WO2019242548A1 - 衣架、叠衣机及叠衣机的控制方法 - Google Patents

衣架、叠衣机及叠衣机的控制方法 Download PDF

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Publication number
WO2019242548A1
WO2019242548A1 PCT/CN2019/090900 CN2019090900W WO2019242548A1 WO 2019242548 A1 WO2019242548 A1 WO 2019242548A1 CN 2019090900 W CN2019090900 W CN 2019090900W WO 2019242548 A1 WO2019242548 A1 WO 2019242548A1
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WIPO (PCT)
Prior art keywords
hanger
clothes
support arm
stacker
limiting
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2019/090900
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English (en)
French (fr)
Inventor
赵志强
吕佩师
许升
劳春峰
郝世龙
李冬
刘凯
吴迪
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Qingdao Haier Smart Technology R&D Co Ltd
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Qingdao Haier Smart Technology R&D Co Ltd
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Filing date
Publication date
Application filed by Qingdao Haier Smart Technology R&D Co Ltd filed Critical Qingdao Haier Smart Technology R&D Co Ltd
Publication of WO2019242548A1 publication Critical patent/WO2019242548A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F89/00—Apparatus for folding textile articles with or without stapling
    • D06F89/02—Apparatus for folding textile articles with or without stapling of textile articles to be worn, e.g. shirts

Definitions

  • the invention belongs to the field of household appliances, and in particular, relates to a clothes rack, a clothes stacker and a method for controlling the same.
  • the technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a hanger, a clothes stacker and a control method of the clothes stacker.
  • a clothes hanger includes a main body and two clothes supporting arms.
  • the clothes supporting arm is rotatably disposed on the main body.
  • the clothes hanger further includes a limiting member and a pressing member.
  • a corresponding space is provided between the limiting member and the clothes supporting arm.
  • the limiting structure enables the clothes supporting arm to be opened, and the pressing member can move the limiting member to cancel the restriction on the clothes supporting arm and close the clothes supporting arm.
  • the limiter includes two limit posts corresponding to two support arms, the limit post is provided with a first limit structure, and the support arm is provided with a second match with the first limit structure.
  • a limiting structure, the limiting column can move between positions where the first limiting structure is in contact with and away from the second limiting structure.
  • the first limiting structure is a limiting protrusion
  • the second limiting structure is a limiting groove
  • the limiting column is provided with the limiting protrusion on a side close to the clothes support arm
  • the clothes support The arm is provided with the limit groove
  • the limit protrusion stops in the limit groove so that the clothes support arm is in an open state.
  • the limit post can produce a recoverable deformation so that the limit protrusion of the limit post can be automatically restored to a position corresponding to the limit groove of the support arm.
  • the limit post is vertically arranged, and One end of the limiting post is fixedly connected to the inner wall of the main body, and the other end can move in a horizontal direction.
  • the pressing member includes a pressing portion provided outside the main body and two wing portions provided inside the main body and respectively abutting the limit post, and the wing portions are provided at a certain angle with the horizontal direction, so that the fin portion moves up and down,
  • the driving limit post has a horizontal displacement.
  • the fin has an inclined surface, and the limit post and the abutment end of the fin inclined surface have an angle corresponding to the fin inclined surface, so that the limit post can move along the inclined surface; preferably, the pressing member is disposed at The lower part of the limit piece applies a force to the lower end of the limit post.
  • the pressing member further includes a returning device.
  • the returning device includes an elastic member. One end of the elastic member stops against an end of the pressing member located inside the main body, and the other end of the elastic member stops against a structure fixed to the main body.
  • the main body is provided with a third limiting structure for limiting the rotation angle of the clothes supporting arm.
  • the third limiting structure limits the clothes supporting arm to the clothes supporting arm being opened to the horizontal and folded to the clothes supporting arm vertically. Between positions.
  • a clothes stacker includes a clothes hanger as described above, the clothes stacker is provided with a touch mechanism, and the touch mechanism is provided at a position corresponding to the pressing member.
  • a method for controlling a clothes stacker as described above When clothes are hung on a hanger, the clothes stacker conveys the clothes to a touch mechanism, and the touch mechanism and the pressing member stop to release the clothes support arm and the clothes of the clothes rack. The arms are folded down and the clothes stacker removes the laundry.
  • a clothes hanger includes a main body and a clothes support arm provided on the main body, and the clothes support arm is provided with a matching portion for matching with a clamping mechanism capable of holding clothes.
  • the mating part of the clothes support arm is an avoidance area.
  • the clothes are covered after the clothes avoidance area and are suspended.
  • the overhead part of the clothes held by the clamping mechanism does not contact the clothes support arm.
  • the two clothes support arms are symmetrically provided with the escape area.
  • the positions of the avoidance areas correspond to the positions of the two clamping portions of the clamping mechanism.
  • the clothes-supporting arm forms an avoidance zone that matches the shape of the clamping mechanism through multiple bendings; preferably, the clothes-supporting arm bends downwards in the open state-horizontal bending-upward bending-horizontal bending to form an avoidance Further preferably, each bend has an arc-shaped transition region.
  • the avoidance zone of the clothes supporting arm is a sinking groove provided on the clothes supporting arm and having an upper opening, and the sinking groove penetrates the front and rear surfaces of the clothes supporting arm for avoiding the clamping mechanism; preferably, the sinking The groove has a cross section that matches the shape of the clamping mechanism.
  • the mating part of the clothes support arm is a slip-off structure, and the slip-off structure can hold the clothes support arm and the clothes simultaneously when the gripping mechanism is closed, and can relatively slide with the clothes support arm when the gripping mechanism is closed, so that the clothes support arm and The clamping mechanism is disengaged.
  • the slip-off structure is composed of an inclined surface.
  • the clamping part of the clamping mechanism includes a first clamping arm and a second clamping arm.
  • the slip-off structure includes a first inclined surface corresponding to the first clamping arm and a second clamping arm. In the second inclined surface, when the clamping portion is closed, the two clamping arms can slip off from the inclined surface; preferably, the friction coefficient at the inclined surface is smaller than the friction coefficient of the contact portion between the clamping arm and the clothing.
  • the clothes support arm is rotatably provided on the main body, a folding switch is provided at the bottom of the body to control the rotation of the clothes support arm, and a limit piece and a clothes support arm are arranged inside the body to limit the clothes support arm.
  • a transmission member is also provided. The transmission member can transmit the control force received by the folding switch to the limiter to cancel the limit of the support arm by the limiter.
  • the limiting member includes two limiting poles with elasticity, the limiting pole is provided with a limiting protrusion near the clothes support arm, and the transmission member includes two fins that respectively abut against the free ends of the limiting pole, The up and down movement of the transmission member can drive the horizontal movement control limit protrusion of the limit post to limit the support arm.
  • a clothes stacker includes a hanger and a hanger conveying mechanism.
  • the hanger conveying mechanism is provided on the upper part of the hanger.
  • the hanger conveying mechanism is provided with a robot arm. Place the hanger and move it.
  • the hanger bar includes a first hanger bar, and the first hanger bar is used to hang a hanger with clothes, and is used to transport the hanger to a position where the hanger is separated from the clothes.
  • the hanger rod further includes a second hanger rod, the second hanger rod is used to suspend the hanger separated from the clothes, and the hanger conveying mechanism can also convey the hanger to the second hanger rod; preferably, the hanger rod.
  • the first hanging rod and the second hanging rod are arranged in parallel, and are suspended at one end of the hanger and the clothing.
  • the hanger conveying mechanism includes an X-direction moving mechanism and a Y-direction moving mechanism.
  • the X-direction moving mechanism drives the Y-direction moving structure to move horizontally in the direction of the hanging rod, and the Y-direction moving mechanism drives the manipulator to move horizontally in the direction of the vertical hanging rod.
  • the X-direction moving mechanism includes a first moving member, the Y-direction moving mechanism is provided on the first moving member, and the Y-direction moving mechanism includes a second moving member, and the second moving member is provided with a robot arm.
  • the X-direction moving mechanism further includes a first transmission belt and a first guide rail.
  • the first moving part is limited to move on the first guide rail and moves along the first guide rail, and is fixedly connected to the first transmission belt.
  • the Y-direction moving mechanism further includes The second transmission belt and the second guide rail, the second moving part is limited to move on the second guide rail and moves along the second guide rail, and is fixedly connected with the second transmission belt.
  • the clothes stacking machine further includes a hanger.
  • the hanger includes a main body, a hanging part provided on the upper part of the main body, and a foldable clothes support arm provided on the main body.
  • the manipulator grips the hanging part of the hanger for movement.
  • a folding switch is provided at the bottom of the main body, and the folding switch is used to control the stretching and folding of the clothes supporting arm.
  • the clothes stacking machine further includes a touch mechanism, the hanger has a folding switch, the touch mechanism is aligned with the first hanging rod in the X direction, and the robot hand can enable the folding switch when gripping the clothes hanger with clothes Contact with the touch mechanism.
  • the touch mechanism can be moved up and down to press the folding switch of the hanger, or the touch mechanism is a fixed structure, and the manipulator can be moved up and down to drive the folding switch of the hanger to move up and down at the touch mechanism.
  • the folding switch or the touch mechanism has an inclined surface. When the hanger moves horizontally, the touch mechanism has a longitudinal opposing force on the hanger.
  • a method for controlling a clothes stacker includes a collapsible clothes hanger.
  • the clothes stacker is provided with a movable and openable and closable manipulator.
  • the clothes stacker is also provided with a touch mechanism for moving the clothes stacker.
  • the hanger is folded, and the stacker can obtain the position of the hanger.
  • the control method includes: the robot moves the hanger to the top of the hanger according to the position of the hanger, grabs the hanger, and moves the hanger to the touch mechanism to fold the hanger.
  • the manipulator is controlled by a moving mechanism and an opening and closing mechanism.
  • the clothes stacker includes a hanging rod for hanging a hanger.
  • the control method includes a moving mechanism to control the manipulator to move in a horizontal direction.
  • the opening and closing mechanism controls the manipulator to grab at the hanging rod. Release the hanger.
  • the hanging rod includes at least a first hanging rod for hanging a clothes rack with clothes, including the following steps:
  • S1 the robot grabs the hanger on the first hanger;
  • S2 the robot moves the hanger along the first hanger to the touch mechanism;
  • S3 the touch mechanism touches the hanger folding switch to collapse the hanger.
  • step S1 the manipulator obtains the position of the hanger through the positioning device, and moves to the top of the hanger through the moving mechanism so that the manipulator is aligned longitudinally with the hanger.
  • step S2 the opening and closing mechanism controls the manipulator to grab the hanger and move the hanger along the first The direction of the hanging rod moves toward the touch mechanism.
  • the manipulator selects the hanger closest to the touch mechanism for grasping and moving each time according to the positioning information of the multiple hangers.
  • the hanging rod further includes a second hanging rod, the second hanging rod is used to hang a clothes rack for removing clothes, and the control method further includes a robot arm recovering and placing the clothes hanger on the second hanging rod.
  • the control method of the stacker further includes the following steps: S4: The robot moves to the position corresponding to the second hanger; S5: The robot moves the hanger along the second hanger; S6: The robot opens and releases the hanger to hang the hanger on the second hanger On the pole.
  • step S4 the robot moves again after the clothes are completely separated from the hanger, and the moving mechanism moves the robot in a horizontal direction perpendicular to the hanger to align the hanger with the position of the second hanger.
  • step S5 the move mechanism moves along the second Move the manipulator in the direction of the hanging rod to recover the hanger; in step S6, the opening and closing mechanism controls the manipulator to release the hanger to hang the hanger at the second hanging rod.
  • the moving mechanism includes an X-direction moving mechanism and a Y-direction moving mechanism.
  • the control method includes activating the X-direction moving mechanism when the robot moves in the direction of the hanging rod, and activating the Y-direction moving mechanism when the robot moves in the horizontal direction perpendicular to the hanging rod. .
  • the moving mechanism moves the manipulator to the upper part of the first hanging rod to perform steps S1-S6.
  • the present invention has the following beneficial effects compared with the prior art.
  • the hanger can be folded, and the clothes can be supported and released.
  • the position of the support arm can be changed through the limitation and cancellation of the internal limiter.
  • the structure is simple and easy to implement, and it can complete the user's clothes to the clothes stacker.
  • the hanger is provided with a folding switch (pressing part), and the hanger can be folded by touching the folding switch of the garment stacker.
  • the folding switch corresponds to the position of the touching part, which can achieve accurate positioning and Ability to control the clothes support arm;
  • the clothes stacker needs to use specific hangers to support the clothes and can be separated from the clothes. Therefore, the mating part provided on the clothes rack can better cooperate with other structures of the clothes stacker. Can make clothing and hanger more easily detached.
  • the clothes stacker is equipped with a hanger conveying mechanism for conveying the hangers.
  • a hanger conveying mechanism for conveying the hangers.
  • the hangers can be conveyed at various positions in the area.
  • the hangers are gripped and transported in cooperation with the robot.
  • the hanging rod includes a hanger and a folding hanger which are respectively responsible for spreading the first hanging rod and the second hanging rod.
  • the hanger conveying mechanism can not only fold the hanger to the touching mechanism to fold the hanger, but also fold it.
  • the rear hangers are recycled, and the process of conveying multiple pieces of clothing to the inside of the stacker is realized in turn.
  • a complete conveying process for the hangers can be formed, and the clothes that need to be folded are conveyed according to the above process. It is folded to the inside of the stacker and has a high level of automation.
  • FIG. 1 is a schematic view of a hanger of the present invention
  • FIG. 2 is a sectional view of a hanger of the present invention in an unfolded state
  • FIG. 3 is a sectional view of a folded state of the hanger of the present invention
  • FIG. 4 is a partially enlarged view at B in FIG. 2;
  • FIG. 5 is a partially enlarged view at B in FIG. 3;
  • Fig. 6 is another embodiment of the clothes rack of the present invention
  • Fig. 7 is a front view of the clothes stacker of the present invention
  • Figure 8 is a side view of the clothes stacker of the present invention
  • Figure 9 is a partial side view of the clothes stacker of the present invention
  • FIG. 10 is a perspective view of a hanger conveying mechanism of the present invention
  • FIG. 11 is a plan view of a hanger conveying mechanism of the present invention
  • FIG. 12-18 are working diagrams of the hanger conveying mechanism of the present invention.
  • FIG. 19 is a schematic diagram of the cooperation of the clamping mechanism and the hanger matching portion of the present invention.
  • 20 to 21 are schematic diagrams of a control method of a stacker of the present invention.
  • the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or suggesting that the device or element referred to must have a specific
  • the orientation and construction and operation in a specific orientation cannot be understood as a limitation on the present invention.
  • the present invention relates to a hanger.
  • the hanger 100 includes a main body 1 and two clothes supporting arms 2.
  • a hanging part 3 is provided on the upper part of the main body 1 for hanging the clothes hanger 100, and the clothes supporting arm 2 is rotatable.
  • the support arm 2 can be rotated to a nearly horizontal position for supporting clothes, and can also be rotated to a vertical position.
  • the two arms can be folded to release the clothes hanging on the support arm 2.
  • the clothes supporting arm 2 is provided on the main body 1 through a rotating shaft 23, and the clothes supporting arm 2 can rotate at a certain angle with the rotating shaft 23 as a circle center.
  • the rotation angle can be restricted by a corresponding limiting mechanism to prevent the clothes supporting arm 2 from rotating excessively.
  • the control of unfolding and folding of the clothes hanger support arm is realized by the limiting member 11 and the pressing member 12 provided inside the main body.
  • a limit mechanism is provided between the limiter 11 and the clothes support arm 2.
  • the limit mechanisms between the two correspond to each other, so that the limit structure can support the clothes support arm 2 in a nearly horizontal position in an open state, and can hang clothes such as Shown in Figure 2.
  • the connection between the limiting member 11 and the pressing member 12 is not a rigid contact, but the limiting member 11 can generate deformation or displacement to achieve a flexible connection.
  • the pressing member 12 can exert a force on the limiting member 11 or exert a force on the limiting member 11.
  • the movement is performed, so that the restriction member 11 loses the restriction on the support arm 2 due to the change in shape or position, so that the restriction structure between the support arm 2 and the restriction member 11 stops the support arm 2, so that the support arm 2 faces downward. Turn to reach the folded state, and release the clothes hung on the support arm 2 as shown in FIG. 3.
  • FIG. 4 is a partial enlarged view at B in FIG. 2.
  • the limiting member 11 includes two limiting columns 111 corresponding to the two support arms 2 respectively, and the limiting column 111 is provided with a first limit.
  • the positioning structure 1111 and the clothing support arm 2 are provided with a second positioning structure 21 matching the first positioning structure 1111.
  • the positioning column 111 is irregular in shape as a whole and can generate a certain deformation, that is, the positioning column 111 can have one end. It is fixed on the main body 1 and the other end can swing freely, so that the first limiting structure 1111 can be separated from the second limiting structure 2121. Therefore, the limiting post 111 can move between positions where the first limiting structure 1111 and the second limiting structure 21 are in contact with and away from each other.
  • the first limiting structure 1111 is a limiting protrusion
  • the second limiting structure 21 is a limiting groove
  • the limiting post 111 is provided with the limiting protrusion on the side close to the clothes supporting arm 2
  • the clothes supporting arm 2 is provided with In the position-limiting groove, the position-limiting protrusion stops in the position-limiting groove, so that the clothes supporting arm 2 is in an open state.
  • the first position-limiting structure 1111 and the second position-limiting structure 21 can also have other shapes, but they need to be matched to play a role in limiting the clothing support arm 2, and the two can be separated to release the clothing support arm 2 Effect on the limit.
  • the limiting post 111 can generate a recoverable deformation so that the limiting protrusion of the limiting post 111 can be automatically restored to the position corresponding to the limiting groove of the support arm 2, as shown in the figure.
  • the limiting column 111 is vertically arranged. One end of the limiting column 111 is fixedly connected to the inner wall of the main body 1, and the other end can move in the horizontal direction.
  • the pressing member 12 includes at least two parts, one is located inside the main body 1 and is used to control the limit post 111, and the other is a folding switch 121 located outside the main body 1.
  • the two limiting posts 111 are controlled at the same time.
  • the part located inside the main body 1 includes two fins 122, and the fins 122 stop against the limiting posts 111, as shown in FIGS. 4 and 5.
  • 122 is an oblique setting, one fin 122 is in abutment with the free end of the left limit post 111, and the other fin 122 is in abutment with the free end of the right limit post 111.
  • the fin 122 has a slanted surface, and the slanted surface stops against the stopper 111.
  • the end of the stopper between the stopper 111 and the slanted surface also has an angle with the slanted surface.
  • the uniform inclined surface enables the free end of the limiting post 111 to slide easily on the inclined surface of the fin 122.
  • the pressing member 12 is at the lower part of the limiting member 11, the fin 122 of the pressing member 12 is V-shaped, and the folding switch 121 of the pressing member 12 protrudes from the bottom opening of the main body 1.
  • the limiting post 111 can be set as two legs with an inverted U-shape to form a complete part.
  • the main body 1 is provided with a card slot, and the part can be directly installed through the limiting mechanism. In the card slot, two legs are extended to form a limiting post 111. As shown in Figure 4 and Figure 5.
  • the pressing member 12 Since the external force can be applied upwardly to the folding switch 121, in order to ensure that the folding switch 121 can be ejected out of the main body 1, the pressing member 12 is also provided with a return device, so that when the pressing member 12 receives external force, The main body 1 moves inside, and after the effect of the force disappears, it can automatically rebound and return to a position where no force is applied.
  • the returning device may be provided as a spring. One end of the spring stops against the inner wall of the main body 1 opposite to the pressing member 12, and one end stops against the end of the pressing member 12 located inside the main body 1.
  • the spring When the pressing member 12 moves toward the inside of the main body 1, the spring A reverse force will be generated, so that when the external force disappears, the force of the spring will push the pressing member 12 back to the original position.
  • the spring is set in the middle of the two limiting posts 111 and is approximately parallel to the limiting posts 111. In order to ensure that the position of the spring does not change, the limiting posts 111 should not be caused first.
  • the part inside the main body 1 has a columnar structure for the spring to cover, so as to ensure that the spring is not displaced. A corresponding structure is also provided to prevent the spring from shifting at another degree that the spring stops.
  • the clothing support arm 2 In order to ensure that the clothes supporting arm 2 rotates within a specific angle, to prevent it from excessively rotating and losing reasonable support for the clothes, or to prevent the two clothes supporting arms 2 from excessively rotating and colliding when being folded, a third limit is provided in the main body Structure 13, as shown in FIG. 4 and FIG. 5, the clothing support arm 2 also has a corresponding limiting structure that matches the limiting mechanism inside the main body 1.
  • the first limiting structure 1111 and the second limiting structure 2121 stop to prevent the clothes supporting arm 2 from rotating downward
  • the third limiting structure 1313 is provided on the upper part of the clothes supporting arm 2 , To prevent the support arm 2 from rotating upwards again.
  • the clothes supporting arm 2 When the clothes supporting arm 2 is folded, the clothes supporting arm 2 will rotate downward to form a folded state. At this time, the first limiting structure 1111 and the second limiting structure 2121 are far away, causing the first limiting structure 1111 to fail. A limit is formed on the second limit structure 2121.
  • the support arm 2 rotates downward due to gravity. When the rotation is close to the vertical direction, the second limit structure 2121 stops against the third limit structure 1313 to prevent the support. The arm 2 is further rotated. The first limiting structure 1111 cannot match the second limiting structure 21.
  • the hanger in the present invention is a hanger that can be used in conjunction with the stacker, so the hanger has a structure that matches the corresponding structure of the stacker.
  • the foldable support arms and the folding switch can cooperate with the stacker. .
  • the clothes stacker also has a gripping mechanism 400.
  • the function of the gripping mechanism 400 is to clamp the clothes from the hanger and detach the clothes from the hanger.
  • the gripping mechanism brings the clothes separated from the clothes hanger into the inside of the clothes stacker to carry out the laundry. Flatten, fold and other operations to complete the process of stacking clothes.
  • the hanger is further provided with a matching portion 22 to cooperate with the clamping mechanism 400 of the clothes stacker, so that the clamping mechanism can clamp the clothes on the clothes supporting arm and drive the clothes away from the hanger.
  • the mating part of the clothing support arm is an avoidance area.
  • the clothing is covered by the avoidance area and is suspended.
  • the overhead part holding the clothing by the clamping mechanism does not contact the clothing support arm.
  • Two clothing support arms Avoidance zones are provided symmetrically, and the positions of the two avoidance zones correspond to the positions of the two clamping portions of the clamping mechanism.
  • clothing is symmetrical to the left and right, so the two support arms of the hanger and the mating part provided on the support arm are also symmetrically arranged.
  • the clamping mechanism has two clamping parts.
  • the hangers are also symmetrically distributed.
  • the clothing support arm is bent a plurality of times to form an avoidance zone that matches the shape of the clamping mechanism; when the clothing support arm is in an open state, it is bent downwards-horizontally bent-upwardly bent-horizontally bent
  • the bend forms an avoidance zone; the structures such as downward bend and upward bend are not necessarily vertical downward or vertical upward, and may also have a certain inclination angle, and each bend may also be an arc-shaped transition area.
  • the purpose is to form a downwardly recessed area, constituting an avoidance area of the avoidance clamping portion 410.
  • the avoidance zone of the support arm can also be set as a sinking slot with an upper opening on the support arm, the sinking groove penetrating the front and rear surfaces of the support arm for avoidance
  • the clamping mechanism has a cross section matching the shape of the clamping mechanism.
  • the sinking groove has the same avoidance effect as the avoidance zone formed by bending, but the sinking groove and the bending structure are different in processing technology, and the setting method of the sinking groove can ensure a certain support strength of the support arm .
  • the choice of the above two structures can be selected according to the performance required in the application.
  • the mating portion may also be configured to be in contact with the clamping portion first, and then the clamping portion may slip off from the clothes supporting arm during the clamping process.
  • the mating part of the clothes support arm is a slip-off structure.
  • the slip-off structure can hold the clothes support arm and clothes at the same time, when the gripping mechanism is closed, it can slide relative to the clothes support arm to disengage the clothes support arm from the gripping mechanism.
  • a specific setting manner may be that the slip-out structure is formed by an inclined surface, the clamping portion of the clamping mechanism includes a first clamping arm and a second clamping arm, and the sliding-off structure includes a first inclined surface corresponding to the first clamping arm and The second inclined surface corresponding to the two clamping arms.
  • the two clamping arms can slide off the inclined surface.
  • the inclined surface The coefficient of friction at the location is smaller than the coefficient of friction of the contact portion of the clamping arm with the clothing, thereby ensuring that the clothing can smoothly fall off from the support arm and be taken away by the clamping portion.
  • the invention also includes a clothes stacker.
  • the clothes stacker has a clamping mechanism as described above, and the clamping mechanism has two clamping portions, and the clamping portions are capable of clamping a portion of the clothing located at the fitting portion.
  • the control method of the stacker is that after the stacker conveys the hanger to the target position, the target position may be the touch mechanism.
  • the stacker first controls the opening and closing of the clamping mechanism at the mating part of the support arm of the hanger. Hold the clothes, and then fold the support arm of the hanger. After the folding is completed, the clamping mechanism drives the clothes to move the clothes away from the hanger.
  • the present invention also includes another hanger.
  • the hanger is shown in FIG. 6.
  • the hanger of this embodiment is different from the hanger of the previous embodiment in that the pressing member 12 is provided with a power mechanism 14 to drive the pressing member 12 to move.
  • the structure of the hanger is basically the same as the above hanger, including the main body 1, the support arm 2 and the hanging part 3.
  • the same limiter 11 and folding switch 121 are also provided inside the main body 1.
  • the hanger folded in the previous embodiment This is achieved by externally applying a force to the folding switch 121 to fold the hanger.
  • a power mechanism 14 is provided on the pressing member 12, and the power mechanism 14 can drive the pressing member 12 to move, thereby achieving folding of the hanger.
  • the power mechanism 14 includes a driving member 141 and a transmission member, and the role of the transmission member is to transmit the power generated by the driving member 141 to the pressing member 12 so that the pressing member 12 can move, thereby exerting a force on the position-limiting member 11 and making the position limited.
  • the structure is realized, and the clothes supporting arm 2 is rotated and folded.
  • the driving member 141 is a motor and has a motor shaft capable of outputting power.
  • the transmission member includes a first link 142 and a second link 143. As shown in FIG. 6, one end of the first link 142 is fixedly connected to the motor shaft. One end is rotatably connected to the second link 143, and the other end of the second link 143 is connected to the pressing member 12 to drive the pressing member 12 to move.
  • the bottom of the main body 1 is provided with an opening for the folding switch 121 of the pressing member 12 to extend so as to be able to receive an external force.
  • the pressing member 12 since the pressing member 12 is driven by the motor, the pressing member 12 does not need to be arranged outside the main body 1, but because the movement path of the pressing member 12 needs to be ensured, a sliding groove 15 is provided in the main body 1 for the pressing member 12 Moving along a straight line, preferably as shown in the figure, the pressing member 12 can move up and down along the sliding groove 15 to exert a force on the limiting post 111.
  • the first link 142 is short and fixedly connected to the motor shaft. When the motor shaft rotates, the first link 142 can be driven to rotate. As shown in FIG. 6, the first link 142 can be rotated clockwise in the circumferential direction to drive the second The connecting rod 143 moves upward, and the other end of the second connecting rod 143 is connected to the pressing member 12, which can drive the pressing member 12 to move upward along the sliding groove 15.
  • the connecting rod can return the pressing member 12 under the reverse force of the motor shaft, but an elastic member can be provided between the pressing member 12 and the main body 1 so that the pressing member 12 can pass the power. Loss can be returned to home.
  • One end of the elastic member abuts against the end of the pressing member 12 that faces the limiting post 111, and one end stops abutting against the inner wall of the main body 1. The dislocation arrangement between the elastic member and the second link 143 will not affect each other.
  • the hanger Since the hanger is provided with a motor, the folding of the support arm 2 can be controlled by the rotation of the motor. Therefore, the hanger can also be provided with a control unit.
  • the control unit can control the on and off of the motor and the direction of rotation of the motor shaft to control the support arm. 2 off.
  • the hanger also includes a signal transmission unit for receiving and / or sending signals, and the signal transmission unit is communicatively connected with the control unit. Because the clothes rack can be used in conjunction with a clothes stacker or other device, it can receive signals from the clothes stacker or other device that require the clothes rack to be folded, thereby achieving wireless control of the clothes rack.
  • the present invention further includes a clothes stacker 1000.
  • the clothes stacker 1000 includes the hanger 100 described in the first embodiment, and the clothes stacker 1000 further includes a contact mechanism 200.
  • the action of the bump mechanism 200 is used to apply a force to the folding switch 121 of the pressing member 12 of the hanger 100, so that the hanger 100 can be folded.
  • FIG. 9 is a partially enlarged view of FIG. 8.
  • FIG. 9 shows a setting position of the touch mechanism 200.
  • the touch mechanism 200 can move up and down, and acts on the folding switch 121 at the bottom of the main body 1 of the hanger 100 force.
  • the control method of the above-mentioned clothes stacker 1000 is that when clothes are hung on the hanger 100, the clothes stacker 1000 transports the clothes to the touch mechanism 200, the touch mechanism 200 and the pressing member 12 release the clothes supporting arm 2, and the clothes hanger 100 The clothes supporting arm 2 is folded down, and the clothes stacker 1000 removes the clothes. Since the stacker 1000 needs to transport the hanger 100, the stacker 1000 can also be provided with a hanger conveying mechanism 300, as shown in Figs. 10 and 11, which is a top view of the hanger conveying mechanism 300.
  • the hanger conveying mechanism 300 is used for The hanger 100 is transported to the touch mechanism 200. After the touch mechanism 200 exerts a force on the hanger 100, the hanger 100 is folded, and the hanger conveying mechanism 300 may also convey the folded hanger 100 to a position where the hanger 100 is recovered.
  • the clothes stacker 1000 is provided with a hanger rod for hanging the hanger 100, and a hanger conveyor mechanism 300 is provided on the hanger rod, and the hanger conveyor mechanism 300 can move the hanger 100.
  • the hanger conveying mechanism 300 is provided with a manipulator 335.
  • the manipulator 335 can grip the hanger 100 or release the hanger 100.
  • the hanger 100 is provided with a hanging part 3.
  • the manipulator 335 can grip the hanger 3 of the hanger 100 to move the hanger 100.
  • the hanger rod includes at least a first hanger rod 311. After the clothes are supported on the hanger 100, the user may hang the hanger 100 with the clothes on the first On the hanging rod 311, the manipulator 335 can also transport the hanger 100 along the first hanging rod 311 to a position where the hanger 100 is separated from the clothes.
  • the hanger rod may further include a second hanger rod 312.
  • the second hanger rod 312 is used to suspend the hanger 100 separated from the clothes.
  • the hanger conveying mechanism 300 can also transfer the hanger 100 to the second hanger rod 312 for recycling the hanger 100.
  • the first hanging rod 311 and the second hanging rod 312 are arranged in parallel, and are suspended at one end of the hanger 100 separated from the clothes as shown in FIG. 10.
  • the hanger conveying mechanism 300 includes an X-direction moving mechanism and a Y-direction moving mechanism.
  • the X-direction moving mechanism can move the robot hand 335 in the direction of the hanging rod, and the Y direction moving mechanism can drive the robot hand 335 to move perpendicular to the horizontal direction of the hanging rod.
  • the Y direction moving mechanism is provided on the X direction mechanism, so that the X direction moving mechanism can drive the Y direction moving mechanism to move as a whole, and the Y direction moving mechanism can also drive the manipulator 335 in The Y-direction movement enables the robot 335 to move to any position within the range of the hanger conveying mechanism 300.
  • the specific setting manner of the X-direction moving mechanism is that the X-direction moving mechanism includes a first moving part 321, and further includes a first transmission belt 322 and a first guide rail 323.
  • the first moving part 321 is disposed on the first guide rail 323 and can be moved along the first The guide rail 323 moves, and the first transmission belt 322 drives the first moving member 321 to move along the first guide rail 323.
  • a portion of the first transmission belt 322 is fixedly connected to a corresponding structure of the first moving member 321.
  • the X-direction moving mechanism is further provided with a first motor 324. When the first motor 324 is turned on, the first driving belt 322 is driven to rotate, so that the first moving member 321 moves along the first guide rail 323.
  • the specific setting manner of the Y-direction moving mechanism is that the Y-direction moving mechanism includes a second moving member 331, and further includes a second transmission belt 332 and a second guide rail 333.
  • the second moving member 331 may be provided on the second guide rail 333 and may move along the second The guide rail 333 moves, the second transmission belt 332 drives the second moving member 331 to move along the second guide rail 333, and a part of the second transmission belt 332 is fixedly connected to the corresponding structure of the second moving member 331.
  • the Y-direction moving mechanism is further provided with a second motor 334. When the second motor 334 is turned on, the second transmission belt 332 is driven to rotate, so that the second moving member 331 moves along the second guide rail 333.
  • the X-direction movement mechanism drives the Y-direction movement mechanism to move, and the entire Y-direction movement mechanism is fixedly disposed on the first moving member 321, and the manipulator 335 is disposed on the second movement member 331 of the Y-direction moving mechanism.
  • the clothes stacker 1000 is provided with a touch mechanism 200. Since the touch mechanism 200 needs to touch the opened hanger 100, it is preferable that the touch mechanism 200 is aligned with the first hanger 311, so that the hanger conveying mechanism 300 can move along The X direction directly transports the hanger 100 to the touch mechanism 200, and the touch mechanism 200 controls the hanger 100.
  • the touch mechanism 200 includes a contact member that can be moved up and down to press the folding switch of the hanger 100.
  • the folding switch is the folding switch 121, or the contact member is a fixed structure, and the robot 335 can be moved up and down. Move, the folding switch of the hanger 100 is moved up and down to trigger the folding switch at the contact part, or the contact part has an inclined surface. When the hanger 100 moves horizontally, the contact part has a longitudinal force on the hanger 100 to make the folding switch 121 Can move inside the main body 1.
  • the touch mechanism 200 also includes a groove-shaped mechanism that can limit the position of the hanger 100 on the hanging part 3, so that the hanger 100 can be aligned with the touch piece, prevent the folding switch from being touched, and prevent the hanger from being touched by the touch piece.
  • the hanger 100 is fixed to prevent the hanger 100 from breaking away from the robot 335.
  • the clothes stacker 1000 has other devices for clamping clothes, and the hanger 100 is folded to complete the transfer of the clothes.
  • the clothes stacker 1000 is provided with a clamping mechanism therein, and the hanger 100 is provided with a fitting portion 22 for avoiding the clamping mechanism.
  • the control method of the above-mentioned clothes stacker is: the robot moves to the top of the hanger according to the position of the hanger, grabs the hanger, and moves the hanger to the touch mechanism to fold the hanger.
  • the robot can be moved and opened.
  • the movement of the manipulator is realized by a movement mechanism.
  • the movement mechanism may include an X-direction movement mechanism and a Y-direction movement mechanism to move the manipulator, and the hanger conveying mechanism can convey the hanger in a horizontal direction.
  • the opening and closing of the manipulator can be realized by an opening and closing mechanism.
  • the opening and closing mechanism can open the claw portion of the manipulator, so that the claw portion of the manipulator can be closed to grasp the hanger.
  • the position of the hanger can be obtained by setting a corresponding positioning device on the hanger and / or the stacker.
  • the hanger can feedback the position of the hanger to the stacker in real time, so that the robot can accurately grasp the position of the hanger.
  • the stacker can also be provided with a device such as a camera to determine the current position image of the hanger, thereby obtaining the real-time position of the hanger and guiding the movement of the hanger conveying mechanism.
  • the position of the hanger can also be judged by the distance between the hanger and a part of the stacker, and the distance sensing can be used to determine whether the hanger has reached the designated position.
  • the control method of the clothes stacker includes:
  • step S1 the manipulator obtains the position of the hanger through the positioning device, and moves to the top of the hanger through the moving mechanism so that the manipulator is aligned with the hanger longitudinally;
  • FIG. 12 to FIG. 13 are schematic diagrams of step S1. It is also necessary to determine whether the manipulator is in an open state. When the manipulator is in the open state, it is grasped at the hanger. When the manipulator is in the closed state, the hanger conveying mechanism starts the opening and closing mechanism to adjust the manipulator to the open state. The hanger conveying mechanism activates the first motor and / or the second motor to move the position of the robot arm until the robot arm is located directly above the target hanger.
  • step S2 the opening and closing mechanism controls the manipulator to grab the hanger and move the touch mechanism in the direction of the first hanging rod through the moving mechanism.
  • step S2 the opening and closing mechanism controls the manipulator to grab the hanger and move the touch mechanism in the direction of the first hanging rod through the moving mechanism.
  • step S2 Since the hanger conveying device drives the hanger to move along the first hanger, the first hanger is parallel to the X direction, so only the first motor needs to be driven to move the hanger along the first hanger can.
  • the robot moves only one hanger at a time, and moves the hanger closest to the touch mechanism.
  • Each hanger is conveyed to the touch mechanism by the hanger conveying mechanism in order.
  • the garment stacker needs to determine whether it is the hanger closest to the touch mechanism to guide the movement of the robot.
  • step S3 when the hanger touches the touch mechanism, the robot stops moving. At this time, the clamping mechanism provided inside the stacker clamps the clothes, and the hanger is folded to complete the transfer of the clothes.
  • the clothes stacker is provided with a clamping mechanism 400 inside, and a hanger 22 is provided with a mating portion 22 to avoid the clamping mechanism.
  • FIG. 14 to FIG. 15 are schematic diagrams of step S3.
  • the stacking machine is further provided with a second hanging rod, and the control method further includes a robot arm recovering and placing the clothes hanger on the second hanging rod.
  • the folded hanger is placed at the second hanging rod, and there is no longer any supported clothes.
  • the hanger conveying mechanism transports the hanger to the touch mechanism, it stops moving. At this time, the clothes stacker has a device for receiving clothes. This step includes the following steps:
  • S6 The manipulator opens and releases the hanger to hang the hanger on the second hanger.
  • step S4 the robot moves again after the clothes are completely separated from the hanger.
  • the moving mechanism moves the robot in a horizontal direction perpendicular to the hanger to align the hanger with the position of the second hanger.
  • Figures 15 to 16 are schematic diagrams of step S4.
  • step S5 the moving mechanism moves the manipulator along the direction of the second hanging rod to recover the hanger;
  • FIGS. 16 to 17 are schematic diagrams of step S5.
  • step S6 the opening and closing mechanism controls the manipulator to release the hanger to hang the hanger on the second hanging rod.
  • FIG. 17 to FIG. 18 are schematic diagrams of step S6.
  • the clothes stacker also needs to determine whether there are any clothes that need to be folded on the first hanging bar.
  • the manipulator performs the entire process again according to the above steps. After the manipulator places the hanger on the second hanging rod, the moving mechanism moves the manipulator to the upper part of the first hanging rod to perform steps S1-S6.
  • the above control method is shown in FIGS. 20 and 21.
  • the present invention also includes a clothes stacker, which includes the clothes rack in the second embodiment.
  • the clothes stacker also has a clothes rack conveying mechanism for conveying the clothes rack, and the clothes rack conveying mechanism is as described above. Since the hanger in the second embodiment has a motor that can drive the folding and folding switch to move, the clothes stacker may not be provided with a touch mechanism, but may rely on a signal to control the hanger.
  • the hanger may include a control unit, which is electrically connected to the power mechanism, or is connected to a signal.
  • the control unit can control the start and stop of the power mechanism and the direction of the power provided by the power mechanism. That is, when the power mechanism includes a motor and a motor shaft provided on the motor, the control unit can control the rotation and direction of the motor.
  • the hanger is also provided with a signal transmission unit, which can receive instructions from the stacker. When the stacker needs to fold the hanger, the signal transmission unit receives the corresponding instruction, the control unit processes the instruction and drives the motor. Provide power to the pusher to fold the arm.
  • the specific control method is: the folding machine sends a folding signal to the hanger through the signal transmission system, and the hanger receives the folded signal through the signal transmission unit to start the driving mechanism, the driving mechanism rotates, and the first link rotates in the circumferential direction,
  • the second connecting rod drives the pressing member to move in the direction of the limiting post, so that the limiting post is separated from the clothes supporting arm, and the folding of the clothes supporting arm is realized.

Landscapes

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

Abstract

衣架、叠衣机（1000）及其控制方法。衣架（100）包括主体（1）及可收折的撑衣臂（2），衣架（100）还包括限位件（11）和按压件（12）实现撑衣臂（2）的收折，限位件（11）与撑衣臂（2）间设置有对应的限位结构使撑衣臂（2）撑开，按压件（12）能够移动限位件（11）取消对撑衣臂（2）的限位使撑衣臂（2）合拢。叠衣机（1000）包括衣架（100）、衣架挂杆及衣架输送机构（300），衣架输送机构（300）带动衣架（100）沿衣架挂杆移动。衣架（100）通过设置有收折开关（121）实现衣架（100）的收折；衣架（100）上设置有配合部（22）能够与叠衣机（1000）的其他结构实现更好的配合，能够使得衣物与衣架（100）更容易脱离；叠衣机（1000）设置有衣架输送机构（300）对衣架（100）实现输送，具有较高的自动化水平。

Description

衣架、叠衣机及叠衣机的控制方法 技术领域
本发明属于家用电器领域，具体地说，涉及衣架、叠衣机及叠衣机的控制方法。
背景技术
现今家庭中的衣物都在晾干后采用人工折叠的方式进行收纳，市场上还具有折衣板可以手动对衣物进行折叠，随着生活节奏的加快，通过人工对衣物折叠费时费力，并且，由于人们生活水平的提高，衣物的种类越来越多，用户并不能掌握针对不同衣物的折叠以及收纳的技巧，以至于折叠后的衣物并不能得到较好的保护，折叠不平整的衣物在穿着前仍需要熨烫。因而需要有一台机器能够代替人工对衣物进行合理的处理。
现有技术中存在叠衣机，但一般用于工业生产中，针对同类衣物重复作业，不能对不同的衣物分类进行合理的折叠和收纳，且工业用叠衣机体积庞大结构复杂，并且自动化程度低，不适用于家庭使用。
有鉴于此特提出本发明。
发明内容
本发明要解决的技术问题在于克服现有技术的不足，提供衣架、叠衣机及叠衣机的控制方法。
为解决上述技术问题，本发明采用技术方案的基本构思是：
一种衣架，包括主体及两个撑衣臂，所述撑衣臂可转动地设置在主体上，衣架还包括限位件和按压件，所述限位件与撑衣臂间设置有对应的限位结构使撑衣臂撑开，所述按压件能够移动限位件取消对撑衣臂的限位使撑衣臂合拢。
所述限位件包括两个分别与两个撑衣臂对应限位柱，所述限位柱设置有第一限位结构，所述撑衣臂设置有与第一限位结构匹配的第二限位结构，所述限位柱能够在第一限位结构与第二限位结构接触和远离的位置间移动。
所述第一限位结构为限位凸起，所述第二限位结构为限位凹槽，所述限位柱靠近撑衣臂一侧设置有所述限位凸起，所述撑衣臂设置有所述限位凹槽，限位凸起止抵在限位凹槽中使得撑衣臂为撑开状态。
所述限位柱能够产生可回复的形变使得限位柱的限位凸起能够自动恢复至与撑衣臂限位凹槽对应的位置，优选地，所述限位柱为垂直设置，所述限位柱一端与主体内壁固定连接，另一端可沿水平方向移动。
所述按压件包括设置在主体外部的按压部和设置在主体内部的分别与限位柱止抵的两个翅部，所述翅部设置为与水平方向具有一定角度，使得翅部上下移动，带动限位柱具有水平方向的位移。所述翅部具有倾斜面，所述限位柱与翅部倾斜面止抵端具有与翅部倾斜面相应的角度，令限位柱可沿倾斜面移动；优选地，所述按压件设置在限位件下部，对限位柱的下端施加作用力。
所述按压件还包括回位装置，所述回位装置包括弹性件，所述弹性件一端与按压件位于主体内部的一端止抵，弹性件的另一端与相对于主体固定的结构止抵。
所述主体内设置有第三限位结构，用于限制撑衣臂的转动角度，所述第三限位结构将撑衣臂限制在撑衣臂撑开至水平和收拢至撑衣臂垂直向下的位置之间。
一种叠衣机，包括如上所述的衣架，所述叠衣机设置有触碰机构，所述触碰机构设置在与按压件对应的位置。一种如上所述的叠衣机的控制方法，当衣架上挂有衣物时，叠衣机将衣物输送至触碰机构处，触碰机构与按压件止抵释放撑衣臂，衣架的撑衣臂向下收拢，叠衣机取下衣物。
一种衣架，包括：主体和设置在主体上的撑衣臂，所述撑衣臂设置有用于与可夹持衣物的夹持机构进行配合的配合部。
所述撑衣臂的配合部为避让区，衣物覆盖在避让区后被架空，夹持机构夹持住衣物的架空部分不与撑衣臂接触，两个撑衣臂对称设置有避让区，两个避让区的位置与夹持机构的两个夹持部位置对应。
所述撑衣臂通过多次弯折形成与夹持机构形状匹配的避让区；优选地，撑衣臂在撑开状态下向下弯折-水平弯折-向上弯折-水平弯折形成避让区；进一步优选地，各个弯折处具有弧形的过渡区。
所述撑衣臂的避让区为设置在撑衣臂上的具有上部开口的下沉槽，所述下沉槽贯通撑衣臂的前后表面用于避让夹持机构；优选地，所述下沉槽具有与夹持机构形状匹配的截面。
所述撑衣臂的配合部为滑脱结构，所述滑脱结构能够在夹持机构同时夹持住撑衣臂和衣物时，夹持机构闭合时能够与撑衣臂产生相对滑动使得撑衣臂与夹持机构脱离。
所述滑脱结构由斜面构成，夹持机构的夹持部包括第一夹持臂和第二夹持臂，滑脱结构包括与第一夹持臂对应的第一斜面以及与第二夹持臂对应的第二斜面，夹持部在闭合时，两个夹持臂能够从斜面处滑脱；优选地，斜面处的摩擦系数小于夹持臂与衣物接触部位的摩擦系数。
所述撑衣臂可转动地设置在主体上，所述主体底部设置有收折开关用于控制撑衣臂的转动，所述主体的内部设置有限位件与撑衣臂止抵限制撑衣臂的位置，还设置有传动件，所述传动件能够将收折开关接收的控制力传递给限位件取消限位件对撑衣臂的限位。
限位件包括两个具有弹性的限位柱，所述限位柱靠近撑衣臂的位置设置有限位凸起，所述传动件包括两个翅部分别与限位柱的自由端止抵，所述传动件上下移动能够带动限位柱的水平移动控制限位凸起对撑衣臂的限位。
一种包含如上所述衣架的叠衣机，所述叠衣机还包括夹持机构，所述夹持机构具有两个夹持部，所述夹持部能够夹持住衣物位于配合部的部位。一种如上所述的叠衣机的控制方法，叠衣机将衣架输送至目标位置后，叠衣机先控制夹持机构在衣架的撑衣臂的的配合部开闭夹持住衣物，再令衣架的撑衣臂收折，收折完成后夹持机构带动衣物移动使得衣物与衣架脱离。
一种叠衣机，所述叠衣机包括衣架挂杆及衣架输送机构，所述衣架输送机构设置在挂杆上部，所述衣架输送机构设置有机械手，所述机械手从挂杆上夹取/放置衣架并移动衣架。
所述衣架挂杆包括第一挂杆，所述第一挂杆用于悬挂带有衣物的衣架，用于将衣架输送至衣架与衣物脱离的位置。所述衣架挂杆还包括第二挂杆，所述第二挂杆用于悬挂与衣物脱离后的衣架，所述衣架输送机构还能够将衣架输送至第二挂杆处；优选地，所述第一挂杆和第二挂杆平行设置，并在衣架与衣物脱离一端悬空。
所述衣架输送机构包括X向移动机构及Y向移动机构，所述X向移动机构带动Y向移动结构沿挂杆方向水平移动，所述Y向移动机构带动机械手沿垂直挂杆方向水平移动。所述X向移动机构包括第一运动部件，所述Y向移动机构设置在第一运动部件上，所述Y向移动机构包括第二运动部件，所述第二运动部件 设置有机械手。所述X向移动机构还包括第一传动带和第一导轨，所述第一运动部件限位于第一导轨上沿第一导轨移动，并与第一传动带固定连接，所述Y向移动机构还包括第二传动带和第二导轨，所述第二运动部件限位于第二导轨上沿第二导轨移动，并与第二传动带固定连接。
叠衣机还包括衣架，所述衣架包括主体、设置在主体上部的挂部，以及设置在主体上可收折的撑衣臂，所述机械手夹取衣架的挂部进行移动。所述主体底部设置有收折开关，所述收折开关用于控制撑衣臂的撑开和收拢。所述叠衣机还包括触碰机构，所述衣架具有收折开关，所述触碰机构与第一挂杆在X向对齐，所述机械手夹取带有衣物的衣架时能够令收折开关与触碰机构接触。
所述触碰机构可上下移动，对衣架的收折开关进行按压，或者，所述触碰机构为固定结构，所述机械手可上下移动，带动衣架的收折开关在触碰机构处上下移动触发收折开关，或者触碰机构具有倾斜面，衣架水平运动时触碰机构对衣架具有纵向对作用力。
一种叠衣机的控制方法，所述叠衣机包括可收折的衣架，所述叠衣机设置有可移动可开合的机械手，所述叠衣机还设置有触碰机构用于使衣架收折，所述叠衣机能够获取衣架的位置，控制方法包括，机械手根据衣架的位置移动至衣架上方，并抓取衣架，将衣架移动至触碰机构将衣架收折。
所述机械手通过移动机构和开合机构进行控制，所述叠衣机包括挂杆用于悬挂衣架，控制方法包括移动机构控制机械手在水平方向移动，开合机构控制机械手在挂杆处抓取/释放衣架。
所述挂杆至少包括第一挂杆用于悬挂带有衣物的衣架，包括如下步骤：
S1：机械手抓取第一挂杆上的衣架；S2：机械手沿第一挂杆移动衣架至触碰机构；S3：触碰机构与衣架收折开关触碰使衣架收折。
在步骤S1中，机械手通过定位装置获取衣架的位置，并通过移动机构移动至衣架上方使得机械手与衣架纵向对齐；在步骤S2中，开合机构控制机械手抓取衣架，并通过移动机构沿第一挂杆方向向触碰机构处移动。当第一挂杆上放置有多个衣架时，机械手根据多个衣架的定位信息，每次均选取最靠近触碰机构的衣架进行抓取和移动。
所述挂杆还包括第二挂杆，所述第二挂杆用于悬挂取下衣物的衣架，所述控制方法还包括机械手将衣架回收并放置在第二挂杆处。
叠衣机的控制方法还包括如下步骤：S4：机械手移动至与第二挂杆对应的位置；S5：机械手沿第二挂杆移动衣架；S6：机械手张开释放衣架使衣架挂在第二挂杆上。
在步骤S4中，在衣物与衣架完全脱离后机械手再进行移动，移动机构沿垂直于挂杆的水平方向移动机械手，使得衣架与第二挂杆位置对齐；在步骤S5中，移动机构沿第二挂杆方向移动机械手将衣架回收；在步骤S6中，开合机构控制机械手释放衣架使衣架悬挂在第二挂杆处。
所述移动机构包括X向移动机构和Y向移动机构，控制方法包括，当机械手沿挂杆方向移动时启动X向移动机构，当机械手沿垂直于挂杆的水平方向移动时启动Y向移动机构。
机械手在将衣架放置在第二挂杆后，移动机构将机械手移动至第一挂杆上部对步骤S1-S6进行循环。
采用上述技术方案后，本发明与现有技术相比具有以下有益效果。
(1)衣架可以收折，可以对衣物进行支撑和释放，通过内部限位件的限位和取消限位实现撑衣臂的位置转换，结构简单容易实现，能够完成用户挂衣到叠衣机取衣过程的衔接过程；
(2)衣架通过设置有收折开关(按压部)能够通过叠衣机对收折开关的触碰实现衣架是收折，收折开关于触碰件的位置对应，既能够实现定位准确，又能够对撑衣臂实现控制；
(3)叠衣机在折叠衣物的过程中，需要使用特定的衣架对衣物进行支撑，并能够与衣物脱离，因而衣架上设置有配合部能够与叠衣机的其他结构实现更好的配合，能够使得衣物与衣架更容易脱离。
(4)叠衣机设置有衣架输送机构对衣架实现输送，通过设置X向和Y向输送机构能够实现衣架在区域内各个位置的输送，并与机械手配合对衣架夹取运送，输送过程准确可靠；挂杆包括有第一挂杆和第二挂杆分别负责撑开的衣架和收折的衣架，衣架输送机构既能够将衣架输送至触碰机构处实现衣架的收折，还能够对收折后的衣架进行回收，并依次循环实现对多件衣物向叠衣机内部输送的过程，通过本发明的控制方法，可以形成完整的对衣架的输送流程，对需要折叠的衣物均按照上述流程输送至叠衣机内部，进行折叠，具有较高的自动化水平。
下面结合附图对本发明的具体实施方式作进一步详细的描述。
附图说明
附图作为本发明的一部分，用来提供对本发明的进一步的理解，本发明的示意性实施例及其说明用于解释本发明，但不构成对本发明的不当限定。显然，下面描述中的附图仅仅是一些实施例，对于本领域普通技术人员来说，在不付出创造性劳动的前提下，还可以根据这些附图获得其他附图。在附图中：
图1是本发明衣架示意图；图2是本发明衣架撑开状态剖视图；图3是本发明衣架收折状态剖视图；
图4是图2中B处局部放大图；图5是图3中B处局部放大图；
图6是本发明衣架的另一种实施方式；图7是本发明叠衣机主视图；
图8是本发明叠衣机侧视图；图9是本发明叠衣机局部侧视图；
图10是本发明衣架输送机构立体图；图11是本发明衣架输送机构俯视图；
图12-图18是本发明衣架输送机构工作状态图；图19是本发明夹持机构与衣架配合部配合示意图；
图20-图21是本发明叠衣机的控制方法示意图。
图中：1000、叠衣机；100、衣架；1、主体；11、限位件；111、限位柱；1111、第一限位结构；12、按压件；121、收折开关；122、翅部；123、回位装置；13、第三限位结构；14、动力机构；141、驱动件；142、第一连杆；143、第二连杆；15、滑动槽；2、撑衣臂；21、第二限位结构；22、配合部；23、转轴；3、挂部；200、触碰机构；300、衣架输送机构；311、第一挂杆；312、第二挂杆；321、第一运动部件；322、第一传动带；323、第一导轨；324、第一电机；331、第二运动部件；332、第二传动带；333、第二导轨；334、第二电机；335、机械手；400、夹持机构；410、夹持部。
需要说明的是，这些附图和文字描述并不旨在以任何方式限制本发明的构思范围，而是通过参考特定实施例为本领域技术人员说明本发明的概念。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对实施例中的技术方案进行清楚、完整地描述，以下实施例用于说明本发明，但不用来限制本发明的范围。
在本发明的描述中，指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本 发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
如图1至图5所示，本发明涉及一种衣架，衣架100包括主体1及两个撑衣臂2，在主体1上部设置有挂部3用于悬挂衣架100，撑衣臂2可转动地设置在主体1上，撑衣臂2可旋转至接近水平的位置用于支撑衣物，还可以旋转至垂直位置，两臂收折可以释放挂在撑衣臂2上的衣物。撑衣臂2通过转轴23设置在主体1上，撑衣臂2以转轴23为圆心可进行一定角度的转动。转动的角度可以通过相应的限位机构来进行限制，防止撑衣臂2过度旋转。
衣架撑衣臂的撑开和收折的控制是通过设置在主体内部的限位件11和按压件12来实现。限位件11与撑衣臂2间设置有限位机构，两者间的限位机构相互对应，使得限位结构能够将撑衣臂2支撑在接近水平的位置呈撑开状态，可以悬挂衣物如图2所示。限位件11与按压件12间的连接并非刚性接触，而是限位件11能够产生形变或位移，实现柔性连接，按压件12能够对限位件11施加力的作用或者对限位件11进行移动，使得限位件11由于形状的改变或者位置的变化而使得撑衣臂2与限位件11间的限位结构失去对撑衣臂2的限位，从而形成撑衣臂2向下转动达到收折的状态，并释放悬挂在撑衣臂2上的衣物如图3所示。
如图4为图2中B处的局部放大图，如图4所示，限位件11包括两个分别与两个撑衣臂2对应限位柱111，限位柱111设置有第一限位结构1111，撑衣臂2设置有与第一限位结构1111匹配的第二限位结构21，限位柱111整体呈不规则柱状，并能够产生一定的形变，即限位柱111能够一端固定在主体1上，另一端能够自由摆动，从而带动第一限位结构1111能够与第二限位结构2121脱离。因而限位柱111能够在第一限位结构1111与第二限位结构21接触和远离的位置间移动。
第一限位结构1111为限位凸起，第二限位结构21为限位凹槽，限位柱111靠近撑衣臂2一侧设置有所述限位凸起，撑衣臂2设置有所述限位凹槽，限位凸起止抵在限位凹槽中使得撑衣臂2为撑开状态。
第一限位结构1111和第二限位结构21还可以为其他形状，但两者间需要匹配能够对撑衣臂2起到限位作用，并且两者间可以脱离以解除对撑衣臂2对限位作用。
如图4及图5所示，限位柱111能够产生可回复的形变使得限位柱111的限位凸起能够自动恢复至与撑衣臂2限位凹槽对应的位置，图中所述限位柱111为垂直设置，限位柱111一端与主体1内壁固定连接，另一端可沿水平方向移动。
按压件12至少包括两部分，一部分位于主体1内部，用于对限位柱111进行控制，另一部分为位于主体1外的收折开关121，位于主体1内部的部分由于需要对限位件11的两个限位柱111同时进行控制，位于主体1内部的部分包括两个翅部122，翅部122分别与限位柱111止抵，如图4及图5中所示，所述翅部122为倾斜设置，一个翅部122与左侧的限位柱111的自由端止抵，另一个翅部122与右侧的限位柱111的自由端止抵，由于翅部122倾斜设置，具有一定的角度，因而翅部122在上下移动的过程中可以对止抵对限位柱111产生横向的作用力，使得限位柱111远离撑衣臂2，从而使得第一限位结构1111和第二 限位结构2121脱离，限位柱111对撑衣臂2的限位作用消失，撑衣臂2向下转动，实现撑衣臂2的收折合拢，此时，如果撑衣臂2上挂有衣物，则失去对衣物的支撑作用。
翅部122具有倾斜面，倾斜面与限位柱111止抵，为便于限位柱111在倾斜面上移动，限位柱111与倾斜面的止抵的端部也这支有与倾斜面角度一致的斜面，使得限位柱111的自由端能够在翅部122的斜面上容易滑动。如图4及图5中所示，按压件12在限位件11的下部，按压件12的翅部122呈V形，按压件12的收折开关121从主体1的底部开口处伸出，能够接收来自外部的向上的作用力，从而对限位柱111施加水平向中部的作用力。为便于安装和零部件的生产，限位柱111可以设置为一个倒U形的两个腿部，形成一个完整的零部件，主体1内部设置有卡槽，该部件可以通过限位机构直接安装在卡槽内，并伸出两条腿部，形成限位柱111。如图4及图5所示。
由于外部能够对收折开关121施加向上的作用力，为保证收折开关121能够回弹出主体1外，因而按压件12还设置有回位装置，使得在按压件12收到外部作用力时想主体1内部移动，在力的作用消失后，能够自动回弹，回复至未施加作用力的位置。回位装置可以设置为弹簧，弹簧一端与相对于按压件12的主体1内壁止抵，一端与按压件12位于主体1内部的一端止抵，这样当按压件12向主体1内部移动时，弹簧则会产生反向的作用力，使得外部的力的作用消失时，弹簧的作用力会将按压件12顶回原位。如图所示，弹簧设置在了两个限位柱111的中间，并与限位柱111大致平行，为保证弹簧的位置不发生变化，不会对限位柱111造成应先该，按压件12位于主体1内部的部分具有一个柱状结构供弹簧套设，以保证弹簧不移位。在弹簧止抵的另一度也设置有相应的结构防止弹簧移位。
为保证撑衣臂2在特定角度内转动，防止其过度转动而失去对衣物对合理支撑，或收拢时防止两个撑衣臂2过度转动而发生碰撞，在主体1内设置有第三限位结构13，如图4及图5所示，所述撑衣臂2也具有相应的限位结构与主体1内部的限位机构匹配。当撑衣臂2为展开状态时，第一限位结构1111和第二限位结构2121止抵，防止撑衣臂2向下转动，而第三限位结构1313设置在撑衣臂2的上部，防止撑衣臂2再向上转动。当撑衣臂2为收折时，撑衣臂2会向下转动形成收折的状态，此时，第一限位结构1111与第二限位结构2121远离，造成第一限位结构1111不能对第二限位结构2121形成限位，撑衣臂2由于重力的原因向下转动，当转动至接近垂直方向是，第二限位结构2121与第三限位结构1313止抵，防止撑衣臂2进一步转动。第一限位结构1111无法与第二限位结构21匹配。
本发明中的衣架为可以与叠衣机配合使用的衣架，因而衣架具有与叠衣机的相应结构匹配的结构，上述可收折的撑衣臂以及收折开关均可以与叠衣机形成配合。叠衣机还具有夹持机构400，夹持机构400的作用为，从衣架上夹取衣物并使得衣物与衣架脱离，夹持机构将脱离衣架的衣物带入叠衣机的内部，对衣物进行铺平、折叠等操作，从而完成叠衣的过程。
衣架还设置有配合部22与叠衣机的夹持机构400进行配合，以供夹持机构夹持住撑衣臂上的衣物并带动衣物与衣架脱离。如图1及图19所示，撑衣臂的配合部为避让区，衣物覆盖在避让区后被架空，夹持机构夹持住衣物的架空部分不与撑衣臂接触，两个撑衣臂对称设置有避让区，两个避让区的位置与夹持机构的两个夹持部位置对应。一般的衣物为左右对称的状态，因而衣架的两个撑衣臂以及设置在撑衣臂上的配合部也对称设置，夹持机构具有两个夹持部，夹持部在夹持衣物相对于衣架也对称分布。
如图1所示，所述撑衣臂通过多次弯折形成与夹持机构形状匹配的避让区；撑衣臂在撑开状态下向下弯折-水平弯折-向上弯折-水平弯折形成避让区；其中向下弯折、向上弯折等结构并不一定为垂直向下或垂直向上，也可以具有一定的倾斜角度，各个弯折处也可以为具有弧形的过渡区。其目的为形成一个向下 凹陷的区域，构成避让夹持部410的避让区。
除上述通过多次弯折形成的避让区外，撑衣臂的避让区还可以设置为撑衣臂上的上部开口的下沉槽，所述下沉槽贯通撑衣臂的前后表面用于避让夹持机构，所述下沉槽具有与夹持机构形状匹配的截面。下沉槽具有与弯折形成的避让区能够达到相同的避让效果，但下沉槽与弯折结构在加工工艺上具有区别，且下沉槽的设置方式可以保证撑衣臂具有一定的支撑强度。上述两种结构的选择可以根据应用中所需的性能进行选择。
配合部还可以设置为与夹持部先接触，然后夹持部在夹持过程中可从撑衣臂上滑脱的结构。撑衣臂的配合部为滑脱结构，滑脱结构能够在夹持机构同时夹持住撑衣臂和衣物时，夹持机构闭合时能够与撑衣臂产生相对滑动使得撑衣臂与夹持机构脱离。具体的设置方式可以为，滑脱结构由斜面构成，夹持机构的夹持部包括第一夹持臂和第二夹持臂，滑脱结构包括与第一夹持臂对应的第一斜面以及与第二夹持臂对应的第二斜面，夹持部在闭合时，两个夹持臂能够从斜面处滑脱；为了保证夹持部能够将衣物从撑衣臂上夹持住并带走，因而斜面处的摩擦系数小于夹持臂与衣物接触部位的摩擦系数，从而保证衣物能够从撑衣臂上述顺利滑落并被夹持部带走。
本发明还包括叠衣机，叠衣机具有如上所述的夹持机构，夹持机构具有两个夹持部，所述夹持部能够夹持住衣物位于配合部的部位。上述叠衣机的控制方法为叠衣机将衣架输送至目标位置后，目标位置可以为触碰机构处，叠衣机先控制夹持机构在衣架的撑衣臂的的配合部开闭夹持住衣物，再令衣架的撑衣臂收折，收折完成后夹持机构带动衣物移动使得衣物与衣架脱离。
本发明还包括另一种衣架，衣架如图6所示，本实施例的衣架与上一实施例的衣架区别在于，按压件12设置有动力机构14来驱动按压件12移动。衣架的结构与上述衣架基本相同，包括主体1、撑衣臂2和挂部3，在主体1内部也设置有相同的限位件11和收折开关121，上一实施例中衣架收折的实现是通过外部对收折开关121施加作用力而实现衣架收折，本实施例则在按压件12上设置有动力机构14，动力机构14可以带动按压件12移动，从而实现衣架的收折。
动力机构14包括驱动件141和传动件，传动件的作用就是将驱动件141产生的动力传递给按压件12，使得按压件12能够移动，从而对限位件11产生力的作用，使得限位结构实现，撑衣臂2转动收折。
驱动件141为电机，并具有可以输出动力的电机轴，所述传动件包括第一连杆142和第二连杆143，如图6所示，第一连杆142一端与电机轴固定连接，一端与第二连杆143可转动连接，第二连杆143另一端与按压件12连接带动按压件12移动。
上一实施例中，主体1的底部设置有开口供按压件12的收折开关121伸出，以能够接收来自外部的作用力。本实施例由于是电机带动按压件12运动，因而不需要将按压件12设置在主体1外部，但由于需要保证按压件12的运动路径，因而在主体1设置有滑动槽15，供按压件12沿直线移动，优选地如图中所示，按压件12能够沿滑动槽15上下移动，以对限位柱111施加力的作用。
第一连杆142较短，与电机轴固定连接，当电机轴转动时，能够带动第一连杆142转动，如图6中所示，第一连杆142能够在周向顺时针转动从而带动第二连杆143向上移动，第二连杆143的另一端与按压件12连接，可以带动按压件12沿着滑动槽15向上移动。
由于电机轴可以反向转动，使得连杆在电机轴的反向作用力下能够使得按压件12归位，但按压件12与主体1间可以设置有弹性件使得按压件12能够不通过电力的损耗即可归位。弹性件一端与按压件12朝 向限位柱111的一端止抵，一端与主体1内壁止抵。弹性件与第二连杆143间错位设置不会互相影响。
由于衣架中设置有电机，可以通过电机的转动控制撑衣臂2的收折，因而衣架还可以设置有控制单元，控制单元可以控制电机的通断以及电机轴的转动方向，以控制撑衣臂2的收折。
衣架还包括信号传输单元，用于接收和/或发送信号，信号传输单元与控制单元通讯连接。由于衣架可以与叠衣机或其他装置配合使用，因而可以接收来自叠衣机或其他装置发送的需要衣架收折的信号，从而实现对衣架无线控制。
如图7及图8所示，本发明还包括一种叠衣机1000，叠衣机1000包括如实施例一中所述的衣架100，叠衣机1000还包括触碰机构200，所述触碰机构200的作用用于对衣架100的按压件12的收折开关121施加作用力，使得衣架100能够收折。
图9为图8的局部放大图。图9中示出了触碰机构200的设置位置，当衣架100被输送至触碰机构200处时，所述触碰机构200能够上下移动，对衣架100主体1底部的收折开关121施加作用力。
上述叠衣机1000的控制方法为当衣架100上挂有衣物时，叠衣机1000将衣物输送至触碰机构200处，触碰机构200与按压件12止抵释放撑衣臂2，衣架100的撑衣臂2向下收拢，叠衣机1000取下衣物。由于叠衣机1000需要对衣架100进行输送，叠衣机1000还可以设置有衣架输送机构300，如图10及图11所示，图11为衣架输送机构300的俯视图，衣架输送机构300用于将衣架100输送至触碰机构200处。触碰机构200对衣架100施加作用力后，衣架100收折，衣架输送机构300还可以将收折后的衣架100输送至回收衣架100的位置。
叠衣机1000设置有衣架挂杆用于悬挂衣架100，挂杆上设置有衣架输送机构300，所述衣架输送机构300可以对衣架100进行移动。衣架输送机构300设置有机械手335，机械手335可以夹取衣架100，也可以释放衣架100，衣架100设置有挂部3，机械手335可以夹取衣架100的挂部3对衣架100进行移动。
衣架挂杆可以设置有一根，也可以设置有多根，所述衣架挂杆至少包括有第一挂杆311，衣物支撑在衣架100上后，用户可以将挂有衣物的衣架100悬挂在第一挂杆311上，所述机械手335还可以沿着第一挂杆311将衣架100输送这衣架100与衣物脱离的位置。
衣架挂杆还可以包括第二挂杆312，第二挂杆312用于悬挂与衣物脱离后的衣架100，衣架输送机构300还能够将衣架100输送至第二挂杆312处用于回收衣架100；优选地，第一挂杆311和第二挂杆312平行设置，并在衣架100与衣物脱离一端悬空如图10所示。
衣架输送机构300包括X向移动机构和Y向移动机构，X向移动机构能使机械手335在沿着挂杆方向进行移动，Y向移动机构能够带动机械手335垂直于挂杆的水平方向进行移动。为保证机械手335能够在X向和Y向同时移动，Y向移动机构设置在X向机构上，使得X向移动机构能够带动Y向移动机构整体移动，Y向移动机构还能够将机械手335带动在Y向移动，从而使得机械手335能够在衣架输送机构300的范围内可以移动至任意位置。
X向移动机构的具体设置方式为，X向移动机构包括第一运动部件321，还包括第一传动带322和第一导轨323，第一运动部件321设置在第一导轨323上可以沿着第一导轨323运动，第一传动带322带动第一运动部件321沿着第一导轨323运动。第一传动带322的一部分与第一运动部件321的相应结构固定连接。X向移动机构还设置有第一电机324，第一电机324开启，则带动第一传动带322转动，从而使得第一运动部件321沿着第一导轨323移动。
Y向移动机构的具体设置方式为，Y向移动机构包括第二运动部件331，还包括第二传动带332和第二导轨333，第二运动部件331设置在第二导轨333上可以沿着第二导轨333运动，第二传动带332带动第二运动部件331沿着第二导轨333运动，第二传动带332的一部分与第二运动部件331的相应结构固定连接。Y向移动机构还设置有第二电机334，所述第二电机334开启，则带动第二传动带332转动，从而使得第二运动部件331沿着第二导轨333移动。X向移动机构带动Y向移动机构移动，整个Y向移动机构均固定设置在第一运动部件321上，所述机械手335设置在Y向移动机构的第二运动部件331上。
叠衣机1000设置有触碰机构200，触碰机构200由于需要对撑开的衣架100进行触碰，因而优选为触碰机构200与第一挂杆311对齐，使得衣架输送机构300能够沿着X向直接将衣架100运送至触碰机构200处，触碰机构200对衣架100进行控制。触碰机构200包括一个可上下移动触碰件，对衣架100的收折开关进行按压，所述收折开关即为收折开关121，或者，触碰件为固定结构，所述机械手335可上下移动，带动衣架100的收折开关在触碰件处上下移动触发收折开关，或者触碰件具有倾斜面，衣架100水平运动时触碰件对衣架100具有纵向对作用力使得收折开关121能够向主体1内部移动。
触碰机构200还包括一个槽形机构可以对衣架100对挂部3进行限位，使得衣架100能够与触碰件对齐，防止触碰不到收折开关，还可以防止在触碰件对衣架100施加作用力时固定衣架100，防止衣架100与机械手335挣脱。
叠衣机1000具有其他装置夹持衣物，衣架100收折，完成衣物的传递。叠衣机1000在内部设置有夹持机构，衣架100上设置有避让夹持机构的配合部22。
上述叠衣机的控制方法为：机械手根据衣架的位置移动至衣架上方，并抓取衣架，将衣架移动至触碰机构将衣架收折。机械手可移动可开合。机械手的移动通过移动机构来实现，移动机构可以包括X向移动机构和Y向移动机构对机械手进行移动，衣架输送机构能够在水平方向输送衣架。机械手的开合可以通过开合机构实现，开合机构可以使得机械手的爪部张开，能够使得机械手爪部合拢能够抓取衣架。
衣架的位置的获取，可以通过在衣架和/或叠衣机上设置相应的定位装置，衣架可以向叠衣机实时反馈衣架的位置，从而实现机械手获取衣架的位置能够对其准确抓取。叠衣机也可以设置有摄像头等装置对当前衣架的位置图像进行判断，从而获取衣架的实时位置，指导衣架输送机构的运动。还可以通过衣架与叠衣机某一部件间的距离来判断衣架的位置，通过距离感应判断衣架是否到达指定位置。
在具有第一挂杆的情况下，机械手将衣架输送至触碰机构处，叠衣机的控制方法包括：
S1：机械手抓取第一挂杆上的衣架；
S2：机械手沿第一挂杆移动衣架至触碰机构；
S3：触碰机构与衣架收折开关触碰使衣架收折。
在步骤S1中，机械手通过定位装置获取衣架的位置，并通过移动机构移动至衣架上方使得机械手与衣架纵向对齐；图12至图13为步骤S1的示意图，在机械手抓取衣物前，叠衣机还需要判断机械手是否为张开状态，当机械手为张开状态，则对准衣架进行抓取，当机械手为闭合状态，则衣架输送机构启动开合机构将机械手调整为张开状态。衣架输送机构启动第一电机和/或第二电机对机械手的位置进行移动直至机械手位于目标衣架的正上方。
在步骤S2中，开合机构控制机械手抓取衣架，并通过移动机构沿第一挂杆方向向触碰机构处移动。图13至图14为步骤S2的示意图，由于衣架输送装置带动衣架沿第一挂杆移动，第一挂杆和X向平行， 因而只需要驱动第一电机，将衣架沿第一挂杆移动即可。
机械手每次仅移动一个衣架，且移动最靠近触碰机构的衣架，各个衣架间依照顺序依次被衣架输送机构输送至触碰机构。叠衣机需要判断是否为最靠近触碰机构的衣架，以此指导机械手的运动。
在步骤S3中，当衣架与触碰机构触碰后，机械手停止移动，此时设置在叠衣机内部的夹持机构夹持衣物，衣架收折，完成衣物的传递。所述叠衣机在内部设置有夹持机构400，衣架上设置有避让夹持机构的配合部22，图14至图15为步骤S3的示意图。
由于衣架还需要进行回收放置，所述叠衣机还设置有第二挂杆，所述控制方法还包括机械手将衣架回收并放置在第二挂杆处。第二挂杆处放置的为收折后的衣架，不再有被支撑的衣物。当衣架输送机构将衣架运送至触碰机构处时停止移动，此时叠衣机具有承接衣物的装置。该环节包括如下步骤：
S4：机械手移动至与第二挂杆对应的位置；
S5：机械手沿第二挂杆移动衣架；
S6：机械手张开释放衣架使衣架挂在第二挂杆上。
在步骤S4中，在衣物与衣架完全脱离后机械手再进行移动，移动机构沿垂直于挂杆的水平方向移动机械手，使得衣架与第二挂杆位置对齐，图15至图16为步骤S4示意图。在步骤S5中，移动机构沿沿第二挂杆方向移动机械手将衣架回收；图16至图17为步骤S5示意图。在步骤S6中，开合机构控制机械手释放衣架使衣架悬挂在第二挂杆处，图17至图18为步骤S6示意图。
叠衣机还需要判断第一挂杆上是否还有需要折叠的衣物，当第一挂杆上仍有挂有衣物的衣架时，机械手按照上述步骤再次执行整个过程。机械手在将衣架放置在第二挂杆后，移动机构将机械手移动至第一挂杆上部对步骤S1-S6进行循环。上述控制方法如图20及图21所示。
本发明还包括一种叠衣机，所述叠衣机包括实施例二中衣架，所述叠衣机也具有衣架输送机构可以运送衣架，所述衣架输送机构如上所述。由于实施例二中的衣架具有电机可以驱动带动收折开关移动，因而所述叠衣机可以不设置触碰机构，而是依靠信号对衣架进行控制。
所述衣架可以包括有控制单元，控制单元与动力机构电连接，或者信号连接，控制单元能够控制动力机构启停，以及动力机构提供的动力的方向。即为当动力机构包括电机以及设置在电机上的电机轴时，控制单元能够控制电机的转动以及转动方向。衣架还设置有信号传输单元，所述信号传输单元可以接收来自叠衣机的指令，当叠衣机需要衣架收折时，信号传输单元接收到相应的指令，控制单元处理该指令，并驱动电机给按压件提供动力，使得撑衣臂收折。
具体的控制方法为：叠衣机通过信号传输系统向衣架发送收折的信号，衣架通过信号传输单元接收到收折的信号后启动驱动机构，驱动机构转动，带动第一连杆周向转动，并使第二连杆带动按压件向限位柱方向移动，使得限位柱与撑衣臂脱离，实现撑衣臂的收折。
以上所述仅是本发明的较佳实施例而已，并非对本发明作任何形式上的限制，虽然本发明已以较佳实施例揭露如上，然而并非用以限定本发明，任何熟悉本专利的技术人员在不脱离本发明技术方案范围内，当可利用上述提示的技术内容作出些许更动或修饰为等同变化的等效实施例，但凡是未脱离本发明技术方案的内容，依据本发明的技术实质对以上实施例所作的任何简单修改、等同变化与修饰，均仍属于本发明方案的范围内。

Claims (40)

  1. 一种衣架，包括主体及两个撑衣臂，其特征在于：所述撑衣臂可转动地设置在主体上，衣架还包括限位件和按压件，所述限位件与撑衣臂间设置有对应的限位结构使撑衣臂撑开，所述按压件能够移动限位件取消对撑衣臂的限位使撑衣臂合拢。
  2. 根据权利要求1所述的衣架，其特征在于：所述限位件包括两个分别与两个撑衣臂对应限位柱，所述限位柱设置有第一限位结构，所述撑衣臂设置有与第一限位结构匹配的第二限位结构，所述限位柱能够在第一限位结构与第二限位结构接触和远离的位置间移动。
  3. 根据权利要求2所述的衣架，其特征在于：所述第一限位结构为限位凸起，所述第二限位结构为限位凹槽，所述限位柱靠近撑衣臂一侧设置有所述限位凸起，所述撑衣臂设置有所述限位凹槽，限位凸起止抵在限位凹槽中使得撑衣臂为撑开状态。
  4. 根据权利要求2所述的衣架，其特征在于：所述限位柱能够产生可回复的形变使得限位柱的限位凸起能够自动恢复至与撑衣臂限位凹槽对应的位置；优选地，所述限位柱为垂直设置，所述限位柱一端与主体内壁固定连接，另一端可沿水平方向移动。
  5. 根据权利要求2所述的衣架，其特征在于：所述按压件包括设置在主体外部的按压部和设置在主体内部的分别与限位柱止抵的两个翅部，所述翅部设置为与水平方向具有一定角度，使得翅部上下移动，带动限位柱具有水平方向的位移。
  6. 根据权利要求5所述的衣架，其特征在于：所述翅部具有倾斜面，所述限位柱与翅部倾斜面止抵端具有与翅部倾斜面相应的角度，令限位柱可沿倾斜面移动；优选地，所述按压件设置在限位件下部，对限位柱的下端施加作用力。
  7. 根据权利要求1所述的衣架，其特征在于：所述按压件还包括回位装置，所述回位装置包括弹性件，所述弹性件一端与按压件位于主体内部的一端止抵，弹性件的另一端与相对于主体固定的结构止抵。
  8. 根据权利要求1所述的衣架，其特征在于：所述主体内设置有第三限位结构，用于限制撑衣臂的转动角度，所述第三限位结构将撑衣臂限制在撑衣臂撑开至水平和收拢至撑衣臂垂直向下的位置之间。
  9. 一种叠衣机，其特征在于：包括如权利要求1-8所述的衣架，所述叠衣机设置有触碰机构，所述触碰机构设置在与按压件对应的位置。
  10. 一种如权利要求9所述的叠衣机的控制方法，其特征在于：当衣架上挂有衣物时，叠衣机将衣物输送至触碰机构处，触碰机构与按压件止抵释放撑衣臂，衣架的撑衣臂向下收拢，叠衣机取下衣物。
  11. 一种衣架，其特征在于，包括：主体和设置在主体上的撑衣臂，所述撑衣臂设置有用于与可夹持衣物的夹持机构进行配合的配合部。
  12. 根据权利要求11所述的衣架，其特征在于，所述撑衣臂的配合部为避让区，衣物覆盖在避让区后被架空，夹持机构夹持住衣物的架空部分不与撑衣臂接触，两个撑衣臂对称设置有避让区，两个避让区的位置与夹持机构的两个夹持部位置对应。
  13. 根据权利要求12所述的衣架，其特征在于，所述撑衣臂通过多次弯折形成与夹持机构形状匹配的避让区；优选地，撑衣臂在撑开状态下向下弯折-水平弯折-向上弯折-水平弯折形成避让区；进一步优选地，各个弯折处具有弧形的过渡区。
  14. 根据权利要求12所述的衣架，其特征在于，所述撑衣臂的避让区为设置在撑衣臂上的具有上部 开口的下沉槽，所述下沉槽贯通撑衣臂的前后表面用于避让夹持机构；优选地，所述下沉槽具有与夹持机构形状匹配的截面。
  15. 根据权利要求11所述的衣架，其特征在于，所述撑衣臂的配合部为滑脱结构，所述滑脱结构能够在夹持机构同时夹持住撑衣臂和衣物时，夹持机构闭合时能够与撑衣臂产生相对滑动使得撑衣臂与夹持机构脱离。
  16. 根据权利要求15所述的衣架，其特征在于，所述滑脱结构由斜面构成，夹持机构的夹持部包括第一夹持臂和第二夹持臂，滑脱结构包括与第一夹持臂对应的第一斜面以及与第二夹持臂对应的第二斜面，夹持部在闭合时，两个夹持臂能够从斜面处滑脱；优选地，斜面处的摩擦系数小于夹持臂与衣物接触部位的摩擦系数。
  17. 根据权利要求11所述的衣架，其特征在于，所述撑衣臂可转动地设置在主体上，所述主体底部设置有收折开关用于控制撑衣臂的转动，所述主体的内部设置有限位件与撑衣臂止抵限制撑衣臂的位置，还设置有传动件，所述传动件能够将收折开关接收的控制力传递给限位件取消限位件对撑衣臂的限位。
  18. 根据权利要求17所述的衣架，其特征在于，限位件包括两个具有弹性的限位柱，所述限位柱靠近撑衣臂的位置设置有限位凸起，所述传动件包括两个翅部分别与限位柱的自由端止抵，所述传动件上下移动能够带动限位柱的水平移动控制限位凸起对撑衣臂的限位。
  19. 一种包含如权利要求11-18所述衣架的叠衣机，其特征在于，所述叠衣机还包括夹持机构，所述夹持机构具有两个夹持部，所述夹持部能够夹持住衣物位于配合部的部位。
  20. 一种如权利要求19所述的叠衣机的控制方法，其特征在于，叠衣机将衣架输送至目标位置后，叠衣机先控制夹持机构在衣架的撑衣臂的的配合部开闭夹持住衣物，再令衣架的撑衣臂收折，收折完成后夹持机构带动衣物移动使得衣物与衣架脱离。
  21. 一种叠衣机，其特征在于：所述叠衣机包括衣架挂杆及衣架输送机构，所述衣架输送机构设置在挂杆上部，所述衣架输送机构设置有机械手，所述机械手从挂杆上夹取/放置衣架并移动衣架。
  22. 根据权利要求21所述的叠衣机，其特征在于：所述衣架挂杆包括第一挂杆，所述第一挂杆用于悬挂带有衣物的衣架，用于将衣架输送至衣架与衣物脱离的位置。
  23. 根据权利要求22所述的叠衣机，其特征在于：所述衣架挂杆还包括第二挂杆，所述第二挂杆用于悬挂与衣物脱离后的衣架，所述衣架输送机构还能够将衣架输送至第二挂杆处；优选地，所述第一挂杆和第二挂杆平行设置，并在衣架与衣物脱离一端悬空。
  24. 根据权利要求23所述的叠衣机，其特征在于：所述衣架输送机构包括X向移动机构及Y向移动机构，所述X向移动机构带动Y向移动结构沿挂杆方向水平移动，所述Y向移动机构带动机械手沿垂直挂杆方向水平移动。
  25. 根据权利要求23所述的叠衣机，其特征在于：所述X向移动机构包括第一运动部件，所述Y向移动机构设置在第一运动部件上，所述Y向移动机构包括第二运动部件，所述第二运动部件设置有机械手。
  26. 根据权利要求24所述的叠衣机，其特征在于：所述X向移动机构还包括第一传动带和第一导轨，所述第一运动部件限位于第一导轨上沿第一导轨移动，并与第一传动带固定连接，所述Y向移动机构还包括第二传动带和第二导轨，所述第二运动部件限位于第二导轨上沿第二导轨移动，并与第二传动带固定连 接。
  27. 根据权利要求21-26任一项所述的叠衣机，其特征在于：还包括衣架，所述衣架包括主体、设置在主体上部的挂部，以及设置在主体上可收折的撑衣臂，所述机械手夹取衣架的挂部进行移动。
  28. 根据权利要求27所述的叠衣机，其特征在于：所述主体底部设置有收折开关，所述收折开关用于控制撑衣臂的撑开和收拢。
  29. 根据权利要求28所述的叠衣机，其特征在于：所述叠衣机还包括触碰机构，所述衣架具有收折开关，所述触碰机构与第一挂杆在X向对齐，所述机械手夹取带有衣物的衣架时能够令收折开关与触碰机构接触。
  30. 根据权利要求29所述的叠衣机，其特征在于：所述触碰机构可上下移动，对衣架的收折开关进行按压，或者，所述触碰机构为固定结构，所述机械手可上下移动，带动衣架的收折开关在触碰机构处上下移动触发收折开关，或者触碰机构具有倾斜面，衣架水平运动时触碰机构对衣架具有纵向对作用力。
  31. 一种叠衣机的控制方法，其特征在于：所述叠衣机包括可收折的衣架，所述叠衣机设置有可移动可开合的机械手，所述叠衣机还设置有触碰机构用于使衣架收折，所述叠衣机能够获取衣架的位置，控制方法包括，机械手根据衣架的位置移动至衣架上方，并抓取衣架，将衣架移动至触碰机构将衣架收折。
  32. 根据权利要求31所述的叠衣机的控制方法，其特征在于：所述机械手通过移动机构和开合机构进行控制，所述叠衣机包括挂杆用于悬挂衣架，控制方法包括移动机构控制机械手在水平方向移动，开合机构控制机械手在挂杆处抓取/释放衣架。
  33. 根据权利要求32所述的叠衣机的控制方法，其特征在于：所述挂杆至少包括第一挂杆用于悬挂带有衣物的衣架，包括如下步骤：
    S1：机械手抓取第一挂杆上的衣架；
    S2：机械手沿第一挂杆移动衣架至触碰机构；
    S3：触碰机构与衣架收折开关触碰使衣架收折。
  34. 根据权利要求33所述的叠衣机的控制方法，其特征在于：在步骤S1中，机械手通过定位装置获取衣架的位置，并通过移动机构移动至衣架上方使得机械手与衣架纵向对齐；在步骤S2中，开合机构控制机械手抓取衣架，并通过移动机构沿第一挂杆方向向触碰机构处移动。
  35. 根据权利要求34所述的叠衣机的控制方法，其特征在于：当第一挂杆上放置有多个衣架时，机械手根据多个衣架的定位信息，每次均选取最靠近触碰机构的衣架进行抓取和移动。
  36. 根据权利要求33所述的叠衣机的控制方法，其特征在于：所述挂杆还包括第二挂杆，所述第二挂杆用于悬挂取下衣物的衣架，所述控制方法还包括机械手将衣架回收并放置在第二挂杆处。
  37. 根据权利要求36所述的叠衣机的控制方法，其特征在于：还包括如下步骤：
    S4：机械手移动至与第二挂杆对应的位置；
    S5：机械手沿第二挂杆移动衣架；
    S6：机械手张开释放衣架使衣架挂在第二挂杆上。
  38. 根据权利要求37所述的叠衣机的控制方法，其特征在于：在步骤S4中，在衣物与衣架完全脱离 后机械手再进行移动，移动机构沿垂直于挂杆的水平方向移动机械手，使得衣架与第二挂杆位置对齐；在步骤S5中，移动机构沿第二挂杆方向移动机械手将衣架回收；在步骤S6中，开合机构控制机械手释放衣架使衣架悬挂在第二挂杆处。
  39. 根据权利要求31-38任一项所述的叠衣机的控制方法，其特征在于：所述移动机构包括X向移动机构和Y向移动机构，控制方法包括，当机械手沿挂杆方向移动时启动X向移动机构，当机械手沿垂直于挂杆的水平方向移动时启动Y向移动机构。
  40. 根据权利要求39所述的叠衣机的控制方法，其特征在于：机械手在将衣架放置在第二挂杆后，移动机构将机械手移动至第一挂杆上部对步骤S1-S6进行循环。
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