WO2023146121A1 - Clothes folding machine - Google Patents

Clothes folding machine Download PDF

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Publication number
WO2023146121A1
WO2023146121A1 PCT/KR2022/019861 KR2022019861W WO2023146121A1 WO 2023146121 A1 WO2023146121 A1 WO 2023146121A1 KR 2022019861 W KR2022019861 W KR 2022019861W WO 2023146121 A1 WO2023146121 A1 WO 2023146121A1
Authority
WO
WIPO (PCT)
Prior art keywords
folding
clothes
plate
cradle
clothing
Prior art date
Application number
PCT/KR2022/019861
Other languages
French (fr)
Korean (ko)
Inventor
김상조
Original Assignee
엘지전자 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 엘지전자 주식회사 filed Critical 엘지전자 주식회사
Publication of WO2023146121A1 publication Critical patent/WO2023146121A1/en

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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
    • D06F89/023—Apparatus for folding textile articles with or without stapling of textile articles to be worn, e.g. shirts of shirts
    • D06F89/026—Details, e.g. collar holders
    • A—HUMAN NECESSITIES
    • A41—WEARING APPAREL
    • A41H—APPLIANCES OR METHODS FOR MAKING CLOTHES, e.g. FOR DRESS-MAKING OR FOR TAILORING, NOT OTHERWISE PROVIDED FOR
    • A41H43/00—Other methods, machines or appliances
    • A41H43/02—Handling garment parts or blanks, e.g. feeding, piling, separating or reversing
    • A—HUMAN NECESSITIES
    • A41—WEARING APPAREL
    • A41H—APPLIANCES OR METHODS FOR MAKING CLOTHES, e.g. FOR DRESS-MAKING OR FOR TAILORING, NOT OTHERWISE PROVIDED FOR
    • A41H43/00—Other methods, machines or appliances
    • A41H43/02—Handling garment parts or blanks, e.g. feeding, piling, separating or reversing
    • A41H43/025—Folding, unfolding or turning over
    • A41H43/0257—Folding
    • 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 present invention relates to a clothes folding machine, and more particularly, to a clothes folding machine capable of folding clothes while holding clothes on a board and rotating the board.
  • Clothes are made of soft materials such as natural or synthetic fibers, and must be folded into appropriate sizes and shapes for storage and movement.
  • Korean Publication No. 2021-0096664 is presented as prior literature.
  • the prior art relates to width folding systems and methods for creating width folding in laundry.
  • the prior art document has a width folder for holding laundry, and the width folder includes a male member and a female member stacked in a vertical direction.
  • the male member has a first folding edge extending along the direction of laundry movement.
  • the female member is positioned below the male member and has a second folding edge converging inward along the direction of motion.
  • the female member has a folding protrusion that presses the end of the laundry inwardly while progressing across the male surface.
  • both side ends of the clothing are characterized by sagging downward in the gap between the first and second fold edges. If the clothing is somewhat stiff, the end of the clothing contacts the folding protrusion and is bent downward to be inserted into the gap between the first and second folding edges.
  • the problem to be solved by the present invention is to solve the problem of the above-mentioned clothing folding machine. Specifically, it is to provide a clothes folding machine capable of loading and folding in one space without dividing the clothes folding machine into a loading part, a folding part, and an unloading part.
  • Another problem to be solved by the present invention is to provide a clothes folding machine capable of standardizing the area of clothes placed on the folding portion by reducing the area of the clothes to a certain level or less before the loading portion carries the clothes to the folding portion.
  • an external skeleton is installed on the frame portion, the frame portion is installed, and the folding portion for holding the clothes and folding the clothes is disposed in front of the folding portion, and the clothes are folded.
  • a cradle for holding clothes before being mounted on the folding unit is included, and the cradle forms an upwardly convex curved surface.
  • the cradle may have a first curvature when viewed from the front and a second curvature crossing the first curvature when viewed from one side.
  • the cradle when viewed from above, may include a protrusion 250 having a front end convexly formed.
  • the cradle includes a cradle body for holding the clothes on its upper surface, a cradle side wall extending upward from one side end of the cradle body, and protruding inward from one side of the cradle side wall. It may include a sleeve folding portion that folds one side end.
  • At least a portion of the side surface of the folded-sleeve portion may be formed with an inclination in which the upper end is disposed inwardly than the lower end.
  • the folded sleeve portion may include a side plate extending upward from the holder body and a top plate extending inwardly from an upper end of the side plate. At this time, the rear end of the side plate may be disposed inside than the front end. Alternatively, the upper plate may have an inner end lower than an outer end. Alternatively, the folded sleeve portion may include a front guide disposed at a front end of the side plate and protruding inward from a side wall of the holder.
  • the cradle may include a cradle body for holding clothes on an upper surface, a cradle sidewall extending upward from one side end of the cradle body, and a sleeve support extending rearward from one lateral end of the cradle body and supporting one side end of the cradle body.
  • the clothes folding machine may include a loading unit that is movably coupled to the frame unit and fixes one side of the clothes and transports them to the folding unit when the clothes are placed on the cradle.
  • the loading unit includes a loading unit body, a gripper disposed on the loading unit body and fixing clothes to the loading unit body, a pinion disposed on one side of the loading unit body, and disposed in the frame unit and extending in the insertion direction of the clothing and connected to the pinion. May contain racks.
  • the gripper includes: a lower plate fixedly coupled to the loading unit body and in close contact with the lower surface of the clothing, an upper plate disposed above the lower plate and movably coupled to the loading unit body and in close contact with the upper surface of the clothing, and one side rotating to the lower plate.
  • a first link that is rotatably coupled to the upper plate and the other side is rotatably coupled to the upper plate, and a second link that is spaced apart from the first link and has one side that is rotatably coupled to the lower plate and the other side that is rotatably coupled to the upper plate.
  • You may include links.
  • the gripper includes a lower plate fixedly coupled to the loading unit body and closely attached to the lower surface of clothing, an upper plate disposed on top of the lower plate and movably coupled to the loading unit body and closely adhered to the upper surface of clothing, and one side coupled to the lower plate. And the other side may include a first spring coupled to the top plate.
  • the gripper includes a lower plate fixedly coupled to the loading unit body and in close contact with the lower surface of clothing, an upper plate disposed above the lower plate and movably coupled to the loading unit body and in close contact with the upper surface of clothing, and one side of the gripper is the loading unit body. It may include a pressing member disposed on and the other side in close contact with the top plate. In this case, the gripper may include a second spring having one side coupled to the loading unit body and the other side coupled to the pressing member.
  • the cradle according to the present invention forms a convex curved surface upward, and thus has an advantage of preventing creases in folded clothing by preventing wrinkles in clothing mounted on the cradle.
  • the cradle according to the present invention includes a folded sleeve portion protruding inward from one side of the cradle sidewall, and when clothing passes through the cradle body, one side end of the clothing is folded to have a width of less than a certain level, There is also an advantage that the size of the folding part can be designed to be small.
  • the gripper of the loading unit includes first and second links having one side rotatably coupled to the lower plate and the other side rotatably coupled to the upper plate, so that the upper plate is in close contact with the lower plate only by movement without rotation, so that clothing is worn. It also has the advantage of fixing with uniform pressure and preventing damage to clothing.
  • FIG. 1 is a clothes folding machine according to the present invention, a perspective view of the clothes folding machine before fixing the clothes;
  • Fig. 2 is a perspective view of the clothes folding machine after fixing the clothes in Fig. 1;
  • FIG. 3 is a perspective view of the clothes folding machine after conveying the clothes to the folding unit in FIG. 2;
  • Fig. 4 is a perspective view of the clothes folding machine after unfixing the clothes in Fig. 3;
  • FIG. 6 is a front view of the driving assembly of the loading unit
  • FIG. 7 is a cross-sectional view of part A in FIG. 6;
  • FIG. 8 is a view of the driving assembly of the loading unit as viewed from the right, in a state before fixing clothes;
  • FIG. 9 is a view of a state in which clothes are fixed in FIG. 8;
  • FIG. 10 is a perspective view of a cradle according to the present invention.
  • FIG. 11 is a front view of the cradle according to the present invention.
  • FIG. 13 is a plan view of a cradle according to the present invention.
  • FIG. 16 is a cross-sectional view of part D in FIG. 13;
  • 17 is a plan view of a cradle according to a second embodiment
  • 19 is a plan view of a cradle according to a third embodiment.
  • FIG. 20 is a cross-sectional view of part F in FIG. 19;
  • 21 is a plan view of a cradle according to a fourth embodiment
  • FIG. 23 is a perspective view for explaining the folding unit in the clothing folding machine according to the present invention.
  • FIG. 24 is a perspective view for explaining an interlocking plate in a clothing folding machine according to the present invention.
  • 25 is a flowchart for explaining a control process of the clothing folding machine according to the present invention.
  • 26 is a view for explaining a process of vertically folding clothes by the clothes folding machine according to the present invention.
  • FIG. 27 is a view for explaining a process of horizontally folding clothes by the clothes folding machine according to the present invention.
  • FIG. 28 is a view for explaining a process of horizontally folding clothes through a conveyor by the folding machine according to the present invention.
  • the present invention relates to a clothes folding machine (1).
  • the clothes folding machine 1 is a device that folds and discharges the clothes in a standardized size when unfolded clothes are inserted.
  • clothing may be a top. Alternatively, unlike what is shown in the drawing, the clothing may be a bottom.
  • the direction of the clothes folding machine 1 is defined.
  • the front is defined as a direction in which the cradle 200 is positioned based on the frame 100 .
  • the posterior is the opposite direction of the anterior. For example, clothes move backward from the front of the holder 200 and pass through the holder 200 to reach the folding unit 400 .
  • the right side is defined as the right direction when looking at the clothes folding machine 1 from the front.
  • the room on the left is the opposite direction to the front.
  • the upper side refers to the upper side of the frame 100 in FIG. 1
  • the lower side refers to the lower side of the frame 100 in FIG. 1 .
  • the clothing folding machine 1 includes a frame portion 100 serving as an external skeleton.
  • the frame unit 100 is disposed on the side of the outer edge of the clothing folding machine 1 to define a minimum operating space of the clothing folding machine 1 and can stably support various members constituting the clothing folding machine 1. there is.
  • the frame unit 100 may be composed of a plurality of frames.
  • the vertical frame is a frame disposed vertically on the ground.
  • the horizontal frame is a frame disposed horizontally on the ground.
  • the vertical frame and the horizontal frame are cross-coupled with each other, thereby constituting the frame of the clothing folding machine.
  • the clothes folding machine 1 includes a holder 200, a loading unit 300, a folding unit 400, and an unloading unit (not shown).
  • the cradle 200, the loading unit 300, the folding unit 400, and the unloading unit may each be supported by the aforementioned frame unit 100, and the cradle 200, the loading unit 300, The operating space of the folding unit 400 and the unloading unit (not shown) may be defined by the frame unit 100 .
  • the clothes folding machine includes a cradle (200).
  • the holder 200 is a component that holds clothes before they are placed on the folding unit 400 .
  • the cradle 200 according to the present invention will be described based on the first embodiment, and the second to fourth embodiments will be described later focusing on differences from the cradle according to the first embodiment.
  • the cradle 200 temporarily holds clothes before they are placed on the folding unit 400 . After the clothes are placed on the holder 200 , the clothes are guided to the folding unit 400 by the loading unit 300 .
  • the cradle 200 is disposed in front of the folding unit 400 . Specifically, the cradle 200 is disposed adjacent to the front end of the folding unit 400 and coupled to the frame unit.
  • the cradle 200 may be rotatably coupled to the frame unit. Specifically, the rear end of the cradle 200 is hinged to the frame, and the front end of the cradle 200 can be moved and rotated. Accordingly, the inclination of the cradle 200 can be changed to suit various types of clothes.
  • the cradle 200 forms a convex curved surface upward. Referring to FIG. 11 , the center of the cradle 200 is disposed higher than the left end or the right end. Also, referring to FIG. 12 , the center of the cradle 200 is disposed higher than the front or rear end. Therefore, when the clothes are placed on the holder 200, the clothes naturally sag in the front/rear/left/right directions from the center, and wrinkles are not generated.
  • the cradle 200 has at least one or more curvatures. Specifically, the cradle 200 has a double curved structure having a first curvature C1 and a second curvature C2.
  • the cradle 200 has a first curvature C1 when viewed from the front, and has a second curvature C2 crossing the first curvature C1 when viewed from one side.
  • the holder 200 when viewed from the front, has a first curvature C1.
  • the center of curvature of the first curvature C1 is disposed below the holder 200 .
  • the holder 200 when viewed from the right side, has a second curvature C2.
  • the center of curvature of the second curvature C2 is disposed below the holder 200 .
  • the cradle 200 has a protrusion 250 .
  • the protrusion 250 is a component that prevents wrinkles from occurring when clothes are placed.
  • the front end when viewed from the top of the protrusion 250, the front end is formed convex forward.
  • the protrusion 250 has a third curvature C3.
  • the center of curvature of the third curvature C3 is disposed behind the front end of the cradle body 210 .
  • the cradle 200 may include a rib 260 .
  • the rib 260 is a component that maintains the shape of the holder 200 .
  • the rib 260 is formed by protruding downward from the lower surface of the holder 200 .
  • the rib 260 may extend in a left-right direction or a front-back direction.
  • the ribs 260 extending in the left-right direction may cross each other with the ribs 260 extending in the front-back direction.
  • the holder 200 includes a holder body 210 , a holder sidewall 220 , a sleeve support part 230 and a sleeve folded part 240 .
  • the holder body 210 mounts clothes on the upper surface.
  • the cradle body 210 may be formed in a wide plate shape extending in front/rear/left/right directions.
  • the cradle body 210 forms an upwardly convex curved surface.
  • the cradle body 210 has a first curvature C1 when viewed from the front and a second curvature C2 when viewed from one side.
  • the imaginary curve by the first curvature C1 and the imaginary curve by the second curvature C2 may intersect or be orthogonal to each other.
  • the cradle sidewall 220 extends upward from one side end of the cradle body 210 .
  • the cradle sidewalls 220 are formed at both ends of the cradle body 210 .
  • the cradle sidewall 220 may extend from the front end to the rear end of the cradle body 210 .
  • the sleeve support portion 230 extends rearward from one side end of the holder body 210 and supports one side end of clothing.
  • the sleeve support part 230 further protrudes rearward from the rear end of the holder body 210 .
  • the center of the sleeve support portion 230 may be disposed above the front or rear end, and the sleeve support portion 230 may form a curved surface convex upward.
  • the sleeve support portion 230 supports both ends of the clothing to prevent wrinkles from occurring between the both ends and the center of the clothing.
  • the clothing is disposed in a W-shape in cross section, preventing unnecessary wrinkles from occurring on the clothing, and the left or right side of the clothing is easily folded.
  • the sleeve supporter 230 supports the sleeves and places the sleeves evenly on the wrist so that the sleeves can be easily folded.
  • the folded sleeve portion 240 according to the present invention includes the folded sleeve portions 240a to 240d according to the first to fourth embodiments depending on the shape. First, the folded sleeve portion 240a according to the first embodiment will be described, and then the folded sleeve portions 240b to 240d according to the second to fourth embodiments will be described.
  • the folded sleeve portion 240a protrudes inwardly from one side of the sidewall 220 of the cradle, and when clothes pass through the cradle body 210 , Fold one end of the garment.
  • Clothing placed on the holder body 210 moves backward toward the folding unit 400 .
  • the clothing passes through the sleeve-folding portion 240a, one side end of the clothing gradually rises along the side wall of the sleeve-folding portion 240a, and the cross section becomes a U-shape.
  • one side end of the garment falls inward, and a part of the left side or a part of the right side of the garment overlaps with the rest of the garment and is folded.
  • the sleeves of the top are folded to the body of the top by the sleeve folding portion 240a. Therefore, in the folding unit 400, only the torso needs to be intensively folded, and the sleeves do not need to be folded separately, so that the clothes can be folded more effectively.
  • At least a portion of the side surface of the folded sleeve portion 240a is formed with an inclination L1 with an upper end disposed inside than a lower end.
  • the inner upper end of the folded sleeve portion 240a is disposed inner than the inner lower end.
  • the side surface of the folded sleeve portion 240a has a first slope L1. Accordingly, one side end of the clothing moves inward and upward along the side surface of the folded sleeve portion 240a, and the side end is folded inward. In particular, when the clothing is a top, the sleeves are moved inward and upward along the side surface of the folded sleeve portion 240a, and the sleeves are overlapped on the upper part of the body.
  • the rear end of the folded sleeve portion 240a is disposed inside than the front end.
  • the side surface has a second inclination L2. Accordingly, one side end of the clothing can easily move upward and inward along the side of the folded sleeve portion 240a.
  • the sleeves may not be inserted into the lower part of the body, but may overlap the upper part of the body along the side of the folded sleeve portion 240a.
  • the holder 200 according to the second embodiment includes a folded sleeve part 240b having a different shape from the folded sleeve part 240a according to the first embodiment.
  • the description of the cradle 200 according to the first embodiment described above may be used within the range of not colliding with each other.
  • the cradle 200 according to the second embodiment will be described focusing on differences from the first embodiment.
  • the cradle 200 includes a sleeve folded portion 240b.
  • the sleeve folded portion 240b includes a side plate 241b and a top plate 242b.
  • the side plate 241b extends upward from the cradle body 210 .
  • the top plate 242b extends inwardly from the upper end of the side plate 241b.
  • the side plate 241b may be disposed on the same surface as the side wall 220 of the cradle.
  • the side plate 241b may be integrally formed with the side wall 220 of the cradle, or may be formed separately and then connected so as not to form a step difference.
  • the rear end of the side plate is disposed inside than the front end. Accordingly, when one side edge of the clothing rises along the side plate 241b, the area where the clothing rises gradually increases, and wrinkles may not be formed on the clothing.
  • the side plate 241b may form a curved surface with an inner surface concave outward.
  • the inner surface of the folded sleeve portion 240b may be formed in a U-shape with the right side open.
  • the holder 200 according to the third embodiment includes a folded sleeve part 240c having a different shape from the folded sleeve parts 240a and 240b according to the first and second embodiments.
  • the description of the cradle 200 according to the first or second embodiment may be used within the range of not colliding with each other.
  • the cradle 200 according to the third embodiment will be described focusing on differences from the first embodiment and the second embodiment.
  • the cradle 200 includes a sleeve folded portion 240c.
  • the sleeve folded portion 240c includes a side plate 241c and a top plate 242c.
  • the upper plate 242c has an inner end lower than an outer end.
  • the inner surface of the folded sleeve portion 240c may be formed in a C-shape with the right side open.
  • the holder 200 according to the fourth embodiment includes a folded sleeve part 240d having a different shape from the folded sleeve parts 240a to 240c according to the first to third embodiments.
  • the description of the cradle 200 according to at least one or more of the above-described first to third embodiments may be used as long as the cradle 200 according to the fourth embodiment does not collide.
  • the cradle 200 according to the fourth embodiment will be described focusing on differences from the first to third embodiments.
  • the holder 200 includes a folded sleeve portion 240d.
  • the sleeve folded portion 240d includes a side plate 241d and a top plate 242d.
  • the cradle 200 according to the fourth embodiment includes a front guide 243d.
  • the front guide 243d is disposed at the front end of the side plate 241d and protrudes inwardly from the side wall 220 of the holder.
  • the inner surface of the front guide 243d may be disposed inner than the inner surface of the sleeve fold side plate 241d. Accordingly, one side end of the clothing is rolled up along the inner surface of the front guide 243d, but the front If it leaves the guide 243d, it unfolds again toward the side plate 241d After that, the unfolded side end can be more easily raised along the inner surface of the side plate 241d.
  • the clothes folding machine includes a loading unit 300 .
  • the loading unit 300 is a component that transports clothes from the cradle 200 to the folding unit 400 .
  • the loading unit 300 is movably coupled to the frame unit, and when clothes are placed on the cradle 200, one side of the clothes is fixed and transported to the folding unit 400.
  • the loading unit 300 includes a loading unit body 310 , a gripper 320 , a driving assembly 330 and a sensor unit 340 .
  • the loading unit body 310 is a component that supports other components of the loading unit 300 .
  • the loading unit body 310 may be disposed inside the frame unit 100 .
  • the gripper 320 is a component for fixing clothes.
  • the gripper 320 is disposed on the loading unit body 310 and fixes clothes to the loading unit body 310 .
  • the gripper 320 picks up clothes placed on the cradle 200 and fixes the clothes to the loading unit body 310 .
  • the gripper 320 releases the fixation of the clothing moved to the folding unit 400 .
  • the gripper 320 includes a lower plate 321 , an upper plate 322 , a first link 323 and a second link 324 .
  • the lower plate 321 and the upper plate 322 are in close contact with clothes to fix the clothes to the loading unit body 310 .
  • the lower plate 321 is fixedly coupled to the loading unit body 310 and adheres to the lower surface of the clothing.
  • a plurality of protrusions are formed on the upper surface of the lower plate 321 to more firmly fix the clothes.
  • the lower plate 321 may be disposed parallel to the cradle body 210 . Specifically, the lower plate 321 may have a first curvature C1.
  • the upper plate 322 is disposed above the lower plate 321, is movably coupled to the loading unit body 310, and adheres to the upper surface of the clothing.
  • the upper plate 322 may be disposed parallel to the lower plate 321 . Specifically, the upper plate 322 may have a first curvature C1.
  • the top plate 322 may move up and down. Referring to FIG. 9 , when the upper plate 322 moves downward, it adheres to the upper surface of the clothes and fixes the clothes together with the lower plate 321 . Referring to FIG. 8 , when the top plate 322 moves upward, it has a certain distance from the clothing and can release the fixation of the clothing.
  • a plurality of protrusions are formed on the lower surface of the upper plate 322 to more firmly fix the clothes.
  • the first link and the second link guide the top plate 322 when the top plate 322 moves.
  • the first link 323 has one side rotatably coupled to the lower plate 321 and the other side rotatably coupled to the upper plate 322 .
  • the second link 324 is disposed spaced apart from the first link, one side is rotatably coupled to the lower plate 321, and the other side is rotatably coupled to the upper plate 322.
  • the first link and the second link may be formed in the same shape. Accordingly, when the first link and the second link rotate, the upper plate 322 can only move in parallel without rotating. For example, when the first link and the second link rotate in a counterclockwise direction, the upper plate 322 descends and fixes the clothes. Unlike this, when the first link and the second link rotate clockwise, the upper plate 322 descends and releases the fixation of the clothes.
  • the first link and the second link can be moved manually. Alternatively, the first link or the second link may be moved automatically. At this time, a motor (not shown) may be connected to the first link and may be connected to the second link.
  • the gripper 320 may further include a first spring 326 .
  • One side of the first spring 326 is coupled to the lower plate 321 and the other side is coupled to the upper plate 322 .
  • the first spring 326 applies an elastic force directed downward to the top plate 322 when the top plate 322 rises. Accordingly, the first spring 326 has an effect of more firmly fixing the clothes.
  • the gripper 320 may further include a pressing member 325 .
  • the pressing member is a component that improves the fixing force by pressing the upper plate 322 .
  • the pressing member is disposed on the loading unit body 310, and the other side is in close contact with the upper plate 322.
  • the rear end of the pressing member is rotatably coupled to the loading unit body 310 .
  • the pressing member extends forward, and the front end is simply supported on the upper surface of the upper plate 322 .
  • the pressing member presses the first half of the upper plate 322 .
  • the second half of the top plate 322 receives downward force by the first link or the second link, and the first half of the top plate 322 receives downward force by the pressing member. Accordingly, the gripper 320 can more firmly support the clothes.
  • a plurality of holes may be formed in the pressing member.
  • the plurality of holes may be selectively hinged to the loading part body 310 . Accordingly, it is possible to increase or decrease the fixing force applied to the upper plate 322 by the pressing member.
  • the gripper 320 may further include a second spring 327 .
  • the second spring 326 has one side coupled to the loading unit body 310 and the other side coupled to the pressing member.
  • the second spring 326 applies an elastic force to the pressing member, and the elastic force is a driving force of a fixing force that the pressing member presses against the upper plate 322 .
  • the second spring 326 applies an elastic force to the pressing member so that the pressing member rotates counterclockwise.
  • the driving assembly 330 is a component that moves the loading unit body 310 .
  • the driving assembly 330 is movably disposed on the frame unit 100 . Specifically, the driving assembly 330 moves forward and backward, which is parallel to the insertion direction of the garment.
  • the driving assembly 330 includes a driving motor 331 , a driving gear 332 , a pinion 333 and a rack 334 .
  • the driving motor 331 is disposed on the loading unit body 310 .
  • the driving motor 331 generates a driving force transmitted to the gripper 320 .
  • the driving motor 331 is coupled to the loading unit body 310 and moves together with the loading unit body 310 .
  • the drive motor 331 has a shaft, and a drive gear 332 is coupled to the shaft.
  • the drive gear 332 is disposed on the drive motor 331 . Specifically, the driving gear 332 is coupled to the shaft of the motor and rotates together with the shaft.
  • the pinion 333 is disposed on one side of the loading body 310 .
  • the pinion 333 is connected to the drive gear 332 and receives power from the drive gear 332 .
  • the rack 334 is disposed in the frame portion, extends in the direction of clothing insertion, and is connected to the pinion 333 .
  • the rack 334 may be disposed on a horizontal frame of the frame unit 100 .
  • the rack 334 may be disposed on the upper surface of the horizontal frame.
  • the rack 334 is formed to extend backward along the pulling direction of the clothes.
  • the rack 334 is connected to the pinion 333. Accordingly, when the pinion 333 rotates, the pinion 333 and the loading body 310 move backward along the extending direction of the rack 334 .
  • the pinion 333 may be disposed at both ends of the loading unit body 310 .
  • the rack 334 may also be disposed on both sides of the loading unit body 310 .
  • the driving assembly 330 may further include a guide protrusion 335 and a guide groove 336 .
  • the guide protrusion 335 is disposed on the cradle body 210 .
  • the guide protrusion 335 may be formed to further protrude outward from the central axis of the pinion 333 .
  • Guide groove 336 is disposed in the frame portion.
  • the guide groove 336 may be formed by recessing from the inner surface toward the outer side.
  • the guide groove 336 extends forward and backward.
  • the extending direction of the guide groove 336 is parallel to the extending direction of the rack 334 and the pulling direction of clothes.
  • At least a part of the guide protrusion 335 is inserted into the guide groove 336 .
  • the guide protrusion 335 may move forward and backward along the guide groove 336 .
  • the guide protrusion 335 and the guide groove 336 help the loading unit 300 to linearly move forward and backward.
  • the sensor unit 340 detects the position of the loading unit 300 .
  • the sensor unit 340 is disposed on the frame unit 100 . Specifically, the sensor unit 340 may be disposed on a horizontal frame.
  • the sensor unit 340 may include a first loading detection sensor 341 , a second loading detection sensor 342 and a third loading detection sensor 343 .
  • the first loading detection sensor 341 detects the position of the loading unit 300 when the loading unit 300 moves forward. At this time, the gripper 320 may be operated to fix the clothes to the loading unit body 310 .
  • the second loading detection sensor 342 is disposed between the first loading detection sensor 341 and the third loading detection sensor 343 .
  • the gripper 320 may release the fixation of the clothes. At this time, the clothes fall by gravity and are seated on the folding unit 400 .
  • the third loading detection sensor 343 detects the position of the loading unit 300 when the loading unit 300 moves backward.
  • the clothes folding machine 1 includes a folding unit 400 .
  • the folding unit 400 is a component that holds clothes and folds the clothes.
  • the folding unit 400 performs a function of transporting and folding clothes brought in through the loading unit 200 .
  • the folding unit 400 is disposed inside the frame unit 100, and includes folding plates 410 and 420, an interlocking plate 430, a first interlocking link 440, a second interlocking link 450, and a link plate 460. , 470), and folding conveyors 480 and 490.
  • the folding unit 400 can fold clothes by rotation of the folding plates 410 and 420 and fold clothes while transporting them by rotation (circulation) of folding conveyors 480 and 490 .
  • the folding plates 410 and 420 are disposed outside the folding conveyors 480 and 490 . Therefore, the center portion of the clothing (eg, the chest portion of a T-shirt) introduced through the loading unit 200 is placed on the folding conveyors 480 and 490, and the end portion of the clothing (eg, sleeve or side portion of the T-shirt) or bottom portion) may be placed on the folding plates 410 and 420 . Accordingly, the ends of the clothes may be folded by the rotation of the folding plates 410 and 420, and an operation of folding the center portion of the clothes or transporting the clothes may be performed by the rotation of the folding conveyors 480 and 490.
  • the center portion of the clothing eg, the chest portion of a T-shirt
  • the end portion of the clothing eg, sleeve or side portion of the T-shirt or bottom portion
  • the folding plates 410 and 420 are rotatably coupled to the link plates 460 and 470 and are provided to fold clothes by rotation.
  • the folding plates 410 and 420 rotate within a predetermined radius around the first rotational axis A1 to fold clothes, and the second rotational axis A2 perpendicular to the first rotational axis A1. and a horizontal folding plate 420 that folds clothes by rotating within a predetermined radius around the center.
  • One vertical folding plate 410 is disposed on the left and right sides of the folding conveyors 480 and 490, and the left and right ends of the clothes may be folded toward the center of the clothes.
  • the one disposed on the left side of the vertical folding plate 410 may be referred to as a first vertical folding plate 410a, and the one disposed on the right side may be referred to as a second vertical folding plate 410b, but is not limited thereto. left and right can be reversed.
  • the vertical folding plate 410 may be linked to the vertical folding link plate 460 , and the vertical folding link plate 460 may be rotatably coupled to the folding base 500 . At this time, the vertical folding link plate 460 is rotated around the first rotation axis A1 as an axis. Accordingly, the vertical folding plate 410 may be rotated together with the vertical folding link plate 460 or separately from the vertical folding link plate 460 within a predetermined radius around the first rotational axis A1.
  • the horizontal folding plate 420 is disposed in front of the folding conveyors 480 and 490 and can fold the rear end of the clothing toward the center of the clothing (eg, toward the body of the top).
  • the horizontal folding plate 420 may be linked to the horizontally folding link plate 470 and the horizontally folding link plate 470 may be rotatably coupled to the folding base 500 .
  • the horizontally folded link plate 470 is rotated around the second rotation axis A2.
  • the horizontally folded plate 420 may be rotated together with the horizontally folded link plate 470 or separately from the horizontally folded link plate 470 within a predetermined radius around the second rotational axis A2.
  • the interlocking plate 430 may rotate in conjunction with the vertical folding plate 410 or the horizontal folding plate 420 .
  • the interlocking plate 430 may be connected to the vertical folding plate 410 through the first interlocking link 440 .
  • the interlocking plate 430 may be connected to the horizontally folded plate 420 through the second interlocking link 450 .
  • the interlocking plate 430 is linked to the first interlocking link 440, and the first interlocking link 440 is linked to the vertical folding plate 410. Accordingly, when the vertical folding plate 410 is rotated, the interlocking plate 430 is also rotated in conjunction with the vertical folding plate 410 .
  • the interlocking plate 430 is linked to the second interlocking link 450, and the second interlocking link 450 is linked to the horizontal folding plate 420. Accordingly, when the horizontal folding plate 420 is rotated, the interlocking plate 430 is also rotated in conjunction with the horizontal folding plate 420 .
  • FIG. 25 is a flow chart for explaining a method of controlling a clothes folding machine according to the present invention
  • FIGS. 26 to 28 show a process of folding clothes by applying the method of controlling a clothes folding machine according to the present invention. A drawing for explaining is shown.
  • FIGS. 25 to 28 a process of folding clothes by the clothes folding machine 1 according to the present invention will be described as follows.
  • the control method of the clothes folding machine according to the present invention includes a loading step (S10), a vertical folding step (S20), a horizontal folding step (S30), and an unloading step (S40).
  • clothes (C) are loaded into the frame unit 100 .
  • clothes may be loaded onto the holder 200 by the user and put toward the inside of the frame unit 100 .
  • the sleeves of the top are folded to the body of the top by the sleeve folding portion 240 .
  • the loading step (S10) when the clothes are placed on the cradle 200 and the lower plate 321 and the upper plate 322 moves downward, the clothes are adhered to the upper surface of the clothes and the clothes are fixed together with the lower plate 321. can do.
  • the control unit 600 starts the operation of the loading unit driving motor 331 at the position where the first loading detection sensor 341 is disposed in the loading unit body 310, and the loading unit body 310 It can be controlled to move in a straight line along the leg 334. And, when the loading unit body 310 reaches the position where the second loading detection sensor 342 is disposed, the controller 600 receives a signal from the second loading detection sensor 342 and removes the top plate 322. A drive motor 331 provided on the top plate 322 may be controlled to move upward. Further, the controller 500 receives a signal from the third loading detection sensor 343 when the loading unit body 310 reaches the position where the third loading detection sensor 343 is disposed, and the folding unit 400 can start working.
  • clothes may be placed on the folding unit 400 .
  • clothes may be placed on the folding conveyors 480 and 490 , the folding plates 410 and 420 , and the link plates 460 and 470 .
  • the center portion of the garment eg, the center portion of the body of a T-shirt
  • the ends of the garment eg, the sleeve or flank portion or hem of a T-shirt
  • Plates 410 and 420 may be placed thereon.
  • the vertical folding plate 410 is operated to vertically fold the clothes.
  • vertical folding means folding by reference lines parallel to the moving direction of the clothing. Parallel to the running direction of clothing does not mean that the running direction line and the fold line of the clothing are completely 0 degrees, but includes an error range of 0 degrees to 30 degrees.
  • the controller 600 operates the folding plate motors M1 and M2 to rotate the folding plate body 411 .
  • the folding plate motors M1 and M2 are operated, the driving disk 412 is rotated, and according to the rotation of the driving disk 412, the first link 413 rotates in an arc, and the first link ( 413), the second link 414, the third link 415, and the fourth link 416 are moved so that the vertical folding link plate 460 and the folding plate body 411 of the vertical folding plate 410 can be rotated.
  • the vertical folding link plate 460 is disposed close to the ground and perpendicular, and at least a portion of the folding plate body 411 is disposed vertically above the folding conveyors 480 and 490 beyond the vertical folding link plate 460.
  • the vertical folding link plate 460 can catch and maintain a reference line parallel to the moving direction of the clothing.
  • vertical folding can be performed regardless of the thickness of clothing by the vertical folding link plate 460 . That is, when a conventional clothes folding machine rotates a folding plate to fold clothes, the folding plate is not sufficiently rotated for thick clothes such as sweaters, resulting in an inconsistent folded shape of the clothes. In contrast, in the present invention, while the vertical folding link plate 460 is rotated, the base line frame is maintained even for thick clothing, and the folding plate body 411 is sufficiently rotated to fold the end of the clothing.
  • the interlocking plate 430 connected to the vertical folding plate 410 through the first interlocking link 440 folds the vertical folding plate 410. It rotates together with the plate body 411.
  • the pair of vertical folding plates 410 may be sequentially rotated.
  • the controller 600 first operates the first folding plate motor M1 to rotate the first vertical folding plate 410a disposed on the left side (S21), and then rotates the second folding plate 410a.
  • the folding plate motor M2 may be operated to rotate the second vertical folding plate 410b disposed on the right side (S22).
  • horizontal folding means folding by a reference line perpendicular to the moving direction (leading direction) of the clothing.
  • the term "perpendicular to the running direction of the clothing” means that the running direction line and the fold line of the clothing are not limited to a perfect 90 degrees, but include an error range of 0 degrees to 30 degrees.
  • the control unit 500 operates the third folding plate motor M3. to rotate the folding plate body 421. Specifically, when the third folding plate motor M3 is operated, the driving disk 422 is rotated, and according to the rotation of the driving disk 422, the first link 423 rotates in an arc, and the first link ( 423), the second link 424, the third link 425, and the fourth link 426 are moved so that the horizontal folding link plate 470 and the folding plate body 421 of the horizontal folding plate 420 can be rotated.
  • the horizontal folding link plate 470 is disposed close to the ground and vertically, and at least a portion of the folding plate body 421 is disposed vertically above the folding conveyors 480 and 490 beyond the horizontal folding link plate 470.
  • the horizontal folding link plate 470 may catch and maintain a vertical reference line based on the moving direction of the clothing.
  • horizontal folding can be performed regardless of the thickness of the clothing by the horizontal folding link plate 470 .
  • the interlocking plate 430 connected to the horizontal folding plate 420 through the second interlocking link 450 folds the horizontal folding plate 420. It rotates together with the plate body 421.
  • the folding conveyors 480 and 490 may be operated to fold the clothes while transporting them to the unloading space.
  • the clothes are placed on the folding conveyors 480 and 490. At this time, the width of the clothing C in the left-right direction and the length in the front-back direction are uniformly folded.
  • control unit 500 operates the first conveyor motor MC1 and the second conveyor motor MC2, and the circulation (rotation) of the first folding conveyor 480 and the second folding conveyor 490 ) so that the directions are opposite to each other.
  • the rotation direction of the first folding conveyor 480 and the second folding conveyor 490 is rotated in a direction in which the upper surface of the first folding conveyor 480 and the upper surface of the second folding conveyor 490 converge with each other. .
  • the clothes C can be transported to the unloading space 600 through the gap formed between the first folding conveyor 480 and the second folding conveyor 490.
  • the clothes C may be pressed between the first folding conveyor 480 and the second folding conveyor 490 to be stretched to a predetermined thickness.
  • the control unit 600 may operate the first conveyor movement motor MR1.
  • the control unit 500 may operate the second conveyor movement motor MR2.
  • the first folding conveyor 480 and/or the second folding conveyor 490 can be rotated in the vertical direction, The distance between the first folding conveyor 480 and the second folding conveyor 490 may be changed.
  • the distance between the first folding conveyor 480 and the second folding conveyor 490 is changed according to the thickness of the clothes C, so that the clothes C are easily transported. While doing so, there is an effect of spreading the clothes C to a predetermined thickness (see FIG. 28).

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  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Folding Of Thin Sheet-Like Materials, Special Discharging Devices, And Others (AREA)

Abstract

The present invention relates to a clothes folding machine comprising: a frame part forming an external skeleton; a folding part which is mounted to the frame part, holds clothes, and folds the held clothes; and a holder which is disposed in front of the folding part and holds the clothes before the clothes are held by the folding part. The holder forms an upwardly convex curved surface, thus preventing wrinkles from occurring in the clothes held by the holder and preventing the occurrence of creases in the folded clothes.

Description

의류 폴딩 머신garment folding machine
본 발명은 의류 폴딩 머신에 관한 것으로, 보다 상세하게는 판에 의류를 거치하고 판을 회전시키면서 의류를 접을 수 있는 의류 폴딩 머신에 관한 것이다.The present invention relates to a clothes folding machine, and more particularly, to a clothes folding machine capable of folding clothes while holding clothes on a board and rotating the board.
의류는 천연 또는 합성섬유 등의 부드러운 재질로 제조되며, 보관 및 이동을 위하여 적절한 크기와 모양으로 접힘(folding)이 수행되어야 한다.Clothes are made of soft materials such as natural or synthetic fibers, and must be folded into appropriate sizes and shapes for storage and movement.
일상적으로, 의류는 세탁 후 수납하기 위하여 또는 계절 변화에 따른 장기 보관을 위하여 의류 접기 행위가 상당히 자주 또는 다량으로 요구되었다. 그런데 인력에 의한 직접적인 의류 접기 행위는 시간과 자원의 낭비를 초래하고, 숙달되지 않은 인력으로 인해 접혀진 의류의 모양과 크기가 일치되지 않게 되면 전시 또는 보관을 위해 추가적인 노동이 투입되어야 하는 등의 문제가 있었다. On a daily basis, clothing is required to be folded frequently or in large quantities in order to be stored after washing or for long-term storage according to seasonal changes. However, the direct act of folding clothing by manpower causes a waste of time and resources, and if the shape and size of the folded clothing do not match due to unskilled manpower, additional labor must be input for display or storage. there was.
이에 따라, 의류 접기 행위를 신속하고 일률적으로 수행할 자동 폴딩 머신의 필요성이 점차 증가하였다.Accordingly, the need for an automatic folding machine capable of quickly and uniformly folding clothes has gradually increased.
선행문헌으로 한국공개공보 제2021-0096664호를 제시한다. 선행문헌은 세탁물에서 폭 접힘을 생성하기 위한 폭접기 시스템 및 방법에 관한 것이다.Korean Publication No. 2021-0096664 is presented as prior literature. The prior art relates to width folding systems and methods for creating width folding in laundry.
선행문헌은 세탁물을 거치하는 폭 폴더를 구비하며, 폭 폴더는 수직 방향을 따라서 적층된 수형부재 및 암형부재를 포함한다. 수형부재는 세탁물의 운동방향을 따라서 연장된 제1접기 가장자리를 구비한다. 암형부재는 수형부재의 아래에 위치되고, 운동방향을 따라서 안쪽으로 수렴하는 제2접기 가장자리를 구비한다. 암형부재는 수형상부표면을 가로질러 진행하는 동안 세탁물의 말단을 안쪽으로 압박하는 접기 돌출부를 구비한다. The prior art document has a width folder for holding laundry, and the width folder includes a male member and a female member stacked in a vertical direction. The male member has a first folding edge extending along the direction of laundry movement. The female member is positioned below the male member and has a second folding edge converging inward along the direction of motion. The female member has a folding protrusion that presses the end of the laundry inwardly while progressing across the male surface.
선행문헌에 따르면, 의류의 양 측단은 제1접기 가장자리와 제2접기 가장자리 사이의 틈새에서 하부로 처지는 특징이 있다. 만약 의류가 다소 뻣뻣한 경우, 의류의 단부가 접기 돌출부에 접촉되어 하방으로 꺾이게 되어, 제1접기 가장자리와 제2접기 가장자리 사이의 틈새로 삽입되게 된다.According to the prior literature, both side ends of the clothing are characterized by sagging downward in the gap between the first and second fold edges. If the clothing is somewhat stiff, the end of the clothing contacts the folding protrusion and is bent downward to be inserted into the gap between the first and second folding edges.
하지만, 선행문헌에 따르면 폭 폴더는 의류의 단부를 하방으로 처지게 할 뿐이고, 의류를 접기 위해서는 폭 폴더의 후방에 별도의 어셈블리가 필요하므로, 폴딩 머신의 크기가 커지는 문제점이 있다.However, according to the prior art, since the width folder only causes the ends of the clothes to sag downward and a separate assembly is required at the rear of the width folder to fold the clothes, there is a problem in that the size of the folding machine increases.
또한, 폭 폴더에 거치된 의류가 처지면서 주름이 발생할 수 있고, 주름이 발생한 상태로 의류가 접히는 경우 의류에 구김이 발생할 수 있다는 문제점도 있다.In addition, there is a problem that wrinkles may occur as the clothing placed on the width folder sags, and wrinkles may occur in the clothing when the clothing is folded in a wrinkled state.
본 발명이 해결하고자 하는 과제는 전술한 의류 폴딩 머신이 갖는 문제점을 해결하기 위한 것이다. 구체적으로, 의류 폴딩 머신을 로딩부-폴딩부-언로딩부로 구획하지 않고, 하나의 공간에서 로딩 및 폴딩을 수행할 수 있는 의류 폴딩 머신을 제공하는 것이다.The problem to be solved by the present invention is to solve the problem of the above-mentioned clothing folding machine. Specifically, it is to provide a clothes folding machine capable of loading and folding in one space without dividing the clothes folding machine into a loading part, a folding part, and an unloading part.
본 발명이 해결하고자 하는 다른 과제는, 로딩부가 의류를 폴딩부로 운반하기 전에 의류의 면적을 일정 이하로 감소시켜, 폴딩부에 거치되는 의류의 면적을 정형화할 수 있는 의류 폴딩 머신을 제공하는 것이다.Another problem to be solved by the present invention is to provide a clothes folding machine capable of standardizing the area of clothes placed on the folding portion by reducing the area of the clothes to a certain level or less before the loading portion carries the clothes to the folding portion.
본 발명의 과제들은 이상에서 언급한 과제들로 제한되지 않으며, 언급되지 않은 또 다른 과제들은 아래의 기재로부터 당업자에게 명확하게 이해될 수 있을 것이다.The tasks of the present invention are not limited to the tasks mentioned above, and other tasks not mentioned will be clearly understood by those skilled in the art from the following description.
상기 과제를 달성하기 위하여, 본 발명의 실시예에 따른 의류 폴딩 머신은, 외부 골격을 프레임부, 프레임부에 설치되고 의류를 거치하며 거치된 의류를 접는 폴딩부, 폴딩부의 전방에 배치되고 의류가 폴딩부에 거치되기 전에 의류를 거치하는 거치대를 포함하고, 거치대는 상부로 볼록한 곡면을 형성한다.In order to achieve the above object, in the clothing folding machine according to an embodiment of the present invention, an external skeleton is installed on the frame portion, the frame portion is installed, and the folding portion for holding the clothes and folding the clothes is disposed in front of the folding portion, and the clothes are folded. A cradle for holding clothes before being mounted on the folding unit is included, and the cradle forms an upwardly convex curved surface.
거치대는, 전방에서 바라볼 때 제1곡률을 가지고, 일 측방에서 바라볼 때 제1곡률에 교차되는 제2곡률을 가질 수 있다.The cradle may have a first curvature when viewed from the front and a second curvature crossing the first curvature when viewed from one side.
거치대는, 상부에서 바라볼 때, 전단이 전방으로 볼록하게 형성되는 돌출부(250)를 포함할 수 있다.The cradle, when viewed from above, may include a protrusion 250 having a front end convexly formed.
거치대는, 상부면에 상기 의류를 거치하는 거치대 바디, 거치대 바디의 일 측단에서 상방으로 연장되는 거치대 측벽, 거치대 측벽의 일 측에서 내측방으로 돌출하여 형성되고 의류가 거치대 바디를 통과할 때 의류의 일 측단을 접는 소매접힘부를 포함할 수 있다.The cradle includes a cradle body for holding the clothes on its upper surface, a cradle side wall extending upward from one side end of the cradle body, and protruding inward from one side of the cradle side wall. It may include a sleeve folding portion that folds one side end.
소매접힘부의 측면은, 상단이 하단보다 내측에 배치된 경사가 적어도 일부에 형성될 수 있다.At least a portion of the side surface of the folded-sleeve portion may be formed with an inclination in which the upper end is disposed inwardly than the lower end.
소매접힘부는, 거치대 바디에서 상방으로 연장되는 측판, 측판의 상단에서 내측방으로 연장되는 상판을 포함할 수 있다. 이때, 측판은 후단이 전단보다 내측에 배치될 수 있다. 또는, 상판은 내측단이 외측단보다 하부에 배치될 수 있다. 또는, 소매접힘부는, 측판의 전단에 배치되고, 거치대 측벽에서 내측방으로 돌출하여 형성되는 전방 가이드를 포함할 수 있다.The folded sleeve portion may include a side plate extending upward from the holder body and a top plate extending inwardly from an upper end of the side plate. At this time, the rear end of the side plate may be disposed inside than the front end. Alternatively, the upper plate may have an inner end lower than an outer end. Alternatively, the folded sleeve portion may include a front guide disposed at a front end of the side plate and protruding inward from a side wall of the holder.
거치대는 상부면에 의류를 거치하는 거치대 바디, 거치대 바디의 일 측단에서 상방으로 연장되는 거치대 측벽, 거치대 바디의 일 측단에서 후방으로 연장되고 의류의 일 측단을 지지하는 소매지지부를 포함할 수 있다.The cradle may include a cradle body for holding clothes on an upper surface, a cradle sidewall extending upward from one side end of the cradle body, and a sleeve support extending rearward from one lateral end of the cradle body and supporting one side end of the cradle body.
의류 폴딩 머신은, 프레임부에 이동 가능하게 결합되고, 의류가 거치대에 거치되면 의류의 일 측을 고정하고 폴딩부로 운반하는 로딩부를 포함할 수 있다.The clothes folding machine may include a loading unit that is movably coupled to the frame unit and fixes one side of the clothes and transports them to the folding unit when the clothes are placed on the cradle.
로딩부는, 로딩부 바디, 로딩부 바디에 배치되고 로딩부 바디에 의류를 고정하는 그리퍼, 로딩부 바디의 일 측에 배치되는 피니언, 프레임부에 배치되고 의류의 삽입 방향으로 연장되고 피니언에 연결되는 래크를 포함할 수 있다.The loading unit includes a loading unit body, a gripper disposed on the loading unit body and fixing clothes to the loading unit body, a pinion disposed on one side of the loading unit body, and disposed in the frame unit and extending in the insertion direction of the clothing and connected to the pinion. May contain racks.
그리퍼는, 로딩부 바디에 고정 결합되고 의류의 하부면에 밀착되는 하부판, 하부판의 상부에 배치되고 로딩부 바디에 이동 가능하게 결합되고 의류의 상부면에 밀착되는 상부판, 일 측이 하부판에 회전 가능하게 결합되고 타 측이 상부판에 회전 가능하게 결합되는 제1링크, 제1링크에 이격되게 배치되고 일 측이 하부판에 회전 가능하게 결합되고 타 측이 상부판에 회전 가능하게 결합되는 제2링크를 포함할 수 있다.The gripper includes: a lower plate fixedly coupled to the loading unit body and in close contact with the lower surface of the clothing, an upper plate disposed above the lower plate and movably coupled to the loading unit body and in close contact with the upper surface of the clothing, and one side rotating to the lower plate. A first link that is rotatably coupled to the upper plate and the other side is rotatably coupled to the upper plate, and a second link that is spaced apart from the first link and has one side that is rotatably coupled to the lower plate and the other side that is rotatably coupled to the upper plate. You may include links.
그리퍼는, 로딩부 바디에 고정 결합되고 의류의 하부면에 밀착되는 하부판, 하부판의 상부에 배치되고 로딩부 바디에 이동 가능하게 결합되고 의류의 상부면에 밀착되는 상부판, 일 측이 하부판에 결합되고 타 측이 상부판에 결합되는 제1스프링을 포함할 수 있다.The gripper includes a lower plate fixedly coupled to the loading unit body and closely attached to the lower surface of clothing, an upper plate disposed on top of the lower plate and movably coupled to the loading unit body and closely adhered to the upper surface of clothing, and one side coupled to the lower plate. And the other side may include a first spring coupled to the top plate.
그리퍼는, 로딩부 바디에 고정 결합되고 의류의 하부면에 밀착되는 하부판, 하부판의 상부에 배치되고 로딩부 바디에 이동 가능하게 결합되고 의류의 상부면에 밀착되는 상부판, 일 측이 로딩부 바디에 배치되고 타 측이 상부판에 밀착되는 압박부재를 포함할 수 있다. 이때 그리퍼는, 일 측이 로딩부 바디에 결합되고 타 측이 압박부재에 결합되는 제2스프링을 포함할 수 있다.The gripper includes a lower plate fixedly coupled to the loading unit body and in close contact with the lower surface of clothing, an upper plate disposed above the lower plate and movably coupled to the loading unit body and in close contact with the upper surface of clothing, and one side of the gripper is the loading unit body. It may include a pressing member disposed on and the other side in close contact with the top plate. In this case, the gripper may include a second spring having one side coupled to the loading unit body and the other side coupled to the pressing member.
기타 실시예들의 구체적인 사항들은 상세한 설명 및 도면들에 포함되어 있다.Details of other embodiments are included in the detailed description and drawings.
본 발명의 의류 폴딩 머신 및 그 제어방법에 따르면 다음과 같은 효과가 하나 혹은 그 이상 있다.According to the clothing folding machine and its control method of the present invention, one or more of the following effects are provided.
첫째, 본 발명에 따른 거치대는 상부로 볼록한 곡면을 형성하는 바, 거치대에 거치된 의류에 주름이 발생되는 것을 방지하여 접힌 의류에 구김이 발생하는 것을 차단하는 장점이 있다.First, the cradle according to the present invention forms a convex curved surface upward, and thus has an advantage of preventing creases in folded clothing by preventing wrinkles in clothing mounted on the cradle.
둘째, 본 발명에 따른 거치대는 거치대 측벽의 일 측에서 내측방으로 돌출하여 형성된 소매접힘부를 포함하는 바, 의류가 거치대 바디를 통과할 때 의류의 일 측단이 접힘으로써 일정 이하의 너비를 가지므로, 폴딩부의 크기를 작게 설계할 수 있다는 장점도 있다.Second, the cradle according to the present invention includes a folded sleeve portion protruding inward from one side of the cradle sidewall, and when clothing passes through the cradle body, one side end of the clothing is folded to have a width of less than a certain level, There is also an advantage that the size of the folding part can be designed to be small.
셋째, 로딩부의 그리퍼는 일 측이 하부판에 회전 가능하게 결합되고 타 측이 상부판에 회전 가능하게 결합된 제1,2링크를 포함하는 바, 상부판이 회전 없이 이동만으로 하부판에 밀착되어, 의류를 균일한 압력으로 고정하며 의류의 손상을 방지하는 장점도 있다.Third, the gripper of the loading unit includes first and second links having one side rotatably coupled to the lower plate and the other side rotatably coupled to the upper plate, so that the upper plate is in close contact with the lower plate only by movement without rotation, so that clothing is worn. It also has the advantage of fixing with uniform pressure and preventing damage to clothing.
본 발명의 효과들은 이상에서 언급한 효과들로 제한되지 않으며, 언급되지 않은 또 다른 효과들은 청구범위의 기재로부터 당업자에게 명확하게 이해될 수 있을 것이다.The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.
도 1은 본 발명에 따른 의류 폴딩 머신으로써, 의류를 고정하기 전의 의류 폴딩 머신의 사시도,1 is a clothes folding machine according to the present invention, a perspective view of the clothes folding machine before fixing the clothes;
도 2는 도 1에서 의류를 고정한 후의 의류 폴딩 머신의 사시도,Fig. 2 is a perspective view of the clothes folding machine after fixing the clothes in Fig. 1;
도 3은 도 2에서 의류를 폴딩부로 운반한 후의 의류 폴딩 머신의 사시도,3 is a perspective view of the clothes folding machine after conveying the clothes to the folding unit in FIG. 2;
도 4는 도 3에서 의류의 고정을 해제한 후의 의류 폴딩 머신의 사시도,Fig. 4 is a perspective view of the clothes folding machine after unfixing the clothes in Fig. 3;
도 5는 로딩부의 구동 어셈블리를 확대한 도,5 is an enlarged view of the driving assembly of the loading unit;
도 6은 로딩부의 구동 어셈블리를 정면에서 바라본 도,6 is a front view of the driving assembly of the loading unit;
도 7은 도 6에서 A부분의 단면도,7 is a cross-sectional view of part A in FIG. 6;
도 8은 로딩부의 구동 어셈블리를 우측에서 바라본 도로써, 의류를 고정하기 전 상태의 도,8 is a view of the driving assembly of the loading unit as viewed from the right, in a state before fixing clothes;
도 9는 도 8에서 의류를 고정한 상태의 도,9 is a view of a state in which clothes are fixed in FIG. 8;
도 10은 본 발명에 따른 거치대의 사시도,10 is a perspective view of a cradle according to the present invention;
도 11은 본 발명에 따른 거치대의 정면도,11 is a front view of the cradle according to the present invention;
도 12는 본 발명에 따른 거치대의 우측면도,12 is a right side view of the cradle according to the present invention;
도 13은 본 발명에 따른 거치대의 평면도,13 is a plan view of a cradle according to the present invention;
도 14는 도 13에서 B부분의 단면도,14 is a cross-sectional view of part B in FIG. 13;
도 15는 도 13에서 C부분의 단면도,15 is a cross-sectional view of part C in FIG. 13;
도 16은 도 13에서 D부분의 단면도,16 is a cross-sectional view of part D in FIG. 13;
도 17은 제2실시예에 따른 거치대의 평면도,17 is a plan view of a cradle according to a second embodiment;
도 18은 도 17에서 E부분의 단면도,18 is a cross-sectional view of part E in FIG. 17;
도 19는 제3실시예에 따른 거치대의 평면도,19 is a plan view of a cradle according to a third embodiment;
도 20은 도 19에서 F부분의 단면도,20 is a cross-sectional view of part F in FIG. 19;
도 21은 제4실시예에 따른 거치대의 평면도,21 is a plan view of a cradle according to a fourth embodiment;
도 22는 도 21에서 G부분의 단면도,22 is a cross-sectional view of part G in FIG. 21;
도 23은 본 발명에 따른 의류 폴딩 머신에서 폴딩부를 설명하기 위한 사시도,23 is a perspective view for explaining the folding unit in the clothing folding machine according to the present invention;
도 24는 본 발명에 따른 의류 폴딩 머신에서 연동 플레이트를 설명하기 위한 사시도,24 is a perspective view for explaining an interlocking plate in a clothing folding machine according to the present invention;
도 25는 본 발명에 따른 의류 폴딩 머신의 제어 과정을 설명하기 위한 순서도,25 is a flowchart for explaining a control process of the clothing folding machine according to the present invention;
도 26은 본 발명에 따른 의류 폴딩 머신이 의류를 세로 접기하는 과정을 설명하기 위한 도면,26 is a view for explaining a process of vertically folding clothes by the clothes folding machine according to the present invention;
도 27은 본 발명에 따른 의류 폴딩 머신이 의류를 가로 접기하는 과정을 설명하기 위한 도면,27 is a view for explaining a process of horizontally folding clothes by the clothes folding machine according to the present invention;
도 28은 본 발명에 따른 의류 폴딩 머신이 컨베이어를 통하여 가로 접기하는 과정을 설명하기 위한 도면이다.28 is a view for explaining a process of horizontally folding clothes through a conveyor by the folding machine according to the present invention.
본 발명의 이점 및 특징, 그리고 그것들을 달성하는 방법은 첨부되는 도면과 함께 상세하게 후술되어 있는 실시예들을 참조하면 명확해질 것이다. 그러나 본 발명은 이하에서 개시되는 실시예들에 한정되는 것이 아니라 서로 다른 다양한 형태로 구현될 수 있으며, 단지 본 실시예들은 본 발명의 개시가 완전하도록 하고, 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자에게 발명의 범주를 완전하게 알려주기 위해 제공되는 것이며, 본 발명은 청구항의 범주에 의해 정의될 뿐이다. 명세서 전체에 걸쳐 동일 참조 부호는 동일 구성 요소를 지칭한다.Advantages and features of the present invention, and methods of achieving them, will become clear with reference to the detailed description of the following embodiments taken in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only these embodiments make the disclosure of the present invention complete, and common knowledge in the art to which the present invention belongs. It is provided to completely inform the person who has the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numbers designate like elements throughout the specification.
이하, 본 발명의 실시예들에 의하여 의류 폴딩 머신(1) 및 그 제어방법을 설명하기 위한 도면들을 참고하여 본 발명에 대해 설명하도록 한다.Hereinafter, the present invention will be described with reference to drawings for explaining the clothes folding machine 1 and its control method according to embodiments of the present invention.
본 발명은 의류 폴딩 머신(1)에 대한 것이다. 의류 폴딩 머신(1)은 펼쳐져 있는 의류가 삽입되면, 의류를 접어 규격화된 크기로 배출하는 장치이다.The present invention relates to a clothes folding machine (1). The clothes folding machine 1 is a device that folds and discharges the clothes in a standardized size when unfolded clothes are inserted.
도면을 참조하면, 의류는 상의일 수 있다. 또는, 도면에 도시한 것과 달리, 의류는 하의일 수도 있다.Referring to the drawings, clothing may be a top. Alternatively, unlike what is shown in the drawing, the clothing may be a bottom.
도 1을 참조하여 의류 폴딩 머신(1)의 방향을 정의한다. 전방은 프레임(100)을 기준으로 거치대(200)가 위치하는 방향으로 정의한다. 후방은 전방의 반대 방향이다. 예를 들어, 의류는 거치대(200)의 전방부에서 후방으로 이동하며, 거치대(200)를 통과하여 폴딩부(400)에 도달한다. 우측방은 전방에서 의류 폴딩 머신(1)을 바라볼 때 우측 방향으로 정의한다. 좌측방은 전방의 반대 방향이다. 상방은 도 1에서 프레임(100)의 위쪽을 말하고, 하방은 도 1에서 프레임(100)의 아래쪽을 말한다.Referring to Fig. 1, the direction of the clothes folding machine 1 is defined. The front is defined as a direction in which the cradle 200 is positioned based on the frame 100 . The posterior is the opposite direction of the anterior. For example, clothes move backward from the front of the holder 200 and pass through the holder 200 to reach the folding unit 400 . The right side is defined as the right direction when looking at the clothes folding machine 1 from the front. The room on the left is the opposite direction to the front. The upper side refers to the upper side of the frame 100 in FIG. 1 , and the lower side refers to the lower side of the frame 100 in FIG. 1 .
의류 폴딩 머신(1)은 외부 골격으로서 기능하는 프레임부(100)를 포함한다.The clothing folding machine 1 includes a frame portion 100 serving as an external skeleton.
프레임부(100)는 의류 폴딩 머신(1)의 외부 모서리 측에 배치되어 의류 폴딩 머신(1)의 최소 작동 공간을 정의하고, 의류 폴딩 머신(1)를 구성하는 여러 부재들을 안정적으로 지지할 수 있다. The frame unit 100 is disposed on the side of the outer edge of the clothing folding machine 1 to define a minimum operating space of the clothing folding machine 1 and can stably support various members constituting the clothing folding machine 1. there is.
프레임부(100)는 복수개의 프레임으로 구성될 수 있다. 수직프레임은 지면에 수직으로 배치되는 프레임이다. 수평프레임은 지면에 수평으로 배치되는 프레임이다. 수직프레임은 수평프레임과 서로 교차되어 결합됨으로써, 의류 폴딩 머신의 골격을 구성한다.The frame unit 100 may be composed of a plurality of frames. The vertical frame is a frame disposed vertically on the ground. The horizontal frame is a frame disposed horizontally on the ground. The vertical frame and the horizontal frame are cross-coupled with each other, thereby constituting the frame of the clothing folding machine.
한편, 의류 폴딩 머신(1)은 거치대(200), 로딩부(loading unit)(300), 폴딩부(folding unit)(400) 및 언로딩부(unloading unit)(미도시)를 포함한다. Meanwhile, the clothes folding machine 1 includes a holder 200, a loading unit 300, a folding unit 400, and an unloading unit (not shown).
거치대(200), 로딩부(300), 폴딩부(400) 및 언로딩부(미도시)는 각각 전술한 프레임부(100)에 지지될 수 있고, 거치대(200), 로딩부(300), 폴딩부(400) 및 언로딩부(미도시)의 작동 공간은 프레임부(100)에 의해 규정될 수 있다.The cradle 200, the loading unit 300, the folding unit 400, and the unloading unit (not shown) may each be supported by the aforementioned frame unit 100, and the cradle 200, the loading unit 300, The operating space of the folding unit 400 and the unloading unit (not shown) may be defined by the frame unit 100 .
의류 폴딩 머신은 거치대(200)를 포함한다. 거치대(200)는 의류가 폴딩부(400)에 거치되기 전에 의류를 거치하는 구성요소이다.The clothes folding machine includes a cradle (200). The holder 200 is a component that holds clothes before they are placed on the folding unit 400 .
본 발명에 따른 거치대(200)는 제1실시예를 기준으로 설명하며, 추후 제2실시예 내지 제4실시예는 제1실시예에 따른 거치대와의 차이점을 중심으로 설명한다.The cradle 200 according to the present invention will be described based on the first embodiment, and the second to fourth embodiments will be described later focusing on differences from the cradle according to the first embodiment.
거치대(200)는 의류가 폴딩부(400)에 거치되기 전에 의류를 임시로 거치한다. 의류는 거치대(200)에 거치된 후, 로딩부(300)에 의하여 폴딩부(400)로 안내된다.The cradle 200 temporarily holds clothes before they are placed on the folding unit 400 . After the clothes are placed on the holder 200 , the clothes are guided to the folding unit 400 by the loading unit 300 .
거치대(200)는 폴딩부(400)의 전방에 배치된다. 구체적으로, 거치대(200)는 폴딩부(400)의 전단에 인접하게 배치되고, 프레임부에 결합된다. The cradle 200 is disposed in front of the folding unit 400 . Specifically, the cradle 200 is disposed adjacent to the front end of the folding unit 400 and coupled to the frame unit.
거치대(200)는 프레임부에 회전 가능하게 결합될 수 있다. 구체적으로, 거치대(200)는 후단이 프레임부에 힌지 결합되고, 거치대(200)의 전단이 이동하며 회전될 수 있다. 이에 따라, 거치대(200)의 기울기는 가변하여 다양한 종류의 의류에 적합하게 배치될 수 있다.The cradle 200 may be rotatably coupled to the frame unit. Specifically, the rear end of the cradle 200 is hinged to the frame, and the front end of the cradle 200 can be moved and rotated. Accordingly, the inclination of the cradle 200 can be changed to suit various types of clothes.
거치대(200)는 상부로 볼록한 곡면을 형성한다. 도 11을 참조하면, 거치대(200)의 중앙은 좌측단 또는 우측단보다 높게 배치된다. 또한, 도 12를 참조하면, 거치대(200)의 중앙은 전단 또는 후단보다 높게 배치된다. 따라서, 의류가 거치대(200)에 거치될 때, 의류는 중앙에서 전방/후방/좌측방/우측방으로 자연스럽게 처지면서 주름이 발생되지 않는 효과가 있다. The cradle 200 forms a convex curved surface upward. Referring to FIG. 11 , the center of the cradle 200 is disposed higher than the left end or the right end. Also, referring to FIG. 12 , the center of the cradle 200 is disposed higher than the front or rear end. Therefore, when the clothes are placed on the holder 200, the clothes naturally sag in the front/rear/left/right directions from the center, and wrinkles are not generated.
거치대(200)는 적어도 하나 이상의 곡률을 갖는다. 구체적으로, 거치대(200)는 제1곡률(C1) 및 제2곡률(C2)을 갖는 이중 굴곡 구조를 가진다.The cradle 200 has at least one or more curvatures. Specifically, the cradle 200 has a double curved structure having a first curvature C1 and a second curvature C2.
거치대(200)는 전방에서 바라볼 때, 제1곡률(C1)을 가지고, 일 측방에서 바라볼 때, 제1곡률(C1)에 교차되는 제2곡률(C2)을 갖는다.The cradle 200 has a first curvature C1 when viewed from the front, and has a second curvature C2 crossing the first curvature C1 when viewed from one side.
도 16을 참조하면, 전방에서 바라볼 때 거치대(200)는 제1곡률(C1)을 가진다. 제1곡률(C1)의 곡률중심은 거치대(200)의 하부에 배치된다. Referring to FIG. 16, when viewed from the front, the holder 200 has a first curvature C1. The center of curvature of the first curvature C1 is disposed below the holder 200 .
도 15를 참조하면, 우측에서 바라볼 때 거치대(200)는 제2곡률(C2)을 가진다. 제2곡률(C2)의 곡률중심은 거치대(200)의 하부에 배치된다. Referring to FIG. 15, when viewed from the right side, the holder 200 has a second curvature C2. The center of curvature of the second curvature C2 is disposed below the holder 200 .
이러한 배치를 가짐으로써, 의류가 후방으로 인입되는 동안 의류에 주름이 발생되지 않는 효과가 있다.By having such an arrangement, there is an effect that wrinkles are not generated in the clothes while the clothes are pulled in backward.
거치대(200)는 돌출부(250)를 갖는다. 돌출부(250)는 의류가 거치될 때 주름이 발생하지 않게 하는 구성요소이다.The cradle 200 has a protrusion 250 . The protrusion 250 is a component that prevents wrinkles from occurring when clothes are placed.
도 13을 참조하면, 돌출부(250)는 상부에서 바라볼 때, 전단이 전방으로 볼록하게 형성된다.Referring to Figure 13, when viewed from the top of the protrusion 250, the front end is formed convex forward.
돌출부(250)는 제3곡률(C3)을 갖는다. 제3곡률(C3)의 곡률중심은 거치대 바디(210)의 전단보다 후방에 배치된다.The protrusion 250 has a third curvature C3. The center of curvature of the third curvature C3 is disposed behind the front end of the cradle body 210 .
이러한 배치를 가짐으로써, 돌출부(250)의 근처에서 의류는 중앙이 양단보다 전방에 배치되는 바, 중앙과 양단 사이에 장력이 발생하므로, 주름이 발생하지 않는 효과가 있다. 또한, 의류가 후방으로 이동할 때에 의류가 돌출부(250)의 전단에 걸려 장력이 발생하는 바, 의류에 주름이 발생되는 것을 보다 효과적으로 방지할 수 있다.By having this arrangement, since the center of the clothing is disposed in front of both ends near the protruding portion 250, tension is generated between the center and both ends, so that wrinkles do not occur. In addition, since the clothes are caught on the front end of the protruding portion 250 and tension is generated when the clothes move backward, the occurrence of wrinkles in the clothes can be more effectively prevented.
거치대(200)는 리브(260)를 포함할 수 있다. 리브(260)는 거치대(200)의 형상을 유지시키는 구성요소이다. The cradle 200 may include a rib 260 . The rib 260 is a component that maintains the shape of the holder 200 .
리브(260)는 거치대(200)의 하부면에서 하방으로 돌출되어 형성된다.The rib 260 is formed by protruding downward from the lower surface of the holder 200 .
리브(260)는 좌우 방향 또는 전후 방향으로 연장될 수 있다. 좌우 방향으로 연장된 리브(260)는 전후 방향으로 연장된 리브(260)와 서로 교차될 수 있다.The rib 260 may extend in a left-right direction or a front-back direction. The ribs 260 extending in the left-right direction may cross each other with the ribs 260 extending in the front-back direction.
거치대(200)는 거치대 바디(210), 거치대 측벽(220), 소매지지부(230) 및 소매접힘부(240)를 포함한다.The holder 200 includes a holder body 210 , a holder sidewall 220 , a sleeve support part 230 and a sleeve folded part 240 .
거치대 바디(210)는 상부면에 의류를 거치한다.The holder body 210 mounts clothes on the upper surface.
거치대 바디(210)는 전방/후방/좌측방/우측방으로 연장된 넓은 판 형상으로 형성될 수 있다.The cradle body 210 may be formed in a wide plate shape extending in front/rear/left/right directions.
거치대 바디(210)는 전술한 바와 같이 상방으로 볼록한 곡면을 형성한다. 구체적으로, 거치대 바디(210)는 전방에서 바라볼 때 제1곡률(C1)을 가지고, 일 측방에서 바라볼 때 제2곡률(C2)을 가진다. 제1곡률(C1)에 의한 가상의 곡선과 제2곡률(C2)에 의한 가상의 곡선은 서로 교차하거나 직교할 수 있다.As described above, the cradle body 210 forms an upwardly convex curved surface. Specifically, the cradle body 210 has a first curvature C1 when viewed from the front and a second curvature C2 when viewed from one side. The imaginary curve by the first curvature C1 and the imaginary curve by the second curvature C2 may intersect or be orthogonal to each other.
거치대 측벽(220)은 거치대 바디(210)의 일 측단에서 상방으로 연장된다.The cradle sidewall 220 extends upward from one side end of the cradle body 210 .
거치대 측벽(220)은 거치대 바디(210)의 양 단에 형성된다.The cradle sidewalls 220 are formed at both ends of the cradle body 210 .
거치대 측벽(220)은 거치대 바디(210)의 전단에서 후단까지 연장될 수 있다.The cradle sidewall 220 may extend from the front end to the rear end of the cradle body 210 .
소매지지부(230)는 거치대 바디(210)의 일 측단에서 후방으로 연장되고, 의류의 일 측단을 지지한다.The sleeve support portion 230 extends rearward from one side end of the holder body 210 and supports one side end of clothing.
도 10을 참조하면, 소매지지부(230)는 거치대 바디(210)의 후단에서 후방으로 더욱 돌출된다.Referring to FIG. 10 , the sleeve support part 230 further protrudes rearward from the rear end of the holder body 210 .
도 12를 참조하면, 소매지지부(230)는 중앙이 전단 또는 후단보다 상부에 배치될 수 있고, 소매지지부(230)는 상부로 볼록한 곡면을 형성할 수 있다. Referring to FIG. 12 , the center of the sleeve support portion 230 may be disposed above the front or rear end, and the sleeve support portion 230 may form a curved surface convex upward.
소매지지부(230)는 의류의 양 단을 지지하여, 의류의 양 단과 정중앙 사이에 주름이 발생하는 것을 방지한다. 다시 말해, 의류는 단면이 W-형상으로 배치되면서, 의류에 불필요한 주름이 발생되는 것을 방지하고, 의류의 좌측면 또는 우측면이 용이하게 접히게 된다. 특히, 의류가 상의인 경우, 소매지지부(230)는 소매를 지지하는 바, 소매의 손목부위까지 평평하게 위치시켜, 소매가 용이하게 접히도록 한다.The sleeve support portion 230 supports both ends of the clothing to prevent wrinkles from occurring between the both ends and the center of the clothing. In other words, the clothing is disposed in a W-shape in cross section, preventing unnecessary wrinkles from occurring on the clothing, and the left or right side of the clothing is easily folded. In particular, when the clothing is an upper garment, the sleeve supporter 230 supports the sleeves and places the sleeves evenly on the wrist so that the sleeves can be easily folded.
이하, 본 발명에 따른 소매접힘부(240)를 설명한다. 본 발명에 따른 소매접힘부(240)는 형상에 따라 제1실시예 내지 제4실시예에 따른 소매접힘부(240a~240d)를 포함한다. 먼저 제1실시예에 따른 소매접힘부(240a)를 설명한 후, 제2실시예 내지 제4실시예에 따른 소매접힘부(240b~240d)를 설명한다.Hereinafter, the folded sleeve portion 240 according to the present invention will be described. The folded sleeve portion 240 according to the present invention includes the folded sleeve portions 240a to 240d according to the first to fourth embodiments depending on the shape. First, the folded sleeve portion 240a according to the first embodiment will be described, and then the folded sleeve portions 240b to 240d according to the second to fourth embodiments will be described.
도 11 내지 도 15를 참조하면, 제1실시예에 따른 소매접힘부(240a)는 거치대 측벽(220)의 일 측에서 내측방으로 돌출하여 형성되고, 의류가 거치대 바디(210)를 통과할 때, 의류의 일 측단을 접는다.Referring to FIGS. 11 to 15 , the folded sleeve portion 240a according to the first embodiment protrudes inwardly from one side of the sidewall 220 of the cradle, and when clothes pass through the cradle body 210 , Fold one end of the garment.
거치대 바디(210)에 거치된 의류는 폴딩부(400)를 향하여 후방으로 이동한다. 의류가 소매접힘부(240a)를 통과할 때, 의류의 일 측단은 소매접힘부(240a)의 측벽을 따라서 점점 상승하며, 단면이 U-형상으로 된다. 그 후, 의류의 일 측단은 내측을 향하여 낙하하고, 의류의 좌측면 일부 또는 우측면 일부가 의류의 나머지 부분에 포개지며 접힌다.Clothing placed on the holder body 210 moves backward toward the folding unit 400 . When the clothing passes through the sleeve-folding portion 240a, one side end of the clothing gradually rises along the side wall of the sleeve-folding portion 240a, and the cross section becomes a U-shape. Then, one side end of the garment falls inward, and a part of the left side or a part of the right side of the garment overlaps with the rest of the garment and is folded.
특히, 의류가 상의인 경우, 상의의 소매가 소매접힘부(240a)에 의하여 상의의 몸통에 접히게 된다. 따라서, 폴딩부(400)에서는 몸통만을 집중적으로 접으면 되고 소매를 따로 접을 필요가 없으므로, 보다 효과적으로 의류를 접을 수 있다는 효과가 있다.In particular, when the clothing is a top, the sleeves of the top are folded to the body of the top by the sleeve folding portion 240a. Therefore, in the folding unit 400, only the torso needs to be intensively folded, and the sleeves do not need to be folded separately, so that the clothes can be folded more effectively.
소매접힘부(240a)의 측면은 상단이 하단보다 내측에 배치된 경사(L1)가 적어도 일부에 형성된다.At least a portion of the side surface of the folded sleeve portion 240a is formed with an inclination L1 with an upper end disposed inside than a lower end.
도 11을 참조하면, 소매접힘부(240a)의 내측 상단은 내측 하단보다 내측에 배치된다. 소매접힘부(240a)의 측면은 제1경사(L1)를 갖는다. 이에 따라, 의류의 일 측단은 소매접힘부(240a)의 측면을 따라 내측 상방으로 이동하고, 측단이 내측으로 접히게 된다. 특히, 의류가 상의일 때, 사매가 소매접힘부(240a)의 측면을 따라 내측 상방으로 이동하고, 소매가 몸통의 상부에 포개진다.Referring to FIG. 11 , the inner upper end of the folded sleeve portion 240a is disposed inner than the inner lower end. The side surface of the folded sleeve portion 240a has a first slope L1. Accordingly, one side end of the clothing moves inward and upward along the side surface of the folded sleeve portion 240a, and the side end is folded inward. In particular, when the clothing is a top, the sleeves are moved inward and upward along the side surface of the folded sleeve portion 240a, and the sleeves are overlapped on the upper part of the body.
도 13을 참조하면, 소매접힘부(240a)의 후단은 전단보다 내측에 배치된다. 소매접힘부(240a)의 전단에서 측면은 제2경사(L2)를 갖는다. 이에 따라, 의류의 일 측단은 소매접힘부(240a)의 측면을 따라 용이하게 내측 상방으로 이동할 수 있다. 특히, 의류가 상의일 때, 소매는 몸통의 하부로 삽입되지 않고, 소매접힘부(240a)의 측면을 따라 몸통의 상부로 포개질 수 있다.Referring to FIG. 13 , the rear end of the folded sleeve portion 240a is disposed inside than the front end. At the front end of the folded sleeve portion 240a, the side surface has a second inclination L2. Accordingly, one side end of the clothing can easily move upward and inward along the side of the folded sleeve portion 240a. In particular, when the clothing is a top, the sleeves may not be inserted into the lower part of the body, but may overlap the upper part of the body along the side of the folded sleeve portion 240a.
이하, 도 17 및 도 18을 참조하여 제2실시예에 따른 거치대(200)를 설명한다. 제2실시예에 따른 거치대(200)는 전술한 제1실시예에 따른 소매접힘부(240a)와 다른 형상의 소매접힘부(240b)를 포함한다. 제2실시예에 따른 거치대(200)는 충돌되지 않는 범위 내에서 전술한 제1실시예에 따른 거치대(200)의 설명이 원용될 수 있다. 이하, 제1실시예와의 차이점을 중심으로 제2실시예에 따른 거치대(200)를 설명한다.Hereinafter, the cradle 200 according to the second embodiment will be described with reference to FIGS. 17 and 18 . The holder 200 according to the second embodiment includes a folded sleeve part 240b having a different shape from the folded sleeve part 240a according to the first embodiment. As for the cradle 200 according to the second embodiment, the description of the cradle 200 according to the first embodiment described above may be used within the range of not colliding with each other. Hereinafter, the cradle 200 according to the second embodiment will be described focusing on differences from the first embodiment.
제2실시예에 따른 거치대(200)는 소매접힘부(240b)를 포함한다. 소매접힘부(240b)는 측판(241b) 및 상판(242b)을 포함한다.The cradle 200 according to the second embodiment includes a sleeve folded portion 240b. The sleeve folded portion 240b includes a side plate 241b and a top plate 242b.
측판(241b)은 거치대 바디(210)에서 상방으로 연장된다. 상판(242b)은 측판(241b)의 상단에서 내측방으로 연장된다.The side plate 241b extends upward from the cradle body 210 . The top plate 242b extends inwardly from the upper end of the side plate 241b.
측판(241b)은 거치대 측벽(220)과 동일한 면 상에 배치될 수 있다. 측판(241b)은 거치대 측벽(220)과 일체로 형성될 수 있고, 별개로 형성된 후 단차를 형성하지 않도록 연결될 수 있다.The side plate 241b may be disposed on the same surface as the side wall 220 of the cradle. The side plate 241b may be integrally formed with the side wall 220 of the cradle, or may be formed separately and then connected so as not to form a step difference.
측판은 후단이 전단보다 내측에 배치된다. 이에 따라, 의류의 일 측단이 측판(241b)을 따라 상승할 때 상승하는 영역이 점차적으로 증가하면서 의류에 주름이 형성되지 않을 수 있다. The rear end of the side plate is disposed inside than the front end. Accordingly, when one side edge of the clothing rises along the side plate 241b, the area where the clothing rises gradually increases, and wrinkles may not be formed on the clothing.
측판(241b)은 내측면이 외측으로 오목한 곡면을 형성할 수 있다. 도 18을 예로 들면, 소매접힘부(240b)의 내측면은 우측이 개방된 U-형상으로 형성될 수 있다. 이러한 배치를 가짐으로써, 의류의 일 측단이 내측 상방으로 이동방향이 전환되면서, 보다 용이하게 의류의 나머지 부분에 포개질 수 있다. 특히, 의류가 상의인 경우, 소매가 측판(241b)을 따라 상승할 때 의류의 몸통의 상부에 용이하게 포개질 수 있다.The side plate 241b may form a curved surface with an inner surface concave outward. Referring to FIG. 18 as an example, the inner surface of the folded sleeve portion 240b may be formed in a U-shape with the right side open. By having this arrangement, one side end of the clothing can be more easily overlapped with the rest of the clothing while the moving direction is switched inward and upward. In particular, when the clothing is a top, the sleeves can be easily overlapped on the upper part of the body of the clothing when the sleeves rise along the side plate 241b.
이하, 도 19 및 도 20을 참조하여 제3실시예에 따른 거치대(200)를 설명한다. 제3실시예에 따른 거치대(200)는 전술한 제1실시예 및 제2실시예에 따른 소매접힘부(240a,240b)와 다른 형상의 소매접힘부(240c)를 포함한다. 제3실시예에 따른 거치대(200)는 충돌되지 않는 범위 내에서 전술한 제1실시예 또는 제2실시예에 따른 거치대(200)의 설명이 원용될 수 있다. 이하, 제1실시예 및 제2실시예와의 차이점을 중심으로 제3실시예에 따른 거치대(200)를 설명한다.Hereinafter, the cradle 200 according to the third embodiment will be described with reference to FIGS. 19 and 20 . The holder 200 according to the third embodiment includes a folded sleeve part 240c having a different shape from the folded sleeve parts 240a and 240b according to the first and second embodiments. As for the cradle 200 according to the third embodiment, the description of the cradle 200 according to the first or second embodiment may be used within the range of not colliding with each other. Hereinafter, the cradle 200 according to the third embodiment will be described focusing on differences from the first embodiment and the second embodiment.
제3실시예에 따른 거치대(200)는 소매접힘부(240c)를 포함한다. 소매접힘부(240c)는 측판(241c) 및 상판(242c)을 포함한다.The cradle 200 according to the third embodiment includes a sleeve folded portion 240c. The sleeve folded portion 240c includes a side plate 241c and a top plate 242c.
상판(242c)은 내측단이 외측단보다 하부에 배치된다. 도 20을 예로 들면, 소매접힘부(240c)의 내측면은 우측이 개방된 C-형상으로 형성될 수 있다. 이러한 배치를 가짐으로써, 의류의 일 측단이 내측 상방으로 이동한 후 내측 하방으로 이동방향이 전환되면서, 보다 용이하게 의류의 나머지 부분에 포개질 수 있다. 특히, 의류가 상의인 경우, 소매가 측판(241c)을 따라 상승할 때 의류의 몸통의 상부에 용이하게 포개질 수 있다.The upper plate 242c has an inner end lower than an outer end. Referring to FIG. 20 as an example, the inner surface of the folded sleeve portion 240c may be formed in a C-shape with the right side open. By having such an arrangement, one end of the clothing can be more easily overlapped with the rest of the clothing while the direction of movement is changed to an inward downward direction after moving inwardly upward. In particular, when the clothing is a top, the sleeves can be easily overlapped on the upper part of the body of the clothing when the sleeves rise along the side plate 241c.
이하, 도 21 및 도 22를 참조하여 제4실시예에 따른 거치대(200)를 설명한다. 제4실시예에 따른 거치대(200)는 전술한 제1실시예 내지 제3실시예에 따른 소매접힘부(240a~240c)와 다른 형상의 소매접힘부(240d)를 포함한다. 제4실시예에 따른 거치대(200)는 충돌되지 않는 범위 내에서 전술한 제1실시예 내지 제3실시예 중 적어도 어느 하나 이상에 따른 거치대(200)의 설명이 원용될 수 있다. 이하, 제1실시예 내지 제3실시예와의 차이점을 중심으로 제4실시예에 따른 거치대(200)를 설명한다.Hereinafter, the cradle 200 according to the fourth embodiment will be described with reference to FIGS. 21 and 22 . The holder 200 according to the fourth embodiment includes a folded sleeve part 240d having a different shape from the folded sleeve parts 240a to 240c according to the first to third embodiments. The description of the cradle 200 according to at least one or more of the above-described first to third embodiments may be used as long as the cradle 200 according to the fourth embodiment does not collide. Hereinafter, the cradle 200 according to the fourth embodiment will be described focusing on differences from the first to third embodiments.
제4실시예에 따른 거치대(200)는 소매접힘부(240d)를 포함한다. 소매접힘부(240d)는 측판(241d) 및 상판(242d)을 포함한다.The holder 200 according to the fourth embodiment includes a folded sleeve portion 240d. The sleeve folded portion 240d includes a side plate 241d and a top plate 242d.
제4실시예에 따른 거치대(200)는 전방 가이드(243d)를 포함한다.The cradle 200 according to the fourth embodiment includes a front guide 243d.
전방 가이드(243d)는 측판(241d)의 전단에 배치되고, 거치대 측벽(220)에서 내측방으로 돌출하여 형성된다.The front guide 243d is disposed at the front end of the side plate 241d and protrudes inwardly from the side wall 220 of the holder.
전방 가이드(243d의 내측면은 소매접힘부 측판(241d)의 내측면보다 내측에 배치될 수 있다. 이에 따라, 의류의 일 측단은 전방 가이드(243d)의 내측면을 따라 말려 올라가게 되나, 전방 가이드(243d)를 벗어나면 측판(241d)을 향해 다시 펼쳐지게 된다. 그 후, 펼쳐진 일 측단은 측판(241d)의 내측면을 따라 보다 용이하게 상승될 수 있다.The inner surface of the front guide 243d may be disposed inner than the inner surface of the sleeve fold side plate 241d. Accordingly, one side end of the clothing is rolled up along the inner surface of the front guide 243d, but the front If it leaves the guide 243d, it unfolds again toward the side plate 241d After that, the unfolded side end can be more easily raised along the inner surface of the side plate 241d.
의류 폴딩 머신은 로딩부(300)를 포함한다. 로딩부(300)는 의류를 거치대(200)에서 폴딩부(400)로 운반하는 구성요소이다. 로딩부(300)는 프레임부에 이동 가능하게 결합되고, 의류가 거치대(200)에 거치되면 의류의 일 측을 고정하고 폴딩부(400)로 운반한다.The clothes folding machine includes a loading unit 300 . The loading unit 300 is a component that transports clothes from the cradle 200 to the folding unit 400 . The loading unit 300 is movably coupled to the frame unit, and when clothes are placed on the cradle 200, one side of the clothes is fixed and transported to the folding unit 400.
로딩부(300)는 로딩부 바디(310), 그리퍼(320), 구동 어셈블리(330) 및 센서부(340)를 포함한다.The loading unit 300 includes a loading unit body 310 , a gripper 320 , a driving assembly 330 and a sensor unit 340 .
로딩부 바디(310)는 로딩부(300)의 다른 구성요소들을 지지하는 구성요소이다.The loading unit body 310 is a component that supports other components of the loading unit 300 .
로딩부 바디(310)는 프레임부(100)의 내부에 배치될 수 있다.The loading unit body 310 may be disposed inside the frame unit 100 .
그리퍼(320)는 의류를 고정하는 구성요소이다. 그리퍼(320)는 로딩부 바디(310)에 배치되고, 로딩부 바디(310)에 의류를 고정한다.The gripper 320 is a component for fixing clothes. The gripper 320 is disposed on the loading unit body 310 and fixes clothes to the loading unit body 310 .
그리퍼(320)는 거치대(200)에 거치된 의류를 집어서, 의류를 로딩부 바디(310)에 고정한다. 그리퍼(320)는 폴딩부(400)로 이동된 의류의 고정을 해제한다.The gripper 320 picks up clothes placed on the cradle 200 and fixes the clothes to the loading unit body 310 . The gripper 320 releases the fixation of the clothing moved to the folding unit 400 .
그리퍼(320)는 하부판(321), 상부판(322), 제1링크(323) 및 제2링크(324)를 포함한다.The gripper 320 includes a lower plate 321 , an upper plate 322 , a first link 323 and a second link 324 .
하부판(321)과 상부판(322)은 의류에 밀착되어, 의류를 로딩부 바디(310)에 고정한다.The lower plate 321 and the upper plate 322 are in close contact with clothes to fix the clothes to the loading unit body 310 .
하부판(321)은 로딩부 바디(310)에 고정 결합되고, 의류의 하부면에 밀착된다.The lower plate 321 is fixedly coupled to the loading unit body 310 and adheres to the lower surface of the clothing.
하부판(321)의 상부면에는 복수개의 돌기가 형성되어, 의류를 보다 견고하게 고정할 수 있다.A plurality of protrusions are formed on the upper surface of the lower plate 321 to more firmly fix the clothes.
하부판(321)은 거치대 바디(210)에 평행하게 배치될 수 있다. 구체적으로, 하부판(321)은 제1곡률(C1)을 가질 수 있다.The lower plate 321 may be disposed parallel to the cradle body 210 . Specifically, the lower plate 321 may have a first curvature C1.
상부판(322)은 하부판(321)의 상부에 배치되고, 로딩부 바디(310)에 이동 가능하게 결합되고, 의류의 상부면에 밀착된다.The upper plate 322 is disposed above the lower plate 321, is movably coupled to the loading unit body 310, and adheres to the upper surface of the clothing.
상부판(322)은 하부판(321)에 평행하게 배치될 수 있다. 구체적으로, 상부판(322)은 제1곡률(C1)을 가질 수 있다.The upper plate 322 may be disposed parallel to the lower plate 321 . Specifically, the upper plate 322 may have a first curvature C1.
도 8 및 도 9를 참조하면, 상부판(322)은 상하로 이동할 수 있다. 도 9를 참조하면, 상부판(322)이 하방으로 이동하는 경우, 의류의 상부면에 밀착되고, 하부판(321)과 함께 의류를 고정할 수 있다. 도 8을 참조하면, 상부판(322)이 상방으로 이동하는 경우, 의류와 일정 간격을 가지며, 의류의 고정을 해제할 수 있다.Referring to FIGS. 8 and 9 , the top plate 322 may move up and down. Referring to FIG. 9 , when the upper plate 322 moves downward, it adheres to the upper surface of the clothes and fixes the clothes together with the lower plate 321 . Referring to FIG. 8 , when the top plate 322 moves upward, it has a certain distance from the clothing and can release the fixation of the clothing.
상부판(322)의 하부면에는 복수개의 돌기가 형성되어, 의류를 보다 견고하게 고정할 수 있다.A plurality of protrusions are formed on the lower surface of the upper plate 322 to more firmly fix the clothes.
제1링크와 제2링크는 상부판(322)이 이동할 때 상부판(322)을 안내한다.The first link and the second link guide the top plate 322 when the top plate 322 moves.
제1링크(323)는 일 측이 하부판(321)에 회전 가능하게 결합되고, 타 측이 상부판(322)에 회전 가능하게 결합된다.The first link 323 has one side rotatably coupled to the lower plate 321 and the other side rotatably coupled to the upper plate 322 .
제2링크(324)는 제1링크에 이격되게 배치되고, 일 측이 하부판(321)에 회전 가능하게 결합되고, 타 측이 상부판(322)에 회전 가능하게 결합된다.The second link 324 is disposed spaced apart from the first link, one side is rotatably coupled to the lower plate 321, and the other side is rotatably coupled to the upper plate 322.
제1링크와 제2링크는 동일한 형상으로 형성될 수 있다. 이에 따라, 제1링크와 제2링크가 회전하는 경우, 상부판(322)은 회전 없이 평행이동만 할 수 있다. 예를 들어, 제1링크와 제2링크가 반시계 방향으로 회전하는 경우, 상부판(322)이 하강하면서 의류를 고정한다. 이와 달리, 제1링크와 제2링크가 시계 방향으로 회전하는 경우, 상부판(322)이 하강하면서 의류의 고정을 해제한다.The first link and the second link may be formed in the same shape. Accordingly, when the first link and the second link rotate, the upper plate 322 can only move in parallel without rotating. For example, when the first link and the second link rotate in a counterclockwise direction, the upper plate 322 descends and fixes the clothes. Unlike this, when the first link and the second link rotate clockwise, the upper plate 322 descends and releases the fixation of the clothes.
제1링크와 제2링크는 수동으로 이동될 수 있다. 이와 달리, 제1링크 또는 제2링크는 자동으로 이동될 수 있다. 이때, 모터(미도시)는 제1링크에 연결될 수 있고, 제2링크에 연결될 수도 있다.The first link and the second link can be moved manually. Alternatively, the first link or the second link may be moved automatically. At this time, a motor (not shown) may be connected to the first link and may be connected to the second link.
그리퍼(320)는 제1스프링(326)을 더 포함할 수 있다.The gripper 320 may further include a first spring 326 .
제1스프링(326)은 일 측이 하부판(321)에 결합되고, 타 측이 상부판(322)에 결합된다.One side of the first spring 326 is coupled to the lower plate 321 and the other side is coupled to the upper plate 322 .
제1스프링(326)은 상부판(322)이 상승한 경우에, 상부판(322)에 하방을 향하는 탄성력을 인가한다. 이에 따라, 제1스프링(326)은 의류를 보다 견고하게 고정시키는 효과가 있다.The first spring 326 applies an elastic force directed downward to the top plate 322 when the top plate 322 rises. Accordingly, the first spring 326 has an effect of more firmly fixing the clothes.
그리퍼(320)는 압박부재(325)를 더 포함할 수 있다. 압박부재는 상부판(322)을 압박하여 고정력을 향상시키는 구성요소이다.The gripper 320 may further include a pressing member 325 . The pressing member is a component that improves the fixing force by pressing the upper plate 322 .
압박부재는 로딩부 바디(310)에 배치되고, 타 측이 상부판(322)에 밀착된다.The pressing member is disposed on the loading unit body 310, and the other side is in close contact with the upper plate 322.
압박부재의 후단은 로딩부 바디(310)에 회전 가능하게 결합된다.The rear end of the pressing member is rotatably coupled to the loading unit body 310 .
압박부재는 전방으로 연장되고, 전단이 상부판(322)의 상부면에 단순지지된다. The pressing member extends forward, and the front end is simply supported on the upper surface of the upper plate 322 .
압박부재는 상부판(322)의 전반부를 압박한다. 상부판(322)의 후반부는 제1링크 또는 제2링크에 의해서 하향의 힘을 받으며, 상부판(322)의 전반부는 압박부재에 의해서 하향의 힘을 받는다. 따라서, 그리퍼(320)는 의류를 보다 견고하게 지지할 수 있다.The pressing member presses the first half of the upper plate 322 . The second half of the top plate 322 receives downward force by the first link or the second link, and the first half of the top plate 322 receives downward force by the pressing member. Accordingly, the gripper 320 can more firmly support the clothes.
압박부재는 복수개의 홀이 형성될 수 있다. 상기 복수개의 홀은 로딩부 바디(310)에 선택적으로 힌지결합될 수 있다. 이에 따라, 압박부재가 상부판(322)에 가하는 고정력을 증감할 수 있다.A plurality of holes may be formed in the pressing member. The plurality of holes may be selectively hinged to the loading part body 310 . Accordingly, it is possible to increase or decrease the fixing force applied to the upper plate 322 by the pressing member.
그리퍼(320)는 제2스프링(327)을 더 포함할 수 있다.The gripper 320 may further include a second spring 327 .
제2스프링(326)은 일 측이 로딩부 바디(310)에 결합되고, 타 측이 압박부재에 결합된다.The second spring 326 has one side coupled to the loading unit body 310 and the other side coupled to the pressing member.
제2스프링(326)은 압박부재에 탄성력을 인가하고, 상기 탄성력은 압박부재가 상부판(322)에 압박하는 고정력의 원동력이다.The second spring 326 applies an elastic force to the pressing member, and the elastic force is a driving force of a fixing force that the pressing member presses against the upper plate 322 .
도 9를 참조하면, 제2스프링(326)은 압박부재가 반시계방향으로 회전하도록 탄성력을 압박부재에 인가한다. Referring to FIG. 9 , the second spring 326 applies an elastic force to the pressing member so that the pressing member rotates counterclockwise.
구동 어셈블리(330)는 로딩부 바디(310)를 이동시키는 구성요소이다. The driving assembly 330 is a component that moves the loading unit body 310 .
구동 어셈블리(330)는 프레임부(100)에 이동 가능하게 배치된다. 구체적으로, 구동 어셈블리(330)는 전방 및 후방으로 이동하며, 이는 의류의 삽입 방향과 평행한다.The driving assembly 330 is movably disposed on the frame unit 100 . Specifically, the driving assembly 330 moves forward and backward, which is parallel to the insertion direction of the garment.
구동 어셈블리(330)는 구동모터(331), 구동기어(332), 피니언(333) 및 래크(334)를 포함한다.The driving assembly 330 includes a driving motor 331 , a driving gear 332 , a pinion 333 and a rack 334 .
구동모터(331)는 로딩부 바디(310)에 배치된다.The driving motor 331 is disposed on the loading unit body 310 .
구동모터(331)는 그리퍼(320)에 전달되는 구동력을 생성한다.The driving motor 331 generates a driving force transmitted to the gripper 320 .
구동모터(331)는 로딩부 바디(310)에 결합되어, 로딩부 바디(310)와 함께 이동한다.The driving motor 331 is coupled to the loading unit body 310 and moves together with the loading unit body 310 .
구동모터(331)는 샤프트를 구비하며, 샤프트에는 구동기어(332)가 결합된다.The drive motor 331 has a shaft, and a drive gear 332 is coupled to the shaft.
구동기어(332)는 구동모터(331)에 배치된다. 구체적으로, 구동기어(332)는 모터의 샤프트에 결합되어, 샤프트와 함께 회전한다.The drive gear 332 is disposed on the drive motor 331 . Specifically, the driving gear 332 is coupled to the shaft of the motor and rotates together with the shaft.
피니언(333)은 로딩부 바디(310)의 일 측에 배치된다. 피니언(333)은 구동기어(332)와 연결되며, 구동기어(332)의 동력을 전달받는다.The pinion 333 is disposed on one side of the loading body 310 . The pinion 333 is connected to the drive gear 332 and receives power from the drive gear 332 .
래크(334)는 프레임부에 배치되고, 의류의 삽입 방향으로 연장되고, 피니언(333)에 연결된다.The rack 334 is disposed in the frame portion, extends in the direction of clothing insertion, and is connected to the pinion 333 .
래크(334)는 프레임부(100) 중 수평프레임에 배치될 수 있다. 래크(334)는 수평프레임의 상부면에 배치될 수 있다. 래크(334)는 의류의 인입 방향을 따라 후방으로 연장 형성된다.The rack 334 may be disposed on a horizontal frame of the frame unit 100 . The rack 334 may be disposed on the upper surface of the horizontal frame. The rack 334 is formed to extend backward along the pulling direction of the clothes.
래크(334)는 피니언(333)에 연결된다. 이에 따라, 피니언(333)이 회전하는 경우, 피니언(333) 및 로딩부 바디(310)는 래크(334)의 연장방향을 따라 후방으로 이동한다.The rack 334 is connected to the pinion 333. Accordingly, when the pinion 333 rotates, the pinion 333 and the loading body 310 move backward along the extending direction of the rack 334 .
피니언(333)은 로딩부 바디(310)의 양 단에 배치될 수 있다. 마찬가지로, 래크(334)도 로딩부 바디(310)의 양 측에 배치될 수 있다.The pinion 333 may be disposed at both ends of the loading unit body 310 . Similarly, the rack 334 may also be disposed on both sides of the loading unit body 310 .
구동 어셈블리(330)는 안내돌기(335) 및 안내홈(336)을 더 포함할 수 있다.The driving assembly 330 may further include a guide protrusion 335 and a guide groove 336 .
안내돌기(335)는 거치대 바디(210)에 배치된다. 안내돌기(335)는 피니언(333)의 중심축에서 외측방으로 더욱 돌출하여 형성될 수 있다.The guide protrusion 335 is disposed on the cradle body 210 . The guide protrusion 335 may be formed to further protrude outward from the central axis of the pinion 333 .
안내홈(336)은 프레임부에 배치된다. 안내홈(336)은 내측면에서 외측방으로 함몰하여 형성될 수 있다. Guide groove 336 is disposed in the frame portion. The guide groove 336 may be formed by recessing from the inner surface toward the outer side.
안내홈(336)은 전후방으로 연장 형성된다. 안내홈(336)의 연장 방향은 래크(334)의 연장 방향 및 의류의 인입 방향과 평행하다.The guide groove 336 extends forward and backward. The extending direction of the guide groove 336 is parallel to the extending direction of the rack 334 and the pulling direction of clothes.
안내돌기(335)의 적어도 일부는 안내홈(336)에 삽입된다. 안내돌기(335)는 안내홈(336)을 따라 전방 및 후방으로 이동할 수 있다.At least a part of the guide protrusion 335 is inserted into the guide groove 336 . The guide protrusion 335 may move forward and backward along the guide groove 336 .
안내돌기(335) 및 안내홈(336)은 로딩부(300)가 전후방으로 직선 이동하도록 돕는다.The guide protrusion 335 and the guide groove 336 help the loading unit 300 to linearly move forward and backward.
센서부(340)는 로딩부(300)의 위치를 감지한다.The sensor unit 340 detects the position of the loading unit 300 .
센서부(340)는 프레임부(100)에 배치된다. 구체적으로, 센서부(340)는 수평프레임에 배치될 수 있다.The sensor unit 340 is disposed on the frame unit 100 . Specifically, the sensor unit 340 may be disposed on a horizontal frame.
센서부(340)는 제1로딩감지센서(341), 제2로딩감지센서(342) 및 제3로딩감지센서(343)를 포함할 수 있다.The sensor unit 340 may include a first loading detection sensor 341 , a second loading detection sensor 342 and a third loading detection sensor 343 .
제1로딩감지센서(341)는 로딩부(300)가 전방으로 한계이동한 때 로딩부(300)의 위치를 감지한다. 이때, 그리퍼(320)가 작동되어 의류를 로딩부 바디(310)에 고정할 수 있다.The first loading detection sensor 341 detects the position of the loading unit 300 when the loading unit 300 moves forward. At this time, the gripper 320 may be operated to fix the clothes to the loading unit body 310 .
제2로딩감지센서(342)는 제1로딩감지센서(341)와 제3로딩감지센서(343) 사이에 배치된다. 제2로딩감지센서(342)가 로딩부를 감지한 경우, 그리퍼(320)는 의류의 고정을 해제할 수 있다. 이때, 의류는 중력에 의해서 낙하하여, 폴딩부(400)에 안착된다.The second loading detection sensor 342 is disposed between the first loading detection sensor 341 and the third loading detection sensor 343 . When the second loading sensor 342 detects the loading part, the gripper 320 may release the fixation of the clothes. At this time, the clothes fall by gravity and are seated on the folding unit 400 .
제3로딩감지센서(343)는 로딩부(300)가 후방으로 한계이동한 때 로딩부(300)의 위치를 감지한다.The third loading detection sensor 343 detects the position of the loading unit 300 when the loading unit 300 moves backward.
의류 폴딩 머신(1)은 폴딩부(400)를 포함한다. 폴딩부(400)는 의류를 거치하고, 거치된 의류를 접는 구성요소이다.The clothes folding machine 1 includes a folding unit 400 . The folding unit 400 is a component that holds clothes and folds the clothes.
폴딩부(400)는, 로딩부(200)를 통해 인입된 의류를 이송하고 접는 기능을 수행한다.The folding unit 400 performs a function of transporting and folding clothes brought in through the loading unit 200 .
폴딩부(400)는 프레임부(100) 내부에 배치되고, 폴딩 플레이트(410, 420), 연동 플레이트(430), 제1 연동 링크(440), 제2 연동 링크(450), 링크 플레이트(460, 470), 폴딩 컨베이어(480, 490)를 포함한다.The folding unit 400 is disposed inside the frame unit 100, and includes folding plates 410 and 420, an interlocking plate 430, a first interlocking link 440, a second interlocking link 450, and a link plate 460. , 470), and folding conveyors 480 and 490.
구체적으로, 폴딩부(400)는 폴딩 플레이트(410, 420)의 회전에 의하여 의류를 접을 수 있고, 폴딩 컨베이어(480, 490)의 회전(순환)에 의하여 의류를 이송하면서 접을 수 있다.Specifically, the folding unit 400 can fold clothes by rotation of the folding plates 410 and 420 and fold clothes while transporting them by rotation (circulation) of folding conveyors 480 and 490 .
폴딩 플레이트(410, 420)는 폴딩 컨베이어(480, 490)의 외곽에 배치된다. 따라서, 로딩부(200)를 통하여 인입된 의류의 중앙부(예를 들어, 티셔츠의 가슴 부분)는 폴딩 컨베이어(480, 490) 위에 놓이고, 의류의 단부(예를 들어, 티셔츠의 소매 또는 옆구리 부분 또는 밑단 부분)는 폴딩 플레이트(410, 420) 위에 놓일 수 있다. 따라서, 폴딩 플레이트(410, 420)의 회전에 의하여 의류의 단부가 접힐 수 있고, 폴딩 컨베이어(480, 490)의 회전에 의하여 의류의 중앙부를 접거나 의류를 이송하는 동작이 이루어질 수 있다.The folding plates 410 and 420 are disposed outside the folding conveyors 480 and 490 . Therefore, the center portion of the clothing (eg, the chest portion of a T-shirt) introduced through the loading unit 200 is placed on the folding conveyors 480 and 490, and the end portion of the clothing (eg, sleeve or side portion of the T-shirt) or bottom portion) may be placed on the folding plates 410 and 420 . Accordingly, the ends of the clothes may be folded by the rotation of the folding plates 410 and 420, and an operation of folding the center portion of the clothes or transporting the clothes may be performed by the rotation of the folding conveyors 480 and 490.
폴딩 플레이트(410, 420)는 링크 플레이트(460, 470)에 회전 가능하게 결합되고, 회전에 의하여 의류를 접을 수 있도록 구비된다.The folding plates 410 and 420 are rotatably coupled to the link plates 460 and 470 and are provided to fold clothes by rotation.
폴딩 플레이트(410, 420)는 제1 회전축(A1)을 중심으로 하여 소정 반경 범위 내에서 회전하여 의류를 접는 세로 접기 플레이트(410)와 제1 회전축(A1)과 수직한 제2 회전축(A2)을 중심으로 하여 소정 반경 범위 내에서 회전하여 의류를 접는 가로 접기 플레이트(420)를 포함한다.The folding plates 410 and 420 rotate within a predetermined radius around the first rotational axis A1 to fold clothes, and the second rotational axis A2 perpendicular to the first rotational axis A1. and a horizontal folding plate 420 that folds clothes by rotating within a predetermined radius around the center.
세로 접기 플레이트(410)는 폴딩 컨베이어(480, 490)의 좌우 측면에 각각 하나씩 배치되고, 의류의 좌우측 단부를 의류의 중앙 쪽으로 접을 수 있다. 편의상, 세로 접기 플레이트(410) 중 좌측에 배치된 것을 제1 세로 접기 플레이트(410a)라 부를 수 있고, 우측에 배치된 것을 제2 세로 접기 플레이트(410b)라고 부를 수 있으나, 이에 한정되는 것은 아니고 좌우가 바뀔 수 있다.One vertical folding plate 410 is disposed on the left and right sides of the folding conveyors 480 and 490, and the left and right ends of the clothes may be folded toward the center of the clothes. For convenience, the one disposed on the left side of the vertical folding plate 410 may be referred to as a first vertical folding plate 410a, and the one disposed on the right side may be referred to as a second vertical folding plate 410b, but is not limited thereto. left and right can be reversed.
세로 접기 플레이트(410)는 세로 접기 링크 플레이트(460)와 링크 결합되고, 세로 접기 링크 플레이트(460)는 폴딩 베이스(500)에 회전 가능하게 결합될 수 있다. 이때, 세로 접기 링크 플레이트(460)는 제1 회전축(A1)을 축으로 하여 회전된다. 따라서, 세로 접기 플레이트(410)는 제1 회전축(A1)을 중심으로 소정 반경 범위 내에서 세로 접기 링크 플레이트(460)와 함께 또는 세로 접기 링크 플레이트(460)와 별도로 회전 운동될 수 있다.The vertical folding plate 410 may be linked to the vertical folding link plate 460 , and the vertical folding link plate 460 may be rotatably coupled to the folding base 500 . At this time, the vertical folding link plate 460 is rotated around the first rotation axis A1 as an axis. Accordingly, the vertical folding plate 410 may be rotated together with the vertical folding link plate 460 or separately from the vertical folding link plate 460 within a predetermined radius around the first rotational axis A1.
가로 접기 플레이트(420)는 폴딩 컨베이어(480, 490)의 전방에 배치되고, 의류의 후단을 의류의 중앙 쪽(예를 들어, 상의의 몸통 쪽)으로 접을 수 있다.The horizontal folding plate 420 is disposed in front of the folding conveyors 480 and 490 and can fold the rear end of the clothing toward the center of the clothing (eg, toward the body of the top).
가로 접기 플레이트(420)는 가로 접기 링크 플레이트(470)와 링크 결합되고, 가로 접기 링크 플레이트(470)는 폴딩 베이스(500)에 회전 가능하게 결합될 수 있다. 이때, 가로 접기 링크 플레이트(470)는 제2 회전축(A2)을 축으로 하여 회전된다. 따라서, 가로 접기 플레이트(420)는 제2 회전축(A2)을 중심으로 소정 반경 범위 내에서 가로 접기 링크 플레이트(470)와 함께 또는 가로 접기 링크 플레이트(470)와 별도로 회전 운동될 수 있다.The horizontal folding plate 420 may be linked to the horizontally folding link plate 470 and the horizontally folding link plate 470 may be rotatably coupled to the folding base 500 . At this time, the horizontally folded link plate 470 is rotated around the second rotation axis A2. Accordingly, the horizontally folded plate 420 may be rotated together with the horizontally folded link plate 470 or separately from the horizontally folded link plate 470 within a predetermined radius around the second rotational axis A2.
연동 플레이트(430)는 세로 접기 폴딩 플레이트(410) 또는 가로 접기 플레이트(420)와 연동하여 회전될 수 있다. The interlocking plate 430 may rotate in conjunction with the vertical folding plate 410 or the horizontal folding plate 420 .
연동 플레이트(430)는 제1 연동 링크(440)를 통하여 세로 접기 플레이트(410)와 연결될 수 있다. 연동 플레이트(430)는 제2 연동 링크(450)를 통하여 가로 접기 플레이트(420)와 연결될 수 있다.The interlocking plate 430 may be connected to the vertical folding plate 410 through the first interlocking link 440 . The interlocking plate 430 may be connected to the horizontally folded plate 420 through the second interlocking link 450 .
구체적으로, 연동 플레이트(430)는 제1 연동 링크(440)와 링크 결합되고, 제1 연동 링크(440)는 세로 접기 플레이트(410)와 링크 결합된다. 따라서, 세로 접기 플레이트(410)가 회전되면, 연동 플레이트(430)도 세로 접기 플레이트(410)와 연동하여 회전된다.Specifically, the interlocking plate 430 is linked to the first interlocking link 440, and the first interlocking link 440 is linked to the vertical folding plate 410. Accordingly, when the vertical folding plate 410 is rotated, the interlocking plate 430 is also rotated in conjunction with the vertical folding plate 410 .
그리고, 연동 플레이트(430)는 제2 연동 링크(450)와 링크 결합되고, 제2 연동 링크(450)는 가로 접기 플레이트(420)와 링크 결합된다. 따라서, 가로 접기 플레이트(420)가 회전되면, 연동 플레이트(430)도 가로 접기 플레이트(420)와 연동하여 회전된다.Then, the interlocking plate 430 is linked to the second interlocking link 450, and the second interlocking link 450 is linked to the horizontal folding plate 420. Accordingly, when the horizontal folding plate 420 is rotated, the interlocking plate 430 is also rotated in conjunction with the horizontal folding plate 420 .
한편, 도 25에는 본 발명에 따른 의류 폴딩 머신의 제어방법에 대하여 설명하기 위한 순서도가 도시되어 있고, 도 26 내지 도 28에는 본 발명에 따른 의류 폴딩 머신의 제어방법이 적용되어 의류를 폴딩되는 과정을 설명하기 위한 도면이 도시되어 있다.Meanwhile, FIG. 25 is a flow chart for explaining a method of controlling a clothes folding machine according to the present invention, and FIGS. 26 to 28 show a process of folding clothes by applying the method of controlling a clothes folding machine according to the present invention. A drawing for explaining is shown.
도 25 내지 도 28을 참고하여, 본 발명에 따른 의류 폴딩 머신(1)이 의류를 폴딩하는 과정을 설명하면 다음과 같다.Referring to FIGS. 25 to 28 , a process of folding clothes by the clothes folding machine 1 according to the present invention will be described as follows.
본 발명에 따른 의류 폴딩 머신의 제어방법은 로딩 단계(S10), 세로 접기 단계(S20), 가로 접기 단계(S30) 및 언로딩 단계(S40)를 포함한다.The control method of the clothes folding machine according to the present invention includes a loading step (S10), a vertical folding step (S20), a horizontal folding step (S30), and an unloading step (S40).
로딩 단계(S10)에서는 의류(C)가 프레임부(100) 내부로 로딩된다. In the loading step ( S10 ), clothes (C) are loaded into the frame unit 100 .
로딩 단계(S10)는 사용자에 의하여 의류가 거치대(200) 위에 로딩되고, 프레임부(100) 내부를 향하여 넣어질 수 있다. 특히, 의류가 상의인 경우, 상의의 소매가 소매접힘부(240)에 의하여 상의의 몸통에 접히게 된다. In the loading step ( S10 ), clothes may be loaded onto the holder 200 by the user and put toward the inside of the frame unit 100 . In particular, when the clothing is a top, the sleeves of the top are folded to the body of the top by the sleeve folding portion 240 .
로딩 단계(S10)에서 의류가 거치대(200) 및 하부판(321) 위에 올려지고, 상부판(322)이 하방으로 이동하는 경우, 의류의 상부면에 밀착되고, 하부판(321)과 함께 의류를 고정할 수 있다. In the loading step (S10), when the clothes are placed on the cradle 200 and the lower plate 321 and the upper plate 322 moves downward, the clothes are adhered to the upper surface of the clothes and the clothes are fixed together with the lower plate 321. can do.
로딩 단계(S10)에서 제어부(600)는, 로딩부 바디(310)가 제1 로딩 감지 센서(341)가 배치된 위치에서 로딩부 구동 모터(331)의 작동을 시작하여 로딩부 바디(310)가 레크(334)를 따라 직선 이동하게 제어할 수 있다. 그리고, 제어부(600)는 로딩부 바디(310)가 제2 로딩 감지 센서(342)가 배치된 위치에 도달하면, 제2 로딩 감지 센서(342)로부터 신호를 수신하고, 상부판(322)을 상방으로 이동시키도록 상부판(322)에 구비된 구동모터(331) 등을 제어할 수 있다. 그리고, 제어부(500)는 로딩부 바디(310)가 제3 로딩 감지 센서(343)가 배치된 위치에 도달하면, 제3 로딩 감지 센서(343)로부터 신호를 수신하고, 폴딩부(400)의 작동을 시작할 수 있다.In the loading step (S10), the control unit 600 starts the operation of the loading unit driving motor 331 at the position where the first loading detection sensor 341 is disposed in the loading unit body 310, and the loading unit body 310 It can be controlled to move in a straight line along the leg 334. And, when the loading unit body 310 reaches the position where the second loading detection sensor 342 is disposed, the controller 600 receives a signal from the second loading detection sensor 342 and removes the top plate 322. A drive motor 331 provided on the top plate 322 may be controlled to move upward. Further, the controller 500 receives a signal from the third loading detection sensor 343 when the loading unit body 310 reaches the position where the third loading detection sensor 343 is disposed, and the folding unit 400 can start working.
따라서, 로딩 단계(S10) 후에는, 의류가 폴딩부(400) 위에 놓일 수 있다. 구체적으로, 로딩 단계(S10) 후에는, 의류가 폴딩 컨베이어(480, 490), 폴딩 플레이트(410, 420) 및 링크 플레이트(460, 470) 위에 놓일 수 있다. 예를 들어, 의류의 중앙부(예를 들어, 티셔츠의 몸통 중앙 부분)는 폴딩 컨베이어(480, 490) 위에 놓이고, 의류의 단부(예를 들어, 티셔츠의 소매 또는 옆구리 부분 또는 밑단부)는 폴딩 플레이트(410, 420) 위에 놓일 수 있다. Therefore, after the loading step ( S10 ), clothes may be placed on the folding unit 400 . Specifically, after the loading step ( S10 ), clothes may be placed on the folding conveyors 480 and 490 , the folding plates 410 and 420 , and the link plates 460 and 470 . For example, the center portion of the garment (eg, the center portion of the body of a T-shirt) is placed on the folding conveyors 480, 490, and the ends of the garment (eg, the sleeve or flank portion or hem of a T-shirt) are folded. Plates 410 and 420 may be placed thereon.
로딩 단계(S10) 후, 세로 접기 단계(S20)에서는 세로 접기 플레이트(410)를 작동시켜 의류를 세로 접기한다. 여기서 세로 접기라 함은, 의류의 진행방향을 기준으로 평행한 기준선에 의해 접혀지는 것을 의미한다. 의류의 진행방향과 평행이라 함은 의류의 진행방향선과 접힘선이 완전한 0도로 한정되는 것은 아니고, 0도 내지 30도의 오차범위를 포함한다.After the loading step (S10), in the vertical folding step (S20), the vertical folding plate 410 is operated to vertically fold the clothes. Here, vertical folding means folding by reference lines parallel to the moving direction of the clothing. Parallel to the running direction of clothing does not mean that the running direction line and the fold line of the clothing are completely 0 degrees, but includes an error range of 0 degrees to 30 degrees.
도 26를 참조하면, 세로 접기 단계(S20)에서 제어부(600)는, 폴딩 플레이트 모터(M1, M2)를 작동시켜, 폴딩 플레이트 바디(411)를 회전시킨다. 구체적으로, 폴딩 플레이트 모터(M1, M2)가 작동되면, 구동 디스크(412)가 회전되고, 구동 디스크(412)의 회전에 따라 제1 링크(413)가 원호를 그리며 회전되며, 제1 링크(413)의 이동에 따라 제2 링크(414), 제3 링크(415), 제4 링크(416)가 이동되어 세로 접기 링크 플레이트(460) 및 세로 접기 플레이트(410)의 폴딩 플레이트 바디(411)가 회전될 수 있다.Referring to FIG. 26 , in the vertical folding step ( S20 ), the controller 600 operates the folding plate motors M1 and M2 to rotate the folding plate body 411 . Specifically, when the folding plate motors M1 and M2 are operated, the driving disk 412 is rotated, and according to the rotation of the driving disk 412, the first link 413 rotates in an arc, and the first link ( 413), the second link 414, the third link 415, and the fourth link 416 are moved so that the vertical folding link plate 460 and the folding plate body 411 of the vertical folding plate 410 can be rotated.
이때, 세로 접기 링크 플레이트(460)는 지면과 수직에 가깝게 배치되고, 폴딩 플레이트 바디(411)의 적어도 일부는 세로 접기 링크 플레이트(460)를 넘어 폴딩 컨베이어(480, 490)의 연직 상방에 배치될 수 있다.At this time, the vertical folding link plate 460 is disposed close to the ground and perpendicular, and at least a portion of the folding plate body 411 is disposed vertically above the folding conveyors 480 and 490 beyond the vertical folding link plate 460. can
이와 같은 구성으로, 세로 접기 단계(S20)에서는 세로 접기 링크 플레이트(460)가 의류의 진행방향을 기준으로 평행한 기준선을 잡아 유지시킬 수 있다. With this configuration, in the vertical folding step (S20), the vertical folding link plate 460 can catch and maintain a reference line parallel to the moving direction of the clothing.
또한, 세로 접기 링크 플레이트(460)에 의하여 의류의 두께와 무관하게 세로 접기를 할 수 있다. 즉, 종래의 의류 폴딩 머신이 폴딩 플레이트를 회전시켜 의류를 접는 경우에, 스웨터와 같이 두께가 두꺼운 의류에 대해서는 폴딩 플레이트가 충분히 회전되지 못하면서 의류가 접힌 모양이 일정하지 못한 문제가 발생하였다. 이와 대비하여, 본 발명에서는 세로 접기 링크 플레이트(460)가 회전되면서 두꺼운 의류에 대해서도 기준선의 틀을 잡아 유지시키고, 폴딩 플레이트 바디(411)가 충분히 회전하여 의류의 단부를 접을 수 있다.In addition, vertical folding can be performed regardless of the thickness of clothing by the vertical folding link plate 460 . That is, when a conventional clothes folding machine rotates a folding plate to fold clothes, the folding plate is not sufficiently rotated for thick clothes such as sweaters, resulting in an inconsistent folded shape of the clothes. In contrast, in the present invention, while the vertical folding link plate 460 is rotated, the base line frame is maintained even for thick clothing, and the folding plate body 411 is sufficiently rotated to fold the end of the clothing.
한편, 세로 접기 단계(S20)에서 세로 접기 플레이트(410)가 회전되면, 제1 연동 링크(440)를 통하여 세로 접기 플레이트(410)와 연결된 연동 플레이트(430)가 세로 접기 플레이트(410)의 폴딩 플레이트 바디(411)와 함께 회전된다.On the other hand, when the vertical folding plate 410 is rotated in the vertical folding step (S20), the interlocking plate 430 connected to the vertical folding plate 410 through the first interlocking link 440 folds the vertical folding plate 410. It rotates together with the plate body 411.
이와 같은 구성으로, 세로 접기 단계(S20)에서는 세로 접기 플레이트(410)의 면적보다 확장된 면적을 회전시켜 의류를 접을 수 있는 효과가 있다. 이를 통하여 의류를 접는 면적을 확장시킬 수 있고, 크기가 큰 의류에 대해서도 접을 수 있는 효과가 있다.With this configuration, in the vertical folding step ( S20 ), it is possible to fold clothes by rotating an area larger than the area of the vertical folding plate 410 . Through this, it is possible to expand the folding area of the clothes, and there is an effect that even large-sized clothes can be folded.
한편, 세로 접기 단계(S20)에서는 한 쌍의 세로 접기 플레이트(410)를 순차적으로 회전시킬 수 있다. 예를 들어, 세로 접기 단계(S20)에서 제어부(600)는 제1 폴딩 플레이트 모터(M1)를 먼저 작동시켜 좌측에 배치된 제1 세로 접기 플레이트(410a)를 회전시킨 후(S21), 제2 폴딩 플레이트 모터(M2)를 작동시켜, 우측에 배치된 제2 세로 접기 플레이트(410b)를 회전시킬 수 있다(S22). 이와 같은 구성으로, 한 쌍의 세로 접기 플레이트(410)가 서로 충돌하는 것을 방지할 수 있다. 또한, 의류의 소매 또는 옆구리 부분을 차례로 포개어 의류를 깔끔하게 접을 수 있다.Meanwhile, in the vertical folding step (S20), the pair of vertical folding plates 410 may be sequentially rotated. For example, in the vertical folding step (S20), the controller 600 first operates the first folding plate motor M1 to rotate the first vertical folding plate 410a disposed on the left side (S21), and then rotates the second folding plate 410a. The folding plate motor M2 may be operated to rotate the second vertical folding plate 410b disposed on the right side (S22). With this configuration, it is possible to prevent the pair of vertically folded plates 410 from colliding with each other. In addition, the clothes can be neatly folded by sequentially overlapping the sleeves or side portions of the clothes.
세로 접기 단계(S20) 후, 가로 접기 단계(S30)에서는 가로 접기 플레이트(420)를 작동시켜 의류(C)를 가로 접기한다. 여기서 가로 접기라 함은, 의류의 진행방향(인입방향)을 기준으로 수직인 기준선에 의해 접혀지는 것을 의미한다. 의류의 진행방향과 수직이라 함은 의류의 진행방향선과 접힘선이 완전한 90도로 한정되는 것은 아니고, 0도 내지 30도의 오차범위를 포함한다.After the vertical folding step (S20), in the horizontal folding step (S30), the horizontal folding plate 420 is operated to horizontally fold the clothes (C). Here, horizontal folding means folding by a reference line perpendicular to the moving direction (leading direction) of the clothing. The term "perpendicular to the running direction of the clothing" means that the running direction line and the fold line of the clothing are not limited to a perfect 90 degrees, but include an error range of 0 degrees to 30 degrees.
도 27을 참조하면, 가로 접기 단계(S30)에서 제어부(500)는, 세로 접기 플레이트(410)의 폴딩 플레이트 모터(M1, M2)의 작동이 종료하면, 제3 폴딩 플레이트 모터(M3)를 작동시켜, 폴딩 플레이트 바디(421)를 회전시킨다. 구체적으로, 제3 폴딩 플레이트 모터(M3)가 작동되면, 구동 디스크(422)가 회전되고, 구동 디스크(422)의 회전에 따라 제1 링크(423)가 원호를 그리며 회전되며, 제1 링크(423)의 이동에 따라 제2 링크(424), 제3 링크(425), 제4 링크(426)가 이동되어 가로 접기 링크 플레이트(470) 및 가로 접기 플레이트(420)의 폴딩 플레이트 바디(421)가 회전될 수 있다.Referring to FIG. 27 , in the horizontal folding step (S30), when the operation of the folding plate motors M1 and M2 of the vertical folding plate 410 is terminated, the control unit 500 operates the third folding plate motor M3. to rotate the folding plate body 421. Specifically, when the third folding plate motor M3 is operated, the driving disk 422 is rotated, and according to the rotation of the driving disk 422, the first link 423 rotates in an arc, and the first link ( 423), the second link 424, the third link 425, and the fourth link 426 are moved so that the horizontal folding link plate 470 and the folding plate body 421 of the horizontal folding plate 420 can be rotated.
이때, 가로 접기 링크 플레이트(470)는 지면과 수직에 가깝게 배치되고, 폴딩 플레이트 바디(421)의 적어도 일부는 가로 접기 링크 플레이트(470)를 넘어 폴딩 컨베이어(480, 490)의 연직 상방에 배치될 수 있다.At this time, the horizontal folding link plate 470 is disposed close to the ground and vertically, and at least a portion of the folding plate body 421 is disposed vertically above the folding conveyors 480 and 490 beyond the horizontal folding link plate 470. can
이와 같은 구성으로, 가로 접기 단계(S30)에서는 가로 접기 링크 플레이트(470)가 의류의 진행방향을 기준으로 수직인 기준선을 잡아 유지시킬 수 있다. With this configuration, in the horizontal folding step (S30), the horizontal folding link plate 470 may catch and maintain a vertical reference line based on the moving direction of the clothing.
또한, 가로 접기 링크 플레이트(470)에 의하여 의류의 두께와 무관하게 가로 접기를 할 수 있다. In addition, horizontal folding can be performed regardless of the thickness of the clothing by the horizontal folding link plate 470 .
한편, 가로 접기 단계(S30)에서 가로 접기 플레이트(420)가 회전되면, 제2 연동 링크(450)를 통하여 가로 접기 플레이트(420)와 연결된 연동 플레이트(430)가 가로 접기 플레이트(420)의 폴딩 플레이트 바디(421)와 함께 회전된다.On the other hand, when the horizontal folding plate 420 is rotated in the horizontal folding step (S30), the interlocking plate 430 connected to the horizontal folding plate 420 through the second interlocking link 450 folds the horizontal folding plate 420. It rotates together with the plate body 421.
이와 같은 구성으로, 가로 접기 단계(S30)에서는 가로 접기 플레이트(420)의 면적보다 확장된 면적을 회전시켜 의류를 접을 수 있는 효과가 있다. 이를 통하여 의류를 접는 면적을 확장시킬 수 있고, 크기가 큰 의류에 대해서도 접을 수 있는 효과가 있다.With this configuration, in the horizontal folding step (S30), it is possible to fold clothes by rotating an area larger than the area of the horizontal folding plate 420. Through this, it is possible to expand the folding area of the clothes, and there is an effect that even large-sized clothes can be folded.
가로 접기 단계(S30) 후, 언로딩 단계(S40)에서는 폴딩 컨베이어(480, 490)를 작동시켜, 의류를 언로딩 공간으로 이송시키면서 접을 수 있다.After the horizontal folding step (S30), in the unloading step (S40), the folding conveyors 480 and 490 may be operated to fold the clothes while transporting them to the unloading space.
구체적으로, 가로 접기 단계(S30)가 종료된 상태에서 의류는 폴딩 컨베이어(480, 490) 위에 올려져 있다. 이때, 의류(C)의 좌우 방향의 폭과 전후 방향의 길이는 일정하게 접혀있다.Specifically, in a state where the horizontal folding step (S30) is finished, the clothes are placed on the folding conveyors 480 and 490. At this time, the width of the clothing C in the left-right direction and the length in the front-back direction are uniformly folded.
언로딩 단계(S40)에서 제어부(500)는 제1 컨베이어 모터(MC1)와 제2 컨베이어 모터(MC2)를 작동시키되, 제1 폴딩 컨베이어(480)와 제2 폴딩 컨베이어(490)의 순환(회전) 방향이 서로 반대가 되도록 작동시킨다. In the unloading step (S40), the control unit 500 operates the first conveyor motor MC1 and the second conveyor motor MC2, and the circulation (rotation) of the first folding conveyor 480 and the second folding conveyor 490 ) so that the directions are opposite to each other.
여기서, 제1 폴딩 컨베이어(480) 및 제2 폴딩 컨베이어(490)의 회전 방향은, 제1 폴딩 컨베이어(480)의 상측 면 및 제2 폴딩 컨베이어(490)의 상측 면이 서로 모이는 방향으로 회전된다. 이러한 구성으로, 언로딩 단계(S40)에서 의류(C)는 제1 폴딩 컨베이어(480)와 제2 폴딩 컨베이어(490)의 사이에 형성된 간격을 통과하여 언로딩 공간(600)으로 이송될 수 있다. 그리고, 의류(C)가 제1 폴딩 컨베이어(480)와 제2 폴딩 컨베이어(490) 사이에서 눌려져 소정 두께로 펴질 수 있다.Here, the rotation direction of the first folding conveyor 480 and the second folding conveyor 490 is rotated in a direction in which the upper surface of the first folding conveyor 480 and the upper surface of the second folding conveyor 490 converge with each other. . With this configuration, in the unloading step (S40), the clothes C can be transported to the unloading space 600 through the gap formed between the first folding conveyor 480 and the second folding conveyor 490. . Also, the clothes C may be pressed between the first folding conveyor 480 and the second folding conveyor 490 to be stretched to a predetermined thickness.
한편, 언로딩 단계(S40)에서 제어부(600)는 제1 컨베이어 이동 모터(MR1)를 작동시킬 수 있다. 또는 언로딩 단계(40)에서 제어부(500)는 제2 컨베이어 이동 모터(MR2)를 작동시킬 수 있다. 제1 컨베이어 이동 모터(MR1) 및/또는 제2 컨베이어 이동 모터(MR2)가 작동되면, 제1 폴딩 컨베이어(480) 및/또는 제2 폴딩 컨베이어(490)가 상하 방향으로 회전 이동될 수 있고, 제1 폴딩 컨베이어(480)와 제2 폴딩 컨베이어(490)의 간격을 변화시킬 수 있다. 이와 같은 구성으로, 언로딩 단계(S40)에서는 의류(C)의 두께에 따라, 제1 폴딩 컨베이어(480)와 제2 폴딩 컨베이어(490)의 간격을 변화시켜, 의류(C)를 용이하게 이송시키면서도, 의류(C)를 소정 두께로 펼 수 있는 효과가 있다(도 28 참조).Meanwhile, in the unloading step (S40), the control unit 600 may operate the first conveyor movement motor MR1. Alternatively, in the unloading step 40, the control unit 500 may operate the second conveyor movement motor MR2. When the first conveyor movement motor MR1 and/or the second conveyor movement motor MR2 are operated, the first folding conveyor 480 and/or the second folding conveyor 490 can be rotated in the vertical direction, The distance between the first folding conveyor 480 and the second folding conveyor 490 may be changed. With this configuration, in the unloading step (S40), the distance between the first folding conveyor 480 and the second folding conveyor 490 is changed according to the thickness of the clothes C, so that the clothes C are easily transported. While doing so, there is an effect of spreading the clothes C to a predetermined thickness (see FIG. 28).
이상에서는 본 발명의 바람직한 실시예에 대하여 도시하고 설명하였지만, 본 발명은 상술한 특정의 실시예에 한정되지 아니하며, 특허청구범위에서 청구하는 본 발명의 요지를 벗어남이 없이 당해 발명이 속하는 기술분야에서 통상의 지식을 가진 자에 의해 다양한 변형실시가 가능한 것은 물론이고, 이러한 변형실시들은 본 발명의 기술적 사상이나 전망으로부터 개별적으로 이해되어서는 안될 것이다.Although the preferred embodiments of the present invention have been shown and described above, the present invention is not limited to the specific embodiments described above, and in the technical field to which the present invention belongs without departing from the gist of the present invention claimed in the claims. Various modifications and implementations are possible by those skilled in the art, and these modifications should not be individually understood from the technical spirit or perspective of the present invention.

Claims (16)

  1. 외부 골격을 이루는 프레임부;a frame portion constituting an external skeleton;
    상기 프레임부에 설치되고, 의류를 거치하며, 상기 거치된 의류를 접는 폴딩부;a folding unit installed in the frame unit, holding clothes, and folding the placed clothes;
    상기 폴딩부의 전방에 배치되고, 상기 의류가 상기 폴딩부에 거치되기 전에 상기 의류를 거치하는 거치대;를 포함하고,A cradle disposed in front of the folding unit and holding the clothes before the clothes are placed on the folding unit;
    상기 거치대는,the cradle,
    상부로 볼록한 곡면을 형성하는 의류 폴딩 머신.A garment folding machine that forms an upwardly convex curved surface.
  2. 제1항에 있어서,According to claim 1,
    상기 거치대는,the cradle,
    전방에서 바라볼 때 제1곡률을 가지고,With the first curvature when viewed from the front,
    일 측방에서 바라볼 때 상기 제1곡률에 교차되는 제2곡률;을 가지는 의류 폴딩 머신.A clothes folding machine having a second curvature intersecting the first curvature when viewed from one side.
  3. 제1항에 있어서,According to claim 1,
    상기 거치대는,the cradle,
    상부에서 바라볼 때, 전단이 전방으로 볼록하게 형성되는 돌출부;를 포함하는 의류 폴딩 머신.When viewed from above, a clothing folding machine comprising: a protrusion having a front end convexly formed in a forward direction.
  4. 제1항에 있어서,According to claim 1,
    상기 거치대는,the cradle,
    상부면에 상기 의류를 거치하는 거치대 바디;a cradle body for holding the clothes on an upper surface;
    상기 거치대 바디의 일 측단에서 상방으로 연장되는 거치대 측벽;a cradle side wall extending upward from one side end of the cradle body;
    상기 거치대 측벽의 일 측에서 내측방으로 돌출하여 형성되고, 상기 의류가 상기 거치대 바디를 통과할 때 상기 의류의 일 측단을 접는 소매접힘부;를 포함하는 의류 폴딩 머신.and a sleeve folding portion protruding inward from one side of the side wall of the holder and folding one side end of the clothing when the clothing passes through the holder body.
  5. 제4항에 있어서,According to claim 4,
    상기 소매접힘부의 측면은,The side of the sleeve fold,
    상단이 하단보다 내측에 배치된 경사가 적어도 일부에 형성되는 의류 폴딩 머신.A clothing folding machine in which a warp is formed on at least a portion of the upper end of which is disposed inwardly than the lower end.
  6. 제4항에 있어서,According to claim 4,
    상기 소매접힘부는,The sleeve fold,
    상기 거치대 바디에서 상방으로 연장되는 측판;a side plate extending upward from the cradle body;
    상기 측판의 상단에서 내측방으로 연장되는 상판;을 포함하는 의류 폴딩 머신.Clothing folding machine comprising: a top plate extending inwardly from an upper end of the side plate.
  7. 제6항에 있어서,According to claim 6,
    상기 측판은,The side plate,
    후단이 전단보다 내측에 배치되는 의류 폴딩 머신.A clothing folding machine in which the rear end is placed inside the front end.
  8. 제6항에 있어서,According to claim 6,
    상기 상판은,The top plate,
    내측단이 외측단보다 하부에 배치되는 의류 폴딩 머신.A clothing folding machine in which an inner end is disposed lower than an outer end.
  9. 제6항에 있어서,According to claim 6,
    상기 소매접힘부는,The sleeve fold,
    상기 측판의 전단에 배치되고,It is disposed at the front end of the side plate,
    상기 거치대 측벽에서 내측방으로 돌출하여 형성되는 전방 가이드;를 포함하는 의류 폴딩 머신.A clothing folding machine comprising: a front guide protruding inwardly from a sidewall of the cradle.
  10. 제1항에 있어서,According to claim 1,
    상기 거치대는,the cradle,
    상부면에 상기 의류를 거치하는 거치대 바디;a cradle body for holding the clothes on an upper surface;
    상기 거치대 바디의 일 측단에서 상방으로 연장되는 거치대 측벽;a cradle side wall extending upward from one side end of the cradle body;
    상기 거치대 바디의 일 측단에서 후방으로 연장되고, 상기 의류의 일 측단을 지지하는 소매지지부;를 포함하는 의류 폴딩 머신.and a sleeve support that extends rearward from one side end of the holder body and supports one side end of the clothes.
  11. 제1항에 있어서,According to claim 1,
    상기 프레임부에 이동 가능하게 결합되고,It is movably coupled to the frame part,
    상기 의류가 상기 거치대에 거치되면, 상기 의류의 일 측을 고정하고 상기 폴딩부로 운반하는 로딩부;를 포함하는 의류 폴딩 머신.and a loading unit that fixes one side of the clothes and transports them to the folding unit when the clothes are placed on the cradle.
  12. 제11항에 있어서,According to claim 11,
    상기 로딩부는,The loading part,
    로딩부 바디;loading unit body;
    상기 로딩부 바디에 배치되고, 상기 로딩부 바디에 상기 의류를 고정하는 그리퍼;a gripper disposed on the loading unit body and fixing the clothes to the loading unit body;
    상기 로딩부 바디의 일 측에 배치되는 피니언;a pinion disposed on one side of the loading unit body;
    상기 프레임부에 배치되고, 상기 의류의 삽입 방향으로 연장되고, 상기 피니언에 연결되는 래크;를 포함하는 의류 폴딩 머신.and a rack disposed on the frame unit, extending in a direction in which the clothes are inserted, and connected to the pinion.
  13. 제11항에 있어서,According to claim 11,
    상기 그리퍼는,The gripper,
    상기 로딩부 바디에 고정 결합되고, 상기 의류의 하부면에 밀착되는 하부판;a lower plate fixedly coupled to the loading unit body and in close contact with the lower surface of the clothing;
    상기 하부판의 상부에 배치되고, 상기 로딩부 바디에 이동 가능하게 결합되고, 상기 의류의 상부면에 밀착되는 상부판;an upper plate disposed above the lower plate, movably coupled to the loading unit body, and in close contact with the upper surface of the clothing;
    일 측이 상기 하부판에 회전 가능하게 결합되고, 타 측이 상기 상부판에 회전 가능하게 결합되는 제1링크;a first link having one side rotatably coupled to the lower plate and the other side rotatably coupled to the upper plate;
    상기 제1링크에 이격되게 배치되고, 일 측이 상기 하부판에 회전 가능하게 결합되고, 타 측이 상기 상부판에 회전 가능하게 결합되는 제2링크;를 포함하는 의류 폴딩 머신.and a second link spaced apart from the first link, one side rotatably coupled to the lower plate, and the other side rotatably coupled to the upper plate.
  14. 제11항에 있어서,According to claim 11,
    상기 그리퍼는,The gripper,
    상기 로딩부 바디에 고정 결합되고, 상기 의류의 하부면에 밀착되는 하부판;a lower plate fixedly coupled to the loading unit body and in close contact with the lower surface of the clothing;
    상기 하부판의 상부에 배치되고, 상기 로딩부 바디에 이동 가능하게 결합되고, 상기 의류의 상부면에 밀착되는 상부판;an upper plate disposed above the lower plate, movably coupled to the loading unit body, and in close contact with the upper surface of the clothing;
    일 측이 상기 하부판에 결합되고, 타 측이 상기 상부판에 결합되는 제1스프링;을 포함하는 의류 폴딩 머신.and a first spring having one side coupled to the lower plate and the other side coupled to the upper plate.
  15. 제11항에 있어서,According to claim 11,
    상기 그리퍼는,The gripper,
    상기 로딩부 바디에 고정 결합되고, 상기 의류의 하부면에 밀착되는 하부판;a lower plate fixedly coupled to the loading unit body and in close contact with the lower surface of the clothing;
    상기 하부판의 상부에 배치되고, 상기 로딩부 바디에 이동 가능하게 결합되고, 상기 의류의 상부면에 밀착되는 상부판;an upper plate disposed above the lower plate, movably coupled to the loading unit body, and in close contact with the upper surface of the clothing;
    일 측이 상기 로딩부 바디에 배치되고, 타 측이 상기 상부판에 밀착되는 압박부재;를 포함하는 의류 폴딩 머신.and a pressing member having one side disposed on the loading unit body and the other side in close contact with the top plate.
  16. 제15항에 있어서,According to claim 15,
    상기 그리퍼는,The gripper,
    일 측이 상기 로딩부 바디에 결합되고, 타 측이 상기 압박부재에 결합되는 제2스프링;을 포함하는 의류 폴딩 머신.and a second spring having one side coupled to the loading unit body and the other side coupled to the pressing member.
PCT/KR2022/019861 2022-01-28 2022-12-08 Clothes folding machine WO2023146121A1 (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5934523A (en) * 1997-07-16 1999-08-10 Southland Equipment Company, Inc. Universal automatic long sleeve folding device
KR101623859B1 (en) * 2015-09-10 2016-05-26 주식회사 성광 Manufacturing portable wipes having folding device with regulation of place and width and angle
KR20210004456A (en) * 2019-07-04 2021-01-13 엘지전자 주식회사 Clothes folding robot
JP2021511083A (en) * 2017-08-30 2021-05-06 フォールディメイト インコーポレイテッド Equipment, methods and systems for folding moving clothing items
KR20210096664A (en) * 2018-12-30 2021-08-05 폴디메이트 아이엔씨. Width fold systems and methods for creating width folds in laundry

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5934523A (en) * 1997-07-16 1999-08-10 Southland Equipment Company, Inc. Universal automatic long sleeve folding device
KR101623859B1 (en) * 2015-09-10 2016-05-26 주식회사 성광 Manufacturing portable wipes having folding device with regulation of place and width and angle
JP2021511083A (en) * 2017-08-30 2021-05-06 フォールディメイト インコーポレイテッド Equipment, methods and systems for folding moving clothing items
KR20210096664A (en) * 2018-12-30 2021-08-05 폴디메이트 아이엔씨. Width fold systems and methods for creating width folds in laundry
KR20210004456A (en) * 2019-07-04 2021-01-13 엘지전자 주식회사 Clothes folding robot

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