WO2019242593A1 - 衣架、叠衣机及叠衣机的控制方法 - Google Patents

衣架、叠衣机及叠衣机的控制方法 Download PDF

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Publication number
WO2019242593A1
WO2019242593A1 PCT/CN2019/091637 CN2019091637W WO2019242593A1 WO 2019242593 A1 WO2019242593 A1 WO 2019242593A1 CN 2019091637 W CN2019091637 W CN 2019091637W WO 2019242593 A1 WO2019242593 A1 WO 2019242593A1
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WIPO (PCT)
Prior art keywords
clothes
hanger
folding
stacker
flap
Prior art date
Application number
PCT/CN2019/091637
Other languages
English (en)
French (fr)
Inventor
刘凯
吕佩师
许升
李冬
劳春峰
郝世龙
吴迪
赵志强
Original Assignee
青岛海尔智能技术研发有限公司
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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 WO2019242593A1 publication Critical patent/WO2019242593A1/zh

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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 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.
  • a hanger is provided with a magnetic component or an electromagnetic component, so that the hanger can move under the action of electromagnetic force.
  • the magnetic component / electromagnetic component is disposed at the center position of the hanger or symmetrically disposed on both sides of the hanger.
  • the hanger includes a main body and a clothes support arm.
  • the clothes support arm is rotatably provided on both sides of the main body.
  • the clothes hanger further includes a folding switch for controlling the rotation of the clothes support arm.
  • the folding switch is provided with the main body. One side.
  • a stopper fixedly connected to the folding switch is arranged inside the main body to stop the clothes-supporting arm to open the clothes-supporting arm.
  • the stopper can be moved horizontally to cancel the clothes-stopping order of the clothes-supporting arm.
  • the stopper is further provided with a returning device, and the returning device is abutted against the inner wall of the main body for returning the stopper to a position where the clothes supporting arm is opened.
  • a clothes stacker including a hanger as described above the clothes stacker is provided with an electromagnetic component / magnetic component corresponding to a magnetic component / electromagnetic component of the hanger, for moving the hanger under a magnetic force.
  • the clothes stacking machine further includes a hanger positioning device matching the hanger to keep the hanger in a fixed state; preferably, the hanger positioning device includes a positioning slot matching the shape of the hanger part, and the hanger is plunged into the positioning slot to maintain the fixed state; further preferably A slope structure is formed at the opening of the positioning groove to form an open opening for the hanger to enter. Further preferably, the magnetic / electromagnetic component of the clothes stacker is disposed in the positioning groove of the hanger positioning device. Further preferably, the hanger is retracted. The folding switch is set at a position matching the positioning groove.
  • the clothes stacking machine further includes a hanger rod, which is suspended on the hanger rod and can be moved along the hanger rod under magnetic force; preferably, the hanger includes a hook portion provided on the upper part of the main body for Hook on the hanger rod, the hanger rod is fixed above the hanger positioning device, and the hanger can be moved into the positioning slot after moving along the hanger rod.
  • a method for controlling a clothes stacker as described above The clothes stacker controls an electromagnetic device to generate magnetic force, and the hanger moves under the action of the magnetic force.
  • the clothes stacker includes a clamping mechanism for clamping the clothes on the hangers to detach the hangers from the hangers.
  • the hangers are moved to the positioning device of the hangers and fall into the positioning slot.
  • the main control system controls the clamping mechanism to clamp the clothes on the hangers before performing The triggering process causes the clothes supporting arm to be folded, and the main control system controls the clamping mechanism to detach the clothes from the hanger after the clothes supporting arm is folded.
  • a clothes stacking machine includes a hanger and a trigger mechanism.
  • the hanger has a collapsible support arm and a folding switch capable of controlling the folding of the support arm.
  • the trigger mechanism has a driving part and a driving part which is driven by the driving part. The moving moving part applies a force to the folding switch for triggering the folding switch to fold the clothes supporting arm.
  • the moving member has a force applying portion that is in contact with the folding switch and a force receiving portion that receives the driving force of the driving member; preferably, a transmission member is further provided between the driving member and the moving member, and the force receiving portion of the moving member Contacting the transmission member receives the driving force transmitted by the transmission member.
  • the moving member is a lever structure that can rotate around a fixed shaft, the fixed shaft is provided at one end of the moving member, the force applying portion and the receiving portion are provided on the same side of the fixed shaft, and the transmission member and the moving member Middle contact;
  • the transmission member is a cam, the cam is in contact with the middle of the moving member, and is disposed below the moving member to exert an upward force on the moving member.
  • the moving member is a lever structure that can be rotated about a fixed shaft.
  • the fixed shaft is provided in the middle of the moving member.
  • the force applying portion and the receiving portion are provided on both sides of the fixed shaft.
  • the end remote from the urging portion is in contact; preferably, the transmission member is a cam, and the cam is disposed above the moving member and exerts a downward force on the moving member.
  • the triggering mechanism includes a fixed shell, the moving member is connected to the fixed shell through a fixed shaft, the cam is disposed inside the fixed shell, and the urging portion of the moving member extends out of the fixed shell to contact the folding switch; preferably
  • the fixed shell is fixedly connected to the main body of the stacker through a connecting portion.
  • the trigger mechanism is further provided with a positioning frame, the positioning frame has a receiving slot for the hanger to enter to restrict the horizontal movement of the hanger; preferably, the hanger has a hanging portion and a main body portion, and the receiving slot is for the hanging portion to be put in and stopped. Above the main body portion, the upward movement of the hanger is restricted when a force is applied by the moving member.
  • the stacker is provided with a sensor for judging whether the hanger reaches the trigger mechanism and is limited to the positioning frame; preferably, the sensor is a sensor that senses the distance between the hanger and the trigger mechanism.
  • a method for controlling a clothes stacker as described above when the clothes hanger reaches the trigger mechanism, the clothes stacker opens the driving part, and the moving part is driven to apply a force to the folding switch to collapse the support arm.
  • the clothes stacker is provided with a clothes gripping device for removing the clothes on the hanger and conveying it to the clothes folding place.
  • the clothes gripping device starts to grip the clothes on the clothes hanger and clamps the clothes on the clothes gripping device.
  • the trigger mechanism starts to control the hanger to fold and release the clothes.
  • a clothes stacker includes a hanger and a trigger mechanism.
  • the hanger has a collapsible support arm and a folding switch that can control the folding of the support arm.
  • the trigger mechanism is used to apply a force to the folding switch to make the support.
  • the clothes arm is folded, and the triggering mechanism has an avoiding structure for avoiding clothes when the hanger is triggered.
  • the trigger mechanism includes a casing and a movable moving member protruding from the interior of the casing.
  • a side wall of the casing on a side close to the hanger is inclined away from the hanger to form an avoidance structure for avoiding clothes.
  • the trigger mechanism further includes a driving member for driving the moving member to move, the driving member is fixed at the bottom of the housing and located at an end away from the hanger; preferably, the driving member is a motor having a motor shaft, and the motor shaft It can be reversed, one end of the moving part is connected to the motor shaft and moves with the motor shaft, and the other end has a flat structure for contacting the folding switch.
  • a transmission member is provided between the motor shaft and the moving member, and is used to transmit the driving force of the motor shaft to the moving member.
  • the transmission member includes a wheel body and a connecting rod, and the motor shaft is fixed to the center of the wheel body. Connection, one end of the link is connected with the eccentric position of the wheel body, the other end of the link is connected with the force receiving part of the moving part, a fixed shaft is provided between the force applying part and the force receiving part of the moving part, and the moving part Can be rotated along a fixed axis.
  • the fixing device is realized by magnetic attraction
  • the hanger is provided with an attracted portion capable of being attracted by magnetic force
  • the trigger mechanism is provided with an attracted portion capable of generating magnetic force.
  • the attracted portion corresponds to the position of the attracted portion, and the clothes stacker can control Generation and disappearance of magnetic force in the suction section.
  • the stacker drives the trigger mechanism to trigger the folding switch.
  • the stacker control motor When the hanger is fixed by the fixing device, the stacker control motor is turned on, the motor shaft drives the moving part to rotate, and the pressing end of the moving part moves to press the folding switch of the hanger to fold the hanger; when the hanger is folded, the stacker controls The motor rotates in the reverse direction, the motor shaft drives the moving part to rotate in the reverse direction, and the force applying end of the moving part is separated from the hanger.
  • the stacker controls the motor to turn on, the motor shaft drives the wheel to rotate, the connecting rod moves with the wheel, drives the moving part to rotate along the fixed axis, and the force end of the moving part moves to press the folding switch of the hanger.
  • the stacker controls the motor to rotate in reverse, the motor shaft drives the wheel to rotate in reverse, the link moves with the wheel, and drives the moving part to rotate along the fixed axis. The force end of the moving part moves away from the hanger. Further, the above operation is circulated after the hanger is fixed by the fixing device next time.
  • the stacker drives the trigger mechanism again to trigger the folding switch; further, the stacker includes a clothes conveying device for gripping and moving the clothes on the hanger, and the clothes conveying device clamps When the clothes on the hanger cannot be moved after being picked up, the stacking machine judges that the supporting arms are not folded, and the stacking machine drives the trigger mechanism to trigger the folding switch again.
  • the clothing side flaps are oppositely disposed on both sides of the folding platform, and are folded in the middle to fold both sides of the clothes.
  • the body flap and the falling flap are disposed between the two clothing side flaps, and The body flap and the falling flap have the same width and are arranged in alignment.
  • the body flap can be folded in the direction of the falling flap.
  • the clothes side flap, the body flap and the falling flap are arranged in a rectangular shape as a whole.
  • the falling flap includes a first flap and a second flap which are oppositely arranged, and the first flap and the second flap are folded from the middle to the bottom to form an opening on the folding platform to drop the clothes.
  • the garment side flap includes an upper half plate and a lower half plate, the upper half plate is arranged in alignment with the garment body flap, and the lower half plate is arranged in alignment with the falling flap.
  • the clothes stacker is provided with a clothes identification unit for identifying the size of the clothes.
  • the clothes identification unit is a sensing device provided on a folding flap.
  • a method for controlling a clothes stacker as described above After the clothes are tiled on a folding platform, the clothes stacker controls the folding flaps to be folded in order. When the body flap folds the clothes to the falling flap, the clothes are folded. The machine controls the drop flap to open to drop the laundry.
  • the clothes tail flap folds the lower part of the clothes inward.
  • the clothes tail flap does not move.
  • the clothes stacker recognizes that the clothes exceed the set width, the upper and lower half plates are turned inward at the same time, and the two clothes side flaps are turned at the same time or successively.
  • the garment side flap does not move.
  • the clothes stacker can control the folding of the upper half plate and the lower half plate respectively according to the flattening state of the clothes.
  • the falling flap is folded down at the same time as the lower flap is folded inward to help the clothes fall.
  • the present invention has the following beneficial effects compared with the prior art.
  • the trigger mechanism of the clothes stacker triggers the folding switch on the hanger through the cooperation between the driving part, the transmission part and the moving part.
  • the structure is simple and easy to implement, and can achieve a good trigger effect.
  • Sensors can be set to determine the relative position of the hanger, so as to achieve a more accurate triggering process;
  • the trigger mechanism is provided with a positioning frame and other mechanisms to enable matching between the hanger and the moving parts, reducing invalid triggering actions, and the positioning frame can also provide support to the hanger;
  • FIG. 1 is a schematic diagram of a clothes stacker according to the present invention
  • FIG. 2 is a schematic diagram of an internal structure of the clothes stacker according to the present invention
  • FIG. 3 is a schematic diagram of a clothes conveying device of a clothes stacker according to the present invention
  • FIG. 4 is an enlarged schematic diagram of a position A in FIG. 1 of the present invention
  • FIGS. 5 to 6 are schematic diagrams of one embodiment of the trigger mechanism of the present invention
  • Figs. 7 to 8 are schematic diagrams of one embodiment of the trigger mechanism of the present invention
  • FIGS. 9 to 12 are schematic diagrams of a hanger and a hanger positioning device of the present invention.
  • Figs. 13 to 15 are schematic diagrams of a folding platform of the present invention.
  • 16 to 17 are schematic diagrams of a clothing carrying platform of the present invention.
  • the clothes stacking machine includes a hanger conveying unit 3, a folding unit 1, and a storage unit 2.
  • the hanger conveying unit 3 conveys a clothes hanger 31 supporting the clothes to the folding unit 1.
  • the clothes hanger 31 can be folded, and the clothes can be folded 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 clothes conveying device can remove the clothes on the hanger 31 of the clothes rack conveying unit and The clothes are laid on a folding platform.
  • FIG. 3 is a schematic diagram of a laundry conveying device.
  • the laundry conveying device includes a moving mechanism and a clamping mechanism.
  • the moving mechanism includes an X-direction moving mechanism and a Z-direction moving mechanism.
  • the X-direction moving mechanism can move in a horizontal direction, and the Z-direction moving mechanism can Moving in the vertical direction, the X-direction moving mechanism includes a first moving portion 1111, an X-direction guide 1112, and a first drive motor, and the first drive motor drives the first movement portion 1111 to move on the X-direction guide 1112, and similarly
  • the Z-direction moving mechanism includes a second moving portion 1121, a Z-direction guide 1122, and a second drive motor, and the second drive motor drives the second movement portion 1121 to move on the Z-direction guide 1122.
  • the Z-direction moving mechanism is provided on the first moving part 1111.
  • the Z-direction moving mechanism can be driven to move along the X-direction guide rail 1112, while the Z-direction moving mechanism
  • the second moving part 1121 of the moving mechanism can be moved along the Z-direction guide rail 1122 under the driving of the second driving motor. Therefore, the second moving part 1121 can be anywhere in the plane area formed by the X-direction guide rail 1112 and the Z-direction guide rail 1122. .
  • the X-direction moving mechanism includes at least a first restriction position and a second restriction position.
  • the first movement part 1111 moves between the first restriction position and the second restriction position. When the first movement part 1111 is located in the first restriction position, the clamp is guaranteed.
  • the holding mechanism can grip the clothes on the hanger 31.
  • the Z-direction moving mechanism includes at least a top restricted position and a bottom restricted position.
  • the moving part 1121 moves between the top restricted position and the bottom restricted position. When the second moving part 1121 is located at the top restricted position, it is ensured that the clamping mechanism can grip the clothes on the hanger 31.
  • the second moving part 1121 is located at the bottom restricted position, it The clothes are detached from the hanger 31.
  • the clamping mechanism includes one connecting rod 113 and two clamping portions 114.
  • the connecting rod 113 is fixed on the second moving portion 1121, and the direction of the connecting rod is in the Z-direction guide rail 1122 and the X-direction.
  • the plane formed by the guide rail 1112 is vertical.
  • the connecting rod 113 is horizontally arranged.
  • the two clamping portions 114 are arranged on the connecting rod 113 and are spaced apart.
  • the second moving portion 1121 can drive the connecting rod 113 to move above the folding platform, thereby The clamping portion 114 is driven to move.
  • the clamping portion 114 can be opened and closed.
  • the clamping portion can be used to clamp the clothes on the hanger by opening and closing, and the clothes can also be placed on the folding platform by opening and releasing the clothes.
  • the two clamping portions are spaced apart from each other, and the distance between the two clamping portions is matched with the avoiding portion on the hanger.
  • the hanger 31 has a collapsible support arm.
  • the support arm has a downwardly recessed avoiding portion.
  • the method for controlling the clothes stacker includes: the clothes stacker has a folding position of a hanger; when the clothes stacker 31 is in the folded position of the hanger, the stacking machine controls the clamping mechanism to open and close the clothes on the hanger 31 and place the clothes on the hanger. After folding 31, the clamping mechanism is moved to detach the clothes from the hanger 31.
  • the disengagement process is: the stacker drives the Z-direction moving mechanism to disengage the clothes and the hanger. Specifically, the stacker turns on the second motor to drive the second moving part to move downward, so that the clamping mechanism drives the clothes to move downward.
  • the Z direction movement is stopped.
  • the clothes stacker drives the X-direction moving mechanism to drag the clothes on the folding platform. Specifically, the first motor of the clothes stack is turned on to drive the clothes to the other side of the folding platform. The movement is stopped when the position is restricted, and the stacker controls the clamping mechanism to release the clothes so that the clothes are laid on the folding platform.
  • the clothes stacker includes a hanger 31, which is used to support the clothes after being hung by the hanger 31, and is hung on the hanger conveying unit 3, and the hanger conveying unit 3 can convey the hanger 31.
  • the hanger 31 includes a hanger The body, the main body, and the foldable clothes supporting arm are provided with a folding switch at the lower part of the main body.
  • the folding switch is used to control the folding of the clothes supporting arm. When the folding switch is pressed, the two symmetrically arranged support arms will hang down to form a folded shape, and the clothes supported by the support arms will be released.
  • the clothes stacker further includes a trigger mechanism, which is used to touch the folding switch to control whether the hanger 31 can be folded to release clothes or not.
  • the hanger conveying unit 3 can send the hanger 31 to the trigger mechanism.
  • the trigger mechanism includes a driving member 142 and a moving member 141.
  • the driving member 142 may be a motor and is used to provide a driving force for moving the moving member 141.
  • the moving member 141 is movable under the driving of the driving member 142.
  • the trigger mechanism is fixedly connected to the body of the stacker through a connecting portion 147, and a fixing shell is also provided on the connecting portion 147.
  • the fixing shell has an opening, and the moving member 141 protrudes from the opening.
  • a transmission component may be provided inside the fixed casing.
  • the transmission component is a cam 148.
  • the motor has a motor shaft. The motor shaft can rotate when the motor is turned on.
  • the cam 148 is fixedly connected to the motor shaft. When the motor shaft rotates, the cam 148 rotates along the shaft along with the motor shaft. Since the cam 148 has an irregular outer edge, the moving member 141 stopped on the edge of the cam 148 will move.
  • One end of the moving member 141 protruding from the fixed shell is a force applying portion, which is used to apply a force to the folding switch, and the other end is relatively fixed. It is rotatably connected to the inside of the fixed shell through a fixed shaft. When the moving member 141 receives a force, At this time, it can be rotated along the fixed axis, so that the urging part of the moving member 141 is moved up and down, and the folding switch can be triggered.
  • the moving part 141 needs to receive the force from the driving device or the transmission part, so the moving part 141 also has a force receiving part, which can be located between the fixed shaft and the force applying part, as shown in FIG.
  • the force part and the force receiving part are located on the same side of the fixed shaft, and the moving directions of the force receiving part and the force applying part are the same.
  • the cam 148 is disposed at the bottom of the moving part 141. When the cam 148 has a longer radius edge and the moving part 141, At the time of stoppage, because the position of the motor shaft is fixed, the cam 148 lifts the moving part 141 upward, and because the moving part 141 has a fixed shaft at one end and is relatively fixed, the other end is the urging part and moves upward. The force is applied to realize the triggering process of folding the hanger 31.
  • the principle of the other embodiment is basically the same as the above method, away from the lever structure that allows the moving part to rotate around the fixed axis, but the difference is that the force receiving part and the force applying part of the moving part are located on both sides of the fixed shaft, The direction of movement of the force receiving part and the force applying part is opposite. Because the movement directions of the two are opposite, the cam can be set on the upper part of the force receiving part. When the cam exerts a downward force on the force receiving part, the force applying part can move upward, thereby pressing the folding switch to achieve the trigger. purpose.
  • the above is described by taking the folding switch of the hanger to receive the upward force as an example for illustration.
  • the folding switch of the hanger can also be set at another position to receive the force in other directions, and the setting position and direction of the moving parts and transmission parts are also There should be corresponding adjustments to enable triggering of the folding switch.
  • the trigger mechanism is further provided with a positioning frame 149.
  • the function of the positioning frame 149 is that when the hanger 31 is transported to the trigger mechanism, since the hanger 31 needs to bear the force of the moving part 141, Therefore, the hanger 31 needs to be fixed, and the trigger mechanism can only apply a force to the folding switch without pushing the entire hanger 31 away from the trigger position.
  • the moving part 141 also needs to be aligned with the folding switch, so as to ensure that when the moving part 141 moves, it can accurately exert a force on the position of the folding switch, so as not to produce invalid actions.
  • the positioning frame 149 is provided with a receiving slot, and the receiving slot can restrict the horizontal movement of the hanger 31 when the hanger 31 is placed in the receiving slot.
  • the positioning frame 149 can limit the horizontal movement of the hanger 31 (except the direction in which the hanger enters), and can also limit the vertical movement of the hanger 31.
  • the hanger 31 has a hanging portion and a main body portion, and the accommodating groove is used for the hanging portion to be put in and stopped above the main body portion, so that when the moving member 141 exerts a force, the hanger 31 is restricted from moving upward.
  • the stacker can be provided with a sensor for determining whether the hanger 31 has reached the trigger mechanism and is limited to the positioning frame 149.
  • the sensor may be a sensor that senses a distance between the hanger 31 and the trigger mechanism. When the distance is less than the set value, it can be judged that the hanger 31 has reached the set position, and the motor can be rotated to cause the moving part 141 to apply a force to the folding switch, thereby achieving the purpose of releasing the laundry.
  • the control method of the clothes stacker is that when the hanger 31 reaches the trigger mechanism, the clothes stacker opens the driving part 142 and drives the moving part 141 to apply a force to the folding switch to fold the support arm.
  • the clothes stacker is provided with a clothes gripping device for removing the clothes on the hanger 31 and transporting the clothes to the clothes folding place.
  • the clothes gripping device starts to grip the clothes on the clothes hanger 31.
  • the trigger mechanism starts to control the hanger 31 to fold and release the clothes.
  • the moving member 141 is disposed inside a casing 143, and the casing 143 is provided with a part for the moving member to protrude.
  • the opening of the casing can limit the moving range of the moving member.
  • the trigger mechanism is fixedly connected to the body of the stacker through a connecting portion 147, and the casing 143 is fixedly connected to the connecting portion 147.
  • the trigger mechanism has an avoidance structure for avoiding clothes when the hanger is triggered.
  • the side wall of the casing on the side close to the hanger is inclined away from the hanger to form an avoidance structure for avoiding clothes.
  • the driving component is fixed at the bottom of the housing and is located at an end away from the hanger; in this way, clothing, especially the collar portion of the clothing, can be avoided.
  • the driving component is a motor with a motor shaft, and the motor shaft can be rotated forward and reverse.
  • One end of the moving part is connected to the motor shaft and moves with the motor shaft, and the other end has a flat structure for contacting the folding switch.
  • the avoidance structure can avoid clothes and prevent the hanger from being close to the trigger mechanism when the hanger is loaded with clothes, so that the clothes are located between the hanger and the trigger mechanism, hindering the realization of the triggering process. Avoid the collar and other parts of the clothing, so that the trigger can be successfully implemented.
  • a transmission member is provided between the motor shaft and the moving member, and is used to transmit the driving force of the motor shaft to the moving member.
  • the transmission member includes a wheel body 145 and a connecting rod 144.
  • the motor shaft is fixedly connected to the center of the wheel body 145, one end of the link 144 is connected to the eccentric position of the wheel body 145, and the other end of the link 145 is connected to a force receiving portion of the moving member 141.
  • a fixed shaft is provided between the force receiving parts, and the moving member can rotate along the fixed shaft.
  • the formed transmission structure is a crank link mechanism.
  • the trigger mechanism is further provided with a fixing device 146.
  • the function of the fixing device 146 is that when the hanger 31 is transported to the trigger mechanism, since the hanger 31 needs to bear the force of the moving part 141, Therefore, the hanger 31 needs to be fixed, and the trigger mechanism can only apply a force to the folding switch without pushing the entire hanger 31 away from the trigger position.
  • the moving part 141 also needs to be aligned with the folding switch, so as to ensure that when the moving part 141 moves, it can accurately exert a force on the position of the folding switch, so as not to produce invalid actions.
  • the fixing device 146 is provided with an accommodating slot, and the accommodating slot can restrict the horizontal movement of the hanger 31 when the hanger 31 is placed in the accommodating slot.
  • the fixing device 146 can restrict the horizontal movement of the hanger 31 (except for the direction in which the hanger enters), and can also limit the vertical movement of the hanger 31.
  • the hanger 31 has a hanging portion and a main body portion, and the accommodating groove is used for the hanging portion to be put in and stopped above the main body portion, so that when the moving member 141 exerts a force, the hanger 31 is restricted from moving upward.
  • the fixing frame includes a receiving groove having a left wall and a right wall, and the receiving groove can restrict horizontal movement of the hanger.
  • the fixing device may also be implemented by magnetic attraction.
  • the hanger is provided with an attracted portion capable of being attracted by magnetic force.
  • the trigger mechanism is provided with an attracting portion capable of generating magnetic force.
  • the attracted portion corresponds to the position of the attracted portion. It is possible to control the generation and disappearance of the magnetic force of the suction portion.
  • the control method of the clothes stacker may be that when the clothes rack is conveyed to the trigger mechanism, the clothes stacker drives the trigger mechanism to trigger the folding switch. Because the trigger mechanism is also provided with a fixing device, the control method can be that when the hanger is fixed by the fixing device, the stacker controls the motor to turn on, the motor shaft drives the moving part to rotate, and the force-applying end of the moving part moves the folding switch of the hanger to press the hanger. When the hanger is folded, the clothes stacker controls the motor to rotate in the reverse direction, the motor shaft drives the moving part to rotate in the opposite direction, and the force end of the moving part is separated from the hanger.
  • the control method is: when the hanger is fixed by the fixing device, the stacker controls the motor to turn on, the motor shaft drives the wheel to rotate, and the connecting rod moves with the wheel, driving the moving part to rotate along the fixed axis and move
  • the moving end of the component presses the folding switch of the hanger to fold the hanger; when the hanger is folded, the stacker controls the motor to rotate in the reverse direction, the motor shaft drives the wheel to rotate in the reverse direction, and the link moves with the wheel to move the moving part along Rotating around the fixed shaft, the urging end of the moving part moves away from the hanger; the above operation is circulated after the hanger is fixed by the fixing device next time.
  • control method also includes how the stacker determines whether the hanger is triggered.
  • the stacker drives the trigger mechanism again to trigger the folding switch;
  • the stacker includes a clothing conveying device for When the clothes on the hanger are clamped and moved, and the clothes conveying device cannot move after the clothes on the hanger are clamped, the stacker judges that the support arm is not folded, and the stacker drives the trigger mechanism to trigger the folding switch again.
  • the stacker may be provided with a sensor for determining whether the hanger 31 reaches the trigger mechanism and is limited to the fixing device 146.
  • the sensor may be a sensor that senses a distance between the hanger 31 and the trigger mechanism. When the distance is less than the set value, it can be judged that the hanger 31 has reached the set position, and the motor can be rotated to cause the moving part 141 to apply a force to the folding switch, thereby achieving the purpose of releasing the laundry.
  • the control method of the clothes stacker is that when the hanger 31 reaches the trigger mechanism, the clothes stacker opens the driving part 142 and drives the moving part 141 to apply a force to the folding switch to fold the support arm.
  • the clothes stacker is provided with a clothes gripping device for removing the clothes on the hanger 31 and transporting the clothes to the clothes folding place.
  • the clothes gripping device starts to grip the clothes on the clothes hanger 31.
  • the trigger mechanism starts to control the hanger 31 to fold and release the clothes.
  • the present invention also includes another embodiment to implement the movement and triggering of the clothes rack.
  • the movement and triggering of the hanger are realized by the magnetic attraction between the electromagnetic part and the magnetic part.
  • the invention includes a hanger.
  • the hanger is provided with a magnetic component or an electromagnetic component.
  • the magnetic component is a component capable of being attracted by magnetic force, such as a magnet or a ferromagnetic metal material.
  • the electromagnetic component is capable of generating a magnetic field to generate a magnetic component. Attractive parts.
  • the electromagnetic component does not include a permanent magnet, and needs to be capable of controlling the generation of the magnetic force and the disappearance of the magnetic force, and the magnitude of the magnetic force.
  • the hanger includes a main body 311, a clothes support arm 312, and a hooking portion.
  • the hooking portion can be hung on a hanger or a hook to hang the hanger and the clothes on the hanger.
  • the magnetic / electromagnetic components should be placed in a relatively balanced position, so that the hanger can receive balanced forces from left to right, and ensure that the hanger can hang along the hanger. Structures such as poles move smoothly.
  • the magnetic component / electromagnetic component is disposed at the center position of the hanger or symmetrically disposed on both sides of the hanger.
  • Magnetic components and electromagnetic components should be set correspondingly.
  • the clothes stacker or other devices that need to attract the hangers are provided with electromagnetic components; electromagnetic components can also be provided on the hangers and There are magnetic components on the machine, and the two attract each other by controlling the electromagnetic components on the hanger.
  • Both the hanger and the stacking machine can also be provided as electromagnetic components, both of which can be attracted, or can realize the movement of the hanger in multiple directions through mutual exclusion. Since the electromagnetic components need to be energized and need to be controlled, they need to be connected to the controller. Therefore, the electromagnetic components are generally arranged on the body of the stacker, and the hangers are provided with magnetic components.
  • the magnetic components can be permanent magnetic components. It may be a housing made of a material having ferromagnetism that can be attracted.
  • the clothes hanger In order to cooperate with the clothes stacker, the clothes hanger needs to be provided with a folded support arm.
  • the support arm is rotatably arranged on both sides of the main body, as shown in Figs. 7-9.
  • the clothes supporting arm When a hanger is used to support clothes, the clothes supporting arm needs to be in an open state. After the clothes are held by the clamping mechanism of the clothes stacker, the clothes supporting arm must be in a folded state to ensure that the clothes hanger can be detached from the clothes. Therefore, the hanger is also provided with a folding switch 315 for controlling the rotation of the clothes support arm.
  • the folding switch 315 described herein is not provided at the bottom of the main body, but is provided at one side of the main body.
  • FIG. 12 is a cross-sectional view at BB in FIG. 11, showing the internal structure of the hanger body.
  • a stopper 316 fixedly connected to the folding switch is provided inside the main body.
  • the folding switch is fixedly connected to the stopper, and the rear part of the stopper has a certain space, it can be folded when pressed.
  • the switch is turned on, the stopper moves to the rear space.
  • the stopper is detached from the clothes support arm, the stopper loses its stopping effect on the clothes support arm, and the clothes support arm rotates downward under the action of gravity.
  • the folded support arm loses its supporting effect on the clothes, which facilitates the detachment of the clothes from the hanger.
  • the stopper is also provided with a returning device 317, which is in contact with the inner wall of the main body for returning the stopper to a position where the clothes support arm is opened.
  • the returning device may be a spring, which When the folding switch is pressed, the stopper moves backward to contract the spring. When there is no pressing force at the folding switch, the spring pushes the stopper forward under the action of the restoring force to return the stopper to the same position, and at the same time collapses the folding The switch pops up for the next press.
  • the clothes support arm can be set to manually open the clothes support arm again, and manually open and place the clothes before the next use. It is also possible to use a corresponding structure to make the returning device act, while returning the stopper while the support arm is stretched out under the action of the stopper.
  • the clothes stacker is provided with a magnetic component / electromagnetic component corresponding to the hanger.
  • the electromagnetic component When the electromagnetic component generates an electromagnetic force, it can generate a washing machine for the magnetic component, so that the hanger moves under the action of the magnetic force.
  • the hanger positioning device includes a positioning groove 34 that matches the shape of a part of the hanger.
  • the hanger is plunged into the positioning groove to maintain a fixed state.
  • the opening of the positioning groove has an inclined structure to form an open opening for the hanger to enter.
  • an avoiding space is provided at the position corresponding to the positioning groove and the clothes supporting arm to fold the hanger, so that the clothes supporting arm can be opened in this space. And close.
  • the function of the positioning slot can not only fix the hanger, but also act as a trigger device to fold the hanger.
  • the magnetic force of the hanger is movable, it is used to fold the switch on the side of the main body. Therefore, the inner wall of the positioning slot and the folding The switch stop can apply the pressing force to the folding switch, so that the clothes hanger arm can be folded.
  • the electromagnetic component 33 on the body of the stacker can be set in the positioning slot of the hanger positioning device, and the folding switch of the hanger is set at a position matching the positioning slot.
  • the hanger With the cooperation of electromagnetic and magnetic components, the hanger can be moved, but the hanger needs a certain support, or a certain track is provided for movement.
  • the clothes stacker is provided with a hanger hanger 32, which can make the hanger follow The hanger bar moves, and when it reaches the end, the hanger enters the positioning slot.
  • the hanging part of the clothes hanger is used for hanging on the clothes hanger rod, the clothes hanger rod is fixed above the clothes hanger positioning device, and the clothes hanger can be moved into the positioning groove after moving along the clothes hanger rod.
  • the control method of the clothes stacker is: the clothes stacker controls the electromagnetic device to generate magnetic force, and the hanger moves under the action of the magnetic force.
  • the stacker is provided with a main control system. When the hanger needs to be moved, the electromagnetic device is controlled to move the hanger, and when the hanger needs to be folded, the electromagnetic device is controlled to collapse the hanger.
  • the stacker controls the movement of the hanger through the main control system, including the following processes:
  • the movement process the main control system controls the electromagnetic device to generate the first magnetic force to move the clothes hanging on the hanger rod to the hanger positioning device;
  • the triggering process the main The control system controls the electromagnetic device to generate a second-stage magnetic force to further attract the clothes hanger located on the clothes hanger positioning device, so that the bottom wall of the positioning groove presses the folding switch, so that the support arm is folded.
  • the magnetic strength of the first gear is different from that of the second gear, the magnetic strength is set according to different functions.
  • the attractive force needs to overcome the resistance of the return device, so it may require a larger
  • the acting force realizes the folding of the hanger, and the strength of the first-stage magnetic force is preferably less than or equal to that of the second-stage magnetic force.
  • the clothes stacker includes a clamping mechanism for clamping the clothes on the hanger to detach the hanger from the hanger.
  • the hanger moves to the positioning device of the hanger and sinks into the positioning slot.
  • the main control system controls the clamping mechanism to clamp the hanger. After loading the clothes, the triggering process is performed to fold the clothes support arm.
  • the main control system controls the clamping mechanism to drive the clothes away from the hanger after the clothes support arm is folded.
  • the above control process is different from the structure shown in FIG. 3. In FIG. 3, the hanger is clamped, and the support arm is folded by pressing a folding switch provided at the bottom of the hanger.
  • the folding unit 1 includes a horizontally arranged folding platform.
  • the folding platform is provided with a folding flap for folding clothes.
  • the folding platform of the clothes stacker of the present invention is also provided with a falling flap.
  • the falling flap can be folded down to form an opening on the folding platform, and the folded clothes can be dropped directly from this opening position.
  • the clothes stacker of the present invention is provided with a storage in the lower part of the folding unit 1.
  • the unit 2 can communicate with the folding unit 1 and the storage unit 2 through the opening position, and the clothes directly fall into the storage unit 2 from the opening for storage.
  • the specific folding platform structure is shown in the figure.
  • the folding flap includes at least two garment side flaps 1211 and a garment body flap 1212.
  • the garment side flaps 1211 are located on both sides of the folding platform and are used for the width direction of the clothes. After finishing, the body flap 1212 can fold the clothes in the length direction, so that the finally folded clothes are located at the falling flap.
  • the clothing side flaps 1211 are oppositely disposed on both sides of the folding platform, and are folded in the middle to fold the two sides of the clothes.
  • the clothing body flap 1212 and the falling flap are provided on the two clothing side flaps 1211. Between the body flap 1212 and the falling flap, the clothes flap 1212 can be folded in the direction of the falling flap, and the clothes side flap, the body flap and the falling flap are integrated. Arranged rectangular.
  • the garment-side flap 1211 of the folding flap also has another embodiment.
  • the garment-side flap 1211 includes an upper half plate 12111 and a lower half plate 12112.
  • the upper half plate 12111 and the body The flip plate 1212 is aligned and the lower half plate 12112 is aligned with the falling flip plate.
  • the advantage of this setting is that the corresponding folding flap can be controlled to fold the clothes according to the specific size of the clothes, avoiding unnecessary folding actions.
  • the folding flap also includes a garment tail flap 1213.
  • the garment tail flap 1213 is arranged on one side of the folding platform to fold the bottom of the clothes.
  • the flap 1212 and the falling flap are arranged in a rectangular shape as a whole.
  • the clothing tail flap 1213 can organize the lower part of the clothes that are too long, so that all the clothes fall on the upper surface of the folding platform, which is convenient for other folding flaps to fold the clothes.
  • the opening formed by the opened falling flap enters the storage unit 2, and the falling flap includes a first flap 1221 and a second flap 1222 which are oppositely disposed, and the first flap 1221 and the second flap
  • the plate 1222 is folded from the middle to the bottom to form an opening on the folding platform to allow the laundry to fall.
  • the clothes stacker can be provided with a clothes recognition unit for identifying the size of the clothes, and can be a sensing device provided on the folding flap to obtain the coverage of the clothes Range and guide the action of folding the flap.
  • the control method of the clothes stacker can be that after the clothes are tiled on the folding platform, the clothes stacker controls the folding flaps to fold in order, and the clothes body flap 1212 folds the clothes to the falling flap, and the clothes stacker controls The drop flap opens to drop the laundry.
  • the clothes tail flap 1213 folds the lower part of the clothes inward.
  • the clothes tail flap 1213 does not move;
  • the clothes machine recognizes that the clothes exceed the set width, the upper half plate 12111 and the lower half plate 12112 are folded inward at the same time, and the two clothes side flaps 1211 are folded at the same time or successively.
  • the garment side flap 1211 does not move.
  • the clothes stacker can control the folding of the upper half plate 12111 and the lower half plate 12112 respectively according to the flattening state of the clothes.
  • the falling flap is folded down at the same time as the lower flap is folded inward to help the clothes fall.
  • a movable part 141 is provided on the folding platform to assist the flattening process of the laundry.
  • the movable member includes moving rods 131 for folding the sleeves on the folding platform.
  • the moving rods 131 are provided on two sides of the folding platform corresponding to the positions of the sleeves.
  • the moving rods 131 A moving rod driving device 1311 is provided to drive the moving rod 131 to move horizontally to the inside of the folding platform. After the clothing conveying device places the clothing on the folding platform, the sleeve portion is separated from the main body portion of the clothing. During the tiling process, the clothing The sleeve will fall on the upper portion of the moving rod 131, and the sleeve portion can be folded during the horizontal movement of the moving rod 131 to the middle.
  • the moving rod 131 also has a moving guide 1312, and the moving rod driving device 1311 can drive the moving rod 131 to move horizontally along the moving guide 1312.
  • the moving rod driving device 1311 further includes a lifting mechanism, which can drive the moving rod 131 to move up and down to adjust the distance between the folding platform and the folding platform. This is because the clothes may have different thicknesses, or multiple folds are required to place all the sleeves on the upper surface of the folding platform. Therefore, since the thickness of the sleeves and the body of the clothes is increased, the moving rod 131 is preferably provided with The lifting mechanism can adjust the height to deal with different clothes.
  • the moving rod 131 is provided with a sensor for detecting whether the moving rod 131 is covered with clothes, or the stacker is provided with an image acquisition unit for determining whether the sleeves fall on the moving rod 131.
  • the sensor or the image acquisition unit determines that there is When the laundry is covered above the moving rod 131, the clothes stacker can control the moving of the moving rod 131, so that the laundry can be driven to the folding platform.
  • the movable member further includes a fixing rod 132 for fixing the laundry on the folding platform, and the fixing rod 132 can be moved to the upper surface of the folding platform to press the clothing onto the middle folding platform for fixing;
  • Two fixing members are symmetrically arranged, and are arranged on one side of the folding platform where the collar is placed for compacting the boundary between the sleeve and the clothing body.
  • the fixing rod 132 When the fixing rod 132 does not need to fix the clothes, rotating to the side of the folding platform will not hinder the folding of the folding flap.
  • the fixing rod 132 needs the auxiliary moving rod 131 to fold the sleeve, the fixing rod 132 faces the folding platform. Rotate in the direction and press on the upper part of the clothes, and the moving rod 131 is located on the lower part of the clothes, and the moving rod 131 is higher than the fixed rod 132.
  • the moving rod 131 can be moved on the upper part of the fixed rod 132, thereby driving the sleeve part to turn inside the folding platform. fold.
  • the fixing rod 132 After the moving rod 131 is folded, the fixing rod 132 is rotated to the original position to release the fixing of the clothes, and the folding flap can further fold the clothes.
  • the folding unit 1 may further be provided with a fan, which blows the clothes to make the clothes flat, and the fan may be provided with multiple air outlets to blow different parts of the clothes, such as the main body of the clothes
  • the air outlet for flattening the blower is also provided with an air outlet for flattening the sleeve portion of the clothes; or the fan is provided with a movable air outlet for generating different wind directions, and the air outlet can be rotated, so that the clothes can be carried out. Multi-directional finishing to cope with more complicated clothing conditions.
  • the control method of the above-mentioned clothes stacker can be summarized as that the clothes stacker drives the movable parts to flatten the clothes after the clothes are placed on the folding platform, and then folds the clothes.
  • the clothes stacker determines whether there are sleeves on the moving rod 131 by using a sensor or an acquired image. When there are sleeves on the moving rod 131, the clothes stacker fixes the clothes and drives the moving rod 131 to move inside the folding platform. Fold the sleeves onto the folding platform.
  • the moving lever 131 Before the stacker drives the moving lever 131 to move, first control the fixed lever 132 to rotate to the boundary between the sleeve and the clothing body, and press the position tightly. After the clothing is fixed, the moving lever 131 is driven to fold the sleeve; preferably, When the sleeves are long, the stacker control bar is repeatedly moved to the middle to realize multiple folding of the sleeves until the sleeves are all placed on the folding platform; when the stacker is equipped with a fan, the stacker is on the fixed rod 132 After the clothes are fixed, the fan is driven to spray and spread the main body of the clothes, and after the blowing is finished, the moving rod 131 is driven to fold the sleeves.
  • the folding unit 1 may also be provided with a clothing gathering component, which is arranged on one side of the folding platform, that is, one of the clothing entering the folding platform.
  • the clothes gathering component can gather both sides of the clothes to prevent the edges of the clothes from falling outside the folding platform during the process of the clothes being conveyed and tiled by the clothes conveying device.
  • the above setting method can be used alternately with the setting of the moving lever.
  • the clothes conveying device drives the clothes to move from the side where the clothes gathering component is provided to the side away from the clothes gathering component.
  • the clothes gathering component is a horizontally arranged gathering side plate 133.
  • the gathering side plate 133 has inclined sides or The recessed sides gather the sides of the clothes during the movement of the clothes.
  • the folding side plates 133 have two, and the two folding side plates 133 are symmetrically arranged and the inclined sides are oppositely arranged to form a collapsed area in the middle.
  • the inclined sides are in contact with both sides of the clothes and face the clothes during the movement of the clothes. Collapse on both sides.
  • the gathering side plate 133 is a right-angled triangle, and two oblique sides of the right-angled triangle are oppositely disposed.
  • the clothes stacker is further provided with a clothes guide plate 134, which is arranged between the two folding side plates 133 for flattening the middle of the clothes; the edges of the clothes guide plate 134 in contact with the clothes It is a convex arc.
  • a clothes guide plate 134 which is arranged between the two folding side plates 133 for flattening the middle of the clothes; the edges of the clothes guide plate 134 in contact with the clothes It is a convex arc.
  • a clothes guide plate 134 which is arranged between the two folding side plates 133 for flattening the middle of the clothes; the edges of the clothes guide plate 134 in contact with the clothes It is a convex arc.
  • a portion far from the folding platform is set as an arc surface
  • a portion close to the folding platform is set as a flat portion
  • the arc surface and the flat portion are smoothed excessively.
  • the folding platform is provided with a folding flap and a falling flap.
  • a sleeve flap is provided on both sides of the folding platform, and the two sides of the clothes are folded and placed on the sleeve flap.
  • the two folded side plates 133 The distal end of the slanted side is slightly wider than the folding platform, which can better fold the clothes on both sides.
  • the stacking machine can be equipped with an image recognition device to identify the folds of the clothes on the folding platform.
  • the folding unit 1 is provided with a manipulator, which is based on the clothes. The fold condition of the clothes is adjusted; the manipulator is arranged on the clothes conveying device, and is used for gripping the clothes when conveying the clothes and organizing the clothes after placing the clothes.
  • the above-mentioned control method in the process of flattening the clothes can control the clothes conveying device for the clothes stacker to drive the clothes to contact the clothes gathering component during the moving process and lay the clothes on the folding platform.
  • the clothes stacker controls the clothes conveying device to grip the clothes so that the main part of the clothes hangs on the edge of the clothes guide plate 134, and the two sides of the clothes hang on the inclined sides of the gathering side plate 133, and then controls the clothes conveying device to drive the clothes to move horizontally.
  • the laundry main body portion is flattened by the laundry guide plate 134 and both sides of the laundry are collapsed by the collapsing side plates 133.
  • the clothes stacker uses the image recognition device to obtain the state of the clothes being tiled on the folding platform, and controls the manipulator to organize the uneven position of the clothes; two manipulators cooperate with each other, two The manipulator organizes the unevenness of position unevenness by relative motion.
  • the storage unit 2 is disposed at the lower part of the folding unit 1 and is configured to receive the clothes dropped by the folding unit 1.
  • a movable clothes-carrying platform 21 is provided in the storage unit 2.
  • the clothes-carrying platform 21 is provided with a retractable support structure, and the support structure adjusts the height of the clothes-carrying platform 21 by telescoping; the support structure is provided at the bottom of the clothes-carrying platform 21.
  • the retractable support structure may be as shown in FIG. 16 and FIG. 17.
  • the support structure includes two crossed support rods 221 to form an X-shaped structure. The middle portion of the support rod 221 is relatively rotatable through a fixed shaft connection.
  • the support structure includes Two sets of symmetrically arranged X-shaped mechanisms form a stable and retractable support structure.
  • the supporting rod 221 has a fixed end and a movable end so as to realize relative rotation between the two supporting rods 221, so as to form a clothes-carrying platform 21 having different heights.
  • the support structure further includes an upper slide rail 222 and a slide rail 223. One end of one of the support rods 221 of the X-shaped structure moves along the upper slide rail 222, and one end of the other support rod 221 moves along the slide rail 223.
  • the clothing carrying platform 21 is arranged on the top supporting rod 221 of the supporting structure to form different heights during the sliding process.
  • the support structure is provided with a motor to control the movement of the support rod 221.
  • a transmission member is fixedly connected to one end of the support rod 221.
  • the motor drives the support rod 221 to move through the transmission member.
  • the transmission member is composed of a screw and a nut.
  • the screw 225 is fixedly connected to the support rod 221. The screw 225 rotates with the motor, and the nut is sleeved on the screw and moves horizontally as the screw rotates.
  • the loading platform 21 can move up and down, and can move up and down according to the amount of laundry. This makes the clothes-carrying platform 21 closer to the opening where the laundry is dropped by the folding unit 1, and can gradually move down when more clothes accumulate, freeing up more space for clothes to be dropped.
  • the storage unit 2 may be provided with a sensor for judging the laundry amount of the clothes carrying platform 21; the clothes carrying platform 21 is provided with a weight sensor, and the weight sensor can feedback the weight on the clothes carrying platform 21 in real time.
  • the weight controls the motor.
  • the storage unit 2 is provided with a light sensor, which can measure the height of the clothes on the top of the clothes carrying platform 21, thereby obtaining the amount of clothes and controlling the driving of the motor.
  • the control method of the clothes stacker is that the clothes stacker adjusts the height of the clothes loading platform 21 according to the amount of laundry dropped from the folding unit 1 on the clothes loading platform 21. Specifically, the sensor acquires the amount of laundry on the clothes carrying platform 21, and the stacker controls the clothes carrying platform 21 to descend to the lowest position according to the gradual increase of the amount of laundry. When the amount of clothes on the clothes carrying platform 21 reaches a set value When the clothes platform 21 is lowered to the lowest position, the stacker reminds the user to remove the clothes on the clothes platform 21. When the sensor obtains the amount of clothes on the clothes platform 21 as the initial value, the control motor drives the clothes platform 21 to recover To the highest position.
  • the stacker controls the folding unit 1 to no longer drop laundry onto the clothing platform 21, and when the amount of laundry on the clothing platform 21 returns to the initial value, the stacker controls The folding unit 1 resumes dropping clothes.
  • the clothing platform 21 on the storage unit 2 can also be moved horizontally.
  • the clothes-carrying platform 21 is provided with a driving device to drive the clothes-carrying platform 21 to move horizontally.
  • the storage unit 2 is provided inside a cavity.
  • the cavity is provided with a clothes outlet.
  • the clothes-carrying platform 21 can be horizontally moved to the clothes.
  • the outlet is for users to take clothes, or the storage platform can move horizontally inside the cavity.
  • the clothes-carrying platform 21 has a certain capacity for accommodating folded clothes. When the clothes on the clothes-carrying platform 21 reach the upper limit of the capacity, the clothes-stacking machine should remind the user to take clothes.
  • the clothes-carrying platform 21 of the unit 2 is also provided inside the cavity formed by the cabinet. Therefore, in order to facilitate the use of taking out clothes from the clothes-carrying platform 21, the clothes-carrying platform 21 is provided in a manner that can be ejected from the clothes outlet, which is convenient Used to remove folded clothes.
  • the size of the clothes-carrying platform 21 may be the same as the size of the opening on which the clothes on the folding platform are dropped for receiving clothes.
  • the size of the clothes-carrying platform 21 may also be larger than the opening, and the clothes-carrying platform 21 is provided with a partition to move horizontally. The different regions are aligned with the opening positions, thereby realizing the functions of each partition.
  • the horizontal movement of the clothes-carrying platform 21 is realized by the driving of the driving device.
  • the driving device includes a motor and a transmission component.
  • the transmission component transmits the driving force of the motor to the clothes-carrying platform 21, as shown in FIG.
  • the belt 232 the motor is fixedly connected to the rotating roller.
  • the bottom of the clothes-carrying platform 21 is fixed on the belt 232.
  • the motor drives the rotating roller to rotate, and the belt 232 sleeved on the rotating roller moves with it.
  • the bottom of the clothes carrying platform 21 is fixed at a specific position of the belt 232.
  • the clothes carrying platform 21 moves with the belt 232.
  • the driving device moves according to the amount of laundry on the clothes-carrying platform 21. When the amount of laundry reaches the limit, the driving device drives the clothes-carrying platform 21 to pop out for the user to take clothes.
  • the folding unit 1 When the size of the clothes carrying platform 21 is consistent with the size of the clothes drop opening of the folding unit 1, when the clothes carrying platform 21 is moved horizontally full of clothes for the user to take clothes, since the clothes carrying platform 21 is far from the position of the clothes drop opening The folding unit 1 can no longer drop clothes, so although the folding unit 1 can continue to fold clothes, it cannot open the falling flap to allow the clothes to enter the storage unit 2.
  • the clothes-carrying platform 21 may also be provided with a spare area. After the commonly-used area is ejected, the spare area temporarily receives the dropped clothes, so as to ensure the continuous work of the folding unit 1 without affecting the work efficiency.
  • the clothes carrying platform 21 includes at least a first placement area and a second placement area. The second placement area is configured to receive the folding unit 1 when the first placement area is full of clothes or the first placement area is moved to the clothes outlet. Clothing.
  • the clothes stacker Since the clothes stacker is suitable for home use, there are various types of folded clothes in family life, and users are more inclined to store these clothes according to the type of clothes. Therefore, when the storage unit 2 receives the dropped clothes, it can Keep your clothing separate.
  • the clothes-carrying platform 21 has a plurality of placement areas corresponding to the type of clothes.
  • the clothes-carrying platform 21 can be moved horizontally so that the different placement areas are aligned with the positions of the clothes dropped by the folding unit 1.
  • the clothes-stacking platform 21 The machine is provided with a clothes recognition unit for identifying the type of clothes.
  • the clothes recognition unit should complete the recognition before the clothes are dropped, so that the corresponding area of the clothes carrying platform 21 can be driven to the lower part of the clothes drop opening to receive the type of clothes.
  • the clothes-carrying platform 21 may include both a vertical telescopic movement and a horizontal movement mechanism. The two are provided at the same time but have different driving devices for driving, and also have different triggering conditions.
  • the control method of the clothes stacker may include when the amount of laundry placed on the clothes carrying platform 21 reaches a set value, the clothes machine controls the clothes carrying platform 21 to horizontally move to the clothes outlet for the user to take clothes. Specifically, the stacker controls the movement of the storage platform by acquiring the weight of the clothing on the clothing platform 21 and / or the height of the clothing; further, when any value of the weight of the clothing or the height of the clothing on the storage platform exceeds a set value, The stacker controls the driving device of the storage platform so that the storage platform drives the clothes to the clothes outlet.
  • the sensor can detect the laundry amount of the first placement area and the second placement area, respectively.
  • the stacker controls the first placement area to move to the clothes outlet, and at the same time controls the second placement area to move to the clothes drop position to continue to receive the clothes dropped by the folding unit 1.
  • the clothes recognition unit of the clothes stacker recognizes the clothes to be dropped and determines the clothes type, and the clothes stacker drives the corresponding placement area to move horizontally according to the clothes type To the clothing drop position.

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

衣架（31）、叠衣机及叠衣机的控制方法，叠衣机包括衣架输送单元（3）、折叠单元（1）、收纳单元（2），还包括衣架（31）及触发机构，触发机构具有多种实施方式，所述触发机构具有驱动部件（142）和在驱动部件（142）的驱动下可移动的移动部件（141），所述移动部件（141）对收折开关（315）施加作用力用于触发收折开关（315）令撑衣臂（312）收折，或者通过电磁进行触发，触发机构结构简单容易实现，并能够达到良好的触发效果，并且触发机构还可以设置有传感器判断衣架（31）的相对位置，从而实现更加精准的触发过程；通过磁力既能够进行移动又能够进行触发，节约空间，保证衣架（31）能够被准确触发。

Description

衣架、叠衣机及叠衣机的控制方法 技术领域
本发明属于家用电器领域，具体地说，涉及衣架、叠衣机及叠衣机的控制方法。
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。
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。
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，提供衣架、叠衣机及叠衣机的控制方法。
为解决上述技术问题，本发明采用技术方案的基本构思是：
一种衣架，所述衣架上设置有磁性部件或电磁部件，使得衣架能够在电磁力的作用下移动。
所述磁性部件/电磁部件设置在衣架的中心位置，或对称设置在衣架两侧。
所述衣架包括主体及撑衣臂，所述撑衣臂可转动地设置在主体两侧，所述衣架还包括收折开关用于控制撑衣臂的转动，所述收折开关设置有主体的一侧。
所述主体内部设置有与收折开关固定连接的止挡件用于与撑衣臂止抵令撑衣臂撑开，所述止挡件可水平移动取消对撑衣臂的止挡令撑衣臂收折；
优选地，所述止挡件还设置有回位装置，所述回位装置与主体内壁止抵用于将止挡件回复至令撑衣臂撑开的位置。
一种包括如上所述衣架的叠衣机，所述叠衣机设置有与衣架的磁性部件/电磁部件对应设置的电磁部件/磁性部件，用于令衣架在磁力作用下移动。
叠衣机还包括与衣架匹配的衣架定位装置，令衣架保持固定的状态；优选地，所述衣架定位装置包括与衣架部分形状匹配的定位槽，衣架陷入定位槽中保持固定状态；进一步优选地，所述定位槽开口处具有斜面结构形成敞开的开口便于衣架进入；进一步优选地，叠衣机的磁性部件/电磁部件设置在衣架定位装置的定位槽中；进一步优选地，所述衣架的收折开关设置在与定位槽匹配的位置。
所述的叠衣机还包括衣架挂杆，所述衣架悬挂在衣架挂杆上并能够在磁力作用下沿衣架挂杆移动；优选地，所述衣架包括设置在主体上部的勾挂部用于勾挂在衣架挂杆上，所述衣架挂杆固定在衣架定位装置的上方，能够令衣架沿衣架挂杆移动后陷入定位槽中。
一种如上所述叠衣机的控制方法，叠衣机控制电磁装置产生磁力，所述衣架在磁力作用下移动。
叠衣机具有主控系统可用于控制衣架的移动，包括：移动过程：主控系统控制电磁装置产生第一档磁力对悬挂在衣架挂杆上的衣物移动至衣架定位装置处；触发过程：主控系统控制电磁装置产生第二档磁力 对位于衣架定位装置的衣架进一步吸引使得定位槽底壁对收折开关进行按压，令撑衣臂收折；优选地，第一档磁力的强度小于等于第二档磁力的强度。
叠衣机包括夹持机构用于夹持衣架上的衣物令衣架与衣架脱离，衣架移动至衣架定位装置处后陷入定位槽内，主控系统控制夹持机构夹持衣架上衣物后，再进行触发过程令撑衣臂收折，主控系统控制夹持机构在撑衣臂收折后带动衣物与衣架脱离。
一种叠衣机包括衣架和触发机构，所述衣架具有可收折的撑衣臂以及可控制撑衣臂收折的收折开关，所述触发机构具有驱动部件和在驱动部件的驱动下可移动的移动部件，所述移动部件对收折开关施加作用力用于触发收折开关令撑衣臂收折。
所述移动部件具有与收折开关接触的施力部和接收驱动部件驱动力的受力部；优选地，所述驱动部件和移动部件间还设置有传动部件，所述移动部件的受力部与传动部件接触接收传动部件传递的驱动力。
所述移动部件为可以绕固定轴转动的杠杆结构，所述固定轴设置在移动部件的一端，所述施力部和受力部设置在固定轴的同一侧，所述传动部件与移动部件的中部接触；优选地，所述传动部件为凸轮，所述凸轮与移动部件的中部接触，并设置在移动部件的下方对移动部件施加向上的作用力。
所述移动部件为可以绕固定轴转动的杠杆结构，所述固定轴设置在移动部件的中部，所述施力部和受力部设置在固定轴的两侧，所述传动部件与移动部件的远离施力部的一端接触；优选地，所述传动部件为凸轮，所述凸轮设置在移动部件的上方对移动部件施加向下的作用力。
所述驱动部件为电机，所述电机具有电机轴，所述凸轮与电机轴固定连接并随电机轴转动，所述移动部件与凸轮的边缘接触接收凸轮的作用力。
所述触发机构包括一个固定壳，所述移动部件通过固定轴与固定壳连接，所述凸轮设置在固定壳内部，所述移动部件的施力部伸出固定壳与收折开关接触；优选地，所述固定壳与叠衣机主体通过一个连接部固定连接。
所述触发机构还设置有定位架，所述定位架具有容纳槽供衣架进入限制衣架水平移动；优选的，所述衣架具有挂部和主体部，所述容纳槽供挂部放入并止抵在主体部上方，使得在移动部件施加作用力时限制衣架向上运动。
所述叠衣机设置有传感器，用于判断衣架是否到达触发机构并限位于定位架处；优选地，所述传感器为感应衣架和触发机构间距离的传感器。
一种如上所述叠衣机的控制方法，当衣架到达触发机构处时，叠衣机开启驱动部件，驱动移动部件对收折开关施加作用力令撑衣臂收折。
叠衣机设置有衣物夹取装置用于取下衣架上的衣物并输送至衣物折叠处，当衣架达到触发机构处时，衣物夹取装置启动夹取衣架上的衣物，在衣物夹取装置夹取衣物后，触发机构启动控制衣架收折释放衣物。
一种叠衣机包括衣架和触发机构，所述衣架具有可收折的撑衣臂以及可控制撑衣臂收折的收折开关，所述触发机构用于对收折开关施加作用力令撑衣臂收折，所述触发机构具有避让结构用于在衣架被触发时避让衣物。
所述触发机构包括壳体及从壳体内部伸出的可移动的移动部件，所述壳体在靠近衣架一侧的侧壁向远离衣架方向倾斜形成避让结构用于避让衣物。
所述触发机构还包括驱动部件用于驱动移动部件移动，所述驱动部件固定在壳体底部，并位于远离衣架的一端；优选地，所述驱动部件为具有电机轴的电机，所述电机轴可正反转，所述移动部件一端与电机轴连接并随电机轴移动，另一端具有扁平状结构用于与收折开关接触。
所述电机轴与移动部件间设置有传动部件，用于将电机轴的驱动力传递给移动部件；优选地，所述传动部件包括一个轮体及连杆，所述电机轴与轮体中心固定连接，所述连杆一端与轮体偏心位置连接，所述连杆另一端与移动部件受力部连接，所述移动部件的施力部与受力部间设置有固定轴，所述移动部件可沿固定轴转动。
所述触发机构还包括固定装置用于将衣架固定在收折开关能够被触发的位置；优选地，所述固定装置为一个固定架，所述固定架包括具有左侧壁和右侧壁的容纳槽，所述容纳槽能够限制衣架水平移动；进一步地，所述衣架具有挂部和主体，所述容纳槽能够供挂部放置并与主体顶部止抵限制衣架纵向移动。
所述固定装置通过磁性吸引实现，所述衣架设置有能够被磁力吸引的被吸引部，所述触发机构设置有能够产生磁力的吸引部，被吸引部与吸引部位置对应，叠衣机能够控制吸引部磁力的产生和消失。
一种如上所述叠衣机的控制方法，衣架被输送至触发机构时，叠衣机驱动触发机构对收折开关进行触发。
当衣架被固定装置固定后，叠衣机控制电机开启，电机轴带动移动部件转动，移动部件的施力端移动对衣架的收折开关进行按压令衣架收折；当衣架收折后，叠衣机控制电机反向转动，电机轴带动移动部件反向转动，移动部件的施力端与衣架脱离。
当衣架被固定装置固定后，叠衣机控制电机开启，电机轴带动轮转动，连杆随轮移动，带动移动部件沿着固定轴转动，移动部件的施力端移动对衣架的收折开关进行按压令衣架收折；当衣架收折后，叠衣机控制电机反向转动，电机轴带动轮反向转动，连杆随轮移动，带动移动部件沿着固定轴转动，移动部件的施力端移动与衣架脱离；进一步地，在下次衣架被固定装置固定后循环上述操作。
当衣架的撑衣臂没有收折时，叠衣机再次驱动触发机构对收折开关进行触发；进一步地，叠衣机包括衣物输送装置用于夹取并移动衣架上的衣物，衣物输送装置夹取衣架上的衣物后无法移动时，叠衣机则判断撑衣臂没有进行收折，叠衣机再次驱动触发机构对收折开关进行触发。
一种叠衣机包括折叠单元及收纳单元，所述折叠单元设置有折叠平台，所述折叠平台上由折叠翻板及下落翻板构成，所述折叠翻板包括至少包括两个衣侧翻板及衣身翻板，所述收纳单元设置在下落翻板底部。
所述衣侧翻板相对设置在折叠平台的两侧，并向中间翻折用于对衣物两侧进行折叠，所述衣身翻板与下落翻板设置在两个衣侧翻板之间且衣身翻板与下落翻板宽度一致并对齐设置，所述衣身翻板可向下落翻板方向翻折，所述衣侧翻板、衣身翻板及下落翻板整体呈矩形布置。
所述下落翻板包括相对设置的第一翻板和第二翻板，所述第一翻板和第二翻板从中间向下部翻折在折叠平台上形成开口令衣物掉落。
所述衣侧翻板包括上半板和下半板，所述上半板与衣身翻板对齐设置，所述下半板与下落翻板对齐设置。
所述折叠翻板还包括衣尾翻板，所述衣尾翻板设置在折叠平台的一侧对衣物的底部进行折叠，所述衣尾翻板与衣侧翻板、衣身翻板、下落翻板整体呈矩形布置。
所述叠衣机设置有衣物识别单元用于识别衣物的尺寸，优选地，所述衣物识别单元为设置在折叠翻板上的感应装置。
一种如上所述的叠衣机的控制方法，衣服平铺在折叠平台后，叠衣机控制折叠翻板按顺序依次翻折，衣身翻板将衣物翻折至下落翻板处时，叠衣机控制下落翻板开启令衣物下落。
当叠衣机识别到衣物超过设定长度时，衣尾翻板将衣物下部向内部翻折，当识别到衣物未超过设定长度时，衣尾翻板不动作。
当叠衣机识别到衣物超过设定宽度时，上半板和下半板同时向内翻折，两个衣侧翻板同时翻折或者先后进行翻折，当识别到衣物未超过设定宽度时，衣侧翻板不动作。
叠衣机可根据衣物的铺平状态分别控制上半板和下半板的翻折，优选地，下落翻板向下翻折的同时下翻板同时向内翻折助力衣物掉落。
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)叠衣机的触发机构通过驱动部件、传动部件和移动部件间的配合，实现对衣架上的收折开关的触发，结构简单容易实现，并能够达到良好的触发效果，并且触发机构还可以设置有传感器判断衣架的相对位置，从而实现更加精准的触发过程；
(2)触发机构设置有定位架等机构使得衣架和移动部件间能够匹配，减少无效的触发动作，并且定位架还能够给衣架提供支撑力；
(3)通过磁力进行移动，不需要设置有夹持或移动机构，节约了衣架挂杆上部的空间，缩小了叠衣机的体积；电磁部件与磁性元件间的吸引力可以根据实现的目的不同而进行磁力的调节，以应对不同的应用场景，既能够实现衣架的移动又能够实现衣架收折开关的触发；为了便于夹持机构能够准确夹持衣架上的衣物，因而设置有定位槽对衣架进行限位，并且定位槽内壁与收折开关对应设置，保证衣架能够被准确触发。
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是本发明叠衣机示意图；图2是本发明叠衣机内部结构示意图；
图3是本发明叠衣机衣物输送装置示意图；图4是本发明图1中A处放大示意图；
图5-图6是本发明触发机构一种事实方式示意图；图7-图8是本发明触发机构一种实施方式示意图；
图9-图12是本发明衣架及衣架定位装置示意图；图13-图15是本发明折叠平台示意图；
图16-图17是本发明载衣平台示意图。
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，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”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。
本发明的叠衣机如图1及图2所示，叠衣机通过将支撑在衣架上的衣物取下，平铺后通过多次翻折对衣物进行折叠。
所述叠衣机包括衣架输送单元3、折叠单元1，还包括收纳单元2，衣架输送单元3将支撑有衣物的衣架31输送至折叠单元1，衣架31可收折，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的衣架31上的衣物取下后并将衣物铺放在折叠平台上。
图3为衣物输送装置示意图，所述衣物输送装置包括移动机构和夹持机构，移动机构包括X向移动机构和Z向移动机构，X向移动机构可以在水平方向移动，Z向移动机构可以在竖直方向移动，所述X向移动机构包括第一运动部1111、X向导轨1112和第一驱动电机，所述第一驱动电机驱动第一运动部1111在X向导轨1112上移动，同样地，Z向移动机构包括第二运动部1121、Z向导轨1122及第二驱动电机，所述第二驱动电机驱动第二运动部1121在Z向导轨1122上移动。如图2中所示，Z向移动机构设置在第一运动部1111上，第一运动部1111在第一驱动电机驱动时，可以带动Z向移动机构沿着X向导轨1112移动，同时Z向移动机构的第二运动部1121可以在第二驱动电机的驱动下沿着Z向导轨1122移动，因而第二运动部1121可以在X向导轨1112和Z向导轨1122形成的平面区域内的任意位置。
所述X向移动机构至少包括第一限制位置和第二限制位置，第一运动部1111在第一限制位置和第二限制位置之间移动，第一运动部1111位于第一限制位置时保证夹持机构能够夹取衣架31上的衣物，第一运动部1111位于第二限制位置时保证将衣物释放在折叠平台指定位置；所述Z向移动机构至少包括顶部限制位置和底部限制位置，第二运动部1121在顶部限制位置和底部限制位置之间移动，第二运动部1121位于顶部限制位置时保证夹持机构能够夹取衣架31上的衣物，第二运动部1121位于底部限制位置时保证将衣物与衣架31脱离。
如图3所示，所述夹持机构包括一根连接杆113和两个夹持部114，连接杆113固定在第二运动部1121上，并且连接杆的方向与Z向导轨1122和X向导轨1112形成的平面垂直，连接杆113本身为水平设置，两个夹持部114设置在连接杆113上，并间隔设置，第二运动部1121可以带动连接杆113在折叠平台的上方移动，从而带动夹持部114移动。
所述夹持部114可开合，夹持部可以通过开合夹取衣架上的衣物，还可以通过张开释放衣物将衣物放置在折叠平台上。两个夹持部间隔设置，而两个夹持部间的距离与衣架上避让部匹配，所述衣架31具有可收折的撑衣臂，撑衣臂上具有向下凹陷的避让部，在夹持部114夹取衣物时，可以通过夹取避让部的衣物，而不会夹到撑衣臂，从而可以顺利从衣架上取下衣物。
上述叠衣机的控制方法包括，所述叠衣机具有衣架收折位置，叠衣机在衣架31位于衣架收折位置时，控制夹持机构开闭夹持衣架31上的衣物，并在衣架31收折后移动夹持机构令衣物与衣架31脱离。
脱离过程为：叠衣机驱动Z向移动机构令衣物和衣架脱离，具体地，叠衣机开启第二电机带动第二运动部向下运动使得夹持机构带动衣物向下运动，当衣物顶部与衣架收折的撑衣臂底部完全脱离时停止Z向移动。当衣物与衣架脱离后，叠衣机驱动X向移动机构在折叠平台上拖动衣物，具体地，叠衣开启第一电机带动衣物向折叠平台另一侧移动，当第一运动部达到第二限制位置时停止移动，叠衣机控制夹持机构释放衣物令衣物平铺在折叠平台。
如图1及图2所示，叠衣机包括衣架31，用于用衣架31将衣物撑起后，悬挂在衣架输送单元3处，衣架输送单元3可以输送衣架31，所述衣架31包括挂部、主体及具有可收折的撑衣臂，在主体的下部设置有收折开关，所述收折开关用于控制撑衣臂的收折。当收折开关被按下时，对称设置的两个撑衣臂会向下垂，形成收拢状，而被撑衣臂支撑的衣物则会被释放。叠衣机还包括触发机构，所述触发机构用于对收折开关进行触碰，从而对衣架31是否收拢是否能够释放衣物进行控制，衣架输送单元3可以将衣架31输 送至触发机构。
如图4及图5所示，触发机构包括驱动部件142和移动部件141，驱动部件142可以为电机，用于提供移动部件141移动的驱动力，移动部件141在驱动部件142的驱动下可移动，在衣架31被输送至触发机构处时，移动部件141在移动时对衣架31的收折开关施加作用力用于触发收折开关令撑衣臂收折。
如图6所示，触发机构通过一个连接部147与叠衣机本体固定连接，在连接部147上还设置有一个固定壳，固定壳具有一个开口，移动部件141从开口处伸出。在固定壳的内部可以设置传动部件，如图6所示，传动部件为一个凸轮148，所述电机具有电机轴，电机开启的情况下电机轴可转动，所述凸轮148与电机轴固定连接，则电机轴转动时，凸轮148随电机轴一同沿着轴转动。由于凸轮148具有不规则的外边缘，因而止抵在凸轮148边缘上的移动部件141会产生移动。
移动部件141伸出固定壳的一端为施力部，用于对收折开关施加作用力，另一端相对固定，通过一个固定轴可转动连接在固定壳的内部，当移动部件141受到力的作用时，可以沿着固定轴转动，从而带动移动部件141的施力部上下移动，可以对收折开关进行触发。
移动部件141需要接收来自驱动装置或者传动部件的作用力，因而移动部件141还具有受力部，所述受力部可如图4中所示，位于固定轴和施力部之间，即施力部和受力部均位于固定轴的同一侧，受力部和施力部的移动方向一致，而凸轮148设置在移动部件141的底部，当凸轮148具有较长半径的边缘与移动部件141止抵时，由于电机轴的位置固定，从而凸轮148将移动部件141向上顶，而移动部件141由于一端具有固定轴相对固定，因而另一端也就是施力部向上移动，并对收折开关施加作用力，从而实现衣架31收折的触发过程。
另一种实施方式原理与上述方式基本相同，远离为令移动部件形成可以绕固定轴转动的杠杆结构，但不同的是，移动部件的受力部和施力部分别位于固定轴的两侧，受力部和施力部的运动方向相反。由于两者的运动方向相反，凸轮可以设置在受力部的上部，当凸轮对受力部施加向下的作用力时，施力部可以向上移动，从而对收折开关进行按压，达到触发的目的。
上述均以衣架的收折开关接收向上的作用力实现触发而举例说明，衣架的收折开关还可以设置在其他位置从而接收其他方向的作用力，而移动部件、传动部件等设置位置和方向也应当具有相应的调整从而能够实现对收折开关的触发。
如图5及图6所示，触发机构上还设置有定位架149，所述定位架149的作用在于当衣架31被输送至触发机构处时，由于衣架31需要承受移动部件141的作用力，因而衣架31需要进行固定，在触发机构能够仅对收折开关施加作用力，而不至于将整个衣架31推离触发的位置。而移动部件141还需要与收折开关进行对准，从而保证在移动部件141移动时能够精准地对收折开关对位置施加作用力，而不至于产生无效的动作。定位架149设置有容纳槽，容纳槽可以在衣架31放置在容纳槽内时，限制衣架31的水平移动。定位架149既能够限制衣架31的水平移动(除了衣架进入的方向)，还能够限制衣架31的上下移动。所述衣架31具有挂部和主体部，所述容纳槽供挂部放入并止抵在主体部上方，使得在移动部件141施加作用力时限制衣架31向上运动。
为了确认触发机构的移动部件141开始移动的时机，叠衣机可以设置有传感器，用于判断衣架31是否到达触发机构并限位于定位架149处。所述传感器可以为感应衣架31和触发机构间距离的传感器。当距离小于设定值时，则可以判断衣架31到达了设定位置，电机可以转动后令移动部件141对收折开关施加作用力，从而达到释放衣物的目的。
上述叠衣机的控制方法为当衣架31到达触发机构处时，叠衣机开启驱动部件142，驱动移动部件141对收折开关施加作用力令撑衣臂收折。具体地，叠衣机设置有衣物夹取装置用于取下衣架31上的衣物并 输送至衣物折叠处，当衣架31达到触发机构处时，衣物夹取装置启动夹取衣架31上的衣物，在衣物夹取装置夹取衣物后，触发机构启动控制衣架31收折释放衣物。
移动部件141设置在一个壳体143内部，壳体143设置有开工供移动部件的一部分伸出，壳体的开口可限制移动部件的移动幅度。触发机构通过一个连接部147与叠衣机本体固定连接，壳体143与连接部147固定连接。
所述触发机构具有避让结构用于在衣架被触发时避让衣物。所述壳体在靠近衣架一侧的侧壁向远离衣架方向倾斜形成避让结构用于避让衣物。所述驱动部件固定在壳体底部，并位于远离衣架的一端；这样可以避让衣物，尤其是衣物的衣领部，所述驱动部件为具有电机轴的电机，所述电机轴可正反转，所述移动部件一端与电机轴连接并随电机轴移动，另一端具有扁平状结构用于与收折开关接触。避让结构能够避让衣物，防止再衣架带有衣物时，衣架与触发机构距离较近，从而使得衣物处于衣架与触发机构之间，阻碍触发过程的实现，因而在壳体上设置有避让结构，可以避让衣物的衣领等部位，使得触发能够顺利实现。
如图7及图8所示，所述电机轴与移动部件间设置有传动部件，用于将电机轴的驱动力传递给移动部件；所述传动部件包括一个轮体145及连杆144，所述电机轴与轮体145中心固定连接，所述连杆144一端与轮体145偏心位置连接，所述连杆145另一端与移动部件141受力部连接，所述移动部件的施力部与受力部间设置有固定轴，所述移动部件可沿固定轴转动。形成的传动结构为曲柄连杆机构。
如图7至图8所示，触发机构上还设置有固定装置146，所述固定装置146的作用在于当衣架31被输送至触发机构处时，由于衣架31需要承受移动部件141的作用力，因而衣架31需要进行固定，在触发机构能够仅对收折开关施加作用力，而不至于将整个衣架31推离触发的位置。而移动部件141还需要与收折开关进行对准，从而保证在移动部件141移动时能够精准地对收折开关对位置施加作用力，而不至于产生无效的动作。
固定装置146设置有容纳槽，容纳槽可以在衣架31放置在容纳槽内时，限制衣架31的水平移动。固定装置146既能够限制衣架31的水平移动(除了衣架进入的方向)，还能够限制衣架31的上下移动。所述衣架31具有挂部和主体部，所述容纳槽供挂部放入并止抵在主体部上方，使得在移动部件141施加作用力时限制衣架31向上运动。所述固定架包括具有左侧壁和右侧壁的容纳槽，所述容纳槽能够限制衣架水平移动。
所述固定装置还可以通过磁性吸引实现，所述衣架设置有能够被磁力吸引的被吸引部，所述触发机构设置有能够产生磁力的吸引部，被吸引部与吸引部位置对应，叠衣机能够控制吸引部磁力的产生和消失。
上述叠衣机的控制方法可以为衣架被输送至触发机构时，叠衣机驱动触发机构对收折开关进行触发。由于触发机构还设置有固定装置，控制方法可以为当衣架被固定装置固定后，叠衣机控制电机开启，电机轴带动移动部件转动，移动部件的施力端移动对衣架的收折开关进行按压令衣架收折；当衣架收折后，叠衣机控制电机反向转动，电机轴带动移动部件反向转动，移动部件的施力端与衣架脱离。
当触发机构为具有传动部件时，控制方法为：当衣架被固定装置固定后，叠衣机控制电机开启，电机轴带动轮转动，连杆随轮移动，带动移动部件沿着固定轴转动，移动部件的施力端移动对衣架的收折开关进行按压令衣架收折；当衣架收折后，叠衣机控制电机反向转动，电机轴带动轮反向转动，连杆随轮移动，带动移动部件沿着固定轴转动，移动部件的施力端移动与衣架脱离；在下次衣架被固定装置固定后循环上述操作。另外，控制方法还包括叠衣机如何判断衣架是否被触发，当衣架的撑衣臂没有收折时，叠衣机再次驱动触发机构对收折开关进行触发；叠衣机包括衣物输送装置用于夹取并移动衣架上的衣物，衣物输送装置夹取衣架上的衣物后无法移动时，叠衣机则判断撑衣臂没有进行收折，叠衣机再次驱动触发机构对收折开关进行触发。
为了确认触发机构的移动部件141开始移动的时机，叠衣机可以设置有传感器，用于判断衣架31是否到达触发机构并限位于固定装置146处。所述传感器可以为感应衣架31和触发机构间距离的传感器。当距离小于设定值时，则可以判断衣架31到达了设定位置，电机可以转动后令移动部件141对收折开关施加作用力，从而达到释放衣物的目的。
上述叠衣机的控制方法为当衣架31到达触发机构处时，叠衣机开启驱动部件142，驱动移动部件141对收折开关施加作用力令撑衣臂收折。具体地，叠衣机设置有衣物夹取装置用于取下衣架31上的衣物并输送至衣物折叠处，当衣架31达到触发机构处时，衣物夹取装置启动夹取衣架31上的衣物，在衣物夹取装置夹取衣物后，触发机构启动控制衣架31收折释放衣物。
如图9-12所示，本发明还包括另一种实施例来实现衣架的移动和触发。衣架的移动和触发均通过电磁部件与磁性部件间的磁力吸引来实现。
本发明包括一种衣架，所述衣架上设置有磁性部件或电磁部件，磁性部件是能够被磁力吸引的部件，例如磁铁或具有铁磁性的金属材料等，电磁部件是能够产生磁场对磁性部件产生吸引力的部件。并且电磁部件不包括永磁体，需要能够进行控制，以控制产生磁力以及磁力消失，并且能够控制磁力的大小。
如图9-图10所示，衣架包括主体311、撑衣臂312以及勾挂部，勾挂部可悬挂在挂杆或者挂钩上令衣架以及衣架上的衣物悬空。当衣架悬挂后，为了保证衣架能够沿着挂杆或其他结构平稳移动，因而磁性部件/电磁部件应当设置在较为平衡的部位，使得衣架能够收到左右平衡的作用力，保证衣架能够沿着挂杆等结构顺利移动。所述磁性部件/电磁部件设置在衣架的中心位置，或对称设置在衣架两侧。
磁性部件与电磁部件应当是对应设置的，当衣架上设置有磁性部件时，则叠衣机或其他需要吸引衣架的装置则设置有电磁部件；也可以在衣架上设置有电磁部件，在叠衣机上设置有磁性部件，两者之间通过控制衣架上的电磁部件实现相互吸引。
衣架及叠衣机上还可以都设置为电磁部件，两者既可以吸引，也可以通过相互排斥，实现衣架在多个方向的移动。由于电磁部件需要通电并且需要进行一定的控制，需要与控制器进行连接，因而一般将电磁部件设置在叠衣机本体上，而衣架上设置磁性部件，磁性部件可以为具有永磁性的部件，也可以为具有铁磁性能够被吸引的材料制成的壳体。
衣架为了配合叠衣机的工作，还需要设置有收折的撑衣臂，所述撑衣臂可转动地设置在主体的两侧，如图7-9所示。衣架用于支撑衣物时，撑衣臂需要为撑开的状态，当叠衣机的夹持机构夹持衣物后，撑衣臂需要为收折的状态以保证衣架能够与衣物脱离。因而衣架还设置有收折开关315用于控制撑衣臂的转动，这里所述的收折开关315并没有设置在主体的底部，而是设置在主体的一侧。
图12为图11中B-B处的剖视图，展示了衣架主体内部的结构，如图12所示，主体内部设置有与收折开关固定连接的止挡件316，止挡件在初始位置时，能够与撑衣臂的相应结构止抵，使得撑衣臂能够保持在撑开的状态，由于收折开关与止挡件固定连接，并且止挡件的后部具有一定的空间，在按下收折开关的同时，止挡件向后部的空间移动，此时止挡件与撑衣臂脱离，止挡件失去对撑衣臂的止抵作用，撑衣臂在重力的作用下向下转动，撑衣臂收折失去对衣物的支撑作用，便于衣物与衣架的脱离。
所述止挡件还设置有回位装置317，所述回位装置与主体内壁止抵用于将止挡件回复至令撑衣臂撑开的位置，回位装置可以为一个弹簧，当收折开关被按压时止挡件后移令弹簧收缩，当收折开关处没有按压力的作用时，弹簧在回复力的作用下将止挡件向前推动令止挡件归位，同时收折开关弹出可供下次按压。
撑衣臂可以设置为通过手动撑开的方式令撑衣臂再次撑开，在下次使用前手动撑开并放置衣物。也可以通过相应的结构令回位装置作用时，令止挡件回位的同时撑衣臂在止挡件的作用下撑开。
叠衣机设置有与衣架对应的磁性部件/电磁部件，在电磁部件产生电磁力时，能够对磁性部件产生洗 衣机，令衣架在磁力作用下移动。
在衣架与衣物脱离的过程中，需要将衣架准确固定，因而叠衣机本体上设置有与衣架匹配的衣架定位装置，令衣架保持固定的状态。如图9及图11所示，所述衣架定位装置包括与衣架部分形状匹配的定位槽34，衣架陷入定位槽中保持固定状态，定位槽开口处具有斜面结构形成敞开的开口便于衣架进入。
为了防止定位槽对撑衣臂的收折产生阻碍，因而在定位槽与撑衣臂对应的位置，设置有能够令衣架收折的避让空间，能够使得在撑衣臂在此空间内进行撑开和收折。
定位槽的功能除了能够将衣架固定之外，还能够作为触发装置令衣架收折，当衣架磁力作用下移动式，用于收折开关设置有主体的一侧，因而定位槽的内壁与收折开关止抵，能够对收折开关施加按压的作用力，使得衣架撑衣臂进行收折。为了便于对衣架施加作用力，叠衣机本体上的电磁部件33可以设置在衣架定位装置的定位槽中，而衣架的收折开关设置在与定位槽匹配的位置。
在具有电磁部件与磁性部件的配合下，衣架可以移动，但衣架需要一定的支撑，或设置有一定的轨道进行移动，叠衣机设置有衣架挂杆32，衣架挂杆32能够令衣架沿着衣架挂杆移动，并且在移动至端部时，令衣架进入定位槽中。衣架的勾挂部用于勾挂在衣架挂杆上，所述衣架挂杆固定在衣架定位装置的上方，能够令衣架沿衣架挂杆移动后陷入定位槽中。
上述叠衣机的控制方法为：叠衣机控制电磁装置产生磁力，所述衣架在磁力作用下移动。叠衣机设置有主控系统，在衣架需要移动时，控制电磁装置令衣架移动，在衣架需要被触发收折时，控制电磁装置令衣架收折。叠衣机通过主控系统控制衣架的移动，包括如下过程：移动过程：主控系统控制电磁装置产生第一档磁力对悬挂在衣架挂杆上的衣物移动至衣架定位装置处；触发过程：主控系统控制电磁装置产生第二档磁力对位于衣架定位装置的衣架进一步吸引使得定位槽底壁对收折开关进行按压，令撑衣臂收折。
由于第一档磁力强度与第二档磁力强度对应的功能不同，因而磁力强度依据不同的功能进行设定，由于在触发过程中，吸引力需要克服回位装置的阻力，因而可能需要更大的作用力实现衣架的收折，优选为第一档磁力的强度小于等于第二档磁力的强度。
如图3所示，叠衣机包括夹持机构用于夹持衣架上的衣物令衣架与衣架脱离，衣架移动至衣架定位装置处后陷入定位槽内，主控系统控制夹持机构夹持衣架上衣物后，再进行触发过程令撑衣臂收折，主控系统控制夹持机构在撑衣臂收折后带动衣物与衣架脱离。上述控制过程与图3中展示的结构不同，图3中衣架被夹持，并通过按压设置在衣架底部的收折开关令撑衣臂收折。
如图13及图14所示，折叠单元1包括水平设置的折叠平台，折叠平台设置有折叠翻板，用于对衣物进行翻折，本发明的叠衣机的折叠平台还设置有下落翻板，所述下落翻板可以向下翻折，从而在折叠平台上形成一个开口，而折叠好的衣物可以从这个开口位置直接掉落，本发明的叠衣机在折叠单元1的下部设置有收纳单元2，通过开口位置可以将折叠单元1和收纳单元2连通，衣物从开口处直接掉落入收纳单元2进行收纳。
具体的折叠平台结构如图所示，折叠翻板至少包括两个衣侧翻板1211及衣身翻板1212，所述衣侧翻板1211位于折叠平台的两侧，用于对衣物的宽度方向进行整理，衣身翻板1212可以将衣物长度方向翻折，并使得最终折叠好的衣物位于下落翻板处。
所述衣侧翻板1211相对设置在折叠平台的两侧，并向中间翻折用于对衣物两侧进行折叠，所述衣身翻板1212与下落翻板设置在两个衣侧翻板1211之间且衣身翻板1212与下落翻板宽度一致并对齐设置，所述衣身翻板1212可向下落翻板方向翻折，所述衣侧翻板、衣身翻板及下落翻板整体呈矩形布置。
如图14所示，折叠翻板的衣侧翻板1211还具有另一种实施方式，所述衣侧翻板1211包括上半板12111和下半板12112，所述上半板12111与衣身翻板1212对齐设置，所述下半板12112与下落翻板对齐设置。 这样设置的好处是，可以根据衣物的具体尺寸控制相应的折叠翻板对衣物进行翻折，避免了不需要的翻折动作。
所述折叠翻板还包括衣尾翻板1213，所述衣尾翻板1213设置在折叠平台的一侧对衣物的底部进行折叠，所述衣尾翻板1213与衣侧翻板1211、衣身翻板1212、下落翻板整体呈矩形布置。衣尾翻板1213可以对过长的衣物下部进行整理，从而保证衣物全部落在折叠平台的上表面，便于其他折叠翻板对衣物进行折叠。衣物折叠完成后通过开启的下落翻板形成的开口进入收纳单元2，所述下落翻板包括相对设置的第一翻板1221和第二翻板1222，所述第一翻板1221和第二翻板1222从中间向下部翻折在折叠平台上形成开口令衣物掉落。
由于不同的衣物在平铺后具有不同的覆盖范围，因而所述叠衣机可以设置有衣物识别单元用于识别衣物的尺寸，可以是设置在折叠翻板上的感应装置，从而获取衣物的覆盖范围，并指导折叠翻板的动作。
上述叠衣机的控制方法可以为衣服平铺在折叠平台后，叠衣机控制折叠翻板按顺序依次翻折，衣身翻板1212将衣物翻折至下落翻板处时，叠衣机控制下落翻板开启令衣物下落。
具体地，当叠衣机识别到衣物超过设定长度时，衣尾翻板1213将衣物下部向内部翻折，当识别到衣物未超过设定长度时，衣尾翻板1213不动作；当叠衣机识别到衣物超过设定宽度时，上半板12111和下半板12112同时向内翻折，两个衣侧翻板1211同时翻折或者先后进行翻折，当识别到衣物未超过设定宽度时，衣侧翻板1211不动作。
叠衣机可根据衣物的铺平状态分别控制上半板12111和下半板12112的翻折，优选地，下落翻板向下翻折的同时下翻板同时向内翻折助力衣物掉落。
在通过折叠翻板通过翻折对衣物进行处理前，衣物在折叠平台上可能会不平整，或者衣袖落在折叠平台的外部，需要对衣物进行进一步的整理。在折叠平台上设置有可移动部件141用于辅助衣物的铺平过程。
如图13所示，可移动部件包括用于将袖部翻折在折叠平台上的移动杆131，所述移动杆131设置在折叠平台上与衣袖位置对应的两侧，所述移动杆131设置有移动杆驱动装置1311驱动移动杆131水平向折叠平台内部移动，衣物输送装置在将衣物放置在折叠平台上后，由于衣袖部分与衣物的主体部分分离，在平铺的过程中，衣袖会落在移动杆131的上部，而移动杆131向中间水平移动的过程中可以将衣袖的部位进行翻折。移动杆131还具有移动导轨1312，移动杆驱动装置1311能够驱动移动杆131沿着移动导轨1312水平移动。
所述移动杆驱动装置1311还包括升降机构，能够带动移动杆131上下移动调节与折叠平台间的距离。这是由于衣物可能会具有不同的厚度，或者需要进行多次翻折才能将所有衣袖放置在折叠平台的上表面，因而由于衣袖和衣物主体折叠后厚度增加，移动杆131最好设置有可升降机构进行高度的调节，以应对不同的衣物。
所述移动杆131设置有传感器用于检测移动杆131上是否覆盖有衣物，或者叠衣机设置有图像获取单元用于判断衣袖是否落在移动杆131上方，当传感器或者图像获取单元判断有衣物覆盖在移动杆131上方时，叠衣机可以控制移动杆131移动，从而使得使得衣物能够被带动至折叠平台上。
为了防止移动杆131在翻折衣物的过程中，衣物会随着移动杆131移动，因而还需要一个能够将衣物的特定部位进行固定的装置，能够防止衣物的主体随着移动杆131移动。如图13所示，所述可移动部件还包括用于将衣物固定在折叠平台的固定杆132，所述固定杆132可移动至折叠平台的上表面将衣物压在中折叠平台上进行固定；所述固定部件对称设置有两个，并设置在折叠平台放置衣领一侧用于压紧衣袖与衣物主体分界处。
当固定杆132不需要对衣物进行固定时，旋转至折叠平台一侧，不会妨碍折叠翻板的翻折，当固定杆 132需要辅助移动杆131翻折衣袖时，固定杆132向折叠平台方向旋转，压在衣物的上部，而移动杆131位于衣物的下部，并且移动杆131高于固定杆132，移动杆131可以在固定杆132的上部移动，从而带动衣袖部位向折叠平台内部翻折。当移动杆131完成翻折后，固定杆132旋转至原来的位置解除对衣物的固定，折叠翻板可以对衣物进行进一步的折叠处理。
为了使得衣物更加平整，所述折叠单元1还可以设置有风机，所述风机通过对衣物吹风使衣物平整，所述风机可以设置有多个出风口对衣物的不同部位吹风，例如对衣物主体部分进行吹风铺平的出风口，还设置有对衣物衣袖部分进行吹风铺平的出风口；或者风机设置有可移动的出风口用于产生不同的风向，出风口可以旋转，从而可以对衣物进行多方向的整理，应对更加复杂的衣物状态。
上述叠衣机的控制方法可以概括为叠衣机在衣物放置在折叠平台上后，驱动可移动部件将衣物铺平，再对衣物进行折叠。
具体地，叠衣机通过传感器或获取的图像判断移动杆131上是否具有落有衣袖，当移动杆131上具有衣袖时，叠衣机将衣物固定并驱动移动杆131向折叠平台内部移动将袖部翻折到折叠平台上。
叠衣机驱动移动杆131移动前，先控制固定杆132旋转到衣袖和衣物本体分界处，并对该位置压紧，衣物固定后再驱动移动杆131对衣袖进行翻折；优选地，当衣袖较长时，叠衣机控制横杆反复向中部移动实现衣袖的多次翻折直至衣袖全部放置在折叠平台上；当叠衣机设置有风机时，叠衣机在固定杆132将衣物固定后，驱动风机对衣物主体部位进行喷吹铺平，在喷吹结束后驱动移动杆131对衣袖进行翻折。
如图15所示，在折叠单元1除了设置有折叠平台、衣物输送装置外，还可以设置有衣物收拢组件，所述衣物收拢组件设置在折叠平台的一侧，即为衣物进入折叠平台的一侧，衣物收拢组件可以对衣物的两侧进行收拢，防止衣物在衣物输送装置输送并平铺衣物的过程中使得衣物的边缘落在折叠平台外。上述设置方式可以与移动杆的设置择一使用。
衣物输送装置带动衣物由设置有衣物收拢组件的一侧向远离衣物收拢组件的一侧移动，所述衣物收拢组件为水平设置的收拢侧板133，所述收拢侧板133具有倾斜的侧边或凹陷的侧边在衣物移动过程中对衣物侧边收拢。所述收拢侧板133具有两个，两个收拢侧板133对称设置且倾斜侧边相对设置形成中部凹陷的收拢区域，所述倾斜侧边与衣物两侧接触并对在衣物移动过程中对衣物两侧进行收拢。如图15所示，所述收拢侧板133呈直角三角形，直角三角形的两个斜边相对设置。
所述叠衣机还设置有衣物引导板134，所述衣物引导板134在设置在两个收拢侧板133中间，用于对衣物中部进行展平；所述衣物引导板134与衣物接触的边缘为向外凸的弧形。为了边缘所述主体引导板上表面分为弧面部和平面部，远离折叠平台的部分设置为弧面部，靠近折叠平台的部分设置为平面部，弧面部与平面部平滑过度。
在折叠平台上具有折叠翻板和下落翻板，所述折叠平台两侧设置有衣袖翻板，衣物两侧收拢后放置在衣袖翻板上；优选地，所述两个收拢侧板133的倾斜侧边的远端距离略宽于折叠平台，可以更好地实现对衣物两侧对收拢。
由于衣物两侧或者衣袖部位在收拢状态下可能会产生褶皱，叠衣机可以通过设置有图像识别装置来识别折叠平台上衣物的褶皱情况，同时折叠单元1设置有机械手，所述机械手根据衣物的褶皱情况对衣物进行调整；所述机械手设置在衣物输送装置上，用于在输送衣物时夹取衣物并在放置衣物后对衣物进行整理。
上述对衣物铺平的过程中的控制方法可以为叠衣机控制衣物输送装置带动衣物在移动过程中与衣物收拢组件接触，并将衣物平铺在折叠平台上。
进一步地，叠衣机控制衣物输送装置夹取衣物使得衣物主体部分垂在衣物引导板134边缘，衣物两侧垂在收拢侧板133的倾斜侧边后，再控制衣物输送装置带动衣物水平移动令衣物主体部分被衣物引导板134 展平且衣物两侧被收拢侧板133收拢。
当叠衣机具有图像识别装置时，叠衣机通过图像识别装置获取平铺在折叠平台上的衣物的状态，并控制机械手对衣物不平整的位置进行整理；两个机械手进行配合操作，两个机械手通过相对运动对不平整对位置抻展进行整理。
图16及图17所示为叠衣机的收纳单元2的内部设置。所述收纳单元2设置在折叠单元1下部，用于接收折叠单元1掉落的衣物，所述收纳单元2内设置可移动的载衣平台21。
所述载衣平台21设置有可伸缩的支撑结构，所述支撑结构通过伸缩调节载衣平台21的高度；所述支撑结构设置在载衣平台21底部。可伸缩的支撑结构可以如图16及图17中所示，所述支撑结构包括两个交叉的支撑杆221形成X型结构，支撑杆221中部通过固定轴连接可相对转动，所述支撑结构包括两组对称设置的X型机构，形成稳定的并且可伸缩的支撑结构。
支撑杆221在具有固定的一端和可以移动的一端从而实现两根支撑杆221间的相对转动，从而设形成高度不同载衣平台21。所述支撑结构还包括上滑轨222和下滑轨223，X型结构的其中一根支撑杆221的一端沿上滑轨222移动，另一根支撑杆221的一端沿下滑轨223移动，所述载衣平台21设置在支撑结构的顶部支撑杆221滑动过程中形成不同高度。
所述支撑结构设置电机控制支撑杆221的移动，所述支撑杆221一端固定连接有传动件，所述电机通过传动件驱动支撑杆221移动，优选地，所述传动件为由螺杆和螺母构成的丝杠225，所述螺母与支撑杆221固定连接，所述丝杠225随电机转动，所述螺母套设在螺杆上随螺杆转动而水平移动。
当支撑结构不通过电机进行驱动的时候，还可以设置有弹性机构，在上滑轨222或下滑轨223上套设有弹性机构，所述弹性机构一端固定，另一端与支撑杆221移动的一端止抵。当载衣平台21上放置有衣物时，会受到向下压的作用力使得支撑杆221沿着滑轨移动，支撑杆221的一端在衣物重力的作用下，压缩弹性机构，而当衣物被取走后，在弹性机构的回复力的作用下，对支撑杆221施加作用力，从而使得载衣平台21回复原来的高度。
载衣平台21能够上下移动，能够随着衣物量的多少进行上下移动。使得载衣平台21能够更接近折叠单元1掉落衣物的开口，并能够在衣物累加较多时逐步下移，腾出更多的空间给即将掉落的衣物。
所述收纳单元2可以设置有传感器用于判断载衣平台21的衣物量；所述载衣平台21设置有重量传感器，重量传感器可以实时反馈载衣平台21上的重量，叠衣机根据衣物的重量对电机进行控制。所述收纳单元2设置有光线传感器可以测量载衣平台21最上方的衣物的高度，从而获取衣物量，对电机的驱动进行控制。
上述叠衣机的控制方法为叠衣机根据从折叠单元1掉落在载衣平台21上的衣物量，调节载衣平台21的高度。具体地，传感器获取载衣平台21上的衣物量，叠衣机根据衣物量的逐渐增加，控制电机驱动载衣平台21下降直至到最低位置，当载衣平台21上的衣物量达到设定值时或者载衣平台21下降到最低位置时，叠衣机提醒用户取出载衣平台21上的衣物，当传感器获取载衣平台21上的衣物量为初始值时，控制电机驱动载衣平台21恢复至最高位置。
载衣平台21上的衣物量达到设定值时，叠衣机控制折叠单元1不再掉落衣物至载衣平台21，当载衣平台21上的衣物量恢复初始值时，叠衣机控制折叠单元1恢复掉落衣物。
如图17所示，所述收纳单元2上的载衣平台21还可以水平移动。所述载衣平台21设置有驱动装置驱动载衣平台21水平移动，所述收纳单元2设置在一个腔体内部，所述腔体设置有衣物出口，所述载衣平台21可水平移动至衣物出口处供用户取衣，或者，所述收纳平台可在腔体内部水平移动。
载衣平台21具有一定的容纳量用于容纳折叠完成的衣物，当载衣平台21上的衣物达到容纳量的上限 时，叠衣机应当提醒用户取衣，叠衣机外部具有机壳，收纳单元2的载衣平台21也设置在由机壳形成的腔体内部，因而为了便于用于从载衣平台21上将衣物取出，将载衣平台21设置为可以从衣物出口弹出的方式，便于用于将折叠好的衣物取出。
另外，载衣平台21的大小可以仅仅与折叠平台的衣物掉落的开口大小一致用于接收衣物，载衣平台21的大小还可以大于开口，并且载衣平台21上设置有分区通过水平的移动使得不同的区域与开口位置对准，从而实现各个分区的功能。
载衣平台21的水平移动通过驱动装置的驱动实现，驱动装置包括电机和传动部件，传动部件将电机的驱动力传递给载衣平台21，如图11所示，所述传动部件为转动辊和皮带232，电机与转动辊固定连接，所述载衣平台21底部固定在皮带232上，当载衣平台21需要移动时，电机驱动转动辊转动，套设在转动辊上的皮带232随之移动，载衣平台21底部固定在皮带232的特定位置，当皮带232的上表面移动时，载衣平台21随皮带232移动。驱动装置根据载衣平台21上的衣物量进行移动，当衣物量达到限值时，驱动装置驱动载衣平台21弹出供用户取衣。
当载衣平台21的大小与折叠单元1的衣物掉落口的大小一致时，当载衣平台21放满衣物水平移动供用户取衣时，由于载衣平台21远离了衣物掉落口的位置，折叠单元1不能再继续掉落衣物，因而折叠单元1虽然可以继续折叠衣物，但不能开启下落翻板使得衣物进入收纳单元2。
因此载衣平台21还可以设置有备用的区域，在常用的区域弹出后，备用的区域暂时接收掉落的衣物，以能够保证折叠单元1的持续工作，不影响工作的效率。所述载衣平台21至少包括第一放置区和第二放置区，所述第二放置区用于在第一放置区放满衣物或者第一放置区移动至衣物出口时接收折叠单元1掉落的衣物。
由于叠衣机适用于家用，家庭生活中折叠的衣物种类多样，而用户更倾向于将这些衣物根据衣物类型分类存储，因而在收纳单元2接收掉落的衣物时，可以根据衣物的类型，对衣物分开放置。
所述载衣平台21具有与衣物类型相对应的多个放置区，所述载衣平台21可水平移动令不同放置区对准折叠单元1掉落的衣物的位置，相应地，所述叠衣机设置有衣物识别单元用于识别衣物类型，衣物识别单元在衣物掉落前就应当完成识别，从而可以驱动载衣平台21相应的区域移动至衣物掉落口的下部接收该类型的衣物。
载衣平台21可以既包括垂直方向的可伸缩移动，也同时具有水平移动机构，两者同时设置但具有不同的驱动装置进行驱动，也具有不同的触发条件。
上述叠衣机的控制方法可以包括当载衣平台21放置的衣物量达到设定值时，叠衣机控制载衣平台21水平移动至衣物出口供用户取衣。具体地，叠衣机通过获取载衣平台21上的衣物重量和/或衣物高度控制收纳平台的移动；进一步地，当收纳平台上的衣物重量或衣物高度中任一值超过设定值时，叠衣机控制收纳平台的驱动装置使得收纳平台带动衣物移动至衣物出口。
当载衣平台21具有常用区域和备用区域时，即包括第一放置区和第二放置区时，所述传感器可分别对第一放置区和第二放置区进行衣物量的检测，当第一放置区的衣物量达到设定值是，叠衣机控制第一放置区移动至衣物出口处，同时控制第二放置区移动至衣物掉落位置继续接收折叠单元1掉落的衣物。当载衣平台21上具有多个根据衣物类型进行分区的区域时，叠衣机的衣物识别单元对即将掉落的衣物进行识别确定衣物类型，叠衣机根据衣物类型驱动相应的放置区水平移动至衣物掉落位置。

Claims (40)

  1. 一种衣架，其特征在于，所述衣架上设置有磁性部件或电磁部件，使得衣架能够在电磁力的作用下移动。
  2. 根据权利要求1所述的衣架，其特征在于，所述磁性部件/电磁部件设置在衣架的中心位置，或对称设置在衣架两侧。
  3. 根据权利要求1所述的衣架，其特征在于，所述衣架包括主体及撑衣臂，所述撑衣臂可转动地设置在主体两侧，所述衣架还包括收折开关用于控制撑衣臂的转动，所述收折开关设置有主体的一侧。
  4. 根据权利要求3所述的衣架，其特征在于，所述主体内部设置有与收折开关固定连接的止挡件用于与撑衣臂止抵令撑衣臂撑开，所述止挡件可水平移动取消对撑衣臂的止挡令撑衣臂收折；
    优选地，所述止挡件还设置有回位装置，所述回位装置与主体内壁止抵用于将止挡件回复至令撑衣臂撑开的位置。
  5. 一种包括如权利要求1-4所述衣架的叠衣机，其特征在于，所述叠衣机设置有与衣架的磁性部件/电磁部件对应设置的电磁部件/磁性部件，用于令衣架在磁力作用下移动。
  6. 根据权利要求5所述的叠衣机，其特征在于，还包括与衣架匹配的衣架定位装置，令衣架保持固定的状态；
    优选地，所述衣架定位装置包括与衣架部分形状匹配的定位槽，衣架陷入定位槽中保持固定状态；
    进一步优选地，所述定位槽开口处具有斜面结构形成敞开的开口便于衣架进入；
    进一步优选地，叠衣机的磁性部件/电磁部件设置在衣架定位装置的定位槽中；
    进一步优选地，所述衣架的收折开关设置在与定位槽匹配的位置。
  7. 根据权利要求6所述的叠衣机，其特征在于，还包括衣架挂杆，所述衣架悬挂在衣架挂杆上并能够在磁力作用下沿衣架挂杆移动；
    优选地，所述衣架包括设置在主体上部的勾挂部用于勾挂在衣架挂杆上，所述衣架挂杆固定在衣架定位装置的上方，能够令衣架沿衣架挂杆移动后陷入定位槽中。
  8. 一种如权利要求5-7任一项所述的叠衣机的控制方法，其特征在于，叠衣机控制电磁装置产生磁力，所述衣架在磁力作用下移动。
  9. 根据权利要求7所述的叠衣机的控制方法，其特征在于，叠衣机具有主控系统可用于控制衣架的移动，包括：
    移动过程：主控系统控制电磁装置产生第一档磁力对悬挂在衣架挂杆上的衣物移动至衣架定位装置处；
    触发过程：主控系统控制电磁装置产生第二档磁力对位于衣架定位装置的衣架进一步吸引使得定位槽底壁对收折开关进行按压，令撑衣臂收折；
    优选地，第一档磁力的强度小于等于第二档磁力的强度。
  10. 根据权利要求9所述的叠衣机的控制方法，其特征在于，叠衣机包括夹持机构用于夹持衣架上的衣物令衣架与衣架脱离，衣架移动至衣架定位装置处后陷入定位槽内，主控系统控制夹持机构夹持衣架上衣物后，再进行触发过程令撑衣臂收折，主控系统控制夹持机构在撑衣臂收折后带动衣物与衣架脱离。
  11. 一种叠衣机，其特征在于：包括衣架和触发机构，所述衣架具有可收折的撑衣臂以及可控制撑衣臂收折的收折开关，所述触发机构具有驱动部件和在驱动部件的驱动下可移动的移动部件，所述移动部件对收折开关施加作用力用于触发收折开关令撑衣臂收折。
  12. 根据权利要求11所述的叠衣机，其特征在于：所述移动部件具有与收折开关接触的施力部和接收驱动部件驱动力的受力部；
    优选地，所述驱动部件和移动部件间还设置有传动部件，所述移动部件的受力部与传动部件接触接收传动部件传递的驱动力。
  13. 根据权利要求12所述的叠衣机，其特征在于：所述移动部件为可以绕固定轴转动的杠杆结构，所述固定轴设置在移动部件的一端，所述施力部和受力部设置在固定轴的同一侧，所述传动部件与移动部件的中部接触；
    优选地，所述传动部件为凸轮，所述凸轮与移动部件的中部接触，并设置在移动部件的下方对移动部件施加向上的作用力。
  14. 根据权利要求12所述的叠衣机，其特征在于：所述移动部件为可以绕固定轴转动的杠杆结构，所述固定轴设置在移动部件的中部，所述施力部和受力部设置在固定轴的两侧，所述传动部件与移动部件的远离施力部的一端接触；
    优选地，所述传动部件为凸轮，所述凸轮设置在移动部件的上方对移动部件施加向下的作用力。
  15. 根据权利要求13或14所述的叠衣机，其特征在于：所述驱动部件为电机，所述电机具有电机轴，所述凸轮与电机轴固定连接并随电机轴转动，所述移动部件与凸轮的边缘接触接收凸轮的作用力。
  16. 根据权利要求13或14所述的叠衣机，其特征在于：所述触发机构包括一个固定壳，所述移动部件通过固定轴与固定壳连接，所述凸轮设置在固定壳内部，所述移动部件的施力部伸出固定壳与收折开关接触；
    优选地，所述固定壳与叠衣机主体通过一个连接部固定连接。
  17. 根据权利要求11所述的叠衣机，其特征在于：所述触发机构还设置有定位架，所述定位架具有容纳槽供衣架进入限制衣架水平移动；
    优选的，所述衣架具有挂部和主体部，所述容纳槽供挂部放入并止抵在主体部上方，使得在移动部件施加作用力时限制衣架向上运动。
  18. 根据权利要求11所述的叠衣机，其特征在于：所述叠衣机设置有传感器，用于判断衣架是否到达触发机构并限位于定位架处；
    优选地，所述传感器为感应衣架和触发机构间距离的传感器。
  19. 一种如权利要求11-18任一项所述的叠衣机的控制方法，其特征在于：当衣架到达触发机构处时，叠衣机开启驱动部件，驱动移动部件对收折开关施加作用力令撑衣臂收折。
  20. 根据权利要求19所述的叠衣机，其特征在于：叠衣机设置有衣物夹取装置用于取下衣架上的衣物并输送至衣物折叠处，当衣架达到触发机构处时，衣物夹取装置启动夹取衣架上的衣物，在衣物夹取装置夹取衣物后，触发机构启动控制衣架收折释放衣物。
  21. 一种叠衣机，其特征在于：包括衣架和触发机构，所述衣架具有可收折的撑衣臂以及可控制撑衣臂收折的收折开关，所述触发机构用于对收折开关施加作用力令撑衣臂收折，所述触发机构具有避让结构用于在衣架被触发时避让衣物。
  22. 根据权利要求21所述的叠衣机，其特征在于：所述触发机构包括壳体及从壳体内部伸出的可移动的移动部件，所述壳体在靠近衣架一侧的侧壁向远离衣架方向倾斜形成避让结构用于避让衣物。
  23. 根据权利要求21所述的叠衣机，其特征在于：所述触发机构还包括驱动部件用于驱动移动部件移动，所述驱动部件固定在壳体底部，并位于远离衣架的一端；
    优选地，所述驱动部件为具有电机轴的电机，所述电机轴可正反转，所述移动部件一端与电机轴连接并随电机轴移动，另一端具有扁平状结构用于与收折开关接触。
  24. 根据权利要求23所述的叠衣机，其特征在于：所述电机轴与移动部件间设置有传动部件，用于将电机轴的驱动力传递给移动部件；
    优选地，所述传动部件包括一个轮体及连杆，所述电机轴与轮体中心固定连接，所述连杆一端与轮体偏心位置连接，所述连杆另一端与移动部件受力部连接，所述移动部件的施力部与受力部间设置有固定轴，所述移动部件可沿固定轴转动。
  25. 根据权利要求21所述的叠衣机，其特征在于：所述触发机构还包括固定装置用于将衣架固定在收折开关能够被触发的位置；
    优选地，所述固定装置为一个固定架，所述固定架包括具有左侧壁和右侧壁的容纳槽，所述容纳槽能够限制衣架水平移动；
    进一步地，所述衣架具有挂部和主体，所述容纳槽能够供挂部放置并与主体顶部止抵限制衣架纵向移动。
  26. 根据权利要求21所述的叠衣机，其特征在于：所述固定装置通过磁性吸引实现，所述衣架设置有能够被磁力吸引的被吸引部，所述触发机构设置有能够产生磁力的吸引部，被吸引部与吸引部位置对应，叠衣机能够控制吸引部磁力的产生和消失。
  27. 一种如权利要求21-26任一项所述的叠衣机的控制方法，其特征在于：衣架被输送至触发机构时，叠衣机驱动触发机构对收折开关进行触发。
  28. 根据权利要求27所述的叠衣机的控制方法，其特征在于：当衣架被固定装置固定后，叠衣机控制电机开启，电机轴带动移动部件转动，移动部件的施力端移动对衣架的收折开关进行按压令衣架收折；当衣架收折后，叠衣机控制电机反向转动，电机轴带动移动部件反向转动，移动部件的施力端与衣架脱离。
  29. 根据权利要求27所述的叠衣机的控制方法，其特征在于：当衣架被固定装置固定后，叠衣机控制电机开启，电机轴带动轮转动，连杆随轮移动，带动移动部件沿着固定轴转动，移动部件的施力端移动对衣架的收折开关进行按压令衣架收折；当衣架收折后，叠衣机控制电机反向转动，电机轴带动轮反向转动，连杆随轮移动，带动移动部件沿着固定轴转动，移动部件的施力端移动与衣架脱离；
    进一步地，在下次衣架被固定装置固定后循环上述操作。
  30. 根据权利要求27所述的叠衣机的控制方法，其特征在于：当衣架的撑衣臂没有收折时，叠衣机再次驱动触发机构对收折开关进行触发；
    进一步地，叠衣机包括衣物输送装置用于夹取并移动衣架上的衣物，衣物输送装置夹取衣架上的衣物后无法移动时，叠衣机则判断撑衣臂没有进行收折，叠衣机再次驱动触发机构对收折开关进行触发。
  31. 一种叠衣机，其特征在于：包括折叠单元及收纳单元，所述折叠单元设置有折叠平台，所述折叠平台上由折叠翻板及下落翻板构成，所述折叠翻板包括至少包括两个衣侧翻板及衣身翻板，所述收纳单元设置在下落翻板底部。
  32. 根据权利要求31所述的叠衣机，其特征在于：所述衣侧翻板相对设置在折叠平台的两侧，并向中间翻折用于对衣物两侧进行折叠，所述衣身翻板与下落翻板设置在两个衣侧翻板之间且衣身翻板与下落翻板宽度一致并对齐设置，所述衣身翻板可向下落翻板方向翻折，所述衣侧翻板、衣身翻板及下落翻板整体呈矩形布置。
  33. 根据权利要求31所述的叠衣机，其特征在于：所述下落翻板包括相对设置的第一翻板和第二翻板，所述第一翻板和第二翻板从中间向下部翻折在折叠平台上形成开口令衣物掉落。
  34. 根据权利要求32所述的叠衣机，其特征在于：所述衣侧翻板包括上半板和下半板，所述上半板与衣身翻板对齐设置，所述下半板与下落翻板对齐设置。
  35. 根据权利要求31所述的叠衣机，其特征在于：所述折叠翻板还包括衣尾翻板，所述衣尾翻板设置在折叠平台的一侧对衣物的底部进行折叠，所述衣尾翻板与衣侧翻板、衣身翻板、下落翻板整体呈矩形布置。
  36. 根据权利要求31-35任一项所述的叠衣机，其特征在于：所述叠衣机设置有衣物识别单元用于识别衣物的尺寸，优选地，所述衣物识别单元为设置在折叠翻板上的感应装置。
  37. 一种如权利要求31-35任一项所述的叠衣机的控制方法，其特征在于：衣服平铺在折叠平台后，叠衣机控制折叠翻板按顺序依次翻折，衣身翻板将衣物翻折至下落翻板处时，叠衣机控制下落翻板开启令衣物下落。
  38. 根据权利要求37所述的叠衣机的控制方法，其特征在于：当叠衣机识别到衣物超过设定长度时，衣尾翻板将衣物下部向内部翻折，当识别到衣物未超过设定长度时，衣尾翻板不动作。
  39. 根据权利要求37所述的叠衣机的控制方法，其特征在于：当叠衣机识别到衣物超过设定宽度时，上半板和下半板同时向内翻折，两个衣侧翻板同时翻折或者先后进行翻折，当识别到衣物未超过设定宽度时，衣侧翻板不动作。
  40. 根据权利要求37所述的叠衣机的控制方法，其特征在于：叠衣机可根据衣物的铺平状态分别控制上半板和下半板的翻折，优选地，下落翻板向下翻折的同时下翻板同时向内翻折助力衣物掉落。
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