respectively connected to two opposite side walls of the box body 23, and the two supporting plates are arranged at intervals. The supporting plate is used for bearing the translation mechanism, the folding structure and the four-bar driving mechanism. In this embodiment, two first through grooves are respectively formed in two opposite side walls of the box body 23, and the two first through grooves are used for allowing the corresponding four-bar driving mechanism to partially pass through.

Two translation mechanisms are arranged on one supporting plate at intervals, and the other two translation mechanisms are arranged on the other supporting plate at intervals. The translation mechanism comprises a second motor 16, a conversion seat 17, a screw rod 18 and bearing seats 19, the two bearing seats 19 are arranged on the supporting plate at intervals, two ends of the screw rod 18 are respectively connected to the two bearing seats 19 in a rotating mode, an output shaft of the second motor 16 is connected to one end of the screw rod 18, the conversion seat 17 is sleeved on the screw rod 18, and the screw rod 18 is in threaded connection with the conversion seat 17. The translation mechanism is connected to the corresponding four-bar drive mechanism through the conversion seat 17. In this embodiment, the translation mechanism further includes a polish rod 20 disposed on the body structure, the conversion seat 17 is sleeved on the polish rod 20, and the polish rod 20 is used for guiding the sliding of the conversion seat 17.

The four-bar driving mechanism comprises a panel, at least one frame 8, a first rocker 5, a side link 6, a second rocker 7, a flange coupler 11, a telescopic cross connecting piece 12, an angle adjusting piece 13, a cross reducing connecting piece 14 and a first motor 15, wherein the frame 8 is arranged on the surface of the panel facing the folding structure, and the four-bar driving mechanism is connected to the folding structure through the frame 8.

The first motor 15 is arranged on the surface of the panel facing the bottom surface of the accommodating groove, one end of the cross reducing connecting piece 14 is fixedly connected to an output shaft of the first motor 15, and the other end of the cross reducing connecting piece is fixedly connected to one end of the first rocker 5. The other end of the first rocker 5 is fixedly connected to one end of the telescopic cross-shaped connecting piece 12, the other end of the telescopic cross-shaped connecting piece 12 is connected to one end of the side link 6, the other end of the side link 6 is connected to one end of the second rocker 7 through the angle adjusting piece 13, and the other end of the second rocker 7 is connected to the flange coupler 11 through the telescopic cross-shaped connecting piece 12. The four-bar driving mechanism is connected to the folding structure through the flange coupler 11.

Referring to fig. 5 and 6, the rotating mechanism includes a motor base disposed on the bottom surface of the accommodating groove, a bearing base disposed at an interval with the motor base, a motor assembly 21 and a rotating member 22, the motor assembly 21 is disposed on the motor base, an output shaft of the motor assembly is connected to one end of a polish rod, the other end of the polish rod is rotatably connected to the bearing base, and the rotating member 22 is fixedly connected to the polish rod. The motor assembly 21 drives the polished rod to rotate, the polished rod drives the rotating member 22 to rotate synchronously, and then the rotating member 22 drives the folding structure connected thereto to rotate partially.

The folding structure comprises two side plates 1, two dropping plates 2 and folding plates 3 which are arranged in parallel, wherein the two dropping plates 2 are fixedly connected with the rotating parts 22 of the two rotating mechanisms respectively. The folding plate 3 is rotatably connected with one end of a frame 8 of a four-bar driving mechanism through a second hinge part 10, and the corresponding panel of the four-bar driving mechanism is connected with a supporting plate, wherein the number of the frame 8 is one. The folding plate 3 is positioned on one side of the falling plate 2, and the drawer 9 is positioned below the two falling plates 2.

The side plate 1 is rotatably connected to the two frames 8 of one four-bar linkage through the two first hinge members 4, that is, the number of the corresponding frames 8 of the four-bar linkage is two, and the two ends of the corresponding panel are respectively connected to the two conversion seats 17. Meanwhile, the side plate 1 is connected to the flange coupler 11. In the present embodiment, the falling plate 2 and the folding plate 3 are located between the two side plates 1.

In the embodiment, all motors are controlled by adopting double closed-loop control of speed and position, so that the folding efficiency and quality of clothes are ensured, and the risk of damaging the clothes can be greatly reduced by omitting a clamping mechanism; the speed and position control of the motor is realized by adopting an AB phase incremental encoder, an STM32F407zgt6 control chip and a TB6600 motor driver; because the control is simple and convenient, and the double output shafts are easy to detect, the speed and the position of the encoder can be read; the box body 23 is made of sound-absorbing materials, so that the operation is more humanized, the price cost is reduced, and the applicability is stronger; the four connecting rods adopt aluminum alloy tubes which can be directly processed, so that the processing is convenient, and the cost is reduced; the cross coupling is used for improving the connection reliability, so that the debugging is convenient; part of the connecting rods are replaced by telescopic connecting rods, so that the debugging is facilitated; the motor is a 57 step motor. The encoder is arranged on the motor or the motor assembly, acquires speed and position information, transmits the acquired speed and position information to the controller, and the controller makes corresponding adjustment according to the received information.

When the clothes folding device works, firstly, clothes are placed on the falling plate 2, four-rod driving mechanisms connected with the two side plates 1 are started in sequence, the corresponding four-rod driving mechanisms drive the side plates 1 to rotate towards the falling plate 2 so as to fold up one side of the clothes, and the clothes rotate in opposite directions after being folded up; and the four-bar driving mechanism connected with the other side plate 1 starts to be started, so that the folding of the left side and the right side of the clothes is completed. Then, the four-bar driving mechanism connected to the folding plate 3 is started, the corresponding four-bar driving mechanism drives the folding plate 3 to rotate towards the falling plate 2 so as to complete the integral folding of the clothes, and then the folding plate rotates towards the opposite direction so as to perform resetting. Finally, the controller controls the two rotating mechanisms to drive the two falling plates 2 to overturn downwards, so that clothes fall into the drawer 9, and therefore the folding and storage of the clothes are completed, the whole operation is simple and convenient, and meanwhile, the time and the labor are saved.

In addition, the second motor 16 drives the lead screw 18 to rotate, the lead screw 18 drives the conversion seat 19 to horizontally move, and then the conversion seat 19 drives the side plate 1 to horizontally move through a corresponding four-bar driving mechanism, so that the distance between the side plate 1 and the falling plate 2 is changed, the folding device is suitable for folding clothes with different sizes, and the applicability is improved.

It will be understood by those skilled in the art that the foregoing is merely a preferred embodiment of the present invention, and is not intended to limit the invention to the particular forms disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.

Claims

1. The utility model provides a quick automatic clothes folding device which characterized in that:

the clothes folding device comprises a body structure, a folding structure, three four-bar driving mechanisms, two rotating mechanisms and at least two translation mechanisms, wherein the at least two translation mechanisms are respectively arranged in the body structure and are divided into two groups; the rotating mechanism is arranged on the body structure,

2. The quick automatic clothes folding apparatus according to claim 1, wherein: the clothes folding device further comprises a controller, the controller is respectively connected with a four-bar driving mechanism, the translation mechanism and the rotating mechanism, and the four-bar driving mechanism connected with the side plate drives the side plate to rotate towards the dropping plate or far away from the dropping plate through rotation so as to fold or reset one side of clothes; the four-bar driving mechanism connected with the folding plate drives the folding plate to rotate towards the dropping plate or away from the dropping plate through rotation so as to fold or reset the clothes on the dropping plate integrally; the rotating mechanism drives the falling plate to turn over through rotation so that the clothes folded on the falling plate fall into the drawer or reset.

3. A quick automatic clothes folding apparatus according to claim 2, wherein: the drawer is positioned below the falling plate; the side plates are driven to move through the translation mechanism so as to change the distance between the side plates and the falling plates.

4. A quick automatic clothes folding apparatus according to claim 2, wherein: the body structure comprises a box body in a concave shape, the drawer and two supporting plates, the drawer is arranged in an accommodating groove formed in the box body, two ends of each supporting plate are respectively connected to two opposite side walls of the box body, and the two supporting plates are arranged at intervals; the translation mechanism is arranged on the supporting plate.

5. The quick automatic clothes folding apparatus according to claim 4, wherein: the box body is made of sound-absorbing materials.

6. The quick automatic clothes folding apparatus according to claim 4, wherein: rotary mechanism including set up motor cabinet on the bottom surface of accepting groove, with the motor cabinet interval sets up bear seat, motor element and rotate the piece, motor element sets up on the motor cabinet, its output shaft is in the one end of a polished rod, the other end of polished rod rotate connect in bear the seat, rotate a piece fixed connection in the polished rod, the board that drops connect in rotate the piece.

7. The quick automatic clothes folding apparatus according to claim 4, wherein: the four-bar driving mechanism comprises a panel, at least one rack, a first rocker, a connecting rod, a second rocker, a flange coupling, a telescopic cross connecting piece, an angle adjusting piece, a cross reducing connecting piece and a first motor, wherein the rack is arranged on the surface of the panel facing the folding structure, and the four-bar driving mechanism is connected to the folding structure through the rack; the first motor is arranged on the surface of the panel facing the bottom surface of the containing groove, one end of the cross reducing connecting piece is fixedly connected to an output shaft of the first motor, and the other end of the cross reducing connecting piece is fixedly connected to one end of the first rocker; the other end of the first rocker is fixedly connected to one end of the telescopic cross-shaped connecting piece, the other end of the telescopic cross-shaped connecting piece is connected to one end of the side link, the other end of the side link is connected to one end of the second rocker through the angle adjusting piece, and the other end of the second rocker is connected to the flange coupler through the telescopic cross-shaped connecting piece.

8. The quick automatic clothes folding apparatus according to claim 7, wherein: the side plates are connected to the corresponding racks of the four-bar driving mechanisms in a sliding mode, and the corresponding flange couplers are connected to the side plates.

9. The quick automatic clothes folding apparatus according to any one of claims 4 to 8, wherein: the translation mechanism comprises a second motor, a conversion seat, a screw rod and bearing seats, the two bearing seats are arranged on the supporting plate at intervals, two ends of the screw rod are respectively connected to the two bearing seats in a rotating mode, an output shaft of the second motor is connected to one end of the screw rod, the conversion seat is sleeved on the screw rod, and the screw rod is in threaded connection with the conversion seat.

10. The quick automatic clothes folding apparatus according to claim 9, wherein: the translation mechanism is connected to the corresponding four-bar driving mechanism through the conversion seat.