WO2019242547A1 - 一种叠衣机及控制方法 - Google Patents

一种叠衣机及控制方法 Download PDF

Info

Publication number
WO2019242547A1
WO2019242547A1 PCT/CN2019/090898 CN2019090898W WO2019242547A1 WO 2019242547 A1 WO2019242547 A1 WO 2019242547A1 CN 2019090898 W CN2019090898 W CN 2019090898W WO 2019242547 A1 WO2019242547 A1 WO 2019242547A1
Authority
WO
WIPO (PCT)
Prior art keywords
clothes
hanger
rod
hanging
hanging rod
Prior art date
Application number
PCT/CN2019/090898
Other languages
English (en)
French (fr)
Inventor
吕佩师
赵志强
许升
劳春峰
郝世龙
李冬
吴迪
刘凯
Original Assignee
青岛海尔智能技术研发有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 青岛海尔智能技术研发有限公司 filed Critical 青岛海尔智能技术研发有限公司
Publication of WO2019242547A1 publication Critical patent/WO2019242547A1/zh

Links

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

Definitions

  • the invention belongs to the field of household appliances, and particularly relates to a clothes stacker and a control method.
  • the stackers on the market have the following defects: First, the height of the hanging rod on the stacker is not adjustable. When the user has a drying requirement, he can only hang the clothes on a separate clothes rod, and wait for the clothes to dry. Hanging clothes on the hanger of the stacker for folding, the same batch of clothes requires the user to perform two hanging operations, which undoubtedly increases the user's labor time; at the same time, due to the height difference between users, when the height is short Users have inconvenience when hanging clothes on the hanger of the clothes stacker, so it is necessary to provide a height adjustment of the hanger, which is convenient for people of different heights to hang clothes on the hanger of the clothes stacker. A stacker that meets your drying needs.
  • the technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide an adjustable height of the hanging rod, which can not only facilitate the hanging of clothes of users of different heights, but also meet the drying needs of users, and can effectively limit the moving parts of the stacker.
  • the range of motion reduces the damage to the clothes stacker caused by excessive movement of moving parts, at the same time prevents the clothes rack from falling off the hanging rod, and prevents the clothes stacker from increasing the difficulty of clamping.
  • a first object of the present invention is to provide a clothes stacker, which includes a folding unit, a hanger conveying unit, and a hanging rod.
  • the hanger conveying unit removes a clothes hanger with clothes and conveys it to the folding unit.
  • the folding is carried out, the hanging rod is arranged to be raised and lowered, and the hanger is hung on the hanging rod.
  • a lifting mechanism is provided on the hanging rod, and the lifting mechanism is used to adjust the height of the hanging rod.
  • the lifting structure includes a telescopic rod and a driving mechanism.
  • One end of the telescopic rod is connected to the driving mechanism and the other end acts on the hanging rod.
  • the driving mechanism drives the telescopic rod to move up and down to drive the hanging rod to move up and down.
  • the hanging lever includes a first gear position and a second gear position, and the height of the first gear position is smaller than the height of the second gear position; preferably, the first gear position is used for taking clothes, and the second gear position is used for For drying clothes.
  • the hanging rod further includes a third gear position, the height of the first gear position ⁇ the height of the third gear position ⁇ the height of the second gear position, preferably, the third gear position is used for conveying with a hanger.
  • the unit is docked for stacking.
  • the hanging rod includes a guide rod for hanging clothes and a storage rod for recovering a clothes rack
  • the guide rod is provided with a first telescopic rod
  • the storage rod is provided with a second telescopic rod
  • the first The telescopic rod and the second telescopic rod are driven up and down by the same driving mechanism, or the first telescopic rod and the second telescopic rod are driven up and down by the driving mechanism, respectively.
  • a second object of the present invention is to provide a control method of the above-mentioned clothes stacker, wherein the control method controls the hanging bars at different heights.
  • a humidity sensor and / or a weight sensor is provided on the hanging rod, and the height of the hanging rod is adjusted according to the detection value of the humidity sensor and / or the weight sensor.
  • the height of the hanging rod is adjusted to the first position to facilitate the user to take the hanging clothes.
  • the hanging rod includes a guide rod for hanging clothes and a storage rod for recovering the clothes rack
  • the guide rod and the storage rod are both adjustable and provided
  • the weight sensor and / or the humidity sensor are provided on the guide rod.
  • the control method is: adjusting the height of the storage rod according to the height of the guide rod;
  • the storage lever when the guide lever is in the first position for removing clothes, the storage lever is synchronously adjusted to the first position to facilitate the user to remove the hanger; when the guide lever is in the third position for folding clothes, Control the storage lever to adjust the height to the third gear. It is convenient for the gripper to place the clothes removal rack on the storage lever.
  • the control lever is adjusted to the third gear or control. The guide lever is adjusted synchronously to the second gear.
  • a third object of the present invention is to provide a clothes stacker, which includes a folding unit, a hanger conveying unit, and a hanging rod.
  • the hanger conveying unit removes a clothes hanger with clothes from the hanging rod and conveys it to the folding unit.
  • the hanger conveying unit includes a moving mechanism, and the stacking machine further includes a limiting structure for limiting a moving range of the moving mechanism.
  • the moving mechanism includes at least an X-direction moving mechanism
  • the hanger conveying unit further includes a clamping claw
  • the X-direction moving mechanism drives the clamping claw to move in the X direction
  • the limiting structure defines the X direction Range of motion of the moving mechanism
  • the X-direction moving mechanism includes an X-axis moving part, an X-axis slide bar, and a first drive motor, the first drive motor drives the X-axis moving part to move on the X-axis slide bar, and the limit structure is limited X-axis moving parts move in the X direction.
  • the limit structure includes a first limit structure and a second limit structure arranged along the X direction, and the X-axis moving part moves in the X direction between the first limit structure and the second limit structure.
  • the first limiting structure and the second limiting structure are respectively disposed at positions close to both ends of the X-axis slide bar.
  • the first position-limiting structure includes a first micro-switch and a first collision piece, and the X-axis moving part is correspondingly provided with a first collision portion;
  • the second position-limiting structure includes a second micro-switch and a first Two collision pieces, the X-axis moving part is provided with a second collision part correspondingly.
  • the hanging rod includes a guide rod for hanging clothes and a storage rod for collecting clothes hangers
  • the moving mechanism further includes a Y-direction moving mechanism, and the Y-direction moving mechanism drives the clamping claw to move between the guide rod and the storage rod.
  • the limiting structure further limits a movement range of the Y-direction moving mechanism
  • the Y-direction moving mechanism includes a Y-axis moving part, a Y-axis slide bar, and a second drive motor, the second drive motor drives the Y-axis moving part to move on the Y-axis slide bar, and the limiting structure further defines Movement range of Y-axis moving part in Y direction;
  • the limit structure includes a third limit structure and a fourth limit structure arranged along the Y direction, and the Y-axis moving part moves in the Y direction between the third limit structure and the fourth limit structure. ;
  • the third limiting structure and the fourth limiting structure are respectively disposed at positions close to both ends of the Y-axis slide bar.
  • the third limit structure includes a third micro-switch and a third collision piece, and the Y-axis moving part is correspondingly provided with a third collision portion;
  • the second limit structure includes a fourth micro-switch and a third Four collision pieces, the Y-axis moving part is correspondingly provided with a fourth collision part, and when the third collision piece is in contact with the third collision part or the fourth collision piece is in contact with the fourth collision part, the Y-axis movement part stops moving.
  • a fourth object of the present invention is to provide a control method for the above-mentioned stacker, wherein the control method is: controlling a movement mechanism to move within a range defined by the limit structure.
  • the current of the first micro-movement piece is interrupted to control the X-axis moving part to stop moving;
  • the second collision portion is in contact with the second collision piece, it is necessary to further Whether the clamping claw grips the hanger to decide to change the direction of the current passing through the second micro-moving piece or interrupt the current of the second micro-moving piece, so as to control the X-axis moving part to change the moving direction or stop moving;
  • the holding claw holds the hanger at this time, the direction of the current passing through the second micro-movement piece changes, and the X-axis moving part changes the moving direction; If the holding claw does not grip the hanger, the current passing through the second moving piece is interrupted, and the X-axis moving part stops moving.
  • the current of the third micro-movement piece is interrupted to control the Y-axis moving part to stop moving; when the fourth collision portion is in contact with the fourth collision piece, the fourth collision piece is passed through the fourth The current of the micro-moving piece is interrupted, and the Y-axis moving part is controlled to stop moving.
  • a fifth object of the present invention is to provide a clothes stacker.
  • the hanger conveying unit removes a clothes hanger with clothes from a hanger bar and conveys the hanger to a folding unit. The fixed position of the hanger hanging position.
  • the fixed positions are evenly spaced along the hanging rod, and suction parts / attracted parts are respectively provided on the fixed positions, and correspondingly, the attracted parts / attracted parts are provided at the hanging ends of the hangers.
  • the mutual attraction of the attracting parts positions the hanger on the hanging rod;
  • the attraction portion is a permanent magnet
  • the attracted portion is a permanent magnet having a magnetism opposite to that of the attraction portion or a metal capable of being attracted by the attraction portion;
  • an indicator is provided on the hanging rod at a position corresponding to the fixed position.
  • the hanger is positioned on the hanging rod.
  • the fixed positions are evenly spaced along the hanging rod, and limiting holes are respectively provided on the fixed positions, and the hangers are limited to the limiting holes;
  • the size of the limiting hole is greater than twice the size of the hanging end of the hanger and smaller than twice the size of the hanging end of the hanger.
  • the hanger conveying unit includes a clamping claw and a moving mechanism, the clamping claw is horizontally arranged, the moving mechanism drives the clamping claw to move along the side of the hanging rod, and the clamping claw extends laterally Enter the limit hole, remove the hanger with the clothes sideways, and send it to the stacking unit.
  • the moving mechanism includes an X-direction moving mechanism that drives the clamping claw to move horizontally in a direction parallel to the hanging rod, a Y-direction moving mechanism that drives the clamping claw to move horizontally in a direction perpendicular to the hanging rod, and a driving mechanism
  • the Z-direction moving mechanism that moves the clamping claws in a vertical direction, and the clamping claws take out the hanger from the limiting hole and send it to the stack under the cooperation of the X-direction moving mechanism, the Y-direction moving mechanism and the Z-direction moving mechanism. Clothing unit.
  • the fixed positions are uniformly distributed along the space of the hanging rods, and small posts are arranged on both sides of the fixed positions to form a space, and the hangers are limited to the spaces of adjacent small posts;
  • the width between two adjacent small uprights is greater than twice the width of the hanging end of the hanger and less than twice the width of the hanging end of the hanger.
  • a sixth object of the present invention is to provide a control method for the above-mentioned clothes stacker.
  • the hanger conveying unit includes a gripping claw.
  • the control method is to control the gripping claw to move to a fixed position and clamp the hanger hanging from the fixed position And transported to the stacking unit.
  • the gripping claw is controlled to move to the fixed position with the hanger to grip and transport the hanger to the stacking unit;
  • the fixed position is provided with an electromagnet and the hanger is provided with a permanent magnet or metal.
  • the electromagnet is controlled to be energized and the hanger is attracted to the fixed position;
  • the electromagnet is controlled to cut off the power, and the gripper grips the hanger and sends it to the stacking unit.
  • the present invention has the following beneficial effects compared with the prior art:
  • the hanging rod By setting the hanging rod to be liftable, it can meet the needs of users of different heights to hang clothes on the hanging rod.
  • the hanging rod By setting the hanging rod to be liftable, it can meet the needs of users to dry clothes on the hanging rod.
  • the present invention uses a contact type limit switch to limit the position.
  • the contact switch is sensitive in response, quick in response, low in price, and reduced the manufacturing cost of the stacker.
  • hangers By setting fixed positions on the hangers and allowing only one hanger to be hung from each fixed position, the hangers can be effectively prevented from falling off the hangers, and the stacking of hangers is prevented from increasing the difficulty of clamping.
  • FIG. 1 is a schematic structural diagram of Embodiment 1 of the present invention.
  • FIGS. 2 and 3 are schematic structural diagrams of Embodiment 2 of the present invention.
  • FIG. 11 is a control logic diagram of Embodiment 5 of the present invention.
  • the fixed connection may also be a detachable connection or an integral connection; it may be a mechanical connection or an electrical connection; it may be a direct connection or an indirect connection through an intermediate medium.
  • the fixed connection may also be a detachable connection or an integral connection; it may be a mechanical connection or an electrical connection; it may be a direct connection or an indirect connection through an intermediate medium.
  • a clothes stacker includes a folding unit 1, a hanger conveying unit 2, and a hanger 4.
  • the hanger conveying unit 2 includes a gripping claw 22, and the gripping claw 22 is a hanger with clothes.
  • 23 Take off and convey to the folding unit 1.
  • the hanger 23 is foldable.
  • the hanger 23 can be folded to release the clothes.
  • the folding unit 1 is provided with a clothing conveying device and a folding platform.
  • the folding platform has a horizontal surface for placing Clothes and fold them.
  • the laundry conveying device can remove the laundry on the hanger 23 on the hanger conveying unit 2 and lay the laundry on the folding unit 1, and then fold the laundry by the folding platform.
  • the clothes stacker further includes a storage unit 3, and the laundry is sent to the storage unit 3 after the folding platform is folded, and the user removes the folded clothes from the storage unit 3.
  • the hanging rod 4 is adjustable for lifting.
  • the hanger 23 is hung on the hanging rod 4. The user can adjust the hanging rod 4 to a higher height for drying clothes, and can be adjusted to the folding unit 1 for folding clothes. It can also be adjusted to a lower position according to the height of the user to take the hanger 23 or hang clothes.
  • the hanging rod 4 is provided with a lifting mechanism 43 for adjusting the height of the hanging rod 4.
  • the lifting methods of the lifting mechanism 43 include hydraulic lifting, pneumatic lifting, mechanical spring lifting or pulley lifting. Both electric lifting methods and manual or intelligent lifting can be used.
  • the lifting mechanism 43 includes a telescopic rod and a driving mechanism 46, the telescopic rod is disposed on an end of the hanging rod 4 away from the folding unit 1, the driving mechanism 46 is disposed on a frame of the clothes stacker, and the telescopic rod One end is connected to the driving mechanism 46, and the other end acts on the hanging rod 4.
  • the driving mechanism 46 drives the telescopic rod to move up and down, thereby driving the hanging rod 4 to move up and down.
  • the adjustable highest position of the hanging rod 4 corresponds to the minimum length after the telescopic rod is compressed, and the adjustable lowest position of the hanging rod 4 corresponds to the maximum length after the compression rod is stretched.
  • the user can be within this range of elongation Adjust the height of the hanging rod 4 arbitrarily according to your own needs; or set the hanging rod 4 to different height gears. After the user selects the target gear according to his own needs, the telescopic rod automatically adjusts the hanging rod 4 by stretching or compressing it. To target height.
  • the hanging rod 4 is provided with different gear positions, including at least a first gear position and a second gear position, and the height of the first gear position ⁇ the height of the second gear position, preferably
  • the first gear is used to pick and hang clothes
  • the second gear is used to dry clothes.
  • the height of the second gear can be adjusted by the user within the stretching range of the telescopic rod according to his own needs, and the hanging rod 4 is used for drying clothes according to the adjusted height of the second gear.
  • the hanging bar 4 automatically adjusts to a higher position to dry clothes.
  • the height of the first gear can be adjusted according to the height of the user within the compression range of the telescopic rod to facilitate hanging clothes.
  • a first gear can be set to lower the pole 4, when the user needs to hang clothes on the pole 4 for subsequent folding or drying
  • the telescopic rod is stretched, and the hanging rod 4 is automatically adjusted to a lower position, so that the user can hang the clothes on the hanging rod 4 conveniently.
  • the third gear position is used for stacking with the hanger conveying unit. clothes.
  • the height of the third gear is adjusted according to the height of the laundry inlet of the folding unit 1.
  • the height of the hanging rod 4 is high at this time.
  • the clamping claws 22 of the hanger conveying unit 2 cannot remove the hanger 23 on the hanging rod 4 and send it to the folding unit 1 for folding. Therefore, the hanging rod 4 needs to be folded. The height is lowered to the clothing entrance of the folding unit 1.
  • the hanging rod 4 includes a guide rod for hanging clothes and a storage rod for recovering the clothes hanger 23, and the to-be-folded unit 1 removes the clothes on the clothes hanger 23 which are gripped by the clamping claws 22 of the clothes hanger transport unit 2. Then, the gripper claw 22 transports the empty hanger 23 from which the laundry is removed to the storage rod, and recovers the empty hanger 23.
  • a first telescopic rod is provided on the guide rod to adjust the guide rod.
  • a second telescopic rod is provided on the storage rod to adjust the height of the storage rod.
  • the first telescopic rod and the second telescopic rod can be driven up and down by the same driving mechanism, or can be set to be driven up and down by the driving mechanism respectively.
  • the guide rod and the storage rod have the same or different lengths, and the guide rod and the storage rod have the same or different angles with the horizontal plane.
  • An implementation manner of the guide rod and the storage rod in this embodiment is that the guide rod is horizontally disposed, the storage rod is inclined, the end of the guide rod and the storage rod near the folding unit 1 is suspended, and the storage rod is close to the folding unit 1 The height at one end is higher than the height away from the other end of the folding unit 1. In this way, when the holding claws send the clothes removal rack 23 to the storage bar, the clothes rack 23 automatically moves along the storage bar to the lowest point of the storage bar, thereby facilitating the hanger 23 Gathering on the storage rod can also shorten the stroke of the clamping claw on the storage rod and improve work efficiency.
  • the guide rod and the storage rod are arranged in parallel and horizontally, and the clamping claws move back and forth on the storage rod to hang the clothes removal rack on the storage rod.
  • a clothes stacker as shown in FIG. 1 includes a folding unit 1, a hanger conveying unit 2, and a hanging rod 4.
  • the hanger 23 is hung on the hanging rod 4.
  • the hanger 23 is a foldable setting and the hanger 23 is retracted.
  • the clothes can be released after being folded.
  • the folding unit 1 is provided with a clothes conveying device and a folding platform.
  • the folding platform has a horizontal surface for placing clothes and folding the clothes.
  • the laundry conveying device can remove the laundry on the hanger 23 on the hanger conveying unit 2 and flatten the laundry on the folding unit 1, and then fold the laundry by the folding platform.
  • the clothes stacker further includes a storage unit 3, and the laundry is sent to the storage unit 3 after the folding platform is folded, and the user removes the folded clothes from the storage unit 3.
  • the hanger conveying unit 2 includes a moving mechanism that drives the clamping claw 22 to remove the clothes hanger 23 with clothes on the hanging rod 4, but the entire clothes stacker is caused by the excessive movement of the moving mechanism during the movement process.
  • the hanger transport unit 2 is damaged, so this problem is solved by providing a limiting structure on the clothes stacker that limits the movement range of the moving mechanism.
  • the limit structure is a limit switch that limits the limit position of the movement of the moving mechanism.
  • the limit switch includes a contact switch, such as a travel switch. Due to the mechanical inertial movement, the travel switch has a certain "overtravel” to Protects switches from damage; also includes non-contact switches, such as reed switches, photoelectric, and inductive switches.
  • the limit structure in this embodiment is a contact type limit switch.
  • the moving mechanism since the hanging rod 4 is horizontally arranged in the X direction, the moving mechanism includes at least an X-direction moving mechanism for conveying the clothes hanger 23 on the hanging rod 4 to the folding unit 1.
  • the hanger conveying unit 2 further includes a clamping claw 22, which removes the clothes hanger 23 with clothes from the hanging rod 4 and conveys it to the folding unit 1.
  • the clamping claw 22 may The hanger 23 can also be released by gripping the hanger 23.
  • the X-direction moving mechanism drives the clamping claw 22 to move in the X direction, and the limiting structure limits the movement range of the X-direction moving mechanism, thereby preventing the X-direction moving mechanism from being horizontal. Excessive movement in the direction damages the hanger conveying unit 2.
  • the specific setting manner of the X-direction moving mechanism is that the X-direction moving mechanism includes an X-axis moving part 2111, and further includes an X-axis driving belt 2113 and an X-axis slide bar 2112.
  • the X-axis moving part 2111 can be movably disposed on the X-axis slide bar 2112 and can move along the X-axis slide bar 2112, and the X-axis moving part 2111 is fixedly connected to the X-axis transmission belt 2113 through the first fixing portion 21111.
  • the X-axis transmission belt 2113 is arranged in parallel with the X-axis slide bar 2112, and the X-direction moving mechanism is further provided with a first drive motor 2114, the first drive motor 2114 is turned on, driving the X-axis transmission belt 2113 to move, and the X-axis transmission
  • the belt 2113 drives the X-axis moving part 2111 to move, so that the X-axis moving part 2111 moves along the X-axis slide bar 2112.
  • the limiting structure defines a movement range of the X-axis moving part 2111 in the X direction.
  • the limiting structure includes a first limiting structure 2131 and a second limiting structure 2132 arranged along the X direction, and the X-axis moving part 2111 is located between the first limiting structure 2131 and the second limiting structure 2132.
  • the X-axis moving part 2111 moves to the first limiting structure 2131 to ensure that the clamping claw 22 can move to the end of the hanging rod 4 away from the folding unit 1 when the X-axis moving mechanism 2111 moves.
  • the clamping claw 22 can send the hanger 23 clamped from the hanging rod 4 to the clothing entrance of the folding unit 1.
  • the first limiting structure 2131 and The second limiting structures 2132 are respectively disposed at positions close to both ends of the X-axis slide bar 2112.
  • the first limiting structure 2131 includes a first micro switch and a first collision piece, and a first collision portion is provided at a position corresponding to the first micro switch on the X-axis moving member 2111;
  • the second limiting structure 2132 includes a second micro switch and a second collision piece, and a second collision portion is provided corresponding to the position of the X-axis moving member 2111 corresponding to the second micro switch; the first collision portion
  • the second collision part protrudes from the X-axis moving part 2111 so as to sense the first or second collision piece in advance to prevent the X-axis moving part 2111 from moving excessively.
  • the X-axis moving member 2111 changes the moving direction or stops moving.
  • the hanging rods 4 include at least a guide rod 41 for hanging clothes. After the clothes are supported on the hanger 23, the user The clothes hanger 23 with the clothes hung is hung on the guide rod 41, and the clamping claw 22 conveys the clothes hanger 23 to the clothes inlet of the folding unit 1 along the guide rod 41 for folding.
  • the hanging rod 4 further includes a storage rod 42 for recovering the clothes hanger 23, the storage rod 42 is used for hanging the clothes hanger 23 for removing clothes, and the clothes hanger conveying unit 2 can also remove the clothes hanger 23 from the clothes inlet of the folding unit 1. It is conveyed to the storage rod 42 for collecting the hanger 23.
  • the guide rod 41 and the storage rod 42 have the same or different lengths, and the guide rod 41 and the storage rod 42 have the same or different angles with the horizontal plane.
  • An implementation manner of the guide rod 41 and the storage rod 42 in this embodiment is that the first hanging is horizontally disposed, the storage rod 42 is inclined, the guide rod 41 and the storage rod 42 are suspended and arranged near one end of the folding unit 1 and stored. The height of the end of the lever 42 near the folding unit 1 is higher than the height of the end away from the folding unit 1.
  • the hanger 23 automatically moves toward the storage lever along the storage lever 42
  • the lowest point of 42 is moved, so that it is convenient for the hanger 23 to gather on the storage rod 42, and at the same time, the movement stroke of the clamping claw 22 on the storage rod 42 can be shortened, and work efficiency can be improved.
  • Another embodiment of the guide rod 41 and the storage rod 42 in this embodiment is that the guide rod 41 and the storage rod 42 are arranged in parallel and horizontally, and the clamping claws 22 are moved back and forth on the storage rod 42 to hang the clothes removing rack 23 in storage. On the lever 42.
  • the moving mechanism further includes a Y-direction moving mechanism, and the Y-direction moving mechanism drives the clamping claw 22 to move between the guide rod 41 and the storage rod 42, that is, drives the clamping claw 22 along a direction perpendicular to the hanging rod 4. Move horizontally.
  • the Y direction moving machine can be integrated with the X direction mechanism, move simultaneously with the X direction moving mechanism, or can be separated and independent from the X direction moving mechanism. mobile.
  • the X-direction moving mechanism When the clamping claw 22 needs to move in the Y direction on the guide rod 41 or the storage rod 42, the X-direction moving mechanism is combined with Y, and the X-moving mechanism drives the Y-direction moving mechanism to move in the X-direction, that is, the horizontal direction;
  • the Y-direction moving mechanism When the clamping claw 22 needs to move in the Y direction between the guide rod 41 and the storage rod 42, the Y-direction moving mechanism is separated from the X-direction moving mechanism, and only the Y-direction moving mechanism drives the clamping claw 22 between the guide rod 41 and the
  • the storage levers 42 move between the storage levers 42, that is, in a direction perpendicular to the hanging lever 4.
  • the clamping claws 22 are provided on the Y-direction moving mechanism.
  • the limiting structure also limits the movement range of the Y-direction moving mechanism;
  • the specific setting manner of the Y-direction moving mechanism is that the Y-direction moving mechanism includes a Y-axis moving part 2121, and further includes a Y-axis driving belt 2123 and a second driving motor 2124.
  • the Y-axis moving part 2121 can be movably set. On the Y-axis slide bar 2122 and movable along the Y-axis slide bar 2122, the Y-axis moving part 2121 is fixedly connected to the Y-axis driving belt 2123 through the second fixing portion 21211, and the Y-axis driving belt 2123 is connected to the Y-axis Sliding rods 2122 are arranged in parallel, and the Y-direction moving mechanism is further provided with a second driving motor 2124.
  • the second driving motor 2124 is turned on, which drives the Y-axis driving belt 2123 to move, and the Y-axis driving belt 2123 drives the Y-axis moving member 2121.
  • the movement causes the Y-axis moving part 2121 to move along the Y-axis slide bar 2122.
  • the limiting structure defines a movement range of the Y-axis moving part 2121 in the Y direction.
  • the limiting structure includes a third limiting structure 2133 and a fourth limiting structure 2134 arranged along the Y direction, and the Y-axis moving part 2121 is located between the third limiting structure 2133 and the fourth limiting structure 2134.
  • the Y-axis moving part 2121 and the third limit structure 2133 to ensure that the clamping claw 22 is at the floating end of the guide rod 41, and when the Y-axis moving part 2121 moves to the fourth limit position In the structure 2134, it is ensured that the clamping claw 22 is at the floating end of the storage rod 42.
  • the X-axis moving part 2111 drives the Y-axis moving part 2121 to move along the Y-axis slide bar 2122, so that the clamping claw 22 moves back and forth on the guide bar 41 to remove the clothes hanger 23 with clothes from the guide bar 41, or The gripping claw 22 moves back and forth on the storage lever 42 and sends the clothes removing rack 23 to the storage lever 42 for recovery.
  • the Y-axis moving part 2121 moves along the X-axis slide bar 2112
  • the X-axis moving part 2111 is stationary, so that the clamping claw 22 moves between the floating end of the guide lever 41 and the floating end of the storage lever 42, and the clothes will be removed.
  • the hanger 23 is sent from the suspended end of the guide rod 41 to the suspended end of the storage rod 42, and the clamping claw 22 is disposed on the Y-axis moving member 2121.
  • the third limiting structure 2133 and the fourth limiting structure 2134 are respectively disposed at positions close to both ends of the Y-axis slide bar 2122.
  • the third limiting structure 2133 includes a third micro switch and a third collision piece, and a third position of the Y-axis moving part 2121 corresponding to the third micro switch is provided with a third Collision part 21212;
  • the fourth limiting structure 2134 includes a fourth micro switch 21341 and a fourth collision piece 21342, and a fourth position corresponding to the fourth micro switch 21341 is provided for the Y-axis moving member 2121.
  • the collision part 21213; the third collision part 21212 and the fourth collision part 21213 protrude the two moving parts so as to sense the third collision piece or the fourth collision piece 21342 in advance to prevent the Y-axis moving part 2121 from moving excessively.
  • the Y-axis moving member 2121 changes the moving direction or stops moving.
  • a clothes stacker as shown in FIG. 1 includes a folding unit 1, a hanger conveying unit 2, and a hanging rod 4.
  • the hanger 23 is hung on the hanging rod 4.
  • the height of the hanging rod 4 is fixed or can be adjusted according to the user.
  • the hanger 23 is foldable, and the clothes can be released after being folded.
  • the folding unit 1 is provided with a clothes conveying device and a folding platform.
  • the folding platform has a horizontal surface for placing clothes. And fold the clothes.
  • the hanger conveying unit 2 includes a clamping claw 22, which removes the clothes hanger 23 with clothes from the hanging rod 4 and conveys it to the folding unit 1.
  • the clamping claw 22 can be clamped.
  • the clothes hanger 23 can also release the clothes hanger 23.
  • the clothing conveying device can remove the clothes on the clothes hanger 23 held by the clamping claws 22 and lay the clothes on the folding unit 1, and then the clothes are folded by the folding platform.
  • the clothes stacker further includes a storage unit 3, and the laundry is sent to the storage unit 3 after the folding platform is folded, and the user removes the folded clothes from the storage unit 3. After the user hangs the clothes on the hanger 4 through the hanger 23, the hanger 23 is easy to move under the wind and even detach from the hanger 4, or if the user hangs the hanger 23 on the hanger 4 freely when hanging the clothes This will cause multiple hanging rods 4 to accumulate, thereby increasing the difficulty of grasping the hanger 23 by the clamping claws 22.
  • a plurality of fixed positions for limiting the hanging position of the hanger 23 are provided on the hanging rod 4, and The hanger 23 is positioned or limited to a fixed position to solve the problem that the hanger 23 falls from the hanger 4 or piles on the hanger 4.
  • the first embodiment of the fixed position of the present invention is, as shown in FIG. 4, the fixed positions are evenly spaced along the hanging rod 4, and the attracting portion 451 / the attracted portion 231 are respectively provided on the fixed position, and correspondingly on the hanger 23
  • the suspended end is provided with an attracted portion 231 / attracting portion 451.
  • the hanging rod 4 is a hollow tubular structure, and the attracting portion 451 / attracted portion 231 is disposed inside the hollow pipe of the hanging rod 4 and at least fits.
  • the inner wall of the upper surface of the hanging rod 4 is preferably arranged in close contact with the inner wall of the hanging rod 4 in order to ensure the bonding stability.
  • an attracted portion 231 / attracting portion 451 is provided at the hanging end of the hanger 23, preferably at a portion of the hanger 23 that is in contact with the hanging rod 4.
  • the mutual attraction between the attracting portion 451 and the attracted portion 231 positions the hanger 23 on the hanger 4 so as to prevent the hanger 23 from falling off the hanger 4. Only one hanger 23 is allowed to be fixed at each fixed position, which can reduce clamping. The difficulty with which the claw 22 grips the hanger 23.
  • the attracting portion 451 / the attracted portion 231 on the hanging rod 4 is disposed inside the hanging rod 4, it is difficult for the user to identify the specific position of the fixed position, and the position of the surface of the hanging rod 4 corresponding to the fixed position is also An indicator indicating the fixed position is provided. When the user hangs the hanger 23 at the indicator, the hanger 23 is positioned on the hanger 4.
  • the attraction portion 451 may be a permanent magnet or an electromagnet
  • the attracted portion 231 is a permanent magnet, an electromagnet, or a metal capable of being attracted by the permanent magnet and the electromagnet.
  • a preferred implementation manner of this embodiment is to set both the attraction portion 451 and the attracted portion 231 as permanent magnets.
  • the hanger 23 may be provided with a repelling portion that prevents the multiple hangers 23 from aggregating.
  • the repelling portion is a permanent magnet provided with the same magnetic pole on the main body of the hanger 23.
  • the second embodiment of the fixed position of the present invention is, as shown in FIG. 5-9, the fixed positions are evenly spaced along the hanging rod 4, and a limited position hole 452 is respectively opened on the fixed position, and the shape of the limited position hole 452 may be Circular or square, the hanger 23 is limited to the limiting hole 452, so as to prevent the hanger 23 from falling off the hanging rod 4, and each limiting hole 452 can only hang one hanger 23, thereby reducing the clamping claw 22 Difficulty of getting the hanger 23.
  • the size of the limit hole 452 is greater than twice the size of the hanging end of the hanger 23 and less than twice the size of the hanging end of the hanger 23, which can ensure that each limit hole 452 can only be hung.
  • a hanger 23 can also ensure that the clamping claw 22 can reach into the limiting hole 452 to clamp the hanger 23.
  • the hanger conveying unit 2 includes a clamping claw 22 and a moving mechanism 21 which is arranged horizontally.
  • the moving mechanism 21 drives the clamping claw 22 to move along the side of the hanging rod 4.
  • the claw 22 extends into the limiting hole 452 laterally, and the clothes hanger 23 with clothes is removed laterally and sent to the clothing stacking unit.
  • the moving mechanism 21 includes an X-direction moving mechanism that drives the clamping claw 22 to move horizontally in a direction parallel to the hanging rod 4, a Y-direction moving mechanism that drives the clamping claw 22 to move horizontally in a direction perpendicular to the hanging rod 4, and A Z-direction moving mechanism that drives the clamping claw 22 to move in a vertical direction.
  • the clamping claw 22 cooperates with the X-direction movement mechanism, the Y-direction movement mechanism, and the Z-direction movement mechanism to move the hanger 23 from the limit hole 452. Take out and send to the stacking unit.
  • the hanging rod 4 is fixedly suspended on the hanger conveying unit 2 through a fixing structure 44, or a lifting mechanism 43 is provided on the fixing structure 44, as shown in FIG. 6.
  • the lifting mechanism 43 adjusts the height of the hanging rod 4.
  • the X-direction moving mechanism drives the clamping claw 22 to move horizontally in the X direction along the hanging rod 4 side.
  • the Y-direction moving mechanism drives the clamping claw 22 to move horizontally in the direction Y perpendicular to the hanging rod 4, and the clamping claw 22 extends into the limiting hole. 452 and clamps the clamping portion 232 of the hanger 23; as shown in FIG. 7, the Z-direction moving mechanism drives the clamping claw 22 to move in the vertical direction Z, and raises the hanger 23 upward; As shown in FIG.
  • the Y-direction moving mechanism drives the clamping claw 22 to move in a direction opposite to that before, and the clamping claw 22 laterally takes out the hanger 23 from the limiting hole 452; as shown in FIG. 9. Then, the X-direction moving mechanism drives the clamping claw 22 to move in a direction opposite to the previous direction, and conveys the clamping claw 22 to the stacking unit.
  • the specific setting manner of the X-direction moving mechanism is that the X-direction moving mechanism includes an X-axis moving part, and further includes an X-axis driving belt and an X-axis slide bar, and the X-axis moving part can be movably disposed on the X-axis slide bar.
  • the X-axis moving part is fixedly connected to the X-axis drive belt through a first fixing part, the X-axis drive belt is arranged in parallel with the X-axis slide bar, and the X direction moves
  • the mechanism is also provided with a first drive motor which is turned on to drive the X-axis drive belt to move, and the X-axis drive belt drives the X-axis moving part to move the X-axis moving part along the X-axis slide bar, thereby Drive the clamping claw 22X to move.
  • the specific setting manner of the Y-direction moving mechanism is that the Y-direction moving mechanism includes a Y-axis moving part, and further includes a Y-axis driving belt and a second driving motor, and the Y-axis moving part can be movably disposed on the Y-axis slide bar.
  • the Y-axis moving part is fixedly connected to the Y-axis drive belt through a first fixing part, the Y-axis drive belt is arranged in parallel with the Y-axis slide bar, and the Y direction moves
  • the mechanism is also provided with a second drive motor, which is turned on to drive the Y-axis drive belt to move, and the Y-axis drive belt drives the Y-axis moving part to move the Y-axis moving part along the Y-axis slide bar.
  • the limiting structure limits the movement range of the Y-axis moving part in the Y direction, thereby driving the clamping claw 22Y to move in the direction.
  • the specific setting manner of the Z-direction moving mechanism is that the Z-direction moving mechanism includes a Z-axis moving part, and further includes a Z-axis driving belt and a third driving motor, and the Z-axis moving part can be movably disposed on the Z-axis slide bar.
  • the Z-axis moving part is fixedly connected to the Z-axis drive belt through a third fixing part, the Z-axis drive belt is arranged in parallel with the Z-axis slide bar, and the Z direction moves
  • the mechanism is also provided with a third drive motor, which is turned on to drive the Z-axis drive belt to move, and the Z-axis drive belt drives the Z-axis moving part to move, so that the Z-axis moving part moves along the Z-axis slide bar.
  • the limiting structure limits the movement range of the Z-axis moving part in the Z direction, thereby driving the clamping claw 22 to move in the Z direction, thereby driving the clamping claw 22 to move along the Z-axis slide bar.
  • the X-axis moving part and the Y-axis moving part may be provided in combination.
  • the Y-axis moving part and the Z-axis moving part may be provided in combination.
  • the X-axis moving part drives the Y-axis moving part.
  • the Z-axis moving part moves in the X direction at the same time; when the clamping claw 22 moves in the Y direction, the Y-axis moving part is separated from the X-axis moving part, and the Y-axis moving part drives the Z-axis moving part to move in the Y direction;
  • the Z-axis moving part is separated from the Y-axis moving part. Only the Z-axis moving part drives the clamping claw 22 to move in the Z direction.
  • the clamping claw 22 is provided on the Z-axis moving part.
  • the third embodiment of the fixed position of the present invention is that, as shown in FIG. 10, the fixed positions are evenly distributed along the hanging rod 4, small posts 453 are provided on both sides of the fixed position to form a space, and the hanger 23 is limited to In the interval between adjacent small uprights 453, to prevent the hanger 23 from falling off the hanger 4, preferably, the width between two adjacent small uprights 453 is greater than twice the width of the hanging end of the hanger 23, and less than The width of the hanging end of the hanger 23 is doubled, so that only one hanger 23 can be hung in each fixed position, thereby reducing the difficulty of gripping the hanger 23 by the clamping claws 22.
  • the height of the small upright post 453 is less than or equal to the height of the hanging end of the hanger 23 protruding from the hanging bar 4, so as to ensure that the clamping claw 22 is not blocked by the small upright post 453 when moving on the hanging bar 4.
  • the hanging rods 4 include at least a guide rod for hanging clothes. After the clothes are supported on the hangers 23, the user will hang the clothes hangers 23 Hanging on the guide rod, the clamping claw 22 conveys the clothes hanger 23 to the laundry inlet of the folding unit 1 along the guide rod for folding.
  • the hanging rod 4 further includes a storage rod for recovering the clothes hanger 23, the storage rod is used for hanging the clothes hanger 23 for removing clothes, and the clothes hanger conveying unit 2 can also convey the clothes hanger 23 from the clothes inlet of the folding unit 1 to The storage rod is used for recovering the hanger 23.
  • the fixed position is arranged on the guide rod.
  • the guide rod and the storage rod have the same or different lengths, and the guide rod and the storage rod have the same or different angles with the horizontal plane.
  • An implementation manner of the guide rod and the storage rod in this embodiment is that the first hanging is horizontally arranged, the storage rod is inclined, the guide rod and the storage rod are suspended and arranged near one end of the folding unit 1, and the storage rod is close to the folding unit 1. The height of one end is higher than the height far from the end of the folding unit 1. In this way, when the clamping claw 22 sends the clothes removal rack 23 to the storage bar, the clothes rack 23 automatically moves to the lowest point of the storage bar along the storage bar, thereby facilitating the hanger.
  • the guide rod and the storage rod are arranged in parallel and horizontally, and the clamping claws 22 are moved back and forth on the storage rod to hang the clothes hanger 23 for removing the clothes on the storage rod.
  • Another object of the present invention is to provide a control method of the above-mentioned clothes stacker, which controls the hanging rods to be located at different heights. It can be used to manually control the height of the hanging rod, it can also be controlled by electric power, and it can also be controlled by intelligent induction.
  • a humidity sensor and / or a weight sensor is provided on the hanging rod, and the humidity sensor may be provided on a hanging end of each hanger or on the hanging rod to detect a humidity value of clothes hanging on the hanger, and / or The weight sensor is arranged on the hanging rod to sense the weight of the hanging object on the hanging rod. According to the detection value of the humidity sensor, it is used to detect whether the clothes on the hanging rod need to be dried or whether it reaches the foldable humidity standard. Adjust the hanging rod to the height of the third gear for folding clothes and the height of the second gear for drying clothes. And / or, detecting whether there is still hanging clothes on the hanging rod according to the detection value of the weight sensor, and if not, adjusting the hanging rod to a first gear height that is convenient for the user to hang the clothes.
  • the humidity sensor starts to detect the humidity value of the clothes.
  • the humidity sensor detects that the humidity value on the guide rod is greater than a preset humidity value
  • the height of the hanging rod is adjusted to the second gear.
  • the humidity value detected by the humidity sensor is less than the preset humidity
  • the height of the hanger is adjusted to the third position to fold the laundry.
  • the preset humidity value is a humidity value of the laundry when the laundry is dried.
  • the preset weight is the weight of a single empty hanger, and if the weight on the hanger is less than the weight of a single empty hanger, the guide is adjusted The height of the lever is in the first position to facilitate the user to hang clothes.
  • both the guide rod and the storage rod can be raised and lowered, and the humidity sensor and / or weight sensor are provided on the guide rod, To detect the humidity value and / or weight value of the guide rod, and adjust the height of the guide rod according to the detection result.
  • the storage lever is controlled to be synchronized to the height of the first gear to facilitate the user to remove the hanger; when the guide lever is at the third gear of folded clothes When the height is adjusted, the storage lever is adjusted synchronously to the third gear position, which is convenient for the clamping claw to place the clothes removal rack on the storage lever; when the guide lever is in the second gear position for drying clothes, the control lever is adjusted When the height is adjusted to the third gear or the control guide rod is adjusted to the height of the second gear, the clamping claws are moved back and forth on the storage lever to hang the clothes removal rack on the storage lever.
  • the hanger conveying unit includes a gripping claw.
  • the control method is to control the gripping claw to move to a fixed position, and clamp and convey the hanger suspended from the fixed position. To the stacking unit.
  • the clamping claws By controlling the clamping claws to move directly to the fixed position, the moving efficiency of the clamping claws on the hanging rod can be improved.
  • only the hangers on the fixed position are sensed, and the efficiency of the hangers' sensing is also improved, thereby improving the entire stacking machine. Work efficiency.
  • a hanger sensing device is provided on the hanging rod to sense whether a hanger is hung on the fixed position.
  • the clamping claws firstly control the clamping claws to sequentially move to the fixed position of the hanging rod, and then detect whether there is a hanger on the fixed position. If a hanger is detected, the hanger is clamped and transported to the stacking unit; the clamping claw can be set In order to sequentially move from the end of the hanging rod near the stacking unit to the fixed position on the hanging rod, after each move to a fixed position, the hanger on the fixed position is detected. If the fixed position is detected, the hanger is clamped. Take it to the stacking unit, and then move to the next fixed position and test.
  • the clamping claw can also be set to move from the end away from the hanging rod of the stacker unit, and the working method is the same as above.
  • the hanger can be detected by providing a sensing device, a micro switch, a sensor, etc. on the hanger and / or the clamping claw.
  • the fixed position is provided with an electromagnet
  • the hanger is provided with a permanent magnet or metal.
  • the electromagnet is controlled to be energized and the hanger is attracted to the fixed position; when the clamping claw is moved to the hanging position
  • the electromagnet is controlled to cut off the power. At this time, the adsorption force between the hanger and the hanging rod is lost, and the clamping claw can easily grip the hanger and send it to the stacking unit.
  • a method for controlling a clothes stacker The structure of the clothes stacker is basically the same as that of Embodiment 1.
  • the fixed position is further provided with a hanger detection device and an indicator light for detecting the number of hangers, and the indicator light can emit lights of different colors.
  • the control method is: controlling the change of the indicator light according to the number of hangers detected by the hanger detection device.
  • the power of the stacker is turned on, and the hanger detection device detects the hanger on the fixed position. If no hanger is detected, the indicator on the fixed position is turned on. If a hanger is detected, it is further determined according to whether the number of the detected hanger is One to determine whether the control indicator lights up or off. When the hanger detection device detects that there is only one hanger hanging on the fixed position, the control indicator turns off. When the hanger detection device detects a hanger hanging on the fixed position, When the number is greater than 1, the control indicator turns on.
  • the indicator light is also controlled to flash.
  • the clothes stacking machine is further provided with an alarm device.
  • the alarm device When it is detected that the number of hangers hung on the fixed position is more than one, the alarm device is activated to prompt the user to remove the excess hangers in the fixed position.
  • S4 The number of hangers on the fixed position is further detected. If the detection result is 1, the control indicator light is off. If the detection result is more than 1, the control indicator light is red and flashes, and the alarm device is activated.

Landscapes

  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Holders For Apparel And Elements Relating To Apparel (AREA)
  • Folding Of Thin Sheet-Like Materials, Special Discharging Devices, And Others (AREA)
  • Discharge Of Articles From Conveyors (AREA)
  • Accessory Of Washing/Drying Machine, Commercial Washing/Drying Machine, Other Washing/Drying Machine (AREA)
  • Power-Operated Mechanisms For Wings (AREA)

Abstract

一种叠衣机及其控制方法，叠衣机包括折叠单元（1）和衣架输送单元（2），衣架输送单元（2）将带有衣物的衣架（23）取下后输送至折叠单元（1）处，衣架输送单元（2）包括可升降调节的挂杆（4），衣架（23）挂在挂杆（4）上。通过该叠衣机及控制方法，可解决不同身高的用户向挂杆（4）上挂衣物的需求，以及用户需要在挂杆（4）上晾晒衣物的需求，以及能有效限定叠衣机运动部件的运动范围，减少因运动部件运动过量而导致叠衣机损坏情况，同时能避免衣架从挂杆（4）上掉落，以及防止衣架（23）堆积而增加夹取难度。

Description

一种叠衣机及控制方法 技术领域
本发明属于家用电器领域，具体地说，涉及一种叠衣机及控制方法。
背景技术
在日常的家居生活中，需要将晾干的衣物或制作好的衣物折叠存储，生活中人们叠衣一般通过手动折叠，由于社会发展生活节奏的加快，用于做家务的时间减少，晾好的衣物随意堆放，既造成收纳空间的浪费，又对衣物造成损伤；生活水平的提高也带来了衣物的种类的增加，用户并不能掌握针对不同衣物的折叠以及收纳的技巧，以至于折叠后的衣物并不能得到较好的保护，折叠不平整的衣物在穿着前仍需要熨烫，因而有必要提供一种体积小、自动化程度高并且外形美观的叠衣机供家庭使用。由于日常需要穿着的衣物种类众多，工业上使用的叠衣机仅能提供单一的程序对特定的衣物类型进行折叠，并不能为家庭用户带来便利，因而市场上缺少一种更加智能化的适合折叠不同类型衣物的叠衣机。
目前市场上出现的叠衣机具有如下缺陷：其一，叠衣机上的挂杆高度不可调，当用户有晾晒需求时只能将衣物挂在单独的晾衣杆上，待衣物晾干后再将衣物挂在叠衣机的挂杆上进行折叠，同一批衣物需要用户进行两次挂取的操作，这无疑增加了用户的劳动时间；同时，由于用户之间存在身高差异，当身高较矮的用户往叠衣机的挂杆上挂衣物时会存在不便利的情况，因此需要提供一种挂杆高度能调节，既方便不同身高的人来往叠衣机的挂杆上挂衣物，还需满足用户的晾晒需求的叠衣机。其二，叠衣机的运动部件带动机械手臂进行衣架的抓取，或将衣架回收至另外的挂杆上时，运动部件在运动过程中不可避免运动过量导致整个叠衣机衣架输送系统的损坏。因此需要提供一种能限定叠衣机运动部件运动范围的叠衣机。其三，由于衣架挂在挂杆上后，由于衣架在风吹动的情况下容易移动，甚至会脱离挂杆，或者用户在悬挂衣物时将衣架随意挂在挂杆上，导致多个挂杆堆积，从而增大夹持爪对衣架的抓取难度，因此需要提供一种能避免衣架从挂杆上掉落，以及防止衣架堆积而增加夹取难度的叠衣机。
有鉴于此特提出本发明。
发明内容
本发明要解决的技术问题在于克服现有技术的不足，提供一种挂杆高度能调节，既可方便不同身高的用户悬挂衣物，又能满足用户晾晒需求，以及能有效限定叠衣机运动部件的运动范围，减少因运动部件运动过量而导致叠衣机损坏情况，同时能避免衣架从挂杆上掉落，以及防止衣架堆积而增加夹取难度的叠衣机。
为解决上述技术问题，本发明的第一目的在于提出一种叠衣机，包括折叠单元、衣架输送单元和挂杆，所述衣架输送单元将带有衣物的衣架取下后输送至折叠单元处进行折叠，所述挂杆为可升降设置，所述衣架挂在挂杆上。
进一步的，所述挂杆上设置有升降机构，所述升降机构用来调节挂杆的高度。
进一步的，所述升降结构包括伸缩杆和驱动机构，伸缩杆的一端连接驱动机构，另一端作用在挂杆上，所述驱动机构驱动伸缩杆升降从而带动挂杆升降。
进一步的，所述挂杆包括第一档位和第二档位，第一档位的高度小于第二档位的高度；优选地，第一档位用于取挂衣物，第二档位用于晾晒衣物。
进一步的，所述挂杆还包括第三档位，第一档位的高度≤第三档位的高度≤第二档位的高度，优选地，所述的第三档位用于与衣架输送单元对接进行叠衣。
进一步的，所述挂杆包括用来悬挂衣物的导向杆和用来回收衣架的存放杆，所述导向杆上设置第一伸缩杆，所述存放杆上设置第二伸缩杆，所述第一伸缩杆和第二伸缩杆由同一驱动机构驱动升降，或者第一伸缩杆和第二伸缩杆分别由驱动机构驱动升降。
本发明的第二目的在于提出了上述叠衣机的控制方法，所述控制方法控制挂杆位于不同的高度。
进一步的，，所述挂杆上设置有湿度传感器和/或重量传感器，根据湿度传感器和/或重量传感器的检测值来调整挂杆的高度。
进一步的，当湿度传感器检测上的湿度值大于预设湿度时，则调整挂杆的高度至第二档位来晾晒衣物；当湿度传感器检测挂杆的湿度值小于预设湿度时，则调整挂杆的高度至第三档位来折叠衣物；
和/或，当重量传感器检测挂杆的重量小于或等于预设重量时，调整挂杆的高度至第一档位来方便用户来取挂衣物。
进一步的，所述挂杆包括用来悬挂衣物的导向杆和用来回收衣架的存放杆，所述导向杆和存放杆均为可升降设置，所述重量传感器和/或湿度传感器设置于导向杆上用来调节导向杆的高度，所述控制方法为：根据所述导向杆的高度来调整存放杆的高度；
优选的，当导向杆处于用来取挂衣物的第一档位时，控制存放杆同步调整至第一档位方便用户取下衣架；当所述导向杆处于折叠衣物的第三档位时，控制存放杆同步调整至第三档位高度方便夹持爪将去除衣物的衣架放置到存放杆上；当导向杆处于晾晒衣物的第二档位时，控制导向杆调整至第三档位或控制导向杆同步调整至第二档位。
本发明的第三目的在于提出了一种叠衣机，包括折叠单元、衣架输送单元和挂杆，所述衣架输送单元将带有衣物的衣架从挂杆上取下后输送至折叠单元处，所述衣架输送单元包括移动机构，所述叠衣机上还包括用于限定所述移动机构运动范围的限位结构。
进一步的，所述移动机构至少包括X向移动机构，所述衣架输送单元还包括夹持爪，所述X向移动机构带动夹持爪沿X向移动，所述限位结构限定所述X向移动机构的运动范围；
优选的，所述X向移动机构包括X轴运动部件、X轴滑杆和第一驱动电机，所述第一驱动电机驱动X轴运动部件在X轴滑杆上移动，所述限位结构限定X轴运动部件在X向的运动范围。
进一步的，所述限位结构包括沿X向设置的第一限位结构和第二限位结构，所述X轴运动部件在第一限位结构和第二限位结构之间沿X向移动；
优选的，所述第一限位结构和第二限位结构分别设置于靠近X轴滑杆两端的位置。
进一步的，所述第一限位结构包括第一微动开关和第一碰撞片，所述X轴运动部件对应设置第一碰撞部；所述第二限位结构包括第二微动开关和第二碰撞片，所述X轴运动部件对应设置第二碰撞部，当第一碰撞部与第一碰撞片接触，或第二碰撞部与第二碰撞片接触时，X轴运动部件改变移动方向或停止移动。
进一步的，所述挂杆包括悬挂衣物的导向杆和回收衣架的存放杆，所述移动机构还包括Y向移动机构，所述Y向移动机构带动夹持爪在导向杆和存放杆之间移动，所述限位结构还限定所述Y向移动机构的运动范围；
优选的，所述Y向移动机构包括Y轴运动部件、Y轴滑杆和第二驱动电机，所述第二驱动电机驱动Y轴运动部件在Y轴滑杆移动，所述限位结构还限定Y轴运动部件在Y向的运动范围；
进一步的，所述限位结构包括沿Y向设置的第三限位结构和第四限位结构，所述Y轴运动部件在第三限位结构和第四限位结构之间沿Y向移动；
优选的，所述第三限位结构和第四限位结构分别设置于靠近Y轴滑杆两端的位置。
进一步的，所述第三限位结构包括第三微动开关和第三碰撞片，所述Y轴运动部件对应设置第三碰撞部；所述第二限位结构包括第四微动开关和第四碰撞片，所述Y轴运动部件对应设置第四碰撞部，当第三碰撞片与第三碰撞部接触，或第四碰撞片与第四碰撞部接触时，Y轴运动部件停止移动。
本发明的第四目的在于提出了上述叠衣机的控制方法，所述控制方法为：控制移动机构在所述限位结构限定的范围内运动。
进一步的，当第一碰撞部与第一碰撞片接触时，通过第一微动片的电流中断，控制X轴运动部件停止移动；当第二碰撞部与第二碰撞片接触时，需要进一步根据所述夹持爪是否夹持衣架来决定改变通过第 二微动片的电流方向或中断第二微动片的电流，从而控制X轴运动部件改变移动方向或停止移动；
优选的，当第二碰撞部与第二碰撞片接触时，若此时夹持爪夹持衣架，则通过第二微动片的电流方向改变，X轴运动部件改变移动方向；若此时夹持爪未夹持衣架，则通过第二运动片的电流中断，X轴运动部件停止移动。
进一步的，当第三碰撞部与第三碰撞片接触时，通过第三微动片的电流中断，控制Y轴运动部件停止移动；当第四碰撞部与第四碰撞片接触时，通过第四微动片的电流中断，控制Y轴运动部件停止移动。
本发明的第五目的在于提出了一种叠衣机，所述衣架输送单元将带有衣物的衣架从挂杆上取下后输送至折叠单元处，所述挂杆上设置多个用于限制衣架悬挂位置的固定位。
进一步的，所述固定位沿挂杆间隔均布，固定位上分别设置吸引部件/被吸引部件，对应的在所述衣架的悬挂端设置被吸引部/吸引部，通过所述吸引部和被吸引部的相互吸引将衣架定位于挂杆上；
优选的，所述吸引部为永磁铁，所述被吸引部为与所述吸引部磁性相反的永磁铁或能被所述吸引部吸引的金属；
优选的，所述挂杆上与所述固定位相对应的位置设置有指示标，当用户将衣架挂在指示标处时，衣架被定位在挂杆上。
进一步的，所述固定位沿挂杆间隔均布，固定位上分别开设限位孔，所述衣架限位于限位孔中；
优选的，所述限位孔的尺寸大于所述衣架的悬挂端尺寸的一倍，小于所述衣架的悬挂端尺寸的两倍。
进一步的，所述衣架输送单元包括夹持爪和移动机构，所述夹持爪水平设置，所述移动机构带动所述夹持爪沿挂杆的侧部移动，所述夹持爪侧向伸入限位孔，将带有衣物的衣架侧向取下后送至叠衣单元处。
进一步的，所述移动机构包括带动所述夹持爪沿平行于挂杆方向水平移动的X向移动机构、带动所述夹持爪沿垂直于挂杆方向水平移动的Y向移动机构以及带动所述夹持爪沿竖直方向移动的Z向移动机构，所述夹持爪在X向移动机构、Y向移动机构以及Z向移动机构的配合下将衣架从限位孔中取出并送至叠衣单元处。
进一步的，所述固定位沿挂杆间隔均布，固定位两侧设置小立柱并形成间隔，所述衣架限位于相邻小立柱的间隔中；
优选的，相邻两个小立柱之间的宽度大于所述衣架的悬挂端宽度的一倍，小于所述衣架的悬挂端宽度的两倍。
本发明的第六目的在于提出了上述叠衣机的控制方法，所述衣架输送单元包括夹持爪，所述控制方法为控制夹持爪移动到固定位，将固定位上悬挂的衣架夹取并输送至叠衣单元处。
进一步的，首先检测固定位上是否挂有衣架，若检测到衣架，则控制所述夹持爪移动到挂有衣架的固定位将衣架夹取并输送至叠衣单元处；
进一步的，首先控制夹持爪依次移动到挂杆的固定位，然后检测固定位上是否挂有衣架，若检测到衣架，则将衣架夹取并输送至叠衣单元处；
进一步的，其特征在于，所述固定位设置电磁铁，所述衣架上设置永磁铁或金属，当固定位挂有衣架时，控制电磁铁通电，衣架被吸附在固定位上；当夹持爪移动至挂有衣架的固定位时，控制电磁铁断电，夹持爪将衣架夹取并送至叠衣单元处。
采用上述技术方案后，本发明与现有技术相比具有以下有益效果：
1、通过对挂杆设置为可升降，满足不同身高的用户往挂杆上挂衣物的需求。
2、通过对挂杆设置为可升降，满足用户需要在挂杆上晾晒衣物的需求。
3、通过在挂杆上设置湿度传感器和/或重量传感器，通过重量传感器和湿度传感器的检测值来调整挂杆高度，无需人为控制，提高用户使用体验。
4、通过设置限位结构限定叠衣机运动部件的运动范围，能有效减少因运动部件运动过量而导致叠衣机损坏的情况。
5、通过分别设置限定X向移动机构运动范围的第一限位结构和第二限位结构，以及限定Y向移动机构运动范围的第三限位结构和第四限位结构，从而防止叠衣机的运动部件在X向和Y向的移动运动过量而导致叠衣机损坏的情况。
6、本发明采用接触式限位开关来进行限位，接触开关感应灵敏，反应迅速，价格低廉，降低了叠衣机的制造成本。
7、通过在衣架上设置固定位，且仅允许每个固定位悬挂一个衣架，能有效避免衣架从挂杆上掉落，以及防止衣架堆积而增加夹取难度。
8、通过在挂杆上设置标识，从而能使用户快速找到可供挂杆悬挂的位置。
9、通过控制夹持爪直接移动到固定位，可提高夹持爪在挂杆上的移动效率，同时仅对固定位上的衣架进行感应，也提高了衣架感应的效率，从而提高了整个叠衣机的工作效率。下面结合附图对本发明的具体实施方式作进一步详细的描述。
下面结合附图对本发明的具体实施方式作进一步详细的描述。
附图说明
附图作为本发明的一部分，用来提供对本发明的进一步的理解，本发明的示意性实施例及其说明用于解释本发明，但不构成对本发明的不当限定。显然，下面描述中的附图仅仅是一些实施例，对于本领域普通技术人员来说，在不付出创造性劳动的前提下，还可以根据这些附图获得其他附图。在附图中：
图1为本发明实施例1的结构示意图。
图2、图3为本发明实施例2的结构示意图；
图4-图10为本发明实施例3的结构示意图。
图11为本发明实施例5的控制逻辑图。
需要说明的是，这些附图和文字描述并不旨在以任何方式限制本发明的构思范围，而是通过参考特定实施例为本领域技术人员说明本发明的概念。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对实施例中的技术方案进行清楚、完整地描述，以下实施例用于说明本发明，但不用来限制本发明的范围。
在本发明的描述中，需要说明的是，术语“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“接触”、“连通”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
如图1所示的一种叠衣机，包括折叠单元1、衣架输送单元2和挂杆4，所述衣架输送单元2包括夹持爪22，所述夹持爪22将带有衣物的衣架23取下后输送至折叠单元1处，衣架23为可收折设置，衣架23收折后可以将衣物释放，折叠单元1设置有衣物输送装置和折叠平台，折叠平台具有水平的表面用于放置衣物并对衣物进行折叠。衣物输送装置可以将衣架输送单元2上的衣架23上的衣物取下并将衣物平铺在折叠单元1上，然后由折叠平台对衣物进行折叠。所述叠衣机还包括收纳单元3，衣物在折叠平台折叠后被送至收纳单元3中，用户从收纳单元3将折叠好的衣物取走。所述挂杆4为可升降调节，所述衣架23 挂在挂杆4上，用户既可调整挂杆4到较高的高度用来晾晒衣物，又可调整到折叠单元1处用来折叠衣物，还可根据用户身高调整到较低位置用来取衣架23或悬挂衣物。
进一步的，所述挂杆4上设置有升降机构43，所述升降机构43用来调节挂杆4的高度。所述升降机构43的升降方式包括液压升降、气压升降、机械弹簧升降或滑轮升降，既可采用电动升降方式，也可为手摇式或者智能升降。
进一步的，所述升降机构43包括伸缩杆和驱动机构46，所述伸缩杆设置于所述挂杆4远离折叠单元1的一端，驱动机构46设置在叠衣机的框架上，所述伸缩杆的一端连接驱动机构46，另一端作用在挂杆4上，所述驱动机构46驱动伸缩杆升降从而带动挂杆4升降。所述挂杆4可调整的最高位置对应于将伸缩杆压缩后的最小长度，所述挂杆4可调整的最低位置对应于压缩杆拉伸后的最大长度，用户可以在此伸长度范围内根据自身需求来任意调整挂杆4的高度；或者将所述挂杆4设置不同的高度档位，用户根据自身需求选择目标档位后，伸缩杆通过拉伸或压缩来将挂杆4自动调整到目标高度。
进一步的，如图1所示，所述挂杆4设置不同的档位，至少包括第一档位和第二档位，所述第一档位的高度≤第二档位的高度，优选地，第一档位用于取挂衣物，第二档位用于晾晒衣物。所述第二档位的高度用户可根据自身需求在伸缩杆拉伸范围内进行调整，挂杆4按照调整后的第二档位高度来晾晒衣物。由于晾晒衣物时需要将衣物悬挂在较高的高度才能接收到阳光的照射，因此当用户需要晾晒衣物时，用户将衣物挂于挂杆4上，按下第二档位按钮，然后伸缩杆被压缩，挂杆4自动调整到较高的位置来晾晒衣物。所述第一档位的高度用户可根据自身身高在伸缩杆压缩范围内进行调整以方便挂取衣物，当用户身高较矮时，用户无法直接将衣物挂在挂杆4上，需要借助撑衣杆或其它辅助设备将衣物挂于挂杆4上，用户使用体验较差，设置一个可以使挂杆4降低的第一档位，当用户需要将衣物挂于挂杆4进行后续的折叠或晾晒时，用户按下第一档位按钮，然后伸缩杆被拉伸，挂杆4自动调整到较低位置，以方便用户将衣物挂于挂杆4上。
进一步的，还包括第三档位，第一档位的高度≤第三档位的高度≤第二档位的高度，优选地，所述的第三档位用于与衣架输送单元对接进行叠衣。所述第三档位的高度根据折叠单元1的衣物入口的高度来调整。当衣物晒干后，此时挂杆4的高度较高，衣架输送单元2的夹持爪22无法将挂杆4上的衣架23取下送到折叠单元1进行折叠，因此需要将挂杆4高度降低至折叠单元1的衣物入口处，此时用户按下第三档位按钮，然后伸缩杆被拉伸，挂杆4自动调整到叠衣机的衣物入口处，以方便夹持爪22将挂杆4上晾有衣物的衣架23取下。进一步的，所述挂杆4包括用来悬挂衣物的导向杆和用来回收衣架23的存放杆，待折叠单元1将衣架输送单元2的夹持爪22夹取的衣架23上的衣物取走后，夹持爪22将除去衣物的空衣架23运送到存放杆上将空衣架23回收。但用户在往导向杆上挂衣物时，需要从存放杆上取下空衣架23，为了方便用户从存放杆上取空衣架23，在所述导向杆上设置第一伸缩杆用来调整导向杆的高度，所述存放杆上设置第二伸缩杆用来调整存放杆的高度，所述第一伸缩杆和第二伸缩杆可由同一驱动机构驱动升降，也可设置为由驱动机构分别驱动升降。
所述导向杆与存放杆具有相同或不同的长度，所述导向杆与存放杆与水平面具有相同或不同的夹角。本实施例中导向杆和存放杆的一种实施方式为，导向杆为水平设置，存放杆为倾斜设置，导向杆与存放杆靠近折叠单元1的一端悬空设置，且存放杆靠近折叠单元1的一端的高度高于远离折叠单元1一端的高度，这样夹持爪将除去衣物的衣架23送至存放杆上时，衣架23沿着存放杆自动向存放杆的最低点移动，从而方便衣架23在存放杆上聚拢，同时也可缩短夹持爪在存放杆上的行程，提高工作效率。本实施例中导向杆和存放杆的另一实施方式为导向杆和存放杆相平行水平设置，夹持爪在存放杆上来回移动以将除去衣物的衣架挂在存放杆上。
实施例2
如图1所示的一种叠衣机，包括折叠单元1、衣架输送单元2和挂杆4，所述衣架23挂在挂杆4上，所述衣架23为可收折设置，衣架23收折后可以将衣物释放，所述折叠单元1设置有衣物输送装置和折叠平台，所述折叠平台具有水平的表面用于放置衣物并对衣物进行折叠。所述衣物输送装置可以将衣架输送单元2上的衣架23上的衣物取下并将衣物平铺在折叠单元1上，然后由折叠平台对衣物进行折叠。所述 叠衣机还包括收纳单元3，衣物在折叠平台折叠后被送至收纳单元3中，用户从收纳单元3将折叠好的衣物取走。所述衣架输送单元2包括移动机构，所述移动机构带动夹持爪22在挂杆4上取下带有衣服的衣架23，但由于移动机构在移动过程中不可避免运动过量导致整个叠衣机的衣架输送单元2损坏，因此通过在所述叠衣机上设置限定所述移动机构运动范围的限位结构来解决这一问题。
所述的限位结构为限定移动机构运动极限位置的限位开关，所述限位开关包括接触式开关，如行程开关，由于机械的惯性运动，这种行程开关有一定的“超行程”以保护开关不受损坏；还包括非接触式开关，如干簧管、光电式、感应式开关等。本实施例中的限位结构为接触式的限位开关。
进一步的，如图2所示，由于挂杆4沿X向水平设置，所述移动机构至少包括X向移动机构，用来将挂杆4上的悬挂有衣物的衣架23输送至折叠单元1处，所述衣架输送单元2还包括夹持爪22，所述夹持爪22将带有衣物的衣架23从挂杆4上取下后输送至折叠单元1处，所述夹持爪22既可夹取衣架23也可释放衣架23，所述X向移动机构带动夹持爪22沿X向移动，所述限位结构限定所述X向移动机构的运动范围，从而防止X向移动机构在水平方向上移动过量而将衣架输送单元2损坏。
进一步的，如图2所示，所述X向移动机构的具体设置方式为，所述X向移动机构包括X轴运动部件2111，还包括X轴传动皮带2113和X轴滑杆2112，所述X轴运动部件2111可活动设置在X轴滑杆2112上并可沿着X轴滑杆2112运动，所述X轴运动部件2111通过第一固定部21111与X轴传动皮带2113固定连接，所述X轴传动皮带2113与X轴滑杆2112相平行设置，所述X向移动机构还设置有第一驱动电机2114，所述第一驱动电机2114开启，带动X轴传动皮带2113运动，X轴传动皮带2113带动X轴运动部件2111运动，从而使得X轴运动部件2111沿着X轴滑杆2112移动。所述限位结构限定X轴运动部件2111在X向的运动范围。
进一步的，所述限位结构包括沿X向设置的第一限位结构2131和第二限位结构2132，所述X轴运动部件2111在第一限位结构2131和第二限位结构2132之间沿X向移动；当X轴运动部件2111运动至第一限位结构2131时保证夹持爪22能移动到所述挂杆4远离所述折叠单元1的一端，当所述X向移动机构运动至第二限位结构2132时保证夹持爪22能将从挂杆4上夹取到的衣架23刚好送至折叠单元1的衣物入口处，优选的，所述第一限位结构2131和第二限位结构2132分别设置于靠近X轴滑杆2112两端的位置。
进一步的，所述第一限位结构2131包括第一微动开关和第一碰撞片，所述X轴运动部件2111与所述第一微动开关相对应的位置设置第一碰撞部；所述第二限位结构2132包括第二微动开关和第二碰撞片，所述X轴运动部件2111与所述第二微动开关相对应的位置对应设置第二碰撞部；所述第一碰撞部和第二碰撞部凸出所述X轴运动部件2111以便提前感应到第一碰撞片或第二碰撞片而防止X轴运动部件2111运动过量。当第一碰撞部与第一碰撞片接触，或第二碰撞部与第二碰撞片接触时，X轴运动部件2111改变移动方向或停止移动。
如图1和图2所示，所述挂杆4可以设置一根，也可以设置多根，所述挂杆4至少包括用来悬挂衣物的导向杆41，衣物支撑在衣架23上后，用户将挂有衣物的衣架23悬挂在导向杆41上，所述夹持爪22沿着导向杆41将衣架23输送至折叠单元1的衣物入口处来进行折叠。所述挂杆4还包括用来回收衣架23的存放杆42，所述存放杆42用于悬挂除去衣物的衣架23，所述衣架输送单元2还可将衣架23从折叠单元1的衣物入口处输送至存放杆42处用于回收衣架23。
所述导向杆41与存放杆42具有相同或不同的长度，所述导向杆41与存放杆42与水平面具有相同或不同的夹角。本实施例中导向杆41和存放杆42的一种实施方式为，第一挂为水平设置，存放杆42为倾斜设置，导向杆41与存放杆42靠近折叠单元1的一端悬空设置，且存放杆42靠近折叠单元1的一端的高度高于远离折叠单元1一端的高度，这样夹持爪22将除去衣物的衣架23送至存放杆42上时，衣架23沿着存放杆42自动向存放杆42的最低点移动，从而方便衣架23在存放杆42上聚拢，同时也可缩短夹持爪22在存放杆42上的运动行程，提高工作效率。本实施例中导向杆41和存放杆42的另一实施方式为导向杆41和存放杆42相平行水平设置，夹持爪22在存放杆42上来回移动以将除去衣物的衣架23挂在存放杆42上。
进一步的，所述移动机构还包括Y向移动机构，所述Y向移动机构带动夹持爪22在导向杆41和存 放杆42之间移动，即带动夹持爪22沿垂直于挂杆4的水平方向进行移动。为保证夹持爪22能够同时在X向和Y向移动，所述Y向移动机既能与X向机构组合成一体，与X向移动机构同时移动，也可与X向移动机构分离而独立移动。当夹持爪22需在导向杆41或存放杆42上沿Y向移动时，X向移动机构与Y组合成一个整体，X移动机构带动Y向移动机构沿着X向，即水平方向移动；当夹持爪22需在导向杆41和存放杆42之间沿Y向移动时，所述Y向移动机构与X向移动机构分离，仅Y向移动机构带动夹持爪22在导向杆41和存放杆42之间移动，即沿垂直于挂杆4的方向移动，所述夹持爪22设置在Y向移动机构上。所述限位结构还限位Y向移动机构的运动范围；
进一步的，Y向移动机构的具体设置方式为，所述Y向移动机构包括Y轴运动部件2121，还包括Y轴传动皮带2123和第二驱动电机2124，所述Y轴运动部件2121可活动设置在Y轴滑杆2122上并可沿着Y轴滑杆2122运动，所述Y轴运动部件2121通过第二固定部21211与Y轴传动皮带2123固定连接，所述Y轴传动皮带2123与Y轴滑杆2122相平行设置，所述Y向移动机构还设置有第二驱动电机2124，所述第二驱动电机2124开启，带动Y轴传动皮带2123运动，Y轴传动皮带2123带动Y轴运动部件2121运动，从而使得Y轴运动部件2121沿着Y轴滑杆2122移动。所述限位结构限定Y轴运动部件2121在Y向的运动范围。
进一步的，所述限位结构包括沿Y向设置的第三限位结构2133和第四限位结构2134，所述Y轴运动部件2121在第三限位结构2133和第四限位结构2134之间沿Y向移动；当所述Y轴运动部件2121运动至第三限位结构2133时保证夹持爪22处于导向杆41的悬空端，当所述Y轴运动部件2121运动至第四限位结构2134时保证夹持爪22处于存放杆42的悬空端。所述X轴运动部件2111带动Y轴运动部件2121沿Y轴滑杆2122移动，从而使得夹持爪22在导向杆41上来回移动将带有衣物的衣架23从导向杆41上取下，或者夹持爪22在存放杆42上来回移动将除去衣物的衣架23送至存放杆42上回收。所述Y轴运动部件2121沿X轴滑杆2112移动时，X轴运动部件2111静止，从而使得夹持爪22在导向杆41的悬空端和存放杆42的悬空端之间移动，将去除衣物的衣架23从导向杆41的悬空端送至存放杆42的悬空端，所述夹持爪22设置于Y轴运动部件2121上。优选的，所述第三限位结构2133和第四限位结构2134分别设置于靠近Y轴滑杆2122两端的位置。
进一步的，如图3所示所述第三限位结构2133包括第三微动开关和第三碰撞片，所述Y轴运动部件2121与所述第三微动开关相对应的位置设置第三碰撞部21212；所述第四限位结构2134包括第四微动开关21341和第四碰撞片21342，所述Y轴运动部件2121与所述第四微动开关21341相对应的位置对应设置第四碰撞部21213；所述第三碰撞部21212和第四碰撞部21213凸出所述二运动部件以便提前感应到第三碰撞片或第四碰撞片21342而防止Y轴运动部件2121运动过量。当第三碰撞部21212与第三碰撞片接触，或第四碰撞部21213与第四碰撞片21342接触时，Y轴运动部件2121改变移动方向或停止移动。
实施例3
如图1所示的一种叠衣机，包括折叠单元1、衣架输送单元2和挂杆4，所述衣架23挂在挂杆4上，所述挂杆4的高度固定，或者可根据用户需求来调节，所述衣架23为可收折设置，衣架23收折后可以将衣物释放，所述折叠单元1设置有衣物输送装置和折叠平台，所述折叠平台具有水平的表面用于放置衣物并对衣物进行折叠。所述衣架输送单元2包括夹持爪22，所述夹持爪22将带有衣物的衣架23从挂杆4上取下后输送至折叠单元1处，所述夹持爪22既可夹取衣架23也可释放衣架23，所述衣物输送装置可以将夹持爪22夹持的衣架23上的衣物取下并将衣物平铺在折叠单元1上，然后由折叠平台对衣物进行折叠。所述叠衣机还包括收纳单元3，衣物在折叠平台折叠后被送至收纳单元3中，用户从收纳单元3将折叠好的衣物取走。由于用户将衣物通过衣架23挂在挂杆4上后，衣架23在风吹动的情况下容易移动，甚至会脱离挂杆4，或者用户在悬挂衣物时若将衣架23随意挂在挂杆4上，会导致多个挂杆4堆积，从而增大夹持爪22对衣架23的抓取难度，因此，在所述挂杆4上设置多个用来限制衣架23悬挂位置的固定位，将衣架23定位或限位在固定位上来解决衣架23从挂杆4上掉落或在挂杆4上堆积的问题。
本发明的固定位的实施方式一为，如图4所示，所述固定位沿挂杆4间隔均布，固定位上分别设置吸引部451/被吸引部231，对应的在所述衣架23的悬挂端设置被吸引部231/吸引部451，具体的，所述挂 杆4为空心管状结构，所述吸引部451/被吸引部231设置在挂杆4的空心管道内部，并至少贴合所述挂杆4的上表面的内壁，为了保证贴合的稳固性，优选将所述吸引部451/被吸引部231紧贴挂杆4四周内壁设置。与所述挂杆4上的固定位相对应的，在所述衣架23的悬挂端设置被吸引部231/吸引部451，优选设置在与所述挂杆4相接触的衣架23的部位，通过所述吸引部451和被吸引部231的相互吸引将衣架23定位于挂杆4上，从而防止衣架23从挂杆4上掉落，每个固定位仅允许悬挂一个衣架23，则可降低夹持爪22夹取衣架23的难度。
进一步的，由于挂杆4上的吸引部451/被吸引部231设置在挂杆4内部，用户不易识别固定位的具体位置，在所述挂杆4的表面与所述固定位相对应的位置还设置有指示所述固定位的指示标，用户将衣架23挂在指示标处时，衣架23被定位在挂杆4上。
所述吸引部451可以为永磁铁或者电磁铁，所述被吸引部231为永磁铁，电磁铁或能被所述永磁铁和电磁铁吸引的金属。为了降低生产难度和制作成本，本实施例一个优选的实施方式为将所述吸引部451和被吸引部231均设置成永磁铁。
进一步的，所述衣架23上还可设置防止多个衣架23聚集的排斥部，所述排斥部为设置在衣架23主体上磁极相同的永磁铁，当多个衣架23堆积时，相邻衣架23的排斥部的永磁铁因磁性相同而相互排斥，从而使多个衣架23分离开来，从而降低夹持爪22夹取衣架23的难度。
本发明的固定位的实施方式二为，如图5-9所示，所述固定位沿挂杆4间隔均布，固定上分别开设有限位孔452，所述限位孔452的形状可以为圆形或者方形，所述衣架23限位于限位孔452中，从而防止衣架23从挂杆4上掉落，且每个限位孔452只能悬挂一个衣架23，从而降低夹持爪22夹取衣架23的难度。优选的，所述限位孔452的尺寸大于所述衣架23的悬挂端尺寸的一倍，小于所述衣架23的悬挂端尺寸的两倍，既能保证每个限位孔452中只能悬挂一个衣架23，又能保证夹持爪22能伸入限位孔452中将衣架23夹取。
所述衣架输送单元2包括夹持爪22和移动机构21，所述夹持爪22水平设置，所述移动机构21带动所述夹持爪22沿挂杆4的侧部移动，所述夹持爪22侧向伸入限位孔452，将带有衣物的衣架23侧向取下后送至叠衣单元处。所述移动机构21包括带动所述夹持爪22沿平行于挂杆4方向水平移动的X向移动机构、带动所述夹持爪22沿垂直于挂杆4方向水平移动的Y向移动机构以及带动所述夹持爪22沿竖直方向移动的Z向移动机构，所述夹持爪22在X向移动机构、Y向移动机构以及Z向移动机构的配合下将衣架23从限位孔452中取出并送至叠衣单元处。如图5、7、8、9所示，所述挂杆4通过固定结构44固定悬挂在衣架输送单元2上，或在所述固定结构44上设置升降机构43，如图6所示，通过所述升降机构43来调节挂杆4的高度。
具体的，如图5和图6所示，移动机构21需要夹取挂杆4上的衣架23时，所述X向移动机构带动所述夹持爪22沿挂杆4侧向水平X向移动，到达悬挂有衣物的限位孔452后，所述Y向移动机构带动所述夹持爪22沿垂直于挂杆4方向Y向水平移动，所述夹持爪22伸入所述限位孔452中并夹持衣架23的夹持部232；如图7所示，所述Z向移动机构带动所述夹持爪22沿竖直方向Z向移动，将所述衣架23向上升起；如图8所示，然后所述Y向移动机构带动所述夹持爪22以与之前相反的方向移动，所述夹持爪22将衣架23从限位孔452中侧向取出；如图9所示，然后X向移动机构带动所述夹持爪22以与之前相反的方向移动，将所述夹持爪22输送到叠衣单元处。
所述X向移动机构的具体设置方式为，所述X向移动机构包括X轴运动部件，还包括X轴传动皮带和X轴滑杆，所述X轴运动部件可活动设置在X轴滑杆上并可沿着X轴滑杆运动，所述X轴运动部件通过第一固定部与X轴传动皮带固定连接，所述X轴传动皮带与X轴滑杆相平行设置，所述X向移动机构还设置有第一驱动电机，所述第一驱动电机开启，带动X轴传动皮带运动，X轴传动皮带带动X轴运动部件运动，从而使得X轴运动部件沿着X轴滑杆移动，从而带动夹持爪22X向移动。
所述Y向移动机构的具体设置方式为，所述Y向移动机构包括Y轴运动部件，还包括Y轴传动皮带和第二驱动电机，所述Y轴运动部件可活动设置在Y轴滑杆上并可沿着Y轴滑杆运动，所述Y轴运动部件通过第一固定部与Y轴传动皮带固定连接，所述Y轴传动皮带与Y轴滑杆相平行设置，所述Y向移动机构还 设置有第二驱动电机，所述第二驱动电机开启，带动Y轴传动皮带运动，Y轴传动皮带带动Y轴运动部件运动，从而使得Y轴运动部件沿着Y轴滑杆移动。所述限位结构限定Y轴运动部件在Y向的运动范围，从而带动夹持爪22Y向移动。
所述Z向移动机构的具体设置方式为：所述Z向移动机构包括Z轴运动部件，还包括Z轴传动皮带和第三驱动电机，所述Z轴运动部件可活动设置在Z轴滑杆上并可沿着Z轴滑杆运动，所述Z轴运动部件通过第三固定部与Z轴传动皮带固定连接，所述Z轴传动皮带与Z轴滑杆相平行设置，所述Z向移动机构还设置有第三驱动电机，所述第三驱动电机开启，带动Z轴传动皮带运动，Z轴传动皮带带动Z轴运动部件运动，从而使得Z轴运动部件沿着Z轴滑杆移动。所述限位结构限定Z轴运动部件在Z向的运动范围，从而带动夹持爪22沿Z向移动，从而带动夹持爪22沿Z轴滑杆移动。
所述X轴运动部件和Y轴运动部件可组合设置，所述Y轴运动部件和Z轴运动部件可组合设置，当夹持爪22沿X向移动时，X轴运动部件带动Y轴运动部件和Z轴运动部件同时沿X向移动；当夹持爪22沿Y向移动时，Y轴运动部件与X轴运动部件分离，Y轴运动部件带动Z轴运动部件沿Y向移动；当夹持爪22沿Z向移动时，Z轴运动部件与Y轴运动部件分离，仅Z轴运动部件带动夹持爪22沿Z向移动，所述夹持爪22设置在Z轴运动部件上。
本发明的固定位的实施方式三为，如图10所示，所述固定位沿挂杆4均布设置，所述固定位的两侧设置小立柱453并形成间隔，所述衣架23限位于相邻小立柱453的间隔中，从而防止衣架23从挂杆4上掉落，优选的，相邻两个小立柱453之间的宽度大于所述衣架23的悬挂端宽度的一倍，小于所述衣架23的悬挂端宽度的两倍，从而保证每个固定位中只能悬挂一个衣架23，从而降低夹持爪22夹取衣架23的难度。所述小立柱453的高度小于或等于所述衣架23的悬挂端凸出所述挂杆4的高度，从而保证夹持爪22在挂杆4上移动时不会被小立柱453所阻挡。
进一步的，所述挂杆4可以设置一根，也可以设置多根，所述挂杆4至少包括用来悬挂衣物的导向杆，衣物支撑在衣架23上后，用户将挂有衣物的衣架23悬挂在导向杆上，所述夹持爪22沿着导向杆将衣架23输送至折叠单元1的衣物入口处来进行折叠。所述挂杆4还包括用来回收衣架23的存放杆，所述存放杆用于悬挂除去衣物的衣架23，所述衣架输送单元2还可将衣架23从折叠单元1的衣物入口处输送至存放杆处用于回收衣架23。所述固定位设置于导向杆上。
所述导向杆与存放杆具有相同或不同的长度，所述导向杆与存放杆与水平面具有相同或不同的夹角。本实施例中导向杆和存放杆的一种实施方式为，第一挂为水平设置，存放杆为倾斜设置，导向杆与存放杆靠近折叠单元1的一端悬空设置，且存放杆靠近折叠单元1的一端的高度高于远离折叠单元1一端的高度，这样夹持爪22将除去衣物的衣架23送至存放杆上时，衣架23沿着存放杆自动向存放杆的最低点移动，从而方便衣架23在存放杆上聚拢，同时也可缩短夹持爪22在存放杆上的运动行程，提高工作效率。本实施例中导向杆和存放杆的另一实施方式为导向杆和存放杆相平行水平设置，夹持爪22在存放杆上来回移动以将除去衣物的衣架23挂在存放杆上。
实施例4
本发明的另一目的为提出了一种上述叠衣机的控制方法，控制所述挂杆位于不同的高度。既可采用手摇式控制挂杆高度，也可采用电动控制，还可通过智能感应控制。
具体的，所述挂杆上设置有湿度传感器和/或重量传感器，所述湿度传感器可设置于每个衣架的悬挂端或者设置于挂杆用来检测衣架上悬挂衣物的湿度值，和/或所述的重量传感器设置于挂杆上用来感应挂杆上悬挂物的重量，根据所述湿度传感器的检测值来检测挂杆上的衣物是否需要晾晒或是否达到可折叠的湿度标准，用来将挂杆调整到用来折叠衣物的第三档位高度和用来晾晒衣物的第二档位高度。和/或，根据所述重量传感器的检测值来检测挂杆上是否还有悬挂衣物，若无则将挂杆调整到方便用户挂衣物的第一档位高度。
进一步的，当用户将衣物挂在挂杆上后，湿度传感器开始检测衣物的湿度值，当湿度传感器检测导向杆上的湿度值大于预设湿度值时，则调整挂杆的高度至第二档位来晾晒衣物；当湿度传感器检测挂杆的 湿度值小于预设湿度时，则调整挂杆的高度至第三档位来折叠衣物。所述预设湿度值为衣物晾干时衣物的湿度值。
和/或，当重量传感器检测导向杆的重量小于或等于预设重量时，所述预设重量为单个空衣架的重量，若此时挂杆上的重量小于单个空衣架的重量，则调整导向杆的高度至第一档位来方便用户挂取衣物。
进一步的，若所述挂杆包括悬挂衣物的导向杆和回收衣架的存放杆，所述导向杆和存放杆均为可升降设置，所述湿度传感器和/或重量传感器设置于导向杆上，用来检测导向杆的湿度值和/或重量值，根据检测结果调整导向杆的高度。
进一步的，当所述导向杆处于用来悬挂衣物的第一档位高度时，控制存放杆同步调整至第一档位高度方便用户取下衣架；当所述导向杆处于折叠衣物的第三档位高度时，控制存放杆同步调整至第三档位高度，方便夹持爪将去除衣物的衣架放置到存放杆上；当所述导向杆处于晾晒衣物的第二档位时，控制导向杆调整至第三档位高度或控制导向杆同步调整至第二档位高度，夹持爪在存放杆上来回移动以将除去衣物的衣架挂在存放杆上。
实施例5
本实施例为提出了一种叠衣机的控制方法，所述衣架输送单元包括夹持爪，所述控制方法为控制夹持爪移动到固定位，将固定位上悬挂的衣架夹取并输送至叠衣单元处。通过控制夹持爪直接移动到固定位，可提高夹持爪在挂杆上的移动效率，同时仅对固定位上的衣架进行感应，也提高了衣架感应的效率，从而提高了整个叠衣机的工作效率。
进一步的，首先检测固定位上是否挂有衣架，若检测到衣架，则控制所述夹持爪移动到挂有衣架的固定位将衣架夹取并输送至叠衣单元处。通过在所述挂杆上设置衣架感应装置来感应固定位上是否挂有衣架。
进一步的，首先控制夹持爪依次移动到挂杆的固定位，然后检测固定位上是否挂有衣架，若检测到衣架，则将衣架夹取并输送至叠衣单元处；夹持爪可以设置为从靠近叠衣单元的挂杆的一端开始依次移动到挂杆上的固定位，每移到一个固定位后对该固定位上的衣架进行检测，若检测到固定位，则对衣架进行夹取并送至叠衣单元处，然后继续移到下一个固定位并进行检测。夹持爪还可以设置为从远离叠衣机单元的挂杆的一端开始移动，工作方式同上。可以通过在衣架和/或夹持爪上设在感应装置、微动开关、传感器等来检测衣架。
进一步的，所述固定位设置电磁铁，所述衣架上设置永磁铁或金属，当固定位挂有衣架时，控制电磁铁通电，衣架被吸附在固定位上；当夹持爪移动至挂有衣架的固定位时，控制电磁铁断电，此时衣架和挂杆之间失去吸附力，夹持爪就能轻易将衣架夹取并送至叠衣单元处。
实施例6
一种叠衣机的控制方法，所述叠衣机的结构与实施例1基本相同，为了提示用户在所述挂杆上可以悬挂衣架的位置，以及防止一个固定位上悬挂多个衣架，所述固定位上还设置有检测衣架个数的衣架检测装置和指示灯，所述指示灯可以发出不同颜色的灯光。所述控制方法为：根据衣架检测装置检测的衣架个数来控制指示灯的变化。
进一步的，叠衣机电源启动，衣架检测装置检测固定位上的衣架，若未检测到衣架，则控制固定位上的指示灯亮，若检测到衣架，则进一步根据检测到的衣架个数是否为1个来决定控制指示灯变灯或灭灯，当衣架检测装置检测到固定位上悬挂的衣架为1个时，则控制指示灯灭灯，当衣架检测装置检测到固定位上悬挂的衣架个数大于1个时，则控制指示灯变灯。
进一步的，当检测到固定位上悬挂的衣架个数大于1个时，还控制指示灯闪烁。
进一步的，所述叠衣机还设置有报警装置，当检测到固定位上悬挂的衣架个数大于1个时，报警装置启动，提示用户将固定位中超出的衣架移出。
具体的控制流程如图11所示：
S1：叠衣机电源启动；
S2:固定位上的衣架检测检测固定位上是否悬挂衣架；
S3:若检测结果为否，则控制指示灯为绿灯，提示用户可以将衣架挂至此固定位；若检测结果为是，则进入S4；
S4：进一步检测固定位上悬挂衣架的个数，若检测结果为1个，则控制指示灯灭灯，若检测结果大于1个，则控制指示灯为红灯并闪烁，并启动报警装置。
以上所述仅是本发明的较佳实施例而已，并非对本发明作任何形式上的限制，虽然本发明已以较佳实施例揭露如上，然而并非用以限定本发明，任何熟悉本专利的技术人员在不脱离本发明技术方案范围内，当可利用上述提示的技术内容作出些许更动或修饰为等同变化的等效实施例，但凡是未脱离本发明技术方案的内容，依据本发明的技术实质对以上实施例所作的任何简单修改、等同变化与修饰，均仍属于本发明方案的范围内。

Claims (30)

  1. 一种叠衣机，其特征在于，包括折叠单元、衣架输送单元和挂杆，所述衣架输送单元将带有衣物的衣架取下后输送至折叠单元处进行折叠，所述挂杆为可升降设置，所述衣架挂在挂杆上。
  2. 根据权利要求1所述的一种叠衣机，其特征在于，所述挂杆上设置有升降机构，所述升降机构用来调节挂杆的高度。
  3. 根据权利要求2所述的一种叠衣机，其特征在于，所述升降结构包括伸缩杆和驱动机构，伸缩杆的一端连接驱动机构，另一端作用在挂杆上，所述驱动机构驱动伸缩杆升降从而带动挂杆升降。
  4. 根据权利要求1-3任一所述的一种叠衣机，其特征在于，所述挂杆包括第一档位和第二档位，第一档位的高度小于第二档位的高度；优选地，第一档位用于取挂衣物，第二档位用于晾晒衣物。
  5. 根据权利要求4所述的一种叠衣机，其特征在于，所述挂杆还包括第三档位，第一档位的高度≤第三档位的高度≤第二档位的高度，优选地，所述的第三档位用于与衣架输送单元对接进行叠衣。
  6. 根据权利要求3所述的一种叠衣机，其特征在于，所述挂杆包括用来悬挂衣物的导向杆和用来回收衣架的存放杆，所述导向杆上设置第一伸缩杆，所述存放杆上设置第二伸缩杆，所述第一伸缩杆和第二伸缩杆由同一驱动机构驱动升降，或者第一伸缩杆和第二伸缩杆分别由驱动机构驱动升降。
  7. 一种权利要求1-6任一所述叠衣机的控制方法，其特征在于，控制挂杆位于不同的高度。
  8. 根据权利要求7所述的一种叠衣机的控制方法，其特征在于，所述挂杆上设置有湿度传感器和/或重量传感器，根据湿度传感器和/或重量传感器的检测值来调整挂杆的高度。
  9. 根据权利要求8所述的一种叠衣机的控制方法，其特征在于，当湿度传感器检测上的湿度值大于预设湿度时，则调整挂杆的高度至第二档位来晾晒衣物；当湿度传感器检测挂杆的湿度值小于预设湿度时，则调整挂杆的高度至第三档位来折叠衣物；
    和/或，当重量传感器检测挂杆的重量小于或等于预设重量时，调整挂杆的高度至第一档位来方便用户来取挂衣物。
  10. 根据权利要求9所述的一种叠衣机的控制方法，其特征在于，所述挂杆包括用来悬挂衣物的导向杆和用来回收衣架的存放杆，所述导向杆和存放杆均为可升降设置，所述重量传感器和/或湿度传感器设置于导向杆上用来调节导向杆的高度，所述控制方法为：根据所述导向杆的高度来调整存放杆的高度；
    优选的，当导向杆处于用来取挂衣物的第一档位时，控制存放杆同步调整至第一档位方便用户取下衣架；当所述导向杆处于折叠衣物的第三档位时，控制存放杆同步调整至第三档位高度方便夹持爪将去除衣物的衣架放置到存放杆上；当导向杆处于晾晒衣物的第二档位时，控制导向杆调整至第三档位或控制导向杆同步调整至第二档位。
  11. 一种叠衣机，其特征在于，包括折叠单元、衣架输送单元和挂杆，所述衣架输送单元将带有衣物的衣架从挂杆上取下后输送至折叠单元处，所述衣架输送单元包括移动机构，所述叠衣机上还包括用于限定所述移动机构运动范围的限位结构。
  12. 根据权利要求11所述的一种叠衣机，其特征在于，所述移动机构至少包括X向移动机构，所述衣架输送单元还包括夹持爪，所述X向移动机构带动夹持爪沿X向移动，所述限位结构限定所述X向移动机构的运动范围；
    优选的，所述X向移动机构包括X轴运动部件、X轴滑杆和第一驱动电机，所述第一驱动电机驱动X轴运动部件在X轴滑杆上移动，所述限位结构限定X轴运动部件在X向的运动范围。
  13. 根据权利要求12所述的一种叠衣机，其特征在于，所述限位结构包括沿X向设置的第一限位结构和第二限位结构，所述X轴运动部件在第一限位结构和第二限位结构之间沿X向移动；
    优选的，所述第一限位结构和第二限位结构分别设置于靠近X轴滑杆两端的位置。
  14. 根据权利要求13所述的一种叠衣机，其特征在于，所述第一限位结构包括第一微动开关和第一碰撞片，所述X轴运动部件对应设置第一碰撞部；所述第二限位结构包括第二微动开关和第二碰撞片，所 述X轴运动部件对应设置第二碰撞部，当第一碰撞部与第一碰撞片接触，或第二碰撞部与第二碰撞片接触时，X轴运动部件改变移动方向或停止移动。
  15. 根据权利要求12-14任一所述的一种叠衣机，其特征在于，所述挂杆包括悬挂衣物的导向杆和回收衣架的存放杆，所述移动机构还包括Y向移动机构，所述Y向移动机构带动夹持爪在导向杆和存放杆之间移动，所述限位结构还限定所述Y向移动机构的运动范围；
    优选的，所述Y向移动机构包括Y轴运动部件、Y轴滑杆和第二驱动电机，所述第二驱动电机驱动Y轴运动部件在Y轴滑杆移动，所述限位结构还限定Y轴运动部件在Y向的运动范围；
  16. 根据权利要求15所述的一种叠衣机，其特征在于，所述限位结构包括沿Y向设置的第三限位结构和第四限位结构，所述Y轴运动部件在第三限位结构和第四限位结构之间沿Y向移动；
    优选的，所述第三限位结构和第四限位结构分别设置于靠近Y轴滑杆两端的位置。
  17. 根据权利要求16所述的一种叠衣机，其特征在于，所述第三限位结构包括第三微动开关和第三碰撞片，所述Y轴运动部件对应设置第三碰撞部；所述第二限位结构包括第四微动开关和第四碰撞片，所述Y轴运动部件对应设置第四碰撞部，当第三碰撞片与第三碰撞部接触，或第四碰撞片与第四碰撞部接触时，Y轴运动部件停止移动。
  18. 一种权利要求11-17任一所述叠衣机的控制方法，其特征在于，所述控制方法为：控制移动机构在所述限位结构限定的范围内运动。
  19. 根据权利要求18所述的一种叠衣机的控制方法，其特征在于，当第一碰撞部与第一碰撞片接触时，通过第一微动片的电流中断，控制X轴运动部件停止移动；当第二碰撞部与第二碰撞片接触时，需要进一步根据所述夹持爪是否夹持衣架来决定改变通过第二微动片的电流方向或中断第二微动片的电流，从而控制X轴运动部件改变移动方向或停止移动；
    优选的，当第二碰撞部与第二碰撞片接触时，若此时夹持爪夹持衣架，则通过第二微动片的电流方向改变，X轴运动部件改变移动方向；若此时夹持爪未夹持衣架，则通过第二运动片的电流中断，X轴运动部件停止移动。
  20. 根据权利要求19所述的一种叠衣机的控制方法，其特征在于，当第三碰撞部与第三碰撞片接触时，通过第三微动片的电流中断，控制Y轴运动部件停止移动；当第四碰撞部与第四碰撞片接触时，通过第四微动片的电流中断，控制Y轴运动部件停止移动。
  21. 一种叠衣机，其特征在于，包括折叠单元、衣架输送单元和挂杆，所述衣架输送单元将带有衣物的衣架从挂杆上取下后输送至折叠单元处，所述挂杆上设置多个用于限制衣架悬挂位置的固定位。
  22. 根据权利要求21所述的一种叠衣机，其特征在于，所述固定位沿挂杆间隔均布，固定位上分别设置吸引部件/被吸引部件，对应的在所述衣架的悬挂端设置被吸引部/吸引部，通过所述吸引部和被吸引部的相互吸引将衣架定位于挂杆上；
    优选的，所述吸引部为永磁铁，所述被吸引部为与所述吸引部磁性相反的永磁铁或能被所述吸引部吸引的金属；
    优选的，所述挂杆上与所述固定位相对应的位置设置有指示标，当用户将衣架挂在指示标处时，衣架被定位在挂杆上。
  23. 根据权利要求21所述的一种叠衣机，其特征在于，所述固定位沿挂杆间隔均布，固定位上分别开设限位孔，所述衣架限位于限位孔中；
    优选的，所述限位孔的尺寸大于所述衣架的悬挂端尺寸的一倍，小于所述衣架的悬挂端尺寸的两倍。
  24. 根据权利要求23所述的一种叠衣机，其特征在于，所述衣架输送单元包括夹持爪和移动机构，所述夹持爪水平设置，所述移动机构带动所述夹持爪沿挂杆的侧部移动，所述夹持爪侧向伸入限位孔，将带有衣物的衣架侧向取下后送至叠衣单元处。
  25. 根据权利要求24所述的一种叠衣机，其特征在于，所述移动机构包括带动所述夹持爪沿平行于挂杆方向水平移动的X向移动机构、带动所述夹持爪沿垂直于挂杆方向水平移动的Y向移动机构以及带动所述夹持爪沿竖直方向移动的Z向移动机构，所述夹持爪在X向移动机构、Y向移动机构以及Z向移动机构的配合下将衣架从限位孔中取出并送至叠衣单元处。
  26. 根据权利要求21所述的一种叠衣机，其特征在于，所述固定位沿挂杆间隔均布，固定位两侧设置小立柱并形成间隔，所述衣架限位于相邻小立柱的间隔中；
    优选的，相邻两个小立柱之间的宽度大于所述衣架的悬挂端宽度的一倍，小于所述衣架的悬挂端宽度的两倍。
  27. 一种权利要求21-26任一所述的一种叠衣机的控制方法，其特征在于，所述衣架输送单元包括夹持爪，所述控制方法为控制夹持爪移动到固定位，将固定位上悬挂的衣架夹取并输送至叠衣单元处。
  28. 根据权利要求27所述的一种叠衣机的控制方法，其特征在于，首先检测固定位上是否挂有衣架，若检测到衣架，则控制所述夹持爪移动到挂有衣架的固定位将衣架夹取并输送至叠衣单元处；
  29. 根据权利要求28所述的一种叠衣机的控制方法，其特征在于，首先控制夹持爪依次移动到挂杆的固定位，然后检测固定位上是否挂有衣架，若检测到衣架，则将衣架夹取并输送至叠衣单元处；
  30. 根据权利要求28或29所述的一种叠衣机的控制方法，其特征在于，所述固定位设置电磁铁，所述衣架上设置永磁铁或金属，当固定位挂有衣架时，控制电磁铁通电，衣架被吸附在固定位上；当夹持爪移动至挂有衣架的固定位时，控制电磁铁断电，夹持爪将衣架夹取并送至叠衣单元处。
PCT/CN2019/090898 2018-06-21 2019-06-12 一种叠衣机及控制方法 WO2019242547A1 (zh)

Applications Claiming Priority (8)

Application Number Priority Date Filing Date Title
CN201810646909.2A CN108797071A (zh) 2018-06-21 2018-06-21 一种全自动叠衣机
CN201810646909.2 2018-06-21
CN201910106331.6 2019-02-02
CN201910106333.5 2019-02-02
CN201910106332.0A CN110629505B (zh) 2018-06-21 2019-02-02 一种叠衣机及控制方法
CN201910106333.5A CN110629506B (zh) 2018-06-21 2019-02-02 一种叠衣机及控制方法
CN201910106332.0 2019-02-02
CN201910106331.6A CN110629504A (zh) 2018-06-21 2019-02-02 一种叠衣机及控制方法

Publications (1)

Publication Number Publication Date
WO2019242547A1 true WO2019242547A1 (zh) 2019-12-26

Family

ID=63975429

Family Applications (8)

Application Number Title Priority Date Filing Date
PCT/CN2019/090898 WO2019242547A1 (zh) 2018-06-21 2019-06-12 一种叠衣机及控制方法
PCT/CN2019/090901 WO2019242549A1 (zh) 2018-06-21 2019-06-12 一种叠衣机及控制方法
PCT/CN2019/090900 WO2019242548A1 (zh) 2018-06-21 2019-06-12 衣架、叠衣机及叠衣机的控制方法
PCT/CN2019/091636 WO2019242592A1 (zh) 2018-06-21 2019-06-18 衣物处理装置及其控制方法
PCT/CN2019/091637 WO2019242593A1 (zh) 2018-06-21 2019-06-18 衣架、叠衣机及叠衣机的控制方法
PCT/CN2019/092352 WO2019242759A1 (zh) 2018-06-21 2019-06-21 一种叠衣机及其控制方法
PCT/CN2019/092181 WO2019242709A1 (zh) 2018-06-21 2019-06-21 一种叠衣机及其控制方法
PCT/CN2019/092350 WO2019242758A1 (zh) 2018-06-21 2019-06-21 一种叠衣机、叠衣机的控制方法及衣物处理装置

Family Applications After (7)

Application Number Title Priority Date Filing Date
PCT/CN2019/090901 WO2019242549A1 (zh) 2018-06-21 2019-06-12 一种叠衣机及控制方法
PCT/CN2019/090900 WO2019242548A1 (zh) 2018-06-21 2019-06-12 衣架、叠衣机及叠衣机的控制方法
PCT/CN2019/091636 WO2019242592A1 (zh) 2018-06-21 2019-06-18 衣物处理装置及其控制方法
PCT/CN2019/091637 WO2019242593A1 (zh) 2018-06-21 2019-06-18 衣架、叠衣机及叠衣机的控制方法
PCT/CN2019/092352 WO2019242759A1 (zh) 2018-06-21 2019-06-21 一种叠衣机及其控制方法
PCT/CN2019/092181 WO2019242709A1 (zh) 2018-06-21 2019-06-21 一种叠衣机及其控制方法
PCT/CN2019/092350 WO2019242758A1 (zh) 2018-06-21 2019-06-21 一种叠衣机、叠衣机的控制方法及衣物处理装置

Country Status (2)

Country Link
CN (39) CN108797071A (zh)
WO (8) WO2019242547A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112575554A (zh) * 2020-11-28 2021-03-30 上海崇贯企业管理有限公司 智能家居用晾衣机构
CN113136721A (zh) * 2020-01-17 2021-07-20 青岛海尔洗衣机有限公司 一种叠衣机的自动纠偏方法

Families Citing this family (70)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108797071A (zh) * 2018-06-21 2018-11-13 金华优地工业设计有限公司 一种全自动叠衣机
WO2019242595A1 (zh) * 2018-06-21 2019-12-26 青岛海尔智能技术研发有限公司 翻折装置、叠衣机及叠衣机的控制方法
CN109592252B (zh) * 2018-11-21 2024-02-13 珠海市新德汇信息技术有限公司 一种废车牌自助收集机
CN109259559B (zh) * 2018-11-29 2024-05-07 佛山职业技术学院 一种智能衣柜的衣架
CN111252315B (zh) * 2018-11-30 2022-07-01 青岛海尔洗衣机有限公司 一种叠衣机及其控制方法
CN111248710B (zh) * 2018-11-30 2022-12-06 青岛海尔洗衣机有限公司 一种衣架、叠衣机及叠衣机的控制方法
CN111248708A (zh) * 2018-11-30 2020-06-09 青岛海尔洗衣机有限公司 一种衣架、叠衣机及叠衣机的控制方法
CN111254685B (zh) * 2018-11-30 2023-04-07 青岛海尔洗衣机有限公司 一种叠衣机及其控制方法
CN111254663B (zh) * 2018-11-30 2022-09-27 青岛海尔洗衣机有限公司 一种衣架、叠衣机及叠衣机的控制方法
CN111254688B (zh) * 2018-11-30 2022-09-27 青岛海尔洗衣机有限公司 一种衣架、叠衣机及叠衣机的控制方法
CN111254687B (zh) * 2018-11-30 2022-11-18 青岛海尔洗衣机有限公司 一种叠衣机及其控制方法
CN111379153B (zh) * 2018-12-29 2023-01-20 青岛海尔洗衣机有限公司 一种叠衣机及其控制方法
CN111379154B (zh) * 2018-12-29 2023-03-21 青岛海尔洗衣机有限公司 一种叠衣机及其控制方法
CN111485413B (zh) * 2019-01-25 2023-07-07 青岛海尔洗衣机有限公司 一种叠衣机及其控制方法
CN111691168B (zh) * 2019-03-13 2023-03-28 青岛海尔洗衣机有限公司 一种叠衣机及其控制方法
CN111851027B (zh) * 2019-04-28 2022-06-03 青岛海尔洗衣机有限公司 一种叠衣机及其控制方法
CN110004693A (zh) * 2019-05-15 2019-07-12 上海海事大学 一种自动折衣机
CN110512407B (zh) * 2019-07-24 2020-11-06 西安交通大学 叠衣机器人及其叠衣方法
CN110438787B (zh) * 2019-08-15 2021-03-05 河海大学常州校区 一种自动叠衣机
CN112391822B (zh) * 2019-08-15 2023-08-29 青岛海尔洗衣机有限公司 一种叠衣机及其控制方法
CN112746481B (zh) * 2019-10-29 2022-04-01 无锡小天鹅电器有限公司 叠衣机和叠衣机的控制方法
CN112746484B (zh) * 2019-10-29 2022-03-29 无锡小天鹅电器有限公司 叠衣机和叠衣机的控制方法
KR20210073855A (ko) * 2019-12-11 2021-06-21 엘지전자 주식회사 의류 폴딩 장치
CN113373671A (zh) * 2020-03-09 2021-09-10 青岛海尔洗衣机有限公司 一种叠衣机及其控制方法
CN113373668A (zh) * 2020-03-09 2021-09-10 青岛海尔洗衣机有限公司 一种叠衣机
CN113367545A (zh) * 2020-03-09 2021-09-10 青岛海尔洗衣机有限公司 一种衣架、叠衣机及控制方法
CN113373670A (zh) * 2020-03-09 2021-09-10 青岛海尔洗衣机有限公司 一种叠衣机及控制方法
CN113373669A (zh) * 2020-03-09 2021-09-10 青岛海尔洗衣机有限公司 一种叠衣机及控制方法
CN111334996A (zh) * 2020-03-09 2020-06-26 钟振洋 一种公共晾晒装置及其使用方法
CN113373667B (zh) * 2020-03-09 2024-02-23 青岛海尔洗衣机有限公司 一种叠衣机及其控制方法
CN111319831A (zh) * 2020-03-13 2020-06-23 宿州学院 一种集成化的服装加工用连续加工装置
CN111270502B (zh) * 2020-03-16 2022-04-01 湖北文理学院 一种自动叠衣机的对折抽出装置
CN111235855B (zh) * 2020-03-16 2022-05-10 湖北文理学院 一种自动叠衣机夹衣、叠袖装置
CN111235854B (zh) * 2020-03-16 2022-05-10 湖北文理学院 自动叠衣机
CN111270486A (zh) * 2020-03-20 2020-06-12 上海电子信息职业技术学院 自动晒收衣物系统及方法
CN113463358B (zh) * 2020-03-31 2024-05-24 青岛海尔洗衣机有限公司 一种叠衣机及控制方法
CN111455640B (zh) * 2020-04-17 2022-08-16 广州大学 一种裤子折叠装置及折叠方法
CN113622173B (zh) * 2020-05-09 2024-01-05 勤好(南通)智能科技有限公司 一种便携式自动熨烫叠衣机
CN111645072B (zh) * 2020-05-26 2021-09-24 山东大学 一种基于多模字典控制策略的机器人缝制方法及系统
CN111634738A (zh) * 2020-05-29 2020-09-08 张家港市阿莱特机械有限公司 一种口罩生产用纱布折叠机
CN113756064B (zh) * 2020-06-01 2024-01-30 青岛海尔洗衣机有限公司 一种衣物晾晒处理方法、装置、设备及存储介质
CN111620026B (zh) * 2020-06-12 2021-11-30 王克涛 自助取送快递、果蔬和干洗衣物综合仓储装置和使用方法
CN111705491B (zh) * 2020-06-16 2022-10-28 珠海格力智能装备有限公司 折叠设备
CN113945706A (zh) * 2020-07-17 2022-01-18 青岛海尔洗衣机有限公司 衣物晾晒状态提醒方法、装置及设备
CN111851029B (zh) * 2020-08-10 2023-06-13 巢湖学院 一种衣物自动收纳存放智能家居装置及其控制系统
CN111962275A (zh) * 2020-08-10 2020-11-20 巢湖学院 一种t恤自动收纳存放装置及其使用方法
CN111959899B (zh) * 2020-08-11 2021-04-06 苏州市奥健医卫用品有限公司 一种用于防护服生产的包装装置
CN112056777A (zh) * 2020-08-28 2020-12-11 青岛理工大学 一种基于垂直循环式运动的助老装置
CN111945396A (zh) * 2020-09-10 2020-11-17 宁波奥达智能家居有限公司 一种转盘式衣服取挂转动结构
CN112176688B (zh) * 2020-09-16 2023-10-03 南昌大学 一种衣物管理系统
CN112244511A (zh) * 2020-10-23 2021-01-22 长沙理工大学 一种衣物自动折叠存取搭配的智能衣柜
CN112353124B (zh) * 2020-10-27 2021-12-28 衢州学院 一种自动叠存取一体化衣柜
CN112746487B (zh) * 2020-12-23 2022-04-22 武夷学院 一种智能叠衣架
US11939720B2 (en) 2021-03-16 2024-03-26 Haier Us Appliance Solutions, Inc. Laundry folding appliance and automated methods of operating the same
US11993892B2 (en) 2021-03-16 2024-05-28 Haier Us Appliance Solutions, Inc. Laundry folding appliance including a closet inventory management system
WO2022198967A1 (zh) * 2021-03-21 2022-09-29 青岛海尔智能技术研发有限公司 用于叠衣机的夹持装置和叠衣机
CN113512870B (zh) * 2021-04-09 2023-05-16 湖北文理学院 晾衣叠衣一体机及其控制方法
TWI777492B (zh) * 2021-04-14 2022-09-11 葉文中 智慧型曬衣架
CN113026323A (zh) * 2021-04-15 2021-06-25 江苏科技大学 一种翻扫结合式全自动叠衣机构
CN113026313B (zh) * 2021-05-10 2023-03-07 广州市果豆科技有限责任公司 一种智能晾衣架
CN113235282B (zh) * 2021-06-21 2022-11-15 重庆理工大学 一种智能叠衣机及其工作方法
CN113525824B (zh) * 2021-07-15 2022-12-06 合肥华普动力数控科技有限公司 一种全自动滑动式衬衫内卷折叠机
CN113581578A (zh) * 2021-07-26 2021-11-02 合肥华普动力数控科技有限公司 一种带自动翻转功能的衣物折叠机
CN113622167A (zh) * 2021-08-13 2021-11-09 西安理工大学 一种智能衣物晾晒整理系统
CN113998471A (zh) * 2021-11-04 2022-02-01 浙江瑞峰智能物联技术有限公司 折衣机卸载系统及卸载方法
CN114000331B (zh) * 2021-11-04 2024-01-05 浙江瑞峰智能物联技术有限公司 一种折衣机折叠方法
CN114318795B (zh) * 2021-12-30 2023-08-25 南通大学 基于智慧家居的智能收衣晾晒一体化系统及其控制方法
CN114516463B (zh) * 2022-01-21 2023-07-18 江苏国范智能科技有限公司 一种纵向叠衣装置
CN114592331A (zh) * 2022-02-08 2022-06-07 中国人民解放军空军工程大学 一种智能晾衣设备
CN116604555B (zh) * 2023-05-17 2024-01-05 武汉纺织大学 一种双臂仿人智能叠衣机器人

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19853699A1 (de) * 1998-11-20 2000-05-25 Paulsen Wolfgang Verfahren, Anordnung und Transportbügel zum automatischen Übergeben von Bekleidungsstücken
CN102797141A (zh) * 2012-07-12 2012-11-28 广东工业大学 叠衣机
CN103590229A (zh) * 2013-07-15 2014-02-19 广东工业大学 衣裤自动折叠机
CN206013666U (zh) * 2016-08-31 2017-03-15 温州忆捷科技有限公司 衣物传送机构
US9745692B2 (en) * 2015-10-20 2017-08-29 Threadrobe, Inc. System, apparatus, and method of handling, storing and managing garments
CN206538611U (zh) * 2017-03-01 2017-10-03 金华优地工业设计有限公司 全自动叠衣机
CN206768458U (zh) * 2017-04-18 2017-12-19 广州市多固信息科技有限公司 一种曲形晾衣架

Family Cites Families (180)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
BE481203A (zh) * 1942-03-03
BE503006A (zh) * 1951-02-05
DE1579460A1 (de) * 1966-10-15 1970-08-27 Pracht Bernd Christian Kleiderbuegel mit beweglichen Tragarmen
GB1221311A (en) * 1967-03-23 1971-02-03 Kannesgiesser Maschinenfabrik A cross-folding machine for laundered objects
DE2107506A1 (de) * 1971-02-17 1972-08-31 Scheuermann, Albert, 7990 Friedrichshafen Kleiderbügel
SE7609294L (sv) * 1975-09-19 1977-03-20 Calator Ab Vik- och pressmaskin, serskilt for skjortor
DE2745517C3 (de) * 1977-10-10 1980-04-17 Ab Iro, Ulricehamn (Schweden) Faltmaschine für Konfektionserzeugnisse
DD142065A1 (de) * 1978-12-22 1980-06-04 Eberhard Steinert Vorrichtung zum falten von flexiblem faltgut
IT7925476A0 (it) * 1979-09-04 1979-09-04 Cks Snc Apparecchiatura automatica per sovrapporre, piegare e trasferire coppie di calze a una stazione diraccolta.
JPS5911435B2 (ja) * 1980-12-11 1984-03-15 ファナック株式会社 工業用ロボットの安全機構
JPS5951032A (ja) * 1982-09-11 1984-03-24 グンゼ株式会社 靴下の折畳み装置
SU1113232A1 (ru) * 1983-04-25 1984-09-15 Всесоюзный Проектно-Конструкторский Институт Сварочного Производства Устройство дл перемещени каретки
DE3528091A1 (de) * 1985-08-05 1987-02-12 Elbeo Werke Gmbh Vorrichtung zum legen und falten von strumpfwaren
JPS63172383U (zh) * 1987-04-28 1988-11-09
US4750651A (en) * 1987-05-28 1988-06-14 Jan Cow Mar Detachable and foldable suit hanger
DE3864940D1 (de) * 1987-07-31 1991-10-24 Kleindienst Gmbh Falteinrichtung fuer waescheformteile.
DE4015798A1 (de) * 1990-05-16 1991-11-21 Kleindienst Gmbh Verfahren und vorrichtung zur automatischen uebergabe von waeschekitteln an falteinrichtungen
JP2678523B2 (ja) * 1990-10-16 1997-11-17 シャープ株式会社 ドラム式洗濯乾燥機
JPH0753200B2 (ja) * 1991-09-13 1995-06-07 富士車輌株式会社 シャツ用型紙の供給装置
DE9112579U1 (zh) * 1991-10-09 1992-01-16 Herbert Kannegiesser Gmbh + Co, 4973 Vlotho, De
DE4134761C2 (de) * 1991-10-22 1993-10-28 Kannegiesser H Gmbh Co Verfahren zum Übergeben von Bekleidungsstücken an eine Behandlungseinrichtung, insbesondere einen Faltautomaten
US5197722A (en) * 1991-10-28 1993-03-30 Union Special Corporation Cloth folding device with airblower for uncurling ends
EP0618152A1 (de) * 1993-03-22 1994-10-05 Martin Riedmayer Verpackungszwecken dienende Vorrichtung zum Legen eines Hemdes, insbesondere Herrenoberhemdes oder dgl. Kleidungsstückes
CH690239A5 (fr) * 1995-02-23 2000-06-15 Alfred Python Dispositif pour le pliage manuel de vêtements, notamment de t-shirts, de polos, de chemises et de pulls.
US5695173A (en) * 1996-01-11 1997-12-09 Ochoa; Arturo Valencia Scissors lift platform with electronic control
DE29704464U1 (de) * 1997-03-12 1997-05-07 Schmidt Klaus Vorrichtung zum Falten von T-Shirts, Sweat-Shirts o.dgl.
JP3801758B2 (ja) * 1997-10-28 2006-07-26 株式会社トーカイ おしぼり等の方形状布片の掴み装置
EP1043251A3 (de) * 1998-11-20 2001-05-16 Wolfgang Paulsen Verfahren, Anordnung und Transportbügel zum automatischen Übergeben von Bekleidungsstücken
JP2000210189A (ja) * 1999-01-26 2000-08-02 Katsuyoshi Kishikawa 開閉式多機能ハンガ―
US20070266740A9 (en) * 2000-07-25 2007-11-22 Kendall James W Vertical laundry module
JP3621375B2 (ja) * 2001-12-14 2005-02-16 洋左右 前嶋 衣類の折り畳み装置
CN1566448A (zh) * 2003-06-30 2005-01-19 乐金电子(天津)电器有限公司 烘干兼用滚筒洗衣机的烘干时间自动调节方法
DE202004009513U1 (de) * 2004-06-17 2004-09-09 Herbert Kannegiesser Gmbh Bügel für insbesondere Bekleidungsstücke
JPWO2007007591A1 (ja) * 2005-07-08 2009-01-29 パナソニック株式会社 衣類たたみ機
CN2862883Y (zh) * 2005-09-07 2007-01-31 仙人掌创意有限公司 折叠衣架
US20070158374A1 (en) * 2006-01-09 2007-07-12 Kado Industrial Co., Ltd. Hanger
CN2904857Y (zh) * 2006-03-08 2007-05-30 篠塚正一 一种可折叠衣架
JP4476969B2 (ja) * 2006-06-29 2010-06-09 洋左右 前嶋 布類の整形装置
JP4570639B2 (ja) * 2007-04-23 2010-10-27 洋左右 前嶋 厚手衣類専用折り畳み機
DK176608B1 (da) * 2007-05-23 2008-11-10 Jensen Denmark As Fremgangsmåde ved drift af spredeklemmer
JP5258624B2 (ja) * 2008-03-06 2013-08-07 洋左右 前嶋 両面畳み対応の折畳み装置
JP5252962B2 (ja) * 2008-03-21 2013-07-31 洋左右 前嶋 衣類の折り畳み装置
JP5096261B2 (ja) * 2008-08-19 2012-12-12 株式会社プレックス 布片処理装置
US20100243685A1 (en) * 2009-03-02 2010-09-30 Chong Tae Yi Clothes folding machine and clothes hanger
JP5367426B2 (ja) * 2009-03-23 2013-12-11 株式会社プレックス 矩形布片展開方法
EP2411574B1 (en) * 2009-03-27 2013-07-31 The Procter & Gamble Company Fluid dispensing system for fabric refreshing cabinet device
CN101551955B (zh) * 2009-04-08 2014-10-22 无锡职业技术学院 一种输送均匀铺料的实训系统及方法
CN102019616A (zh) * 2009-09-18 2011-04-20 上海阿法迪智能标签系统技术有限公司 一种电动抓取机械手
JP2011067577A (ja) * 2009-09-28 2011-04-07 Maria Kikuchi 衣類の折りたたみ機能を有するハンガー
CN102713049B (zh) * 2009-10-19 2015-03-11 七梦科技株式会社 折叠装置和折叠方法
CN101804874B (zh) * 2009-11-20 2011-07-27 李文峰 茶叶自动真空包装机的外袋袋口整形方法及其装置
JP4899223B2 (ja) * 2009-11-30 2012-03-21 株式会社アイ．エス．テイ 布製品の折り畳みシステム
CN201624483U (zh) * 2010-03-03 2010-11-10 姚晓云 折叠式挂衣架
JP2011229689A (ja) * 2010-04-28 2011-11-17 Hitachi Appliances Inc 洗濯機
US8177106B2 (en) * 2010-07-22 2012-05-15 Betts John S Adjustable garment/coat hanger
JP5530900B2 (ja) * 2010-11-10 2014-06-25 洋左右 前嶋 衣類の折り畳み機における姿勢安定化装置
JP5600309B2 (ja) * 2011-03-28 2014-10-01 大阪瓦斯株式会社 浴室乾燥システム
JP5624927B2 (ja) * 2011-03-31 2014-11-12 株式会社プレックス 衣服折畳機
CN102234927A (zh) * 2011-05-09 2011-11-09 杨建忠 具有叠衣功能的洗衣篮
CN202107917U (zh) * 2011-06-20 2012-01-11 马灵玉 一种新型晾衣架
CN102561000A (zh) * 2011-12-30 2012-07-11 江苏海狮机械集团有限公司 用于工衣折叠机中的组合折叠装置
CN202626700U (zh) * 2012-03-29 2012-12-26 北京印刷学院 一种自动叠衣机
CN202809333U (zh) * 2012-04-04 2013-03-20 安徽理工大学 一种叠衣机器人
CN102677443B (zh) * 2012-05-11 2014-06-25 中国农业大学 叠衣机
CN202688732U (zh) * 2012-06-13 2013-01-23 刘紫玫 便捷叠衣器
CN202644227U (zh) * 2012-06-20 2013-01-02 上海电机学院 智能晾衣装置
CN102704249B (zh) * 2012-06-20 2014-01-01 孙学文 收折式多功能晾衣架
CN102733163B (zh) * 2012-06-29 2014-12-17 浙江大学 高效实用叠衣机
CN202705756U (zh) * 2012-08-06 2013-01-30 安徽理工大学 一种智能叠衣机
WO2014032129A1 (pt) * 2012-08-27 2014-03-06 Monteiro De Almeida Carvalho Camille Disposição construtiva introduzida em cabide dobrável
CN202809334U (zh) * 2012-09-21 2013-03-20 梁一丁 自动叠衣机
CN202809335U (zh) * 2012-09-21 2013-03-20 梁一丁 自动收衣叠衣装置
CN102908028A (zh) * 2012-10-31 2013-02-06 南通蒲公英工业设计服务有限公司 一种带磁铁的衣架
CN102908027A (zh) * 2012-10-31 2013-02-06 南通蒲公英工业设计服务有限公司 一种带磁铁的衣架
CN202874884U (zh) * 2012-11-07 2013-04-17 陆凤南 一种红绿灯衣架
ITGE20130023A1 (it) * 2013-02-19 2014-08-20 Michal Jilich Pinza
CN203314677U (zh) * 2013-05-08 2013-12-04 沈愉 可折叠衣架
CN103334257B (zh) * 2013-06-24 2016-03-09 无锡小天鹅股份有限公司 衣物材质的检测方法和洗衣机及其控制方法
CN103434839B (zh) * 2013-08-29 2015-09-30 江苏三环实业股份有限公司 一种铅酸蓄电池板栅自动搬运装置
DE102013020912A1 (de) * 2013-09-27 2015-04-23 Herbert Kannegiesser Gmbh Verfahren zum Falten von Wäschestücken
CN203514082U (zh) * 2013-10-30 2014-04-02 高峰 服装自动折叠料理机
DE102014000047A1 (de) * 2014-01-07 2015-07-09 Herbert Kannegiesser Gmbh Verfahren und Vorrichtung zum Falten von Wäschestücken
CN204125775U (zh) * 2014-01-30 2015-01-28 詹世聪 洗衣店的自动收、取衣装置
CN103935759B (zh) * 2014-03-26 2016-04-06 江苏神农灭菌设备股份有限公司 自动抓卸瓶装置
CN203889572U (zh) * 2014-04-01 2014-10-22 浙江跃岭股份有限公司 一种自动轮毂存储入库平台
CN203818138U (zh) * 2014-04-23 2014-09-10 金陵科技学院 圆柱坐标式四自由度限位保护机械手控制系统
JP6951073B2 (ja) * 2014-06-24 2021-10-20 ＳＢＩ Ｖｅｎｔｕｒｅｓ Ｔｗｏ株式会社 被処理物の処理装置
JP6062397B2 (ja) * 2014-07-10 2017-01-18 横山　純明 洗濯挟み用ストッパー、ストッパー付き洗濯挟み、洗濯物用棒状部材、及び洗濯物用ハンガー
CN104372586B (zh) * 2014-11-05 2016-06-15 来安县新元机电设备设计有限公司 一种收晾衣物的控制方法和装置
DE102014017478A1 (de) * 2014-11-26 2016-06-02 Herbert Kannegiesser Gmbh Verfahren zum Sortieren von Wäschestücken, insbesondere Schmutzwäschestücken
CN204343067U (zh) * 2014-12-06 2015-05-20 应国豪 一种自动晾衣杆
CN104947328B (zh) * 2015-06-25 2017-07-11 中山百川汇盈精密实业有限公司 一种自动折开放式袖口装置
TWM508506U (zh) * 2015-07-20 2015-09-11 Univ Asia 衣物包裝結構
CN204897302U (zh) * 2015-07-29 2015-12-23 李赞芬 一种物料输送系统
WO2017015933A1 (zh) * 2015-07-30 2017-02-02 邱琦 衣物转运系统
CN105019216B (zh) * 2015-07-30 2017-01-11 宁波智腾针织科技有限公司 一种烫衣机的折衣架组件
CN204875294U (zh) * 2015-07-30 2015-12-16 宁波智腾针织科技有限公司 一种烫衣机的折衣架组件
CN105177918B (zh) * 2015-08-05 2018-08-28 无锡小天鹅股份有限公司 洗衣机的耗电量的监测方法、洗衣机和洗衣机系统
CN204908975U (zh) * 2015-08-10 2015-12-30 陈荣 扇型开关衣架
CN105040389A (zh) * 2015-08-27 2015-11-11 佛山市荣高智能科技有限公司 一种多功能衣柜
JP6986711B2 (ja) * 2015-08-28 2021-12-22 パナソニックＩｐマネジメント株式会社 衣類処理装置
CN105177949A (zh) * 2015-09-10 2015-12-23 上海斐讯数据通信技术有限公司 一种升降晾衣架控制方法及装置
CN105040377A (zh) * 2015-09-16 2015-11-11 福建师范大学福清分校 一种智能晾衣架及其工作方法
CN205018752U (zh) * 2015-10-13 2016-02-10 孟昭阳 一种衣柜衣物整理装置
CN205205500U (zh) * 2015-12-14 2016-05-04 林纪良 一种移动式晾衣装置
CN205513916U (zh) * 2016-01-08 2016-08-31 广东建设职业技术学院 衣服感应式挂钩结构
CN205457912U (zh) * 2016-01-25 2016-08-17 江苏海狮机械集团有限公司 衣架
CN105544174B (zh) * 2016-01-26 2017-12-26 江苏海狮机械股份有限公司 工衣折叠机中的衣袖折叠装置
CN205329398U (zh) * 2016-01-26 2016-06-22 江苏海狮机械集团有限公司 工衣折叠机中的衣袖折叠装置
CN105586762B (zh) * 2016-01-26 2018-02-16 江苏海狮机械股份有限公司 工衣折叠机
CN105876959B (zh) * 2016-02-06 2017-12-29 广东溢达纺织有限公司 服装制作尾部处理装置及其处理方法
CN205399030U (zh) * 2016-03-03 2016-07-27 昆山川岛洗涤机械有限公司 折叠机用小布草折叠装置
CN105544159B (zh) * 2016-03-11 2017-12-19 浙江好易点智能科技有限公司 具有叠衣功能的晾衣架
CN205399031U9 (zh) * 2016-03-17 2016-08-24 宁波瑞丽洗涤股份有限公司 一种物料整理台
CN205597710U (zh) * 2016-03-28 2016-09-28 周卉 一种多功能的商用衣架
CN105730793B (zh) * 2016-04-15 2018-08-07 武汉理工大学 一种自动包装衣服的装置
CN105755793B (zh) * 2016-04-19 2018-08-21 合肥龙图腾信息技术有限公司 一种改进型叠衣机
CN205687168U (zh) * 2016-04-27 2016-11-16 张利平 砖跺打包、装车机械一体化系统设备
US10808352B2 (en) * 2016-05-05 2020-10-20 Foldimate Inc. Compact domestic article folding machine with an improved driving mechanism
CN105821630B (zh) * 2016-06-03 2018-10-19 南京工程学院 一种衣物自动晾晒系统
CN205952871U (zh) * 2016-06-22 2017-02-15 宁波圣瑞思工业自动化有限公司 吊挂输送线载具打开机构
CN105947763B (zh) * 2016-06-24 2018-06-29 杰克缝纫机股份有限公司 一种自动收料装置
CN106043851B (zh) * 2016-07-05 2018-04-20 浙江大学宁波理工学院 一种自动叠衣包装机及叠衣包装方法
JP2018000723A (ja) * 2016-07-06 2018-01-11 株式会社親和製作所 洗濯物仕分け支援装置
CN206342154U (zh) * 2016-07-21 2017-07-21 彭嘉慧 自动折叠衣物的衣物箱
CN206137571U (zh) * 2016-08-12 2017-05-03 王鑫洋 智能脏衣收纳柜和智能衣柜
CN106276691B (zh) * 2016-08-23 2018-08-07 安徽恒诺机电科技有限公司 机电升降系统
JP2018029931A (ja) * 2016-08-26 2018-03-01 晴 木下 衣類折り畳み装置
CN205975114U (zh) * 2016-08-29 2017-02-22 武汉大学 一种智能晾衣系统
CN206013606U (zh) * 2016-08-31 2017-03-15 温州忆捷科技有限公司 衣物仓储流水线
CN206013604U (zh) * 2016-08-31 2017-03-15 温州忆捷科技有限公司 智能衣物仓储流水线
CN206013822U (zh) * 2016-08-31 2017-03-15 东蒙集团有限公司 衣物导入机构
CN206265465U (zh) * 2016-09-27 2017-06-20 深圳市领创自动化技术有限公司 一种服装自动折叠装袋贴胶封口机
CN206141596U (zh) * 2016-11-01 2017-05-03 北京印刷学院 装卸拖运助力小车
CN106516303B (zh) * 2016-11-02 2019-03-01 芜湖光荣网络科技有限公司 一种服装折叠装置
CN106436219B (zh) * 2016-11-22 2020-06-09 金爱莲 一种具有剥离衣架功能的电磁弹出滑动装置及其晾衣装置
CN106758054B (zh) * 2016-11-22 2020-07-24 临泉县贝拉蜜家纺有限公司 一种衣架机构
CN106637863A (zh) * 2016-11-22 2017-05-10 徐州乐泰机电科技有限公司 一种衣架电磁弹出滑动装置及其含有该装置的衣架系统
CN206408411U (zh) * 2017-01-10 2017-08-15 西南大学 一种可自动调节晾晒距离的智能晾衣架
CN206495960U (zh) * 2017-02-08 2017-09-15 成都电科创品机器人科技有限公司 一种移动装置
CN106835663B (zh) * 2017-03-01 2023-03-28 金华优地工业设计有限公司 全自动叠衣机
CN207041391U (zh) * 2017-03-01 2018-02-27 金华优地工业设计有限公司 一种收折衣架
CN207355915U (zh) * 2017-03-14 2018-05-15 华北理工大学 衣柜杆式挂衣装置
CN106901511B (zh) * 2017-04-01 2019-02-22 金陵科技学院 一种智能储衣柜
CN207142431U (zh) * 2017-05-17 2018-03-27 深圳市伟铂瑞信科技有限公司 片状物料带自动叠放收集装置
CN109208298B (zh) * 2017-06-29 2021-04-20 无锡小天鹅电器有限公司 叠衣机
CN109208304B (zh) * 2017-06-29 2021-03-19 无锡小天鹅电器有限公司 叠衣机的纵向叠衣组件
CN107080367A (zh) * 2017-06-29 2017-08-22 广东工业大学 一种晾晒储存一体式衣柜
CN109208305B (zh) * 2017-06-29 2021-03-19 无锡小天鹅电器有限公司 叠衣机的衣物折叠机构
CN206941265U (zh) * 2017-07-13 2018-01-30 李云涛 新型叠袖子机构
CN206956403U (zh) * 2017-07-21 2018-02-02 司润泽 一种自动叠衣机
CN107268253A (zh) * 2017-07-26 2017-10-20 无锡飞翎电子有限公司 衣物处理装置、衣物处理方法及机器可读存储介质
CN207164015U (zh) * 2017-08-09 2018-03-30 国网河南省电力公司检修公司 多功能sf6气体检测辅助装置
CN107338636B (zh) * 2017-08-30 2023-09-26 金华馨菲科技有限公司 翻转动作执行机构和自动叠衣机及叠衣方法
CN207347795U (zh) * 2017-09-26 2018-05-11 海南职业技术学院 一种洗衣机外接晾衣设备
CN107601029A (zh) * 2017-09-29 2018-01-19 长兴天恩赐饮用水科技有限公司 一种封口机夹取效率高的分瓶放瓶装置
CN207608062U (zh) * 2017-10-11 2018-07-13 湖州骄阳自动化科技有限公司 一种堆栈机
CN107587329A (zh) * 2017-11-07 2018-01-16 薛迪宋 一种家用全自动衣物烘干设备
CN107724015A (zh) * 2017-11-28 2018-02-23 南京信息工程大学 一种基于多样性衣物的多模式智能晾衣架
CN107964764B (zh) * 2017-12-01 2023-08-04 傅峰峰 一种衣物处理装置
CN108046158A (zh) * 2017-12-12 2018-05-18 绍兴厚道自动化设备有限公司 一种便于折叠的机械升降装置
CN107822454A (zh) * 2017-12-14 2018-03-23 柳州旭至自动化科技有限公司 便携式衣架
CN108163457A (zh) * 2017-12-26 2018-06-15 安徽瑞祥工业有限公司 一种具备存储功能的皮带输送机构
CN108044629A (zh) * 2018-01-11 2018-05-18 广东科达洁能股份有限公司 一种瓷砖桁架机械手及其行走方式
CN107974820B (zh) * 2018-01-12 2024-03-26 山东大学 一种全自动叠衣装置及工作方法
CN108085922B (zh) * 2018-01-18 2023-12-29 珠海格力电器股份有限公司 一种洗衣机滚筒和洗衣机
CN107974818A (zh) * 2018-01-30 2018-05-01 佛山伊贝尔科技有限公司 一种服装后道机器人流水线
CN108560217A (zh) * 2018-02-26 2018-09-21 无锡小天鹅股份有限公司 衣物处理设备和具有其的用于衣物处理设备的叠衣装置
CN108611838B (zh) * 2018-03-21 2020-07-31 浙舞产业发展集团有限公司 一种可调式折收设备
CN108796987B (zh) * 2018-05-28 2021-03-09 广州视源电子科技股份有限公司 一种脱水方法、系统、装置和洗衣机
CN108691169A (zh) * 2018-05-30 2018-10-23 广西荔浦安吉利木业有限公司 一种智能晾衣装置
CN109081098A (zh) * 2018-06-21 2018-12-25 金华优地工业设计有限公司 一种衣架与衣物自动分离装置
CN108797071A (zh) * 2018-06-21 2018-11-13 金华优地工业设计有限公司 一种全自动叠衣机
CN108772691B (zh) * 2018-06-28 2023-07-14 武汉艾特艾迪汽车科技有限公司 一种汽车电子传感器的o型圈套装装置
CN108946263A (zh) * 2018-07-13 2018-12-07 江苏海狮机械股份有限公司 展布机中的展布机械手
CN108842415A (zh) * 2018-07-20 2018-11-20 上海楷沃机器人科技有限公司 一种带有整形功能的新型自动叠衣机
CN208717592U (zh) * 2018-08-02 2019-04-09 爱喏工业科技（苏州）有限公司 一种电动晾衣架
CN109402998B (zh) * 2018-12-21 2021-02-26 季华实验室 一种服装自动折叠机构
CN109736061B (zh) * 2018-12-28 2021-03-12 东莞理工学院 一种桌面式叠衣机
CN109629215B (zh) * 2019-01-31 2023-09-05 广州大学 一种全自动衣服折叠方法及装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19853699A1 (de) * 1998-11-20 2000-05-25 Paulsen Wolfgang Verfahren, Anordnung und Transportbügel zum automatischen Übergeben von Bekleidungsstücken
CN102797141A (zh) * 2012-07-12 2012-11-28 广东工业大学 叠衣机
CN103590229A (zh) * 2013-07-15 2014-02-19 广东工业大学 衣裤自动折叠机
US9745692B2 (en) * 2015-10-20 2017-08-29 Threadrobe, Inc. System, apparatus, and method of handling, storing and managing garments
CN206013666U (zh) * 2016-08-31 2017-03-15 温州忆捷科技有限公司 衣物传送机构
CN206538611U (zh) * 2017-03-01 2017-10-03 金华优地工业设计有限公司 全自动叠衣机
CN206768458U (zh) * 2017-04-18 2017-12-19 广州市多固信息科技有限公司 一种曲形晾衣架

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113136721A (zh) * 2020-01-17 2021-07-20 青岛海尔洗衣机有限公司 一种叠衣机的自动纠偏方法
CN112575554A (zh) * 2020-11-28 2021-03-30 上海崇贯企业管理有限公司 智能家居用晾衣机构
CN112575554B (zh) * 2020-11-28 2022-11-04 上海崇贯企业管理有限公司 智能家居用晾衣机构

Also Published As

Publication number Publication date
CN110629513A (zh) 2019-12-31
CN110629505A (zh) 2019-12-31
WO2019242759A1 (zh) 2019-12-26
CN110629509B (zh) 2023-05-16
CN110629506A (zh) 2019-12-31
CN110629525A (zh) 2019-12-31
CN110629496A (zh) 2019-12-31
CN110629523A (zh) 2019-12-31
CN110629496B (zh) 2022-08-26
CN110629493B (zh) 2022-08-23
WO2019242549A1 (zh) 2019-12-26
CN110629519A (zh) 2019-12-31
CN110629518B (zh) 2022-10-18
CN110629528A (zh) 2019-12-31
CN110629494A (zh) 2019-12-31
CN110629527B (zh) 2023-05-02
CN110629490A (zh) 2019-12-31
CN110629504A (zh) 2019-12-31
WO2019242593A1 (zh) 2019-12-26
CN110629507A (zh) 2019-12-31
CN110629494B (zh) 2022-12-09
CN110629521B (zh) 2023-04-11
CN110629503B (zh) 2022-04-26
CN108797071A (zh) 2018-11-13
CN110629500A (zh) 2019-12-31
CN110629491A (zh) 2019-12-31
CN110629497B (zh) 2022-07-29
CN110629524A (zh) 2019-12-31
CN110629514A (zh) 2019-12-31
WO2019242709A1 (zh) 2019-12-26
CN108755067A (zh) 2018-11-06
CN110629528B (zh) 2024-03-29
CN110629514B (zh) 2022-05-13
CN110629501A (zh) 2019-12-31
CN110629527A (zh) 2019-12-31
CN110629521A (zh) 2019-12-31
CN110629490B (zh) 2022-04-26
CN108755067B (zh) 2020-11-06
CN110629506B (zh) 2022-07-08
CN110629510A (zh) 2019-12-31
CN110629499B (zh) 2022-07-29
CN110629511B (zh) 2022-12-09
CN110629497A (zh) 2019-12-31
CN110629505B (zh) 2022-07-01
CN110629499A (zh) 2019-12-31
CN110629498B (zh) 2022-07-29
CN110629512B (zh) 2022-04-26
CN110629523B (zh) 2022-03-18
CN110629502A (zh) 2019-12-31
CN110629510B (zh) 2022-12-27
WO2019242592A1 (zh) 2019-12-26
CN110629498A (zh) 2019-12-31
CN110629508A (zh) 2019-12-31
CN110629516B (zh) 2022-10-18
WO2019242548A1 (zh) 2019-12-26
CN110629518A (zh) 2019-12-31
CN110629492A (zh) 2019-12-31
CN110629526B (zh) 2023-05-16
CN110629503A (zh) 2019-12-31
WO2019242758A1 (zh) 2019-12-26
CN110629491B (zh) 2022-07-01
CN110629516A (zh) 2019-12-31
CN110629493A (zh) 2019-12-31
CN110629515A (zh) 2019-12-31
CN110629511A (zh) 2019-12-31
CN110629524B (zh) 2022-04-26
CN110629522A (zh) 2019-12-31
CN110629495A (zh) 2019-12-31
CN110629517A (zh) 2019-12-31
CN110629492B (zh) 2022-04-26
CN110629526A (zh) 2019-12-31
CN110629515B (zh) 2023-02-17
CN110629519B (zh) 2022-08-23
CN110629495B (zh) 2022-04-26
CN110629512A (zh) 2019-12-31
CN110629509A (zh) 2019-12-31
CN110629513B (zh) 2022-06-21

Similar Documents

Publication Publication Date Title
WO2019242547A1 (zh) 一种叠衣机及控制方法
CN107826155A (zh) 一种活动型废弃线路板安放架
WO2021034190A1 (en) Method and system feeding a flatwork item to a transport conveyor and/or a flatwork treating device
CN111691169B (zh) 一种叠衣机的控制方法及叠衣机
CN111826918B (zh) 一种叠衣机及控制方法
CN112095322A (zh) 一种全自动叠衣装置
CN112391822B (zh) 一种叠衣机及其控制方法
CN111826919B (zh) 一种叠衣机及其控制方法
CN109208302B (zh) 叠衣机的裤夹组件
CN214089108U (zh) 一种全自动叠衣装置
CN209684815U (zh) 一种带有防坠装置的吸料机
CN113367545A (zh) 一种衣架、叠衣机及控制方法
CN111691168A (zh) 一种叠衣机及其控制方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19821686

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19821686

Country of ref document: EP

Kind code of ref document: A1