WO2019242548A1 - Hanger, laundry folding machine, and laundry folding machine control method - Google Patents

Abstract

Provided are a hanger, a laundry folding machine (1000), and a control method thereof. The hanger (100) comprises a main body (1) and a foldable support arm (2). The hanger (100) further comprises a limiting member (11) and a pressing member (12) to realize folding of the support arm (2). A corresponding limiting structure is provided between the limiting member (11) and the support arm (2) to unfold the support arm (2). The pressing member (12) can move the limiting member (11) to cease position-limiting of the support arm (2), so as to fold the support arm (2). The laundry folding machine (1000) comprises the hanger (100), a hanging rod, and a hanger transport mechanism (300). The hanger transport mechanism (300) causes the hanger (100) to move along the hanging rod. The hanger (100) is provided with a fold/unfold switch (121) to realize folding of the hanger (100). the hanger (100) is provided with a mating part (22) that can better mate with other structures of the laundry folding machine (1000) and enable laundry to be removed from the hanger (100) more easily. The laundry folding machine (1000) is provided with the hanger transport mechanism (300) to realize transport of the hanger (100) and has a higher level of automation.

Description

Hanger, stacker and control method of stacker Technical field

The invention belongs to the field of household appliances, and in particular, relates to a clothes rack, a clothes stacker and a method for controlling the same.

Background technique

Today's household clothes are stored manually after being dried. There are also folding boards on the market that can be used to manually fold clothes. With the acceleration of the pace of life, it is time-consuming and labor-intensive to fold clothes manually. As people's living standards improve, there are more and more types of clothing. Users cannot master the folding and storage techniques for different clothing, so that folded clothing cannot be better protected. Unevenly folded clothing is worn before wearing. Still need ironing. Therefore, there is a need for a machine that can perform reasonable processing of clothes in place of humans.

There is a stacker in the prior art, but it is generally used in industrial production. Repeated operations for similar clothes can not reasonably fold and store different types of clothing, and the industrial stacker has a large volume, a complicated structure, and a high degree of automation. Low and not suitable for home use.

In view of this, the present invention is proposed.

Summary of the Invention

The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a hanger, a clothes stacker and a control method of the clothes stacker.

To solve the above technical problems, the basic concept of the technical solution adopted by the present invention is:

A clothes hanger includes a main body and two clothes supporting arms. The clothes supporting arm is rotatably disposed on the main body. The clothes hanger further includes a limiting member and a pressing member. A corresponding space is provided between the limiting member and the clothes supporting arm. The limiting structure enables the clothes supporting arm to be opened, and the pressing member can move the limiting member to cancel the restriction on the clothes supporting arm and close the clothes supporting arm.

The limiter includes two limit posts corresponding to two support arms, the limit post is provided with a first limit structure, and the support arm is provided with a second match with the first limit structure. A limiting structure, the limiting column can move between positions where the first limiting structure is in contact with and away from the second limiting structure.

The first limiting structure is a limiting protrusion, the second limiting structure is a limiting groove, the limiting column is provided with the limiting protrusion on a side close to the clothes support arm, and the clothes support The arm is provided with the limit groove, and the limit protrusion stops in the limit groove so that the clothes support arm is in an open state.

The limit post can produce a recoverable deformation so that the limit protrusion of the limit post can be automatically restored to a position corresponding to the limit groove of the support arm. Preferably, the limit post is vertically arranged, and One end of the limiting post is fixedly connected to the inner wall of the main body, and the other end can move in a horizontal direction.

The pressing member includes a pressing portion provided outside the main body and two wing portions provided inside the main body and respectively abutting the limit post, and the wing portions are provided at a certain angle with the horizontal direction, so that the fin portion moves up and down, The driving limit post has a horizontal displacement. The fin has an inclined surface, and the limit post and the abutment end of the fin inclined surface have an angle corresponding to the fin inclined surface, so that the limit post can move along the inclined surface; preferably, the pressing member is disposed at The lower part of the limit piece applies a force to the lower end of the limit post.

The pressing member further includes a returning device. The returning device includes an elastic member. One end of the elastic member stops against an end of the pressing member located inside the main body, and the other end of the elastic member stops against a structure fixed to the main body.

The main body is provided with a third limiting structure for limiting the rotation angle of the clothes supporting arm. The third limiting structure limits the clothes supporting arm to the clothes supporting arm being opened to the horizontal and folded to the clothes supporting arm vertically. Between positions.

A clothes stacker includes a clothes hanger as described above, the clothes stacker is provided with a touch mechanism, and the touch mechanism is provided at a position corresponding to the pressing member. A method for controlling a clothes stacker as described above. When clothes are hung on a hanger, the clothes stacker conveys the clothes to a touch mechanism, and the touch mechanism and the pressing member stop to release the clothes support arm and the clothes of the clothes rack. The arms are folded down and the clothes stacker removes the laundry.

A clothes hanger includes a main body and a clothes support arm provided on the main body, and the clothes support arm is provided with a matching portion for matching with a clamping mechanism capable of holding clothes.

The mating part of the clothes support arm is an avoidance area. The clothes are covered after the clothes avoidance area and are suspended. The overhead part of the clothes held by the clamping mechanism does not contact the clothes support arm. The two clothes support arms are symmetrically provided with the escape area. The positions of the avoidance areas correspond to the positions of the two clamping portions of the clamping mechanism.

The clothes-supporting arm forms an avoidance zone that matches the shape of the clamping mechanism through multiple bendings; preferably, the clothes-supporting arm bends downwards in the open state-horizontal bending-upward bending-horizontal bending to form an avoidance Further preferably, each bend has an arc-shaped transition region.

The avoidance zone of the clothes supporting arm is a sinking groove provided on the clothes supporting arm and having an upper opening, and the sinking groove penetrates the front and rear surfaces of the clothes supporting arm for avoiding the clamping mechanism; preferably, the sinking The groove has a cross section that matches the shape of the clamping mechanism.

The mating part of the clothes support arm is a slip-off structure, and the slip-off structure can hold the clothes support arm and the clothes simultaneously when the gripping mechanism is closed, and can relatively slide with the clothes support arm when the gripping mechanism is closed, so that the clothes support arm and The clamping mechanism is disengaged.

The slip-off structure is composed of an inclined surface. The clamping part of the clamping mechanism includes a first clamping arm and a second clamping arm. The slip-off structure includes a first inclined surface corresponding to the first clamping arm and a second clamping arm. In the second inclined surface, when the clamping portion is closed, the two clamping arms can slip off from the inclined surface; preferably, the friction coefficient at the inclined surface is smaller than the friction coefficient of the contact portion between the clamping arm and the clothing.

The clothes support arm is rotatably provided on the main body, a folding switch is provided at the bottom of the body to control the rotation of the clothes support arm, and a limit piece and a clothes support arm are arranged inside the body to limit the clothes support arm. At the position, a transmission member is also provided. The transmission member can transmit the control force received by the folding switch to the limiter to cancel the limit of the support arm by the limiter.

The limiting member includes two limiting poles with elasticity, the limiting pole is provided with a limiting protrusion near the clothes support arm, and the transmission member includes two fins that respectively abut against the free ends of the limiting pole, The up and down movement of the transmission member can drive the horizontal movement control limit protrusion of the limit post to limit the support arm.

A clothes stacker including a hanger as described above, the clothes stacker further includes a gripping mechanism, the gripping mechanism having two gripping parts, and the gripping parts are capable of gripping a part of the clothes at the mating part . A method for controlling a clothes stacker as described above. After the clothes stacker conveys a hanger to a target position, the clothes stacker first controls the clamping mechanism to open and close the mating part of the clothes hanger arm of the hanger to hold the clothes, and then The clothes supporting arm of the clothes rack is folded, and after the folding is completed, the clamping mechanism drives the clothes to move to separate the clothes from the clothes rack.

A clothes stacker includes a hanger and a hanger conveying mechanism. The hanger conveying mechanism is provided on the upper part of the hanger. The hanger conveying mechanism is provided with a robot arm. Place the hanger and move it.

The hanger bar includes a first hanger bar, and the first hanger bar is used to hang a hanger with clothes, and is used to transport the hanger to a position where the hanger is separated from the clothes. The hanger rod further includes a second hanger rod, the second hanger rod is used to suspend the hanger separated from the clothes, and the hanger conveying mechanism can also convey the hanger to the second hanger rod; preferably, the hanger rod The first hanging rod and the second hanging rod are arranged in parallel, and are suspended at one end of the hanger and the clothing.

The hanger conveying mechanism includes an X-direction moving mechanism and a Y-direction moving mechanism. The X-direction moving mechanism drives the Y-direction moving structure to move horizontally in the direction of the hanging rod, and the Y-direction moving mechanism drives the manipulator to move horizontally in the direction of the vertical hanging rod. The X-direction moving mechanism includes a first moving member, the Y-direction moving mechanism is provided on the first moving member, and the Y-direction moving mechanism includes a second moving member, and the second moving member is provided with a robot arm. The X-direction moving mechanism further includes a first transmission belt and a first guide rail. The first moving part is limited to move on the first guide rail and moves along the first guide rail, and is fixedly connected to the first transmission belt. The Y-direction moving mechanism further includes The second transmission belt and the second guide rail, the second moving part is limited to move on the second guide rail and moves along the second guide rail, and is fixedly connected with the second transmission belt.

The clothes stacking machine further includes a hanger. The hanger includes a main body, a hanging part provided on the upper part of the main body, and a foldable clothes support arm provided on the main body. The manipulator grips the hanging part of the hanger for movement. A folding switch is provided at the bottom of the main body, and the folding switch is used to control the stretching and folding of the clothes supporting arm. The clothes stacking machine further includes a touch mechanism, the hanger has a folding switch, the touch mechanism is aligned with the first hanging rod in the X direction, and the robot hand can enable the folding switch when gripping the clothes hanger with clothes Contact with the touch mechanism.

The touch mechanism can be moved up and down to press the folding switch of the hanger, or the touch mechanism is a fixed structure, and the manipulator can be moved up and down to drive the folding switch of the hanger to move up and down at the touch mechanism. The folding switch or the touch mechanism has an inclined surface. When the hanger moves horizontally, the touch mechanism has a longitudinal opposing force on the hanger.

A method for controlling a clothes stacker. The clothes stacker includes a collapsible clothes hanger. The clothes stacker is provided with a movable and openable and closable manipulator. The clothes stacker is also provided with a touch mechanism for moving the clothes stacker. The hanger is folded, and the stacker can obtain the position of the hanger. The control method includes: the robot moves the hanger to the top of the hanger according to the position of the hanger, grabs the hanger, and moves the hanger to the touch mechanism to fold the hanger.

The manipulator is controlled by a moving mechanism and an opening and closing mechanism. The clothes stacker includes a hanging rod for hanging a hanger. The control method includes a moving mechanism to control the manipulator to move in a horizontal direction. The opening and closing mechanism controls the manipulator to grab at the hanging rod. Release the hanger.

The hanging rod includes at least a first hanging rod for hanging a clothes rack with clothes, including the following steps:

S1: the robot grabs the hanger on the first hanger; S2: the robot moves the hanger along the first hanger to the touch mechanism; S3: the touch mechanism touches the hanger folding switch to collapse the hanger.

In step S1, the manipulator obtains the position of the hanger through the positioning device, and moves to the top of the hanger through the moving mechanism so that the manipulator is aligned longitudinally with the hanger. In step S2, the opening and closing mechanism controls the manipulator to grab the hanger and move the hanger along the first The direction of the hanging rod moves toward the touch mechanism. When multiple hangers are placed on the first hanging rod, the manipulator selects the hanger closest to the touch mechanism for grasping and moving each time according to the positioning information of the multiple hangers.

The hanging rod further includes a second hanging rod, the second hanging rod is used to hang a clothes rack for removing clothes, and the control method further includes a robot arm recovering and placing the clothes hanger on the second hanging rod.

The control method of the stacker further includes the following steps: S4: The robot moves to the position corresponding to the second hanger; S5: The robot moves the hanger along the second hanger; S6: The robot opens and releases the hanger to hang the hanger on the second hanger On the pole.

In step S4, the robot moves again after the clothes are completely separated from the hanger, and the moving mechanism moves the robot in a horizontal direction perpendicular to the hanger to align the hanger with the position of the second hanger. In step S5, the move mechanism moves along the second Move the manipulator in the direction of the hanging rod to recover the hanger; in step S6, the opening and closing mechanism controls the manipulator to release the hanger to hang the hanger at the second hanging rod.

The moving mechanism includes an X-direction moving mechanism and a Y-direction moving mechanism. The control method includes activating the X-direction moving mechanism when the robot moves in the direction of the hanging rod, and activating the Y-direction moving mechanism when the robot moves in the horizontal direction perpendicular to the hanging rod. .

After the manipulator places the hanger on the second hanging rod, the moving mechanism moves the manipulator to the upper part of the first hanging rod to perform steps S1-S6.

After the above technical solution is adopted, the present invention has the following beneficial effects compared with the prior art.

(1) The hanger can be folded, and the clothes can be supported and released. The position of the support arm can be changed through the limitation and cancellation of the internal limiter. The structure is simple and easy to implement, and it can complete the user's clothes to the clothes stacker. The connection process of the clothes removal process;

(2) The hanger is provided with a folding switch (pressing part), and the hanger can be folded by touching the folding switch of the garment stacker. The folding switch corresponds to the position of the touching part, which can achieve accurate positioning and Ability to control the clothes support arm;

(3) In the process of folding clothes, the clothes stacker needs to use specific hangers to support the clothes and can be separated from the clothes. Therefore, the mating part provided on the clothes rack can better cooperate with other structures of the clothes stacker. Can make clothing and hanger more easily detached.

(4) The clothes stacker is equipped with a hanger conveying mechanism for conveying the hangers. By setting the X-direction and Y-direction conveying mechanisms, the hangers can be conveyed at various positions in the area. The hangers are gripped and transported in cooperation with the robot. ; The hanging rod includes a hanger and a folding hanger which are respectively responsible for spreading the first hanging rod and the second hanging rod. The hanger conveying mechanism can not only fold the hanger to the touching mechanism to fold the hanger, but also fold it. The rear hangers are recycled, and the process of conveying multiple pieces of clothing to the inside of the stacker is realized in turn. Through the control method of the present invention, a complete conveying process for the hangers can be formed, and the clothes that need to be folded are conveyed according to the above process. It is folded to the inside of the stacker and has a high level of automation.

The specific embodiments of the present invention are described in further detail below with reference to the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings are used as a part of the present invention to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention, but do not constitute an improper limitation on the present invention. Obviously, the drawings in the following description are just some embodiments. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without paying creative work. In the drawings:

FIG. 1 is a schematic view of a hanger of the present invention; FIG. 2 is a sectional view of a hanger of the present invention in an unfolded state; and FIG. 3 is a sectional view of a folded state of the hanger of the present invention;

FIG. 4 is a partially enlarged view at B in FIG. 2; FIG. 5 is a partially enlarged view at B in FIG. 3;

Fig. 6 is another embodiment of the clothes rack of the present invention; Fig. 7 is a front view of the clothes stacker of the present invention;

Figure 8 is a side view of the clothes stacker of the present invention; Figure 9 is a partial side view of the clothes stacker of the present invention;

FIG. 10 is a perspective view of a hanger conveying mechanism of the present invention; FIG. 11 is a plan view of a hanger conveying mechanism of the present invention;

12-18 are working diagrams of the hanger conveying mechanism of the present invention; FIG. 19 is a schematic diagram of the cooperation of the clamping mechanism and the hanger matching portion of the present invention;

20 to 21 are schematic diagrams of a control method of a stacker of the present invention.

In the picture: 1000, stacking machine; 100, clothes rack; 1, main body; 11, limit piece; 111, limit post; 1111, first limit structure; 12, pressing piece; 121, folding switch; 122, Wings; 123, returning device; 13, third limiting structure; 14, power mechanism; 141, driving parts; 142, first link; 143, second link; 15, sliding groove; 2, support clothes Arm; 21, the second limit structure; 22, the matching part; 23, the rotating shaft; 3, the hanging part; 200, the touch mechanism; 300, the hanger conveying mechanism; 311, the first hanging rod; 312, the second hanging rod; 321, the first moving part; 322, the first transmission belt; 323, the first guide; 324, the first motor; 331, the second moving part; 332, the second transmission belt; 333, the second guide; 334, the second motor; 335, manipulator; 400, clamping mechanism; 410, clamping portion.

It should be noted that these drawings and written descriptions are not intended to limit the scope of the concept of the present invention in any way, but rather to explain the concept of the present invention to those skilled in the art by referring to specific embodiments.

detailed description

In order to make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be described clearly and completely in combination with the drawings in the embodiments of the present invention. The following embodiments are used to explain the present invention. , But not intended to limit the scope of the invention.

In the description of the present invention, the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or suggesting that the device or element referred to must have a specific The orientation and construction and operation in a specific orientation cannot be understood as a limitation on the present invention.

In the description of the present invention, it should be noted that the terms "installation", "connected", and "connected" should be understood in a broad sense unless explicitly stated and limited otherwise. For example, they may be fixed connections or removable. Connected or integrated; it can be mechanical or electrical; it can be directly or indirectly through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.

As shown in FIG. 1 to FIG. 5, the present invention relates to a hanger. The hanger 100 includes a main body 1 and two clothes supporting arms 2. A hanging part 3 is provided on the upper part of the main body 1 for hanging the clothes hanger 100, and the clothes supporting arm 2 is rotatable. The support arm 2 can be rotated to a nearly horizontal position for supporting clothes, and can also be rotated to a vertical position. The two arms can be folded to release the clothes hanging on the support arm 2. The clothes supporting arm 2 is provided on the main body 1 through a rotating shaft 23, and the clothes supporting arm 2 can rotate at a certain angle with the rotating shaft 23 as a circle center. The rotation angle can be restricted by a corresponding limiting mechanism to prevent the clothes supporting arm 2 from rotating excessively.

The control of unfolding and folding of the clothes hanger support arm is realized by the limiting member 11 and the pressing member 12 provided inside the main body. A limit mechanism is provided between the limiter 11 and the clothes support arm 2. The limit mechanisms between the two correspond to each other, so that the limit structure can support the clothes support arm 2 in a nearly horizontal position in an open state, and can hang clothes such as Shown in Figure 2. The connection between the limiting member 11 and the pressing member 12 is not a rigid contact, but the limiting member 11 can generate deformation or displacement to achieve a flexible connection. The pressing member 12 can exert a force on the limiting member 11 or exert a force on the limiting member 11. The movement is performed, so that the restriction member 11 loses the restriction on the support arm 2 due to the change in shape or position, so that the restriction structure between the support arm 2 and the restriction member 11 stops the support arm 2, so that the support arm 2 faces downward. Turn to reach the folded state, and release the clothes hung on the support arm 2 as shown in FIG. 3.

FIG. 4 is a partial enlarged view at B in FIG. 2. As shown in FIG. 4, the limiting member 11 includes two limiting columns 111 corresponding to the two support arms 2 respectively, and the limiting column 111 is provided with a first limit. The positioning structure 1111 and the clothing support arm 2 are provided with a second positioning structure 21 matching the first positioning structure 1111. The positioning column 111 is irregular in shape as a whole and can generate a certain deformation, that is, the positioning column 111 can have one end. It is fixed on the main body 1 and the other end can swing freely, so that the first limiting structure 1111 can be separated from the second limiting structure 2121. Therefore, the limiting post 111 can move between positions where the first limiting structure 1111 and the second limiting structure 21 are in contact with and away from each other.

The first limiting structure 1111 is a limiting protrusion, the second limiting structure 21 is a limiting groove, the limiting post 111 is provided with the limiting protrusion on the side close to the clothes supporting arm 2, and the clothes supporting arm 2 is provided with In the position-limiting groove, the position-limiting protrusion stops in the position-limiting groove, so that the clothes supporting arm 2 is in an open state.

The first position-limiting structure 1111 and the second position-limiting structure 21 can also have other shapes, but they need to be matched to play a role in limiting the clothing support arm 2, and the two can be separated to release the clothing support arm 2 Effect on the limit.

As shown in FIG. 4 and FIG. 5, the limiting post 111 can generate a recoverable deformation so that the limiting protrusion of the limiting post 111 can be automatically restored to the position corresponding to the limiting groove of the support arm 2, as shown in the figure. The limiting column 111 is vertically arranged. One end of the limiting column 111 is fixedly connected to the inner wall of the main body 1, and the other end can move in the horizontal direction.

The pressing member 12 includes at least two parts, one is located inside the main body 1 and is used to control the limit post 111, and the other is a folding switch 121 located outside the main body 1. The two limiting posts 111 are controlled at the same time. The part located inside the main body 1 includes two fins 122, and the fins 122 stop against the limiting posts 111, as shown in FIGS. 4 and 5. 122 is an oblique setting, one fin 122 is in abutment with the free end of the left limit post 111, and the other fin 122 is in abutment with the free end of the right limit post 111. A certain angle, so that the wing portion 122 can generate a lateral force against the limit post 111 during the process of moving up and down, so that the limit post 111 is far away from the support arm 2, so that the first limit structure 1111 and the first The two limiting structures 2121 are disengaged, the limiting effect of the limiting column 111 on the support arm 2 disappears, and the support arm 2 is rotated downward to achieve the folding and folding of the support arm 2. At this time, if the support arm 2 is hung up With clothing, it loses its supporting effect on clothing.

The fin 122 has a slanted surface, and the slanted surface stops against the stopper 111. In order to facilitate the movement of the stopper 111 on the slanted surface, the end of the stopper between the stopper 111 and the slanted surface also has an angle with the slanted surface. The uniform inclined surface enables the free end of the limiting post 111 to slide easily on the inclined surface of the fin 122. As shown in FIG. 4 and FIG. 5, the pressing member 12 is at the lower part of the limiting member 11, the fin 122 of the pressing member 12 is V-shaped, and the folding switch 121 of the pressing member 12 protrudes from the bottom opening of the main body 1. It can receive an upward force from the outside, so as to apply a horizontal force to the middle of the limit post 111. In order to facilitate the installation and the production of parts, the limiting post 111 can be set as two legs with an inverted U-shape to form a complete part. The main body 1 is provided with a card slot, and the part can be directly installed through the limiting mechanism. In the card slot, two legs are extended to form a limiting post 111. As shown in Figure 4 and Figure 5.

Since the external force can be applied upwardly to the folding switch 121, in order to ensure that the folding switch 121 can be ejected out of the main body 1, the pressing member 12 is also provided with a return device, so that when the pressing member 12 receives external force, The main body 1 moves inside, and after the effect of the force disappears, it can automatically rebound and return to a position where no force is applied. The returning device may be provided as a spring. One end of the spring stops against the inner wall of the main body 1 opposite to the pressing member 12, and one end stops against the end of the pressing member 12 located inside the main body 1. When the pressing member 12 moves toward the inside of the main body 1, the spring A reverse force will be generated, so that when the external force disappears, the force of the spring will push the pressing member 12 back to the original position. As shown in the figure, the spring is set in the middle of the two limiting posts 111 and is approximately parallel to the limiting posts 111. In order to ensure that the position of the spring does not change, the limiting posts 111 should not be caused first. 12 The part inside the main body 1 has a columnar structure for the spring to cover, so as to ensure that the spring is not displaced. A corresponding structure is also provided to prevent the spring from shifting at another degree that the spring stops.

In order to ensure that the clothes supporting arm 2 rotates within a specific angle, to prevent it from excessively rotating and losing reasonable support for the clothes, or to prevent the two clothes supporting arms 2 from excessively rotating and colliding when being folded, a third limit is provided in the main body Structure 13, as shown in FIG. 4 and FIG. 5, the clothing support arm 2 also has a corresponding limiting structure that matches the limiting mechanism inside the main body 1. When the clothes supporting arm 2 is in the deployed state, the first limiting structure 1111 and the second limiting structure 2121 stop to prevent the clothes supporting arm 2 from rotating downward, and the third limiting structure 1313 is provided on the upper part of the clothes supporting arm 2 , To prevent the support arm 2 from rotating upwards again. When the clothes supporting arm 2 is folded, the clothes supporting arm 2 will rotate downward to form a folded state. At this time, the first limiting structure 1111 and the second limiting structure 2121 are far away, causing the first limiting structure 1111 to fail. A limit is formed on the second limit structure 2121. The support arm 2 rotates downward due to gravity. When the rotation is close to the vertical direction, the second limit structure 2121 stops against the third limit structure 1313 to prevent the support. The arm 2 is further rotated. The first limiting structure 1111 cannot match the second limiting structure 21.

The hanger in the present invention is a hanger that can be used in conjunction with the stacker, so the hanger has a structure that matches the corresponding structure of the stacker. The foldable support arms and the folding switch can cooperate with the stacker. . The clothes stacker also has a gripping mechanism 400. The function of the gripping mechanism 400 is to clamp the clothes from the hanger and detach the clothes from the hanger. The gripping mechanism brings the clothes separated from the clothes hanger into the inside of the clothes stacker to carry out the laundry. Flatten, fold and other operations to complete the process of stacking clothes.

The hanger is further provided with a matching portion 22 to cooperate with the clamping mechanism 400 of the clothes stacker, so that the clamping mechanism can clamp the clothes on the clothes supporting arm and drive the clothes away from the hanger. As shown in Figures 1 and 19, the mating part of the clothing support arm is an avoidance area. The clothing is covered by the avoidance area and is suspended. The overhead part holding the clothing by the clamping mechanism does not contact the clothing support arm. Two clothing support arms Avoidance zones are provided symmetrically, and the positions of the two avoidance zones correspond to the positions of the two clamping portions of the clamping mechanism. Generally, clothing is symmetrical to the left and right, so the two support arms of the hanger and the mating part provided on the support arm are also symmetrically arranged. The clamping mechanism has two clamping parts. The hangers are also symmetrically distributed.

As shown in FIG. 1, the clothing support arm is bent a plurality of times to form an avoidance zone that matches the shape of the clamping mechanism; when the clothing support arm is in an open state, it is bent downwards-horizontally bent-upwardly bent-horizontally bent The bend forms an avoidance zone; the structures such as downward bend and upward bend are not necessarily vertical downward or vertical upward, and may also have a certain inclination angle, and each bend may also be an arc-shaped transition area. The purpose is to form a downwardly recessed area, constituting an avoidance area of the avoidance clamping portion 410.

In addition to the above-mentioned avoidance zone formed by multiple bending, the avoidance zone of the support arm can also be set as a sinking slot with an upper opening on the support arm, the sinking groove penetrating the front and rear surfaces of the support arm for avoidance The clamping mechanism has a cross section matching the shape of the clamping mechanism. The sinking groove has the same avoidance effect as the avoidance zone formed by bending, but the sinking groove and the bending structure are different in processing technology, and the setting method of the sinking groove can ensure a certain support strength of the support arm . The choice of the above two structures can be selected according to the performance required in the application.

The mating portion may also be configured to be in contact with the clamping portion first, and then the clamping portion may slip off from the clothes supporting arm during the clamping process. The mating part of the clothes support arm is a slip-off structure. When the slip-off structure can hold the clothes support arm and clothes at the same time, when the gripping mechanism is closed, it can slide relative to the clothes support arm to disengage the clothes support arm from the gripping mechanism. . A specific setting manner may be that the slip-out structure is formed by an inclined surface, the clamping portion of the clamping mechanism includes a first clamping arm and a second clamping arm, and the sliding-off structure includes a first inclined surface corresponding to the first clamping arm and The second inclined surface corresponding to the two clamping arms. When the clamping portion is closed, the two clamping arms can slide off the inclined surface. In order to ensure that the clamping portion can hold and remove the clothes from the support arm, the inclined surface The coefficient of friction at the location is smaller than the coefficient of friction of the contact portion of the clamping arm with the clothing, thereby ensuring that the clothing can smoothly fall off from the support arm and be taken away by the clamping portion.

The invention also includes a clothes stacker. The clothes stacker has a clamping mechanism as described above, and the clamping mechanism has two clamping portions, and the clamping portions are capable of clamping a portion of the clothing located at the fitting portion. The control method of the stacker is that after the stacker conveys the hanger to the target position, the target position may be the touch mechanism. The stacker first controls the opening and closing of the clamping mechanism at the mating part of the support arm of the hanger. Hold the clothes, and then fold the support arm of the hanger. After the folding is completed, the clamping mechanism drives the clothes to move the clothes away from the hanger.

The present invention also includes another hanger. The hanger is shown in FIG. 6. The hanger of this embodiment is different from the hanger of the previous embodiment in that the pressing member 12 is provided with a power mechanism 14 to drive the pressing member 12 to move. The structure of the hanger is basically the same as the above hanger, including the main body 1, the support arm 2 and the hanging part 3. The same limiter 11 and folding switch 121 are also provided inside the main body 1. The hanger folded in the previous embodiment This is achieved by externally applying a force to the folding switch 121 to fold the hanger. In this embodiment, a power mechanism 14 is provided on the pressing member 12, and the power mechanism 14 can drive the pressing member 12 to move, thereby achieving folding of the hanger.

The power mechanism 14 includes a driving member 141 and a transmission member, and the role of the transmission member is to transmit the power generated by the driving member 141 to the pressing member 12 so that the pressing member 12 can move, thereby exerting a force on the position-limiting member 11 and making the position limited. The structure is realized, and the clothes supporting arm 2 is rotated and folded.

The driving member 141 is a motor and has a motor shaft capable of outputting power. The transmission member includes a first link 142 and a second link 143. As shown in FIG. 6, one end of the first link 142 is fixedly connected to the motor shaft. One end is rotatably connected to the second link 143, and the other end of the second link 143 is connected to the pressing member 12 to drive the pressing member 12 to move.

In the previous embodiment, the bottom of the main body 1 is provided with an opening for the folding switch 121 of the pressing member 12 to extend so as to be able to receive an external force. In this embodiment, since the pressing member 12 is driven by the motor, the pressing member 12 does not need to be arranged outside the main body 1, but because the movement path of the pressing member 12 needs to be ensured, a sliding groove 15 is provided in the main body 1 for the pressing member 12 Moving along a straight line, preferably as shown in the figure, the pressing member 12 can move up and down along the sliding groove 15 to exert a force on the limiting post 111.

The first link 142 is short and fixedly connected to the motor shaft. When the motor shaft rotates, the first link 142 can be driven to rotate. As shown in FIG. 6, the first link 142 can be rotated clockwise in the circumferential direction to drive the second The connecting rod 143 moves upward, and the other end of the second connecting rod 143 is connected to the pressing member 12, which can drive the pressing member 12 to move upward along the sliding groove 15.

Since the motor shaft can be rotated in the reverse direction, the connecting rod can return the pressing member 12 under the reverse force of the motor shaft, but an elastic member can be provided between the pressing member 12 and the main body 1 so that the pressing member 12 can pass the power. Loss can be returned to home. One end of the elastic member abuts against the end of the pressing member 12 that faces the limiting post 111, and one end stops abutting against the inner wall of the main body 1. The dislocation arrangement between the elastic member and the second link 143 will not affect each other.

Since the hanger is provided with a motor, the folding of the support arm 2 can be controlled by the rotation of the motor. Therefore, the hanger can also be provided with a control unit. The control unit can control the on and off of the motor and the direction of rotation of the motor shaft to control the support arm. 2 off.

The hanger also includes a signal transmission unit for receiving and / or sending signals, and the signal transmission unit is communicatively connected with the control unit. Because the clothes rack can be used in conjunction with a clothes stacker or other device, it can receive signals from the clothes stacker or other device that require the clothes rack to be folded, thereby achieving wireless control of the clothes rack.

As shown in FIG. 7 and FIG. 8, the present invention further includes a clothes stacker 1000. The clothes stacker 1000 includes the hanger 100 described in the first embodiment, and the clothes stacker 1000 further includes a contact mechanism 200. The action of the bump mechanism 200 is used to apply a force to the folding switch 121 of the pressing member 12 of the hanger 100, so that the hanger 100 can be folded.

FIG. 9 is a partially enlarged view of FIG. 8. FIG. 9 shows a setting position of the touch mechanism 200. When the hanger 100 is transported to the touch mechanism 200, the touch mechanism 200 can move up and down, and acts on the folding switch 121 at the bottom of the main body 1 of the hanger 100 force.

The control method of the above-mentioned clothes stacker 1000 is that when clothes are hung on the hanger 100, the clothes stacker 1000 transports the clothes to the touch mechanism 200, the touch mechanism 200 and the pressing member 12 release the clothes supporting arm 2, and the clothes hanger 100 The clothes supporting arm 2 is folded down, and the clothes stacker 1000 removes the clothes. Since the stacker 1000 needs to transport the hanger 100, the stacker 1000 can also be provided with a hanger conveying mechanism 300, as shown in Figs. 10 and 11, which is a top view of the hanger conveying mechanism 300. The hanger conveying mechanism 300 is used for The hanger 100 is transported to the touch mechanism 200. After the touch mechanism 200 exerts a force on the hanger 100, the hanger 100 is folded, and the hanger conveying mechanism 300 may also convey the folded hanger 100 to a position where the hanger 100 is recovered.

The clothes stacker 1000 is provided with a hanger rod for hanging the hanger 100, and a hanger conveyor mechanism 300 is provided on the hanger rod, and the hanger conveyor mechanism 300 can move the hanger 100. The hanger conveying mechanism 300 is provided with a manipulator 335. The manipulator 335 can grip the hanger 100 or release the hanger 100. The hanger 100 is provided with a hanging part 3. The manipulator 335 can grip the hanger 3 of the hanger 100 to move the hanger 100.

One or more hanger rods may be provided. The hanger rod includes at least a first hanger rod 311. After the clothes are supported on the hanger 100, the user may hang the hanger 100 with the clothes on the first On the hanging rod 311, the manipulator 335 can also transport the hanger 100 along the first hanging rod 311 to a position where the hanger 100 is separated from the clothes.

The hanger rod may further include a second hanger rod 312. The second hanger rod 312 is used to suspend the hanger 100 separated from the clothes. The hanger conveying mechanism 300 can also transfer the hanger 100 to the second hanger rod 312 for recycling the hanger 100. Preferably, the first hanging rod 311 and the second hanging rod 312 are arranged in parallel, and are suspended at one end of the hanger 100 separated from the clothes as shown in FIG. 10.

The hanger conveying mechanism 300 includes an X-direction moving mechanism and a Y-direction moving mechanism. The X-direction moving mechanism can move the robot hand 335 in the direction of the hanging rod, and the Y direction moving mechanism can drive the robot hand 335 to move perpendicular to the horizontal direction of the hanging rod. To ensure that the manipulator 335 can move in both the X and Y directions, the Y direction moving mechanism is provided on the X direction mechanism, so that the X direction moving mechanism can drive the Y direction moving mechanism to move as a whole, and the Y direction moving mechanism can also drive the manipulator 335 in The Y-direction movement enables the robot 335 to move to any position within the range of the hanger conveying mechanism 300.

The specific setting manner of the X-direction moving mechanism is that the X-direction moving mechanism includes a first moving part 321, and further includes a first transmission belt 322 and a first guide rail 323. The first moving part 321 is disposed on the first guide rail 323 and can be moved along the first The guide rail 323 moves, and the first transmission belt 322 drives the first moving member 321 to move along the first guide rail 323. A portion of the first transmission belt 322 is fixedly connected to a corresponding structure of the first moving member 321. The X-direction moving mechanism is further provided with a first motor 324. When the first motor 324 is turned on, the first driving belt 322 is driven to rotate, so that the first moving member 321 moves along the first guide rail 323.

The specific setting manner of the Y-direction moving mechanism is that the Y-direction moving mechanism includes a second moving member 331, and further includes a second transmission belt 332 and a second guide rail 333. The second moving member 331 may be provided on the second guide rail 333 and may move along the second The guide rail 333 moves, the second transmission belt 332 drives the second moving member 331 to move along the second guide rail 333, and a part of the second transmission belt 332 is fixedly connected to the corresponding structure of the second moving member 331. The Y-direction moving mechanism is further provided with a second motor 334. When the second motor 334 is turned on, the second transmission belt 332 is driven to rotate, so that the second moving member 331 moves along the second guide rail 333. The X-direction movement mechanism drives the Y-direction movement mechanism to move, and the entire Y-direction movement mechanism is fixedly disposed on the first moving member 321, and the manipulator 335 is disposed on the second movement member 331 of the Y-direction moving mechanism.

The clothes stacker 1000 is provided with a touch mechanism 200. Since the touch mechanism 200 needs to touch the opened hanger 100, it is preferable that the touch mechanism 200 is aligned with the first hanger 311, so that the hanger conveying mechanism 300 can move along The X direction directly transports the hanger 100 to the touch mechanism 200, and the touch mechanism 200 controls the hanger 100. The touch mechanism 200 includes a contact member that can be moved up and down to press the folding switch of the hanger 100. The folding switch is the folding switch 121, or the contact member is a fixed structure, and the robot 335 can be moved up and down. Move, the folding switch of the hanger 100 is moved up and down to trigger the folding switch at the contact part, or the contact part has an inclined surface. When the hanger 100 moves horizontally, the contact part has a longitudinal force on the hanger 100 to make the folding switch 121 Can move inside the main body 1.

The touch mechanism 200 also includes a groove-shaped mechanism that can limit the position of the hanger 100 on the hanging part 3, so that the hanger 100 can be aligned with the touch piece, prevent the folding switch from being touched, and prevent the hanger from being touched by the touch piece. When the force is applied by 100, the hanger 100 is fixed to prevent the hanger 100 from breaking away from the robot 335.

The clothes stacker 1000 has other devices for clamping clothes, and the hanger 100 is folded to complete the transfer of the clothes. The clothes stacker 1000 is provided with a clamping mechanism therein, and the hanger 100 is provided with a fitting portion 22 for avoiding the clamping mechanism.

The control method of the above-mentioned clothes stacker is: the robot moves to the top of the hanger according to the position of the hanger, grabs the hanger, and moves the hanger to the touch mechanism to fold the hanger. The robot can be moved and opened. The movement of the manipulator is realized by a movement mechanism. The movement mechanism may include an X-direction movement mechanism and a Y-direction movement mechanism to move the manipulator, and the hanger conveying mechanism can convey the hanger in a horizontal direction. The opening and closing of the manipulator can be realized by an opening and closing mechanism. The opening and closing mechanism can open the claw portion of the manipulator, so that the claw portion of the manipulator can be closed to grasp the hanger.

The position of the hanger can be obtained by setting a corresponding positioning device on the hanger and / or the stacker. The hanger can feedback the position of the hanger to the stacker in real time, so that the robot can accurately grasp the position of the hanger. The stacker can also be provided with a device such as a camera to determine the current position image of the hanger, thereby obtaining the real-time position of the hanger and guiding the movement of the hanger conveying mechanism. The position of the hanger can also be judged by the distance between the hanger and a part of the stacker, and the distance sensing can be used to determine whether the hanger has reached the designated position.

With the first hanging rod, the manipulator conveys the hanger to the touch mechanism. The control method of the clothes stacker includes:

S1: The robot grabs the hanger on the first hanging rod;

S2: The robot moves the hanger to the touch mechanism along the first hanging rod;

S3: The contact mechanism and the hanger folding switch are in contact to collapse the hanger.

In step S1, the manipulator obtains the position of the hanger through the positioning device, and moves to the top of the hanger through the moving mechanism so that the manipulator is aligned with the hanger longitudinally; FIG. 12 to FIG. 13 are schematic diagrams of step S1. It is also necessary to determine whether the manipulator is in an open state. When the manipulator is in the open state, it is grasped at the hanger. When the manipulator is in the closed state, the hanger conveying mechanism starts the opening and closing mechanism to adjust the manipulator to the open state. The hanger conveying mechanism activates the first motor and / or the second motor to move the position of the robot arm until the robot arm is located directly above the target hanger.

In step S2, the opening and closing mechanism controls the manipulator to grab the hanger and move the touch mechanism in the direction of the first hanging rod through the moving mechanism. 13 to 14 are schematic diagrams of step S2. Since the hanger conveying device drives the hanger to move along the first hanger, the first hanger is parallel to the X direction, so only the first motor needs to be driven to move the hanger along the first hanger can.

The robot moves only one hanger at a time, and moves the hanger closest to the touch mechanism. Each hanger is conveyed to the touch mechanism by the hanger conveying mechanism in order. The garment stacker needs to determine whether it is the hanger closest to the touch mechanism to guide the movement of the robot.

In step S3, when the hanger touches the touch mechanism, the robot stops moving. At this time, the clamping mechanism provided inside the stacker clamps the clothes, and the hanger is folded to complete the transfer of the clothes. The clothes stacker is provided with a clamping mechanism 400 inside, and a hanger 22 is provided with a mating portion 22 to avoid the clamping mechanism. FIG. 14 to FIG. 15 are schematic diagrams of step S3.

Because the clothes rack needs to be recycled and placed, the stacking machine is further provided with a second hanging rod, and the control method further includes a robot arm recovering and placing the clothes hanger on the second hanging rod. The folded hanger is placed at the second hanging rod, and there is no longer any supported clothes. When the hanger conveying mechanism transports the hanger to the touch mechanism, it stops moving. At this time, the clothes stacker has a device for receiving clothes. This step includes the following steps:

S4: The robot moves to a position corresponding to the second hanging rod;

S5: the robot moves the hanger along the second hanging rod;

S6: The manipulator opens and releases the hanger to hang the hanger on the second hanger.

In step S4, the robot moves again after the clothes are completely separated from the hanger. The moving mechanism moves the robot in a horizontal direction perpendicular to the hanger to align the hanger with the position of the second hanger. Figures 15 to 16 are schematic diagrams of step S4. In step S5, the moving mechanism moves the manipulator along the direction of the second hanging rod to recover the hanger; FIGS. 16 to 17 are schematic diagrams of step S5. In step S6, the opening and closing mechanism controls the manipulator to release the hanger to hang the hanger on the second hanging rod. FIG. 17 to FIG. 18 are schematic diagrams of step S6.

The clothes stacker also needs to determine whether there are any clothes that need to be folded on the first hanging bar. When there are still clothes hangers hanging on the first hanging bar, the manipulator performs the entire process again according to the above steps. After the manipulator places the hanger on the second hanging rod, the moving mechanism moves the manipulator to the upper part of the first hanging rod to perform steps S1-S6. The above control method is shown in FIGS. 20 and 21.

The present invention also includes a clothes stacker, which includes the clothes rack in the second embodiment. The clothes stacker also has a clothes rack conveying mechanism for conveying the clothes rack, and the clothes rack conveying mechanism is as described above. Since the hanger in the second embodiment has a motor that can drive the folding and folding switch to move, the clothes stacker may not be provided with a touch mechanism, but may rely on a signal to control the hanger.

The hanger may include a control unit, which is electrically connected to the power mechanism, or is connected to a signal. The control unit can control the start and stop of the power mechanism and the direction of the power provided by the power mechanism. That is, when the power mechanism includes a motor and a motor shaft provided on the motor, the control unit can control the rotation and direction of the motor. The hanger is also provided with a signal transmission unit, which can receive instructions from the stacker. When the stacker needs to fold the hanger, the signal transmission unit receives the corresponding instruction, the control unit processes the instruction and drives the motor. Provide power to the pusher to fold the arm.

The specific control method is: the folding machine sends a folding signal to the hanger through the signal transmission system, and the hanger receives the folded signal through the signal transmission unit to start the driving mechanism, the driving mechanism rotates, and the first link rotates in the circumferential direction, The second connecting rod drives the pressing member to move in the direction of the limiting post, so that the limiting post is separated from the clothes supporting arm, and the folding of the clothes supporting arm is realized.

The above description is only the preferred embodiments of the present invention, and does not limit the present invention in any form. Although the present invention has been disclosed as above with the preferred embodiments, it is not intended to limit the present invention. Any technology familiar with the patent Without departing from the scope of the technical solution of the present invention, a person can use the technical content of the above hint to make some changes or modifications to equivalent embodiments of equivalent changes. Anyone that does not depart from the technical solution of the present invention, according to the technology of the present invention In essence, any simple modifications, equivalent changes, and modifications made to the above embodiments still fall within the scope of the solution of the present invention.

Claims (40)

1. A clothes hanger includes a main body and two clothes supporting arms, characterized in that the clothes supporting arm is rotatably provided on the main body, and the clothes hanger further includes a limiting member and a pressing member, between the limiting member and the clothes supporting arm. A corresponding limiting structure is provided to open the clothes supporting arm, and the pressing member can move the limiting member to cancel the restriction on the clothes supporting arm and close the clothes supporting arm.
2. The hanger according to claim 1, wherein the limiter comprises two limit posts corresponding to two clothes support arms, respectively, and the limit post is provided with a first limit structure, and the clothes support The arm is provided with a second limit structure matching the first limit structure, and the limit column can move between positions where the first limit structure and the second limit structure are in contact with and away from each other.
3. The hanger according to claim 2, characterized in that: the first limiting structure is a limiting protrusion, the second limiting structure is a limiting groove, and the limiting post is near a clothes support arm The limit protrusion is provided, and the clothes support arm is provided with the limit groove, and the limit protrusion stops in the limit groove so that the clothes support arm is in an open state.
4. The hanger according to claim 2, characterized in that: the limiting post can generate a recoverable deformation so that the limiting protrusion of the limiting post can be automatically restored to a position corresponding to the limiting groove of the support arm; preferably Ground, the limit post is vertically arranged, one end of the limit post is fixedly connected to the inner wall of the main body, and the other end is movable in the horizontal direction.
5. The hanger according to claim 2, characterized in that the pressing member comprises a pressing portion provided outside the main body and two wing portions provided inside the main body and respectively abutting the limit posts, and the wing portions are provided as Have a certain angle with the horizontal direction, so that the fins move up and down, driving the limit column to have a horizontal displacement.
6. The hanger according to claim 5, wherein the fin has an inclined surface, and the limit post and the abutment end of the fin inclined surface have an angle corresponding to the fin inclined surface, so that the limit post can be moved along The inclined surface moves; preferably, the pressing member is disposed at the lower portion of the stopper and applies a force to the lower end of the stopper.
7. The hanger according to claim 1, wherein the pressing member further comprises a returning device, and the returning device comprises an elastic member, and one end of the elastic member and an end of the pressing member located inside the main body abut against each other. The other end of the stop is fixed against the structure fixed to the main body.
8. The hanger according to claim 1, characterized in that: a third limiting structure is provided in the main body for limiting the rotation angle of the clothes supporting arm, and the third limiting structure limits the clothes supporting arm to the clothes supporting The arms are stretched horizontally and folded between the clothes support arms vertically down.
9. A clothes stacker, characterized in that it comprises a hanger according to claims 1-8, wherein the clothes stacker is provided with a touch mechanism, and the touch mechanism is provided at a position corresponding to the pressing member.
10. A method for controlling a clothes stacker according to claim 9, characterized in that when the clothes are hung on the hanger, the clothes stacker conveys the clothes to the touch mechanism, and the touch mechanism and the pressing member stop to release the support. The clothes arm and the support arm of the hanger are folded down, and the clothes stacker removes the clothes.
11. A hanger is characterized in that it comprises a main body and a clothes support arm provided on the main body, and the clothes support arm is provided with a matching part for matching with a clamping mechanism capable of holding clothes.
12. The hanger according to claim 11, wherein the mating part of the clothes support arm is an avoidance area, and the clothes are suspended after being covered in the avoidance area, and the overhead part holding the clothes by the clamping mechanism does not contact the clothes support arm. The two clothes supporting arms are symmetrically provided with avoidance zones, and the positions of the two avoidance zones correspond to the positions of the two clamping portions of the clamping mechanism.
13. The hanger according to claim 12, characterized in that the clothing support arm is bent a plurality of times to form an avoidance zone that matches the shape of the clamping mechanism; preferably, the clothing support arm is bent downwards in an extended state- The horizontal bending-upward bending-horizontal bending forms the avoidance area; further preferably, each bend has an arc-shaped transition area.
14. The hanger according to claim 12, wherein the avoidance area of the support arm is a sinking groove with an upper opening provided on the support arm, and the sinking groove penetrates the front and rear surfaces of the support arm. In order to avoid the clamping mechanism, preferably, the sinking groove has a cross section matching the shape of the clamping mechanism.
15. The hanger according to claim 11, wherein the mating part of the clothes support arm is a slip-off structure, and the slip-off structure can hold the clothes support arm and the clothes at the same time when the holding mechanism is closed, and when the holding mechanism is closed A relative sliding movement with the clothes supporting arm can be made to disengage the clothes supporting arm from the clamping mechanism.
16. The hanger according to claim 15, wherein the slip-out structure is formed by an inclined surface, the gripping portion of the gripping mechanism includes a first gripping arm and a second gripping arm, and the slip-out structure includes a first gripping arm The corresponding first inclined surface and the second inclined surface corresponding to the second clamping arm. When the clamping part is closed, the two clamping arms can slip off from the inclined surface. Preferably, the friction coefficient at the inclined surface is smaller than the clamping arm and the clothing. Coefficient of friction at the contact area.
17. The hanger according to claim 11, wherein the clothes support arm is rotatably provided on the main body, a folding switch is provided at the bottom of the body for controlling the rotation of the clothes support arm, and the interior of the main body is provided The position-limiting piece and the clothing support arm limit the position of the clothing support arm, and a transmission member is also provided. The transmission member can transmit the control force received by the folding switch to the position-limiting member to cancel the limit on the clothing support arm. Bit.
18. The hanger according to claim 17, wherein the limiting member comprises two limiting poles having elasticity, the limiting pole is provided with a limiting protrusion at a position close to the support arm, and the transmission member comprises two The fins are respectively abutted against the free ends of the limit posts, and the up and down movement of the transmission member can drive the horizontal movement of the limit posts to control the limit protrusions of the support arms to limit the support arms.
19. A clothes stacking machine comprising the hanger according to claims 11-18, wherein the clothes stacking machine further comprises a clamping mechanism, the clamping mechanism has two clamping portions, and the clamping portion can The portion where the clothes are located at the mating portion is held.
20. A method for controlling a clothes stacker according to claim 19, wherein after the clothes stacker conveys the hanger to the target position, the clothes stacker first controls the clamping mechanism to open at the mating portion of the support arm of the clothes hanger. The clothes are closed and clamped, and then the support arm of the hanger is folded. After the folding is completed, the clamping mechanism drives the clothes to move the clothes away from the hanger.
21. A clothes stacking machine, characterized in that: the clothes stacking machine includes a hanger rod and a hanger conveying mechanism, the hanger conveying mechanism is arranged on the upper part of the hanger rod, the hanger conveying mechanism is provided with a robot arm, and the robot arm moves from the hanger rod Pick up / place hangers and move hangers.
22. The clothes stacker according to claim 21, wherein the hanger bar comprises a first hanger bar, and the first hanger bar is used for hanging a clothes hanger with clothes, and is used for conveying the clothes hanger to the clothes hanger and clothes Detached position.
23. The clothes stacker according to claim 22, wherein the hanger rod further comprises a second hanger rod, the second hanger rod is used to suspend the hanger separated from the clothes, and the hanger conveying mechanism can further The hanger is transported to the second hanging rod; preferably, the first hanging rod and the second hanging rod are arranged in parallel, and are suspended at one end where the hanger is separated from the laundry.
24. The clothes stacker according to claim 23, wherein the hanger conveying mechanism comprises an X-direction moving mechanism and a Y-direction moving mechanism, and the X-direction moving mechanism drives the Y-direction moving structure to move horizontally in the direction of the hanging rod, so The Y-direction moving mechanism drives the manipulator to move horizontally in the direction of the vertical hanging rod.
25. The clothes stacker according to claim 23, wherein the X-direction moving mechanism includes a first moving part, the Y-direction moving mechanism is disposed on the first moving part, and the Y-direction moving mechanism includes a second A moving part, the second moving part is provided with a robot hand.
26. The stacking machine according to claim 24, wherein the X-direction moving mechanism further comprises a first transmission belt and a first guide rail, and the first moving part is located on the first guide rail and moves along the first guide rail, and It is fixedly connected to the first transmission belt, and the Y-direction moving mechanism further includes a second transmission belt and a second guide rail, and the second moving part is located on the second guide rail and moves along the second guide rail, and is fixedly connected to the second transmission belt.
27. The clothes stacking machine according to any one of claims 21 to 26, further comprising a hanger, the hanger comprising a main body, a hanging portion provided on an upper portion of the main body, and a folding support arm provided on the main body. , The manipulator grips the hanging part of the hanger to move.
28. The garment folding machine according to claim 27, wherein a folding switch is provided at the bottom of the main body, and the folding switch is used to control the opening and closing of the clothes supporting arm.
29. The clothes stacker according to claim 28, wherein the clothes stacker further comprises a touch mechanism, the hanger has a folding switch, and the touch mechanism is aligned with the first hanging rod in the X direction, so The manipulator can make the folding switch contact the touch mechanism when gripping the clothes rack with clothes.
30. The clothes stacker according to claim 29, wherein the touch mechanism can be moved up and down to press the folding switch of the hanger, or the touch mechanism is a fixed structure and the robot can be moved up and down When the folding switch of the clothes rack is driven to move up and down at the touch mechanism to trigger the folding switch, or the touch mechanism has an inclined surface, the horizontal movement of the touch mechanism on the clothes rack has a vertical opposing force when the clothes rack moves horizontally.
31. A method for controlling a clothes stacker, characterized in that the clothes stacker includes a collapsible clothes hanger, the clothes stacker is provided with a movable and openable manipulator, and the clothes stacker is also provided with a touch The mechanism is used to fold the hanger. The stacker can obtain the position of the hanger. The control method includes: the robot moves the hanger above the hanger according to the position of the hanger, grabs the hanger, and moves the hanger to the touch mechanism to fold the hanger.
32. The method for controlling a clothes stacker according to claim 31, wherein the manipulator is controlled by a moving mechanism and an opening and closing mechanism, the clothes stacker includes a hanging rod for hanging a hanger, and the control method includes a moving mechanism control The manipulator moves in the horizontal direction, and the opening and closing mechanism controls the manipulator to grab / release the hanger at the hanging rod.
33. The method for controlling a clothes stacker according to claim 32, wherein the hanging rod comprises at least a first hanging rod for hanging a clothes hanger with clothes, comprising the following steps:

    S1: The robot grabs the hanger on the first hanging rod;

    S2: The robot moves the hanger to the touch mechanism along the first hanging rod;

    S3: The contact mechanism and the hanger folding switch are in contact to collapse the hanger.
34. The method for controlling a clothes stacker according to claim 33, wherein in step S1, the manipulator obtains the position of the hanger through the positioning device, and moves to the top of the hanger through the moving mechanism so that the manipulator is aligned longitudinally with the hanger; The opening and closing mechanism controls the manipulator to grab the hanger and move it to the touch mechanism in the direction of the first hanging rod through the moving mechanism.
35. The method for controlling a clothes stacker according to claim 34, characterized in that: when a plurality of hangers are placed on the first hanger, the manipulator selects the closest to the touch mechanism each time according to the positioning information of the plurality of hangers. The hanger is grabbed and moved.
36. The method for controlling a clothes stacker according to claim 33, wherein the hanging rod further comprises a second hanging rod, the second hanging rod is used to hang a clothes rack for removing clothes, and the controlling method further comprises The robot retrieves the hanger and places it on the second hanger.
37. The method for controlling a stacker according to claim 36, further comprising the following steps:

    S4: The robot moves to a position corresponding to the second hanging rod;

    S5: the robot moves the hanger along the second hanging rod;

    S6: The manipulator opens and releases the hanger to hang the hanger on the second hanger.
38. The method for controlling a clothes stacker according to claim 37, wherein in step S4, the manipulator is moved after the clothes are completely separated from the hanger, and the moving mechanism moves the manipulator in a horizontal direction perpendicular to the hanger to make the hanger Align with the position of the second hanger; in step S5, the moving mechanism moves the manipulator in the direction of the second hanger to recover the hanger; in step S6, the opening and closing mechanism controls the robot to release the hanger to hang the hanger on the second hanger.
39. The method for controlling a stacker according to any one of claims 31 to 38, wherein the moving mechanism includes an X-direction moving mechanism and a Y-direction moving mechanism, and the control method includes when the robot moves in the direction of the hanging rod The X-direction moving mechanism is started, and the Y-direction moving mechanism is started when the manipulator moves in a horizontal direction perpendicular to the hanging rod.
40. The method for controlling a clothes stacker according to claim 39, wherein after the manipulator places the hanger on the second hanging rod, the moving mechanism moves the manipulator to the upper portion of the first hanging rod to cycle steps S1-S6.

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