CN111663304A - a washing machine - Google Patents

Abstract

The invention discloses an intelligent washing machine capable of realizing self-checking and automatic delivery of clothes, which comprises a washing machine body, a clothes grabbing system and a clothes recognizer, wherein the washing machine body is provided with at least one clothes putting-in opening; the clothes grabbing system is arranged on the body of the washing machine and used for throwing the grabbed clothes to the clothes throwing port; the clothes recognizer is arranged on the clothes grabbing system and used for recognizing and classifying clothes. By means of the clothes grabbing system and the clothes recognizer, the washing machine can realize automatic classification and automatic putting of clothes, and automation and intellectualization of the washing machine are improved.

Description

a washing machine

technical field

The invention belongs to the field of washing machines, and in particular relates to a washing machine.

Background technique

With the continuous development of intelligent technology, cleaning clothes is no longer the only goal pursued by washing machines, and the cleanliness of clothes is no longer the only criterion for measuring washing machines. How to make it convenient for users to clean clothes is the current development of washing machines. Popular directions.

Clothing materials currently on the market are more diverse, and clothing of different materials has different washing requirements. For example, cotton and linen clothes should not be soaked, should be washed in cold water, use neutral detergents (chlorine-containing and enzyme-containing detergents are prohibited), and the washing time should not exceed 30 minutes; silk clothes should be soaked in cold water for 5-10 minutes , keep the water temperature at 30 ℃; chemical fiber clothes cannot be used at high temperature; wool, down jackets and other clothes need to be washed with a special program; in order to meet the needs of different clothes classification and cleaning, multi-drum washing machines have appeared on the market, before washing , the user is required to manually classify the clothes, and then manually put the same type of clothes into the corresponding washing machine drum, and then select the corresponding washing program according to the type of clothes. Obviously, the degree of automation of clothes classification and delivery is relatively low.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to overcome the deficiencies of manual sorting of clothes due to different types of clothes in the prior art, and to manually put the same type of clothes, and to provide a washing machine to realize the purpose of automatically sorting and putting clothes.

In order to solve the above-mentioned problems, the basic idea that the present invention adopts the technical scheme is:

The invention provides a washing machine, comprising: a washing machine body, at least one clothes throwing port is arranged on the washing machine body; further comprising: a clothes grabbing system and a clothes identifier;

The clothes grabbing system is arranged on the washing machine body, and is used for putting the grabbed clothes into the clothes feeding port;

The clothes identifier is arranged on the clothes grabbing system, and is used for identifying and classifying the clothes.

Further, the clothing grabbing system includes a robotic arm assembly and a grabbing mechanism;

The head end of the mechanical arm assembly is rotatably connected with the washing machine body;

The grasping mechanism is located at the terminal of the robotic arm assembly;

The clothing identifier is arranged on the mechanical arm assembly or the grasping mechanism.

Further, the clothing identifier is an infrared scanner for identifying clothing materials, and the infrared scanner has an infrared probe;

The infrared scanner is set at the terminal of the robotic arm assembly, and its infrared probe is set towards the grasping mechanism;

The robotic arm assembly drives the infrared scanner and the grasping mechanism to move synchronously.

Further, the front side of the washing machine body is provided with a clothes feeding port, and the left or right side of the washing machine body is hung with a mechanical arm assembly;

The mechanical arm assembly drives the grabbing mechanism and the infrared scanner to rotate from the left or right side of the washing machine body to the clothes delivery port on the front side of the washing machine body.

Further, the robotic arm assembly includes a first vertical arm, a lateral arm and a second vertical arm connected in sequence;

The head end of the first vertical arm is rotatably connected with the washing machine body;

Rotational connection between two adjacent arms;

The terminal end of the second vertical arm is provided with a grabbing mechanism; the end of the second vertical arm close to the horizontal arm is provided with an infrared scanner.

Further, the side of the second vertical arm facing the washing machine body is provided with a mounting seat;

The mounting seat is vertically arranged with the second vertical arm;

The infrared scanner is located on the bottom of the mount.

Further, the grasping mechanism is arranged on the bottom surface of the second vertical arm terminal;

The grasping mechanism includes a plurality of grasping units spaced along the length direction of the bottom surface of the second vertical arm;

Each gripping unit includes two oppositely arranged gripping hands, and an adjustable gripping opening is formed between the two gripping hands.

Further, the head end of the first vertical arm is rotatably connected with the washing machine body through the base; the base is provided with mounting parts arranged along the vertical direction;

The base between the two installation parts is provided with a rotating shaft facing away from the installation parts;

The rotating shaft is perpendicular to the base; the head end of the first vertical arm is rotatably connected with the rotating shaft.

Further, the outside of the washing machine body is provided with a clothes storage basket;

The clothes storage basket is located at the bottom of the washing machine body;

Part of the robotic arm assembly and the grabbing mechanism extend into the clothes storage basket.

Further, the washing machine body is provided with two clothes feeding ports, the two clothes feeding ports are arranged up and down, and the two clothes feeding ports share the same clothes grabbing system.

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

The infrared scanner and the grasping mechanism are driven to move synchronously by the mechanical arm assembly, which realizes the automatic sorting and placing of clothes, and improves the automation and intelligence of the washing machine.

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

Description of drawings

The accompanying drawings, as a part of the present invention, are used to provide further understanding of the present invention, and the exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but do not constitute an improper limitation of the present invention. Obviously, the drawings in the following description are only some embodiments, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

1 is a schematic diagram of a washing machine provided by an embodiment of the present invention when a clothes grabbing system grabs clothes;

FIG. 2 is a schematic diagram of a washing machine provided by an embodiment of the present invention when the clothes grabbing system drops clothes through the first clothes drop port;

3 is a schematic diagram of the washing machine provided by the embodiment of the present invention when the clothes grabbing system puts clothes through the second clothes drop port;

4 is a schematic structural diagram of a second vertical arm in a washing machine provided by an embodiment of the present invention;

5 is a schematic structural diagram of a base in a washing machine provided by an embodiment of the present invention.

In the figure: 1-washing machine body; 11-shell; 12-clothing opening; 121-first clothing opening; 122-second clothing opening; 13-first door; 14-second door; 2- Clothes grabbing system; 21-robot arm assembly; 211-first vertical arm; 212-transverse arm; 213-second vertical arm; 214-mounting seat; 22-grabbing mechanism; 31-infrared scanner; 4-base; 41-installation part; 42-rotating shaft; 5-clothing storage basket.

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

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and the following embodiments are used to illustrate the present invention , but are not intended to limit the scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation or a specific orientation. construction and operation, and therefore should not be construed as limiting the invention.

In the description of the present invention, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense, unless otherwise expressly specified and limited, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; it can be mechanical connection or electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations.

Example

As shown in FIG. 1 , FIG. 2 and FIG. 3 , the present invention provides a washing machine, comprising: a washing machine body 1 , which is provided with at least one clothing injection port 12 ; and also includes: a clothing grabbing system 2 and a clothing identifier 3;

The clothes grabbing system 2 is arranged on the washing machine body 1, and is used for grabbing the clothes and putting them into the clothes feeding port 12;

The clothes identifier 3 is arranged on the clothes grabbing system 2 and is used for identifying and classifying the clothes.

In the embodiment of the present invention, the washing machine body 1 is provided with a clothes grabbing system 2, and the clothes grabbing system 2 transfers the grabbing of the clothes to the clothes drop port 12 of the washing machine body 1, and puts the clothes into the washing machine through the clothes drop port 12; The clothing grasping system 2 is provided with a clothing identifier 3, which is used to identify the type of clothing, and the types of clothing can be classified according to clothing material, clothing color, etc. The clothing grasping system 2 grasps clothing, and the clothing identify 3. Identify the clothing, identify which type of clothing the clothing belongs to, and the clothing grabbing system 2 automatically puts the same type of clothing into the corresponding clothing input port 12. With the help of the clothing grabbing system and the clothing identifier, the washing machine of the present invention It can realize the automatic classification and automatic delivery of clothes, and improve the automation and intelligence of the washing machine.

Specifically, the washing machine body 1 includes a casing 11 and at least two drums disposed in the casing 11. The casing 11 is provided with at least two clothing inlets 12 corresponding to the drums. The clothing grabbing system 2 grabs the clothing. The clothing identifier 3. Identify the clothing, identify which type of clothing the clothing belongs to, grab and transfer the clothing to the clothing inlet 12, and then perform the next identification, if the clothing identified this time and the clothing identified last time belong to the same category of clothing , the clothes grabbing system 2 transfers the clothes to the clothes drop port 12. If the clothes identified this time and the clothes identified last time do not belong to the same type of clothes, the clothes capture system 2 transfers the clothes to another clothes drop. It should be noted that the washing machine body 1 is provided with a plurality of clothing injection openings 12, and the number of the clothing injection openings 12 provided on the washing machine body 1 may be two, three or four, etc. The number of clothes feeding ports 12 is selected according to the volume, and multiple clothes feeding ports 12 are provided on the washing machine body 1, which can realize synchronous washing of different types of clothes; It is generally more common that the two clothes feeding ports 12 on the double-tub washing machine are arranged up and down or left and right.

Alternatively, the washing machine body 1 includes a casing 11 and a drum disposed in the casing 11. The casing 11 is provided with a clothing injection port 12. If the clothing identified this time and the clothing identified last time do not belong to the same type of clothing, the clothing grabs The system 2 does not grab the laundry.

When the number of dirty clothes reaches a certain amount, or the user wants to wash the clothes, the washing machine can be started to wash the clothes. There are two ways to start the washing machine: one is to manually activate the power button on the washing machine of the present invention and the related The washing program key; the other is that if the user is not at home, the user can start the washing machine of the present invention through the APP installed on the mobile phone; after the washing program ends, the washing machine emits specific music to remind the user to take clothes or the user through the mobile phone APP. Remind users to take clothes.

The washing machine of the present invention is exemplified by a drum washing machine, but the washing machine of the present invention is also applicable to a pulsator washing machine.

As shown in FIG. 1 , in the embodiment of the present invention, the clothing grabbing system 2 includes a robotic arm assembly 21 and a grabbing mechanism 22 ;

The head end of the mechanical arm assembly 21 is rotatably connected with the washing machine body 1;

The grasping mechanism 22 is arranged at the terminal end of the robotic arm assembly 21;

The clothing identifier 3 is arranged on the robotic arm assembly 21 or the grabbing mechanism 22 .

In the embodiment of the present invention, taking a double-drum washing machine as an example, the double-drum washing machine includes a housing 11, a first drum and a second drum disposed in the housing 11, and the capacity of the second drum is set to be greater than the capacity of the second drum, and the outer shell 11 is provided with a first clothes feeding port 121 corresponding to the first drum, and a second clothes feeding port 122 corresponding to the second drum. The first clothes feeding port 121 and the second clothes feeding port 122 share the same clothes grab. System 2.

The robotic arm assembly 21 and the grasping mechanism 22 are both controlled by a computer board disposed on the robotic arm assembly 21, and the computer board controls the rotation of the robotic arm assembly 21, and controls the grasping mechanism 22 to grab clothes or put clothes; It is connected with the computer board, and the computer board is connected with the control board possessed by the washing machine.

Taking the clothing identifier 3 to identify the material of the clothing as an example, specifically, after the power is turned on, the clothing grasping system 2 starts to work, the computer board controls the grasping mechanism 22 to grasp the clothing, and the grasping mechanism 22 or the clothing on the mechanical arm assembly 21 The identifier 3 identifies the material of the clothing, and identifies which material the clothing belongs to. The clothing identifier 3 transmits the material information of the clothing to the computer board, and the computer board controls the robotic arm assembly 21 to select the appropriate material according to the material of the clothing. For example, for woolen, cashmere, wool, etc., which are usually heavier and larger, the computer board controls the robotic arm assembly 21 to select the second clothes feeding port 122, and the clothes are put into the second clothes feeding port 122 through the second clothes feeding port 122. In the second drum, for silks, etc., which are usually lighter and smaller, the computer board controls the robotic arm assembly 21 to select the first clothes feeding port 121, and the clothes are placed into the first drum through the first clothes feeding port 121. After the clothes are put in, the computer board transmits the material information of the clothes and the information of the selected drop port to the control board, and the control board configures the first drum and the second drum with appropriate washing programs and an appropriate amount of detergent according to the above information.

Among them, the computer board is wired or wirelessly connected to the control board. If the computer board is wirelessly connected to the control board, the computer board is integrated with a wireless transmitter module, the control board is integrated with a wireless receiver module, and the computer board is connected to the wireless transmitter module. The receiving module is connected with the control board, the wireless transmitting module is wirelessly connected with the wireless receiving module, and the above-mentioned wireless connection mode can be one of wireless wifi and bluetooth.

As shown in FIG. 1 , FIG. 2 , FIG. 3 and FIG. 4 , in the embodiment of the present invention, the clothing identifier 3 is an infrared scanner 31 for identifying clothing materials, and the infrared scanner 31 has an infrared probe;

The infrared scanner 31 is arranged at the terminal of the robotic arm assembly 21, and its infrared probe is arranged toward the grasping mechanism 22;

The robotic arm assembly 21 drives the infrared scanner 31 and the grasping mechanism 22 to move synchronously.

In the embodiment of the present invention, the infrared scanner 31 can detect and identify the material, color, etc. of the clothing; the infrared scanner 31 and the grasping mechanism 22 are both disposed at the terminal of the robotic arm assembly 21, because the grasping mechanism 22 needs to grasp the clothing Only by facing the clothes can the clothes be caught. Therefore, only setting the probe of the infrared scanner 31 toward the grabbing mechanism 22 can ensure that the probe of the infrared scanner 31 faces the clothes when detecting, so as to realize the detection and identification of the clothes;

The infrared scanner 31 and the grasping mechanism 22 are relatively stationary, and only rotate with the rotation of the robotic arm assembly 21 to ensure that the probe of the infrared scanner 31 can always be aimed at the clothes when detecting and identifying; wherein, the infrared scanner 31 is a X-Spect scanners from Bosch Home Appliances.

As shown in FIG. 1 , in the embodiment of the present invention, the front side of the washing machine body 1 is provided with a clothes drop port 12 , and the left or right side of the washing machine body 1 is hung with a mechanical arm assembly 21 ;

The robotic arm assembly 21 drives the grabbing mechanism 22 and the infrared scanner 31 to rotate from the left or right side of the washing machine body 1 to the clothes drop port 12 on the front side of the washing machine body 1 .

In the embodiment of the present invention, the robotic arm assembly 21 is integrally suspended on the left or right side of the casing 11 of the washing machine body 1, the head end of the robotic arm assembly 21 is rotatably connected to the casing 11, and its terminal is the free end. The board controls the robotic arm assembly 21 to drive the grasping mechanism 22 to always rotate on the left or right side of the washing machine body 1, so that the grasping port of the grasping mechanism 22 is aligned with the clothes, and the computer board controls the grasping port of the grasping mechanism 22 to open and grasp After the mechanism 22 comes into contact with the clothes, the computer board controls the grasping opening of the grasping mechanism 22 to close, and the grasping mechanism 22 realizes the grasping of the clothes; The left or right side is rotated to the clothes feeding port 12 on the front side of the washing machine body 1 , the rotation is realized during the rotation, and then the clothes are fed into the drum through the clothes feeding port 12 .

As shown in FIG. 1 and FIG. 4 , in the embodiment of the present invention, the robotic arm assembly 21 includes a first vertical arm 211 , a lateral arm 212 and a second vertical arm 213 connected in sequence;

The head end of the first vertical arm 211 is rotatably connected with the washing machine body 1;

Rotational connection between two adjacent arms;

The terminal end of the second vertical arm 213 is provided with a grabbing mechanism 22 ; the end of the second vertical arm 213 close to the horizontal arm 212 is provided with an infrared scanner 31 .

In the embodiment of the present invention, the robotic arm assembly 21 includes a first vertical arm 211, a lateral arm 212 and a second vertical arm 213, which are connected by rotation between two adjacent arms and between the arms and adjacent components. Realize the robotic arm assembly 21 to grab and put clothes; for example, when the housing 11 is provided with a first drum and a second drum, the heights between the first drum and the second drum are different, so the robotic arm assembly 21 can pass When the clothes are put into the drum by rotation, the clothes can also be put into the first drum and the second drum at different heights through different degrees of rotation; when the robot arm assembly 21 puts clothes into the first drum, the robot arm assembly The degree of upward rotation of the robot arm assembly 21 is relatively large, and when the robot arm assembly 21 puts clothes on the second drum, the degree of upward swing of the robot arm assembly 21 is small;

The grasping mechanism 22 is arranged at the terminal end of the second vertical arm 213, the infrared scanner 31 is arranged at one end of the second vertical arm 213 close to the horizontal arm 212, and the grasping mechanism 22 and the infrared scanner 31 are located at the end of the second vertical arm 213. The top and bottom are arranged in sequence, so that the probe of the infrared scanner 31 is set toward the grasping mechanism 22 , so that the probe of the infrared scanner 31 can detect the clothes grasped by the grasping mechanism 22 .

Further, as shown in FIG. 1 and FIG. 4 , the side of the second vertical arm 213 facing the washing machine body 1 is provided with a mounting seat 214 , the mounting seat 214 is vertically arranged with the second vertical arm 213 , and the infrared scanner 31 is arranged on the mounting seat 214 . At the bottom of the seat 214 , the infrared scanner 31 is fixed on the second vertical arm 213 through the mounting seat 214 , and the mounting seat 214 is used to stabilize the infrared scanner 31 .

As shown in FIG. 1 and FIG. 4 , in the embodiment of the present invention, the grasping mechanism 22 is arranged on the bottom surface of the terminal end of the second vertical arm 213 ;

The grasping mechanism 22 includes a plurality of grasping units spaced along the length direction of the bottom surface of the second vertical arm 213;

Each grasping unit includes two oppositely arranged gripping hands 221 , and an adjustable gripping opening is formed between the two gripping hands 221 .

In the embodiment of the present invention, the grasping mechanism 22 is arranged on the bottom surface of the terminal end of the second vertical arm 213, that is, the grasping opening of the grasping mechanism 22 is located on the bottom surface of the terminal end of the second vertical arm 213; because the clothes are generally placed on the ground In the dirty clothes storage box on the upper side, the gripping opening is located on the bottom surface of the terminal end of the second vertical arm 213, so that the gripping mechanism 22 can quickly and unobstructedly contact the clothes when grasping, and can directly put the clothes into the washing machine when throwing. , to avoid the inability to put the clothes into the washing machine accurately due to the inclination of the clothes.

The grabbing mechanism 22 includes a plurality of grabbing units, and the plurality of grabbing units increase the grabbing force for the clothes to ensure that the clothes do not fall off the second vertical arm 213 when grabbing the clothes and transferring the clothes. In this embodiment , the grasping mechanism 22 includes three grasping units, which can ensure that the clothing can be easily put into the washing machine while ensuring a greater grasping force for the clothes.

Several groups of grabbing units are arranged at intervals to reduce the grabbing area in contact with the clothes, avoid damage to the clothes due to excessive grabbing of the clothes, and facilitate the clothes to fall off the second vertical arm 213 when throwing .

The gripper 221 is connected with the computer board, and the computer board controls all the grippers 221 to move synchronously, and a gripping opening is formed between the two gripping hands 221. When the two gripping hands 221 move in the same direction, the gripping opening decreases and the gripping hands 221 are closed. Grab the clothes; when the two grippers 221 move in opposite directions, the gripping openings are enlarged, the grippers 221 are opened, and the clothes are dropped from the second vertical arm 213 to realize the delivery of clothes.

As shown in FIG. 1 and FIG. 5 , in the embodiment of the present invention, the head end of the first vertical arm 211 is rotatably connected to the washing machine body through the base 4; the base 4 is strip-shaped and arranged vertically;

The base 4 is provided with mounting portions 41 arranged in the vertical direction;

The base 4 between the two mounting parts 41 is provided with a rotating shaft 42 which is arranged away from the mounting parts 41;

The rotating shaft 42 is perpendicular to the base 4 ; the head end of the first vertical arm 211 is rotatably connected to the rotating shaft 42 .

In the embodiment of the present invention, the head end of the first vertical arm 211 is disposed on the casing 11 through the base 4 , the computer board can be disposed on the base 4 , the base 4 is in the shape of a bar, and the base 4 is provided with a fixed to the casing 11 . The two mounting parts 41 increase the mounting strength between the base 4 and the housing 11 on the basis of reducing the connection area with the housing 11 and reducing stress concentration.

The installation method between the mounting portion 41 and the housing 11 is as follows: the mounting portion 41 is screwed with the housing 11, or the mounting portion 41 is connected with the housing 11 by suction, so as to realize the detachment between the first vertical arm 211 and the housing 11, which is convenient for Removal and installation of the first vertical arm 211 .

The base 4 is provided with a rotating shaft 42 , the head end of the first vertical arm 211 is rotatably connected with the rotating shaft 42 , the rotating shaft 42 is arranged between the two mounting parts 41 , and the rotating shaft 42 is between the two mounting parts 41 The distance between the two mounting parts 41 is equal, so that the two mounting parts 41 bear the same amount of force, so as to prevent the mounting parts 41 from shaking.

As shown in FIG. 1 , FIG. 2 and FIG. 3 , in the embodiment of the present invention, the outside of the washing machine body 1 is further provided with a clothes storage basket 5 , and the clothes storage basket 5 is located at the bottom of the washing machine body 1 , part of the robotic arm assembly 21 , and The grabbing mechanism 22 extends into the clothes storage basket 5 .

In the embodiment of the present invention, the clothes storage basket 5 is used for storing dirty clothes to be washed, and the grabbing mechanism 22 will select the dirty clothes in the clothes storage basket 5 . When the number of clothes is exceeded, the grabbing mechanism 22 will temporarily store the excess clothes in the clothes storage basket 5. Preferably, several more clothes storage baskets 5 can be added to sort the excess clothes and temporarily store the clothes of the same type. It is stored in the corresponding clothes storage basket 5, which is convenient for the subsequent throwing of clothes;

The clothes storage basket 5 can be independent of the main body of the washing machine or integrated with the main body of the washing machine, mainly to realize the function of storing dirty clothes; the positions of the clothes storage basket 5 and the clothes grabbing system 2 can also be adjusted according to actual needs, not limited to shown in the attached drawing.

As shown in FIG. 1 , FIG. 2 and FIG. 3 , in the embodiment of the present invention, the outer shell 11 of the washing machine body 1 is provided with a first drum and a second drum, and the first drum and the second drum are arranged up and down. The side is provided with a first clothes feeding port 121 and a second clothes feeding port 122 , the casing 11 is provided with a first door 13 hinged to the housing at the first clothes feeding port 121 and a shell 13 at the second clothes feeding port 122 The second door body 14 is hinged, and the mechanical arm assembly 21 is arranged on the left or right side of the housing 11; 21 The control panel of the washing machine controls the opening of the first door 13 or the second door 14 when it is close to the first door 13 or the second door 14;

The control panel of the washing machine controls the way in which the first door 13 or the second door 14 is opened: the first door 13 and the second door 14 are connected to the housing 11 through an electromagnetic door lock. When the computer board transmits the clothing material information to the control panel The control board controls the corresponding door body to open; or, the first door body 13 and the second door body 14 are connected to the housing 11 through an electromagnetic door lock, and an infrared sensor is provided on the robot arm assembly 21, and the infrared sensor is not attached to the attachment. As shown in the figure; when the robotic arm assembly 21 is within a set distance from the first door body 13 or the second door body 14, the infrared sensor transmits the distance information to the control panel, and the control panel controls the corresponding door body to open; in addition , the first roller and the second roller can also be horizontally arranged in the casing.

The above descriptions are only preferred embodiments of the present invention, and do not limit the present invention in any form. Although the present invention has been disclosed above with preferred embodiments, it is not intended to limit the present invention. Anyone familiar with the technology of this patent Within the scope of the technical solution of the present invention, personnel can make some changes or modifications to equivalent examples of equivalent changes by using the above-mentioned technical content, but any content that does not depart from the technical solution of the present invention is based on the technical solution of the present invention. Substantially any simple modifications, equivalent changes and modifications made to the above embodiments still fall within the scope of the solutions of the present invention.

Claims (10)

1. A washing machine comprising: the washing machine comprises a washing machine body, wherein at least one clothes throwing port is formed in the washing machine body;

it is characterized in that the preparation method is characterized in that,

the clothes grabbing system comprises a clothes grabbing system and a clothes recognizer;

the clothes grabbing system is arranged on the washing machine body and used for throwing the grabbed clothes to the clothes throwing port;

the clothes recognizer is arranged on the clothes grabbing system and used for recognizing and classifying clothes.

2. A washing machine as claimed in claim 1 wherein the clothes gripping system comprises a robot arm assembly and a gripping mechanism;

the head end of the mechanical arm component is rotationally connected with the washing machine body;

the grabbing mechanism is arranged at the terminal of the mechanical arm component;

the clothes recognizer is arranged on the mechanical arm assembly or the grabbing mechanism.

3. The washing machine as claimed in claim 2, wherein the laundry recognizer is an infrared scanner recognizing a material of the laundry, the infrared scanner having an infrared probe;

the infrared scanner is arranged at the terminal of the mechanical arm component, and an infrared probe of the infrared scanner faces the grabbing mechanism;

the mechanical arm component drives the infrared scanner and the grabbing mechanism to move synchronously.

4. The washing machine as claimed in claim 3, wherein a laundry input port is provided at the front side of the washing machine body, and a robot arm assembly is suspended at the left or right side of the washing machine body;

the mechanical arm assembly drives the grabbing mechanism and the infrared scanner to rotate from the left side or the right side of the washing machine body to the clothes throwing-in opening in the front side of the washing machine body.

5. The washing machine as claimed in claim 4, wherein the robot arm assembly comprises a first vertical arm, a transverse arm and a second vertical arm connected in sequence;

the head end of the first vertical arm is rotationally connected with the washing machine body;

two adjacent arms are rotatably connected;

a grabbing mechanism is arranged at the terminal of the second vertical arm; an infrared scanner is arranged at one end of the second vertical arm close to the transverse arm.

6. The washing machine as claimed in claim 5, wherein the side of the second vertical arm facing the washing machine body is provided with a mounting seat;

the mounting seat is perpendicular to the second vertical arm;

the infrared scanner is arranged at the bottom of the mounting seat.

7. The washing machine as claimed in claim 5 or 6, wherein the grasping mechanism is provided at a bottom surface of the second vertical arm terminal;

the grabbing mechanism comprises a plurality of grabbing units which are arranged at intervals along the length direction of the bottom surface of the second vertical arm;

each grabbing unit comprises two opposite-arranged grabbing hands, and an adjustable grabbing opening is formed between the two grabbing hands.

8. The washing machine as claimed in claim 5 or 6, wherein the head end of the first vertical arm is rotatably connected with the washing machine body through the base; the base is provided with installation parts which are arranged along the vertical direction;

a rotating shaft back to the mounting part is arranged on the base between the two mounting parts;

the rotating shaft is vertical to the base; the head end of the first vertical arm is rotatably connected with the rotating shaft.

9. A washing machine as claimed in any one of claims 1 to 6, wherein a laundry receiving basket is provided outside the washing machine body;

the clothes receiving basket is positioned at the bottom of the washing machine body;

part manipulator arm subassembly and snatch the mechanism and stretch into in the clothing accomodates the basket.

10. A washing machine as claimed in any one of claims 1 to 6 wherein the washing machine body is provided with two clothes inlets, the two clothes inlets being disposed one above the other, the two clothes inlets sharing the same clothes gripping system.

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