WO2019242595A1 - Flipping device, laundry folding machine, and method for controlling laundry folding machine - Google Patents

Abstract

Disclosed are a flipping device, a laundry folding machine, and a method for controlling a laundry folding machine. The laundry folding machine comprises a laundry hanger conveying unit (3), a folding unit (1) and a storage unit (2), wherein a laundry hanger (31) carrying laundry is conveyed by the laundry hanger conveying unit (3) to the folding unit (1), and the laundry is folded by the folding unit (1) by means of a folding platform and then enters the storage unit (2) for storage. A laundry conveying device can cooperate with a trigger mechanism, realizing a more targeted conveying process for different laundries. An auxiliary laundry flattening structure is provided on the folding platform to prevent the laundry from becoming more creased. A mechanical propelling mechanism is provided at the bottom of a laundry folding board, realizing a continuous flipping action. The storage unit (2) is provided with a lifting laundry-carrying platform (21) to prevent the laundry from falling off, and can also move horizontally such that the laundry-carrying platform (21) is aligned to a laundry drop opening, without needing the folding unit to stop working. The laundry folding machine is further provided with a sensor and an image recognition device, etc., making the laundry folding machine more intelligent.

Description

Folding device, clothes stacker and control method thereof Technical field

The invention belongs to the field of household appliances, and in particular, relates to a folding device, a clothes stacker and a control method of the clothes stacker.

Background technique

In daily home life, it is necessary to fold and store dry clothes or prepared clothes. People usually fold clothes manually in life. Due to the accelerated pace of social development and life, the time for housework is reduced and the clothes are dried well. The random stacking of clothing not only wastes storage space, but also causes damage to clothing. The improvement of living standards also brings an increase in the types of clothing. Users cannot master the folding and storage techniques for different clothing, so that after folding, The clothes cannot be better protected, and the clothes with uneven folds still need to be ironed before being worn, so it is necessary to provide a small-sized, highly automated and beautiful-looking clothes stacker for home use. There are many types of clothing that need to be worn everyday. The stacker used in industry can only provide a single program to fold a specific type of clothing, and it cannot bring convenience to home users. Therefore, there is a lack of a more intelligent suitable folding in the market. Stacker for different types of clothing. In view of this, the present invention is proposed.

Summary of the Invention

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

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

A clothes stacker includes a folding unit and a hanger conveying unit. The hanger conveying unit conveys a clothes hanger with clothes to the folding unit. The folding unit includes a clothes conveying device and a folding platform for folding clothes. The clothes The conveying device is used to remove the clothes from the hanger and lay the clothes on the folding platform.

The laundry conveying device includes a moving mechanism and a clamping mechanism, the clamping mechanism is fixed on the moving mechanism, the moving mechanism can drive the clamping mechanism to move, and the clamping mechanism can be opened and closed for clamping and releasing laundry. The clamping mechanism includes a connecting rod and two clamping portions. One end of the connecting rod is fixed to the moving part of the moving mechanism and is horizontally arranged above the folding platform. Preferably, the clothes supporting arm of the clothes hanger has an avoiding portion. The setting position of the gripping portion matches the avoidance portion and is capable of gripping clothes located in the avoidance portion.

The moving mechanism includes at least an X-direction moving mechanism, and the X-direction moving mechanism drives the clamping mechanism to move in a horizontal direction; preferably, the X-direction moving mechanism includes a first moving part, an X-direction guide rail, and a first driving motor. The first driving motor drives the first moving part to move on the X-direction guide rail. The X-direction moving mechanism includes at least a first limiting position and a second limiting position. The first moving part moves between the first limiting position and the second limiting position. The clamping mechanism is guaranteed when the first moving part is located in the first limiting position. The clothes on the hanger can be clamped. When the first movement part is in the second restricted position, the clothes can be released at the designated position of the folding platform. The moving mechanism includes a Z-direction moving mechanism, and the Z-direction moving mechanism drives the clamping mechanism to move in a vertical direction. Preferably, the Z-direction moving mechanism includes a second moving part, a Z-direction guide, and a second driving motor. The second driving motor drives the second moving part to move on the Z-direction guide rail. The Z-direction moving mechanism includes at least a top limit position and a bottom limit position. The second moving part moves between the top limit position and the bottom limit position. When the second movement part is located at the top limit position, it is ensured that the clamping mechanism can grip the hanger. When the second moving part is located at the bottom restricted position, ensure that the clothes are separated from the hanger.

A method for controlling a clothes stacker as described above, wherein the clothes stacker has a folding position of a hanger, and when the clothes stacker is in the folding position of the hanger, controlling the clamping mechanism to open and close the clothes on the hanger, and After the hanger is folded, the clamping mechanism is moved to release the clothes from the hanger.

The clothes stacker drives the Z-direction moving mechanism to detach the clothes from the hanger. Specifically, the clothes stacker turns on the second motor to move the second moving part downward, so that the clamping mechanism drives the clothes to move downward. Stop the Z-direction movement when the bottom of the support arm is completely disengaged. When the clothes are detached from the clothes rack, the clothes stacker drives the X-direction moving mechanism to drag the clothes on the folding platform. Specifically, the first motor of the clothes stack is turned on to drive the clothes to the other side of the folding platform. The movement is stopped when the position is restricted, and the stacker controls the clamping mechanism to release the clothes so that the clothes are laid on the folding platform.

A clothes stacker includes a folding unit. The folding unit is provided with a folding platform and a clothes conveying device. The clothes conveying device moves clothes to lay the clothes on the folding platform, and the folding platform is provided with movable parts for assisting the laying of the clothes. Peace process.

The movable member includes a moving rod for folding the sleeve on the folding platform, the moving rod is provided on both sides of the folding platform corresponding to the sleeve position, and the moving rod is provided with a driving device to drive the moving rod. Move horizontally inside the folding platform. The driving device of the moving rod further includes a lifting mechanism, which can drive the moving rod to move up and down to adjust the distance to the folding platform. The moving rod is provided with a sensor for detecting whether the moving rod is covered with clothes, or the clothes stacker is provided with an image acquisition unit for determining whether the sleeves fall on the moving rod.

The movable member further includes a fixing rod for fixing the laundry on the folding platform, and the fixing rod can be moved to the upper surface of the folding platform to press the laundry on the folding platform for fixing; preferably, the fixing rod is symmetrically arranged There are two, and are arranged on the side of the collar where the folding platform is placed for compacting the boundary between the sleeve and the main body of the garment.

The folding unit is further provided with a fan for smoothing the clothes by blowing the clothes; preferably, the fan is provided with a plurality of air outlets to blow different parts of the clothes, and / or a movable air outlet is provided Used to generate different wind directions.

A method for controlling a clothes stacker as described above. After the clothes stacker is placed on a folding platform, it drives a movable part to spread the clothes flat, and then folds the clothes. The stacker judges whether there are sleeves on the moving rod through the sensor or the acquired image. When there are sleeves on the moving rod, the stacker fixes the clothes and drives the moving rod to move to the inside of the folding platform to fold the sleeve to On the folding platform. Before the clothes stacker drives the moving rod to move, first control the fixed rod to rotate to the boundary between the sleeve and the body of the clothing, and press the position tightly. After the clothes are fixed, drive the moving rod to fold the sleeve; preferably, when the sleeve When it is longer, the stacker controls the crossbar to move to the middle repeatedly to realize multiple folding of the sleeves until the sleeves are all placed on the folding platform. After the clothes stacker fixes the clothes on the fixing rod, it drives the fan to spray and flatten the main body of the clothes, and after the blowing is over, it drives the moving rod to fold the clothes sleeves.

A turning device is characterized by comprising: a fixed frame; a turning plate rotatably connected to the fixed frame; a driving device fixed on the fixed frame and having a power output shaft; A transmission mechanism drives the turning plate to rotate.

The transmission mechanism includes an articulated driving link and a driven link. One end of the driving link is fixedly connected to the power output shaft, and the other end is rotatably connected to the driven link. One end of the driven link is connected to the lower surface of the flip plate. Rotatable connection; Preferably, the driven link has a bent structure for avoiding the rotation axis of the turning plate.

The turning device is provided with a stopper, and the turning plate changes the direction of rotation after touching the stopper; preferably, the active link is rotated from 0 degrees to 180 degrees, and the flip plate is turned from 0 degrees. 180 degrees forward rotation, the active link rotates 360 degrees forward from 180 degrees, and the flip plate reverses rotation from 180 degrees to 0 degrees.

The transmission mechanism includes a hinged first link and a second link, where the first link and the second link are hinged to form a first hinge point, and the first hinge point is movable; preferably, the first One end of the connecting rod is rotatably connected to the fixed frame, one end of the second connecting rod is rotatably connected to the lower surface of the flip plate, and the first hinge point is moved until the first connecting rod and the second connecting rod are located in a straight line, and is turned over. Maximum plate flip angle.

The power output shaft is connected with a hinged third link and a fourth link. The third link and the fourth link are hinged to form a second hinge point. One end of the third link is fixed to the power output shaft. Connection, one end of the fourth link is rotatably connected at the first hinge point.

A clothes stacker including the folding device as described above, further comprising a folding platform and a clothes folding plate provided on the folding platform, the clothes folding plate is fixedly connected or integrally formed with the turning plate, and the fixing frame is folded with The platform is fixedly connected or integrated. The laundry folding board includes at least a first folding board and a second folding board, and the first folding board and the second folding board are folded by the same or different folding devices.

A method for controlling a clothes stacker as described above. The clothes stacker controls the power output shaft of a driving device to rotate, and the clothes folding plate is folded through a transmission mechanism. The rotation of the power output shaft of the drive device of the clothes stacker drives the third link and the fourth link to move, causing the first hinge point to be displaced, and the movement of the first and second links drives the clothes folding board to flip; the clothes stacker The power output shaft of the driving device is controlled to rotate the clothes folding plate to the original position; and / or, the power output shaft of the drive device of the clothes stacker drives the active link to rotate forward 180 degrees, and the clothes folding plate is turned forward with the driven link. Fold 180 degrees, the folded clothes folding plate stops at the horizontal position with other clothes folding plates. The power output shaft of the stacker then controls the driving device to continue to rotate 180 degrees in the same direction. The folded clothes folding plate is under the action of stop Rotate in the opposite direction to restore the initial position. The clothes stacker controls the folding of the clothes folding board at least twice: the clothes stacker controls the first folding of the clothes folding board, and then controls the second folding of the clothes folding board to compress the clothes.

A clothes stacking machine includes a folding unit. The folding unit is provided with a folding platform, a clothing conveying device, and a clothing gathering component. The clothing conveying device is capable of gripping and moving the clothing. The clothing gathering component is provided on the folding platform. On the side, the clothes are gathered to prevent the edges of the clothes from falling outside the folding platform during the movement.

The folding platform has a horizontal upper surface, and the clothes conveying device drives the clothes to move from the side where the clothes gathering component is provided to the side away from the clothes gathering component, and the clothes gathering component is a horizontally arranged gathering side plate. The side plate has an inclined side or a recessed side to gather the side of the clothes during the movement of the clothes.

The folding side plates have two, and the two folding side plates are symmetrically arranged and the inclined sides are oppositely arranged to form a centrally recessed folding area. The inclined sides are in contact with both sides of the clothing and are performed on both sides of the clothing during the clothing moving process Collapse; Preferably, the collapsing side plate is a right-angled triangle, and the two hypotenuses of the right-angled triangle are opposite to each other.

The clothes stacker is further provided with a clothes guide plate, which is arranged between the two folding side plates for flattening the middle of the clothes; preferably, the edge of the clothes guide plate that is in contact with the clothes is toward A convex arc shape; further preferably, the upper surface of the main body guide plate is divided into an arc surface portion and a flat surface portion, a portion away from the folding platform is set as an arc surface portion, and a portion near the folding platform is set as a flat portion, and the arc surface portion and the flat portion are smooth over. The folding platform is composed of a folding flap and a falling flap. A sleeve flap is provided on both sides of the folding platform, and the two sides of the clothing are folded and placed on the sleeve flap. Preferably, the two folded side plates The distal end of the slanted side is slightly wider than the folding platform.

The clothes stacker is provided with an image recognition device for identifying the folds of the clothes on the folding platform. The folding unit is provided with a manipulator, which adjusts the clothes according to the folds of the clothes; preferably, the manipulator is provided on the clothes conveying device for gripping the clothes when conveying the clothes and placing the clothes on the clothes after placing the clothes Organize.

A method for controlling a clothes stacker as described above. The clothes stacker controls the clothes conveying device to drive the clothes to contact the clothes gathering component during the moving process and lay the clothes on the folding platform. The clothes stacker controls the clothes conveying device to grip the clothes so that the main body of the clothes hangs on the edge of the clothes guide plate. After the two sides of the clothes hang on the inclined side of the side panel, the clothes conveying device is controlled to move the clothes horizontally so that the main body of the clothes is covered by the clothes. The guide plate is flattened and both sides of the clothes are folded by the side plates. The clothes stacker obtains the state of the clothes tiled on the folding platform through the image recognition device, and controls the manipulator to sort out the uneven position of the clothes; preferably, the two manipulators perform cooperative operations, and the two manipulators correct the unevenness through relative movement. Organize location margins.

A clothes stacker includes a folding unit and a storage unit. The storage unit is arranged at the lower part of the folding unit and is used to receive clothes dropped by the folding unit. A movable clothes-carrying platform is provided in the storage unit. .

The clothes-carrying platform is provided with a retractable support structure, and the support structure adjusts the height of the clothes-carrying platform through telescoping; preferably, the support structure is provided at the bottom of the clothes-carrying platform.

The support structure includes two crossed support rods to form an X-shaped structure, and the middle portion of the support rods can be relatively rotated through a fixed shaft connection; preferably, the support structure includes two sets of symmetrically arranged X-shaped mechanisms. The support structure further includes an upper slide rail and a slide rail. One end of one of the support rods of the X-shaped structure moves along the upper slide rail, and one end of the other support rod moves along the slide rail. The clothing carrying platform is disposed on the support. The structure's top support bar forms different heights during sliding. The support structure is provided with a motor to control the movement of the support rod. A transmission member is fixedly connected to one end of the support rod. The motor drives the support rod to move through the transmission member. Preferably, the transmission member is a lead screw composed of a screw and a nut. The nut is fixedly connected to the support rod, the lead screw rotates with the motor, and the nut is sleeved on the screw to move horizontally as the screw rotates. An elastic mechanism is sleeved on the upper slide rail or the slide rail. One end of the elastic mechanism is fixed, and the other end stops against the moving end of the support rod.

The storage unit is provided with a sensor for determining the amount of laundry on the clothes carrying platform; preferably, the clothes carrying platform is provided with a weight sensor; preferably, the storage unit is provided with a light sensor.

A control method of a clothes stacker as described above, the clothes stacker adjusts the height of the clothes loading platform according to the amount of laundry dropped from the folding unit on the clothes loading platform. The sensor obtains the amount of laundry on the clothes-carrying platform. According to the gradual increase of the amount of clothes, the stacker controls the motor to drive the clothes-carrying platform down to the lowest position. When the amount of clothes on the clothes-carrying platform reaches the set value or the clothes-carrying platform drops When it reaches the lowest position, the stacker reminds the user to remove the clothes on the clothes-carrying platform. When the sensor obtains the initial amount of clothes on the clothes-carrying platform, the control motor drives the clothes-carrying platform to return to the highest position. When the amount of laundry on the clothes-carrying platform reaches the set value, the folding machine controls the folding unit to no longer drop the clothes onto the clothes-carrying platform. When the amount of laundry on the clothes-carrying platform returns to the initial value, the clothes-stacking machine controls the folding unit to recover. Fall off clothing.

A clothes stacker includes a folding unit and a storage unit. The storage unit is disposed at the lower portion of the folding unit and is used to receive clothes dropped by the folding unit. The storage unit is provided with a horizontally movable carrier. platform.

The clothes-carrying platform is provided with a driving device to drive the clothes-carrying platform to move horizontally. The storage unit is provided inside a cavity, the cavity is provided with a clothes outlet, and the clothes-carrying platform can be horizontally moved to the clothes outlet for the user. Take out clothes, or the storage platform can move horizontally inside the cavity.

The driving device includes a motor and a transmission component, and the transmission component transmits the force of the motor to move the clothes-carrying platform; preferably, the transmission component is a rotating roller and a belt, and the motor is fixedly connected to the rotating roller, and the clothes-carrying platform The bottom is fixed to the belt.

The clothes carrying platform includes at least a first placement area and a second placement area, and the second placement area is configured to receive laundry dropped by the folding unit when the first placement area is full of clothes or the first placement area is moved to the clothes outlet. . The clothes-carrying platform has a plurality of placement areas corresponding to the clothes type, and the clothes-carrying platform can be moved horizontally so that the different placement areas are aligned with the positions of the clothes dropped by the folding unit; preferably, the clothes-stacking machine is provided with The laundry identification unit is used to identify the type of laundry.

The folding unit is provided with a sensor for detecting the amount of laundry on the clothes carrying platform; preferably, the sensor is a weight sensor or a light sensor.

A method for controlling a clothes stacker as described above, when the amount of laundry placed on the clothes carrying platform reaches a set value, the clothes stacker controls the clothes carrying platform to horizontally move to the clothes outlet for the user to take clothes. The stacker controls the movement of the storage platform by obtaining the weight of the clothing on the clothing platform and / or the height of the clothing; further, when any value of the weight or height of the clothing on the storage platform exceeds a set value, the stacker controls The driving device of the storage platform causes the storage platform to drive the clothes to the clothes outlet. The sensor can detect the amount of laundry in the first placement area and the second placement area, respectively. When the amount of laundry in the first placement area reaches a set value, the stacker controls the first placement area to move to the clothing outlet, and The second placement area is controlled to move to the laundry drop position to continue to receive laundry dropped by the folding unit. The clothes recognition unit of the clothes stacker recognizes the clothes to be dropped and determines the type of clothes. The clothes machine drives the corresponding placement area to move horizontally to the clothes drop position according to the clothes type.

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

(1) The clothes conveying device can cooperate with the trigger mechanism to fix the clothes during the disengagement of the clothes from the hanger; the clothes conveying device is provided with an X-direction moving mechanism and a Z-direction moving mechanism which can drive the clamping mechanism on the upper part of the folding platform. Move at any position, not limited to a single path, to facilitate a more targeted conveying process for different clothes;

(2) A structure is provided on the folding platform to assist in flattening the clothes. When the clothes are not flat, the clothes can be placed flat on the folding platform to prevent more wrinkles of the clothes, which is convenient for the storage of the clothes and the next wearing. ; The clothes stacker can also be equipped with a fan and other structures to assist with the flattening of the clothes, which is convenient for subsequent folding operations; the clothes stacker is equipped with a clothes gathering component to prevent the two sides of the clothes from falling outside the folding platform during the transportation process to affect folding The board folds the clothes, and the structure is simple and easy to implement;

(3) A mechanical pushing mechanism is provided at the bottom of the clothes folding plate. The power output shaft only needs to rotate in the same direction to fold the clothes folding plate, and the folding device uses the force between the folding plates to prevent transmission. Dead points are formed in the process to achieve continuous folding action; different folding devices can be selected to achieve complex folding processes;

(4) The stacking machine is provided with a raised and lowered loading platform in the storage unit, which can be closer to the clothes drop opening when there is less clothes on the loading platform, to prevent the clothes from falling too long and scattering; The clothes machine can not only lift and lower the clothes-carrying platform through the elastic mechanism, but also control the motor through sensors to realize the lifting and lowering of the clothes-carrying platform. It can be set according to actual needs, which enhances the practicality of the storage unit. Move so that the different functional areas of the clothes-carrying platform are aligned with the clothes drop openings, without the need for the folding unit to stop working;

(5) The clothes stacker is also provided with sensors, image recognition devices, etc., which can more specifically organize the clothes placed on the folding platform, making the clothes stacker more intelligent.

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

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings are used as a part of the present invention to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention, but do not constitute an improper limitation on the present invention. In the drawings:

FIG. 1 is an overall schematic diagram of a clothes stacker of the present invention; FIG. 2 is a schematic diagram of a clothing conveying device of the present invention;

Figures 3 to 4 are schematic diagrams of the trigger mechanism of the present invention; Figures 5 to 7 are schematic diagrams of the folding platform of the present invention;

8 is a schematic view of the installation position of the folding device of the present invention; FIGS. 9 to 15 are schematic views of the folding device of the present invention;

16-17 are schematic diagrams of the storage unit of the present invention.

In the picture: 1. Folding unit; 1111, first moving part; 1112, X-direction guide; 1121; second moving part; 1122; Z-direction guide; 113; connecting rod; 114; clamping part; 1212, body flap; 1213, tail flap; 1221, first flap; 12111, upper half; 12112, lower half 1222; second flap; 131, moving lever; 1311, moving lever Driving device; 1312, moving guide rail; 132, fixed rod; 133, folding side plate; 134, clothes guide plate; 141, moving part; 142, driving part; 143, cam; 144, connecting part; 145, positioning frame;

2, storage unit; 21, clothes-carrying platform; 221, support rod; 222, upper slide rail; 223, slide rail; 224, first motor; 225, lead screw; 231, second motor; 232, belt;

3. Hanger conveying unit; 31. Hanger; 4. Folding device; 41. Fixed frame; 42. Power output shaft; 431; Active link; 432; Driven link; 433; First link; Two links; 435, the first hinge point; 436, the third link; 437, the fourth link; 438, the second hinge point.

detailed description

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

The clothes stacker of the present invention is shown in FIG. 1. The clothes stacker removes the clothes supported on the clothes rack, and then folds the clothes through multiple folds after being tiled.

The clothes stacking machine includes a hanger conveying unit 3, a folding unit 1, and a storage unit 2. The hanger conveying unit 3 conveys a clothes hanger 31 supporting the clothes to the folding unit 1. The clothes hanger 31 can be folded, and the clothes can be folded after being folded. Released, the folding unit 1 is provided with a clothes conveying device and a folding platform. The folding platform has a horizontal surface for placing clothes and folding the clothes. The clothes conveying device can remove the clothes on the hanger 31 of the clothes rack conveying unit and The clothes are laid on a folding platform.

FIG. 2 is a schematic diagram of a laundry conveying device. The laundry conveying device includes a moving mechanism and a clamping mechanism. The moving mechanism includes an X-direction moving mechanism and a Z-direction moving mechanism. The X-direction moving mechanism can move in a horizontal direction, and the Z-direction moving mechanism can Moving in the vertical direction, the X-direction moving mechanism includes a first moving portion 1111, an X-direction guide 1112, and a first drive motor, and the first drive motor drives the first movement portion 1111 to move on the X-direction guide 1112, and similarly The Z-direction moving mechanism includes a second moving portion 1121, a Z-direction guide 1122, and a second drive motor, and the second drive motor drives the second movement portion 1121 to move on the Z-direction guide 1122. As shown in FIG. 2, the Z-direction moving mechanism is provided on the first moving part 1111. When the first moving part 1111 is driven by the first driving motor, the Z-direction moving mechanism can be driven to move along the X-direction guide rail 1112, while the Z-direction moving mechanism The second moving part 1121 of the moving mechanism can be moved along the Z-direction guide rail 1122 under the driving of the second driving motor. Therefore, the second moving part 1121 can be anywhere in the plane area formed by the X-direction guide rail 1112 and the Z-direction guide rail 1122. .

The X-direction moving mechanism includes at least a first restriction position and a second restriction position. The first movement part 1111 moves between the first restriction position and the second restriction position. When the first movement part 1111 is located in the first restriction position, the clamp is guaranteed. The holding mechanism can grip the clothes on the hanger 31. When the first moving part 1111 is located at the second restricted position, the clothes are released at the designated position of the folding platform. The Z-direction moving mechanism includes at least a top restricted position and a bottom restricted position. The moving part 1121 moves between the top restricted position and the bottom restricted position. When the second moving part 1121 is located at the top restricted position, it is ensured that the clamping mechanism can grip the clothes on the hanger 31. When the second moving part 1121 is located at the bottom restricted position, it The clothes are detached from the hanger 31.

As shown in FIG. 2, the clamping mechanism includes a connecting rod 113 and two clamping portions 114. The connecting rod 113 is fixed on the second moving portion 1121, and the direction of the connecting rod is in the Z-direction guide rail 1122 and the X-direction. The plane formed by the guide rail 1112 is vertical. The connecting rod 113 is horizontally arranged. The two clamping portions 114 are arranged on the connecting rod 113 and are spaced apart. The second moving portion 1121 can drive the connecting rod 113 to move above the folding platform, thereby The clamping portion 114 is driven to move.

The clamping portion 114 can be opened and closed. The clamping portion can be used to clamp the clothes on the hanger by opening and closing, and the clothes can also be placed on the folding platform by opening and releasing the clothes. The two clamping portions are spaced apart from each other, and the distance between the two clamping portions is matched with the avoiding portion on the hanger. The hanger 31 has a collapsible support arm. The support arm has a downwardly recessed avoiding portion. When the clamping portion 114 clamps the clothes, the clothes of the avoidance portion can be clamped without clamping the clothes supporting arm, so that the clothes can be smoothly removed from the hanger.

The method for controlling the clothes stacker includes: the clothes stacker has a folding position of a hanger; when the clothes stacker 31 is in the folded position of the hanger, the stacking machine controls the clamping mechanism to open and close the clothes on the hanger 31 and place the clothes on the hanger. After folding 31, the clamping mechanism is moved to detach the clothes from the hanger 31. The disengagement process is: the stacker drives the Z-direction moving mechanism to disengage the clothes and the hanger. Specifically, the stacker turns on the second motor to drive the second moving part to move downward, so that the clamping mechanism drives the clothes to move downward. When the bottom of the support arm folded by the hanger is completely disengaged, the Z direction movement is stopped.

When the clothes are detached from the clothes rack, the clothes stacker drives the X-direction moving mechanism to drag the clothes on the folding platform. Specifically, the first motor of the clothes stack is turned on to drive the clothes to the other side of the folding platform. The movement is stopped when the position is restricted, and the stacker controls the clamping mechanism to release the clothes so that the clothes are laid on the folding platform.

As shown in FIG. 3, the clothes stacker includes a hanger 31, which is used to hang on the hanger conveying unit 3 after the clothes are supported by the hanger 31. The hanger conveying unit 3 can convey the hanger 31. The hanger 31 includes a hanger and a body. And a collapsible support arm, a folding switch is provided at the lower part of the main body, and the folding switch is used to control the folding of the support arm. When the folding switch is pressed, the two symmetrically arranged support arms will hang down to form a folded shape, and the clothes supported by the support arms will be released. The clothes stacker further includes a trigger mechanism, which is used to touch the folding switch to control whether the hanger 31 can be folded to release clothes or not. The hanger conveying unit 3 can convey the hanger 31 to the trigger mechanism.

As shown in FIGS. 3 and 4, the trigger mechanism includes a driving member 142 and a moving member 141. The driving member 142 may be a motor and is used to provide a driving force for moving the moving member 141. The moving member 141 is movable under the driving of the driving member 142. When the hanger 31 is transported to the trigger mechanism, the moving part 141 applies a force to the folding switch of the hanger 31 when the moving part 141 is moved to trigger the folding switch to fold the support arm.

As shown in FIG. 4, the trigger mechanism is fixedly connected to the body of the stacker through a connecting portion 144. A fixed shell is also provided on the connecting portion 144. The fixed shell has an opening, and the moving member 141 protrudes from the opening.

A transmission component may be provided inside the fixed casing. As shown in FIG. 4, the transmission component is a cam 143. The motor has a motor shaft. The motor shaft can rotate when the motor is turned on. The cam 143 is fixedly connected to the motor shaft. When the motor shaft rotates, the cam 143 rotates along with the motor shaft along the shaft. Since the cam 143 has an irregular outer edge, the moving member 141 stopped on the edge of the cam 143 will move.

One end of the moving member 141 protruding from the fixed shell is a force applying portion, which is used to apply a force to the folding switch, and the other end is relatively fixed. It is rotatably connected to the inside of the fixed shell through a fixed shaft. When the moving member 141 receives a force, At this time, it can be rotated along the fixed axis, so that the urging part of the moving member 141 is moved up and down, and the folding switch can be triggered.

The moving part 141 needs to receive the force from the driving device or the transmission part, so the moving part 141 also has a force receiving part, which can be located between the fixed shaft and the force applying part, as shown in FIG. The force part and the force receiving part are located on the same side of the fixed shaft, and the moving directions of the force receiving part and the force applying part are the same. The cam 143 is provided at the bottom of the moving part 141. When the cam 143 has a longer radius edge and the moving part 141, At the time of stoppage, because the position of the motor shaft is fixed, the cam 143 pushes the moving part 141 upward, and because the moving part 141 has a fixed shaft at one end and is relatively fixed, the other end, the force applying part, moves upward, and applies the folding switch The force is applied to realize the triggering process of folding the hanger 31.

The principle of another embodiment is basically the same as the above method. The principle is that the moving part forms a lever structure that can rotate about a fixed axis, but the difference is that the force receiving part and the force applying part of the moving part are located on both sides of the fixed shaft. The direction of movement of the force receiving part and the force applying part is opposite. Because the movement directions of the two are opposite, the cam can be set on the upper part of the force receiving part. When the cam exerts a downward force on the force receiving part, the force applying part can move upward, thereby pressing the folding switch to achieve the trigger. purpose.

The above is described by taking the folding switch of the hanger to receive the upward force as an example for illustration. The folding switch of the hanger can also be set at another position to receive the force in other directions, and the setting position and direction of the moving parts and transmission parts are also There should be corresponding adjustments to enable triggering of the folding switch.

As shown in FIG. 3 and FIG. 4, the trigger mechanism is further provided with a positioning frame 145. The function of the positioning frame 145 is that when the hanger 31 is transported to the trigger mechanism, since the hanger 31 needs to bear the force of the moving part 141, Therefore, the hanger 31 needs to be fixed, and the trigger mechanism can only apply a force to the folding switch without pushing the entire hanger 31 away from the trigger position. The moving part 141 also needs to be aligned with the folding switch, so as to ensure that when the moving part 141 moves, it can accurately exert a force on the position of the folding switch, so as not to produce invalid actions.

The positioning frame 145 is provided with a receiving slot, and the receiving slot can limit the horizontal movement of the hanger 31 when the hanger 31 is placed in the receiving slot. The positioning frame 145 can restrict the horizontal movement of the hanger 31 (except the direction in which the hanger enters), and can also restrict the vertical movement of the hanger 31. The hanger 31 has a hanging portion and a main body portion, and the accommodating groove is used for the hanging portion to be put in and stopped above the main body portion, so that when the moving member 141 exerts a force, the hanger 31 is restricted from moving upward.

In order to confirm the timing when the moving part 141 of the trigger mechanism starts to move, the stacker may be provided with a sensor for determining whether the hanger 31 reaches the trigger mechanism and is limited to the positioning frame 145. The sensor may be a sensor that senses a distance between the hanger 31 and the trigger mechanism. When the distance is less than the set value, it can be judged that the hanger 31 has reached the set position, and the motor can be rotated to cause the moving part 141 to apply a force to the folding switch, thereby achieving the purpose of releasing the laundry.

The control method of the clothes stacker is that when the hanger 31 reaches the trigger mechanism, the clothes stacker opens the driving part 142 and drives the moving part 141 to apply a force to the folding switch to fold the support arm. Specifically, the clothes stacker is provided with a clothes gripping device for removing the clothes on the hanger 31 and transporting the clothes to the clothes folding place. When the clothes hanger 31 reaches the trigger mechanism, the clothes gripping device starts to grip the clothes on the clothes hanger 31. After the laundry is picked up by the clothes gripping device, the trigger mechanism starts to control the hanger 31 to fold and release the clothes.

As shown in FIG. 5 and FIG. 6, the folding unit 1 includes a horizontally arranged folding platform. The folding platform is provided with a folding flap for folding clothes. The folding platform of the clothes stacker of the present invention is also provided with a falling flap. The falling flap can be folded down to form an opening on the folding platform, and the folded clothes can be dropped directly from this opening position. The clothes stacker of the present invention is provided with a storage in the lower part of the folding unit 1. The unit 2 can communicate with the folding unit 1 and the storage unit 2 through the opening position, and the clothes directly fall into the storage unit 2 from the opening for storage.

The specific folding platform structure is shown in the figure. The folding flap includes at least two garment side flaps 1211 and a garment body flap 1212. The garment side flaps 1211 are located on both sides of the folding platform and are used for the width direction of the clothes. After finishing, the body flap 1212 can fold the clothes in the length direction, so that the finally folded clothes are located at the falling flap.

The clothing side flaps 1211 are oppositely disposed on both sides of the folding platform, and are folded in the middle to fold the two sides of the clothes. The clothing body flap 1212 and the falling flap are provided on the two clothing side flaps 1211. Between the body flap 1212 and the falling flap, the clothes flap 1212 can be folded in the direction of the falling flap, the clothes side flap 1211, the body flap 1212 and the falling flap The board is arranged in a rectangular shape as a whole.

As shown in FIG. 6, the garment side flap 1211 of the folding flap also has another embodiment. The garment side flap 1211 includes an upper half plate 12111 and a lower half plate 12112. The upper half plate 12111 and the body The flip plate 1212 is aligned and the lower half plate 12112 is aligned with the falling flip plate. The advantage of this setting is that the corresponding folding flap can be controlled to fold the clothes according to the specific size of the clothes, avoiding unnecessary folding actions.

The folding flap also includes a garment tail flap 1213. The garment tail flap 1213 is arranged on one side of the folding platform to fold the bottom of the clothes. The garment tail flap 1213 and the garment side flap 1211, the body The flap 1212 and the falling flap are arranged in a rectangular shape as a whole. The clothing tail flap 1213 can organize the lower part of the clothes that are too long, so that all the clothes fall on the upper surface of the folding platform, which is convenient for other folding flaps to fold the clothes.

After the laundry is folded, the opening formed by the opened falling flap enters the storage unit 2, and the falling flap includes a first flap 1221 and a second flap 1222 which are oppositely disposed, and the first flap 1221 and the second flap The plate 1222 is folded from the middle to the bottom to form an opening on the folding platform to allow the laundry to fall.

Since different clothes have different coverage areas after being tiled, the clothes stacker can be provided with a clothes recognition unit for identifying the size of the clothes, and can be a sensing device provided on the folding flap to obtain the coverage of the clothes Range and guide the action of folding the flap.

The control method of the clothes stacker can be that after the clothes are tiled on the folding platform, the clothes stacker controls the folding flaps to fold in order, and the clothes body flap 1212 folds the clothes to the falling flap, and the clothes stacker controls The drop flap opens to drop the laundry.

Specifically, when the clothes stacker recognizes that the clothes exceed the set length, the clothes tail flap 1213 folds the lower part of the clothes inward. When it is recognized that the clothes do not exceed the set length, the clothes tail flap 1213 does not move; When the clothes machine recognizes that the clothes exceed the set width, the upper half plate 12111 and the lower half plate 12112 are folded inward at the same time, and the two clothes side flaps 1211 are folded at the same time or successively. When it is recognized that the clothes have not exceeded the setting, At the width, the garment side flap 1211 does not move.

The clothes stacker can control the folding of the upper half plate 12111 and the lower half plate 12112 respectively according to the flattening state of the clothes. Preferably, the falling flap is folded down at the same time as the lower flap is folded inward to help the clothes fall.

Before the clothing is processed by folding through the folding flap, the clothing may be uneven on the folding platform, or the sleeves may fall outside the folding platform, and the clothing needs to be further organized. A movable part 141 is provided on the folding platform to assist the flattening process of the laundry.

As shown in FIG. 5, the movable part includes moving rods 131 for folding the sleeves on the folding platform. The moving rods 131 are provided on two sides of the folding platform corresponding to the sleeve positions. The moving rods 131 A moving rod driving device 1311 is provided to drive the moving rod 131 to move horizontally to the inside of the folding platform. After the clothing conveying device places the clothing on the folding platform, the sleeve portion is separated from the main body portion of the clothing. During the tiling process, the clothing The sleeve will fall on the upper portion of the moving rod 131, and the sleeve portion can be folded during the horizontal movement of the moving rod 131 to the middle. The moving rod 131 also has a moving guide 1312, and the moving rod driving device 1311 can drive the moving rod 131 to move horizontally along the moving guide 1312.

The moving rod driving device 1311 further includes a lifting mechanism, which can drive the moving rod 131 to move up and down to adjust the distance between the folding platform and the folding platform. This is because the clothes may have different thicknesses, or multiple folds are required to place all the sleeves on the upper surface of the folding platform. Therefore, since the thickness of the sleeves and the body of the clothes is increased, the moving rod 131 is preferably provided with The lifting mechanism can adjust the height to deal with different clothes.

The moving rod 131 is provided with a sensor for detecting whether the moving rod 131 is covered with clothes, or the stacker is provided with an image acquisition unit for determining whether the sleeves fall on the moving rod 131. When the sensor or the image acquisition unit determines that there is When the laundry is covered above the moving rod 131, the clothes stacker can control the moving of the moving rod 131, so that the laundry can be driven to the folding platform.

In order to prevent the moving rod 131 from moving along with the moving rod 131 during the process of folding the laundry, a device capable of fixing a specific part of the laundry is also required, which can prevent the main body of the clothing from moving with the moving rod 131. As shown in FIG. 5, the movable member further includes a fixing rod 132 for fixing the laundry on the folding platform, and the fixing rod 132 can be moved to the upper surface of the folding platform to press the clothing onto the middle folding platform for fixing; Two fixing members are symmetrically arranged, and are arranged on one side of the folding platform where the collar is placed for compacting the boundary between the sleeve and the clothing body.

When the fixing rod 132 does not need to fix the clothes, rotating to the side of the folding platform will not hinder the folding of the folding flap. When the fixing rod 132 needs the auxiliary moving rod 131 to fold the sleeve, the fixing rod 132 faces the folding platform. Rotate in the direction and press on the upper part of the clothes, and the moving rod 131 is located on the lower part of the clothes, and the moving rod 131 is higher than the fixed rod 132. The moving rod 131 can be moved on the upper part of the fixed rod 132, thereby driving the sleeve part to turn inside the folding platform. fold. After the moving rod 131 is folded, the fixing rod 132 is rotated to the original position to release the fixing of the clothes, and the folding flap can further fold the clothes.

In order to make the clothes more flat, the folding unit 1 may further be provided with a fan, which blows the clothes to make the clothes flat, and the fan may be provided with multiple air outlets to blow different parts of the clothes, such as the main body of the clothes The air outlet for flattening the blower is also provided with an air outlet for flattening the sleeve portion of the clothes; or the fan is provided with a movable air outlet for generating different wind directions, and the air outlet can be rotated, so that the clothes can be carried out. Multi-directional finishing to cope with more complicated clothing conditions.

The control method of the above-mentioned clothes stacker can be summarized as that the clothes stacker drives the movable parts to flatten the clothes after the clothes are placed on the folding platform, and then folds the clothes. Specifically, the clothes stacker determines whether there are sleeves on the moving rod 131 by using a sensor or an acquired image. When there are sleeves on the moving rod 131, the clothes stacker fixes the clothes and drives the moving rod 131 to move inside the folding platform. Fold the sleeves onto the folding platform.

Specifically, before the clothes stacker drives the moving lever 131 to move, the control lever 132 is first controlled to rotate to the boundary between the sleeve and the clothing body, and the position is compressed. After the clothes are fixed, the moving lever 131 is driven to fold the sleeve; Preferably, when the sleeve is long, the stacker control bar is repeatedly moved to the middle to realize multiple folding of the sleeve until the sleeves are all placed on the folding platform; when the stacker is provided with a fan, the stacker After the clothes are fixed by the fixing rod 132, the fan is driven to spray and spread the main body of the clothes, and after the blowing is finished, the moving rod 131 is driven to fold the sleeves.

As shown in FIG. 7, in addition to the folding platform 1 and the clothing conveying device, the folding unit 1 may also be provided with a clothing gathering component, which is arranged on one side of the folding platform, that is, one of the clothes entering the folding platform. On the side, the clothes gathering component can gather both sides of the clothes to prevent the edges of the clothes from falling outside the folding platform during the process of the clothes being conveyed and tiled by the clothes conveying device. The above setting method can be used alternately with the setting of the moving lever.

The clothes conveying device drives the clothes to move from the side where the clothes gathering component is provided to the side away from the clothes gathering component. The clothes gathering component is a horizontally arranged gathering side plate 133. The gathering side plate 133 has inclined sides or The recessed sides gather the sides of the clothes during the movement of the clothes. The folding side plates 133 have two, and the two folding side plates 133 are symmetrically arranged and the inclined sides are oppositely arranged to form a collapsed area in the middle. The inclined sides are in contact with both sides of the clothes and face the clothes during the movement of the clothes. Collapse on both sides. As shown in FIG. 7, the gathering side plate 133 is a right-angled triangle, and two oblique sides of the right-angled triangle are oppositely disposed.

The clothes stacker is further provided with a clothes guide plate 134, which is arranged between the two folding side plates 133 for flattening the middle of the clothes; the edges of the clothes guide plate 134 in contact with the clothes It is a convex arc. In order to edge the surface of the main body guide plate is divided into an arc surface and a flat surface, a portion far from the folding platform is set as an arc surface, a portion close to the folding platform is set as a flat portion, and the arc surface and the flat portion are smoothed excessively.

The folding platform is provided with a folding flap and a falling flap. A sleeve flap is provided on both sides of the folding platform, and the two sides of the clothes are folded and placed on the sleeve flap. Preferably, the two folded side plates 133 The distal end of the slanted side is slightly wider than the folding platform, which can better fold the clothes on both sides.

Since the sides of the clothes or the sleeves may fold in the folded state, the stacking machine can be equipped with an image recognition device to identify the folds of the clothes on the folding platform. At the same time, the folding unit 1 is provided with a manipulator, which is based on the clothes. The fold condition of the clothes is adjusted; the manipulator is arranged on the clothes conveying device, and is used for gripping the clothes when conveying the clothes and organizing the clothes after placing the clothes.

The above-mentioned control method in the process of flattening the clothes can control the clothes conveying device for the clothes stacker to drive the clothes to contact the clothes gathering component during the moving process and lay the clothes on the folding platform.

Further, the clothes stacker controls the clothes conveying device to grip the clothes so that the main part of the clothes hangs on the edge of the clothes guide plate 134, and the two sides of the clothes hang on the inclined sides of the gathering side plate 133, and then controls the clothes conveying device to drive the clothes to move horizontally. The laundry main body portion is flattened by the laundry guide plate 134 and both sides of the laundry are collapsed by the collapsing side plates 133.

When the clothes stacker has an image recognition device, the clothes stacker uses the image recognition device to obtain the state of the clothes being tiled on the folding platform, and controls the manipulator to organize the uneven position of the clothes; two manipulators cooperate with each other, two The manipulator organizes the unevenness of position unevenness by relative motion.

As shown in FIG. 8, a folding device 4 is provided at the bottom of the clothes folding board. The folding device may be a folding device as shown in FIGS. 9 to 12, or may be a device as shown in FIGS. 13 to 15. Shown another folding device. Both types of folding devices include a fixed frame 41, a flip plate 44 and a power output shaft 42, the only difference is the difference in the transmission mechanism. The turning plate is rotatably connected to the fixed frame through a rotating shaft, the driving device is fixed on the fixed frame, and has a power output shaft that can provide power, and the power output shaft can rotate. A transmission mechanism is connected between the flip plate and the power output shaft at one end to connect the flip plate and the other end is connected to the power output shaft to drive the flip plate to rotate.

As shown in Figure 9-12, the transmission mechanism includes an articulated driving link 431 and a driven link 432. One end of the driving link is fixedly connected to the power output shaft 42 and rotates with the power output shaft, and the other end is connected to the driven The rod is rotatably connected, and one end of the driven link is rotatably connected to the lower surface of the flip plate; a convex connection portion is provided at the bottom of the flip plate, and a hinge hole is provided on the connection portion to rotatably connect one end of the driven link 432 .

The shape of the driven link 432 can be set according to factors such as the angle of rotation of the turning plate and the size of the installation space. The driven link has a bent structure, which is used to avoid turning during the transmission process The rotating shaft or other structure of the plate prevents the driven link from colliding with other structures, which is not conducive to the continuous movement of the transmission structure. As shown in the figure, when the turning plate is rotated to the maximum angle, the bending structure of the driven link avoids the turning axis of the turning plate. The driven link may be configured to have a first bending portion, a second bending portion, and a transition bending portion. The first bending portion and the second bending portion are disposed at 90 degrees. A bent portion and a second bent portion are respectively connected to form a transition. The driven link can also be set as an arc-shaped structure to avoid the shaft.

The turning device is provided with a stopper, and the turning plate changes the direction of rotation after touching the stopper; the active link rotates from 0 degrees to 180 degrees, and the flip plate moves from 0 degrees forward Rotate 180 degrees, the active link rotates 360 degrees from 180 degrees forward, and the flip plate rotates 180 degrees to 0 degrees in the reverse direction.

Figures 9 and 11 are schematic diagrams of the initial state of the flip plate. The flip plate is in a horizontal state. When the active link rotates to a second position farthest from the axis of rotation of the flip plate, the flip plate is in the initial position. FIG. 10 and FIG. 12 are schematic diagrams of the turning state of the turning plate. When the active link rotates to the first position closest to the rotation axis of the turning plate, the turning angle of the turning plate is the maximum.

During the folding process, the active link is turned from the first position to the second position, and then from the second position to the first position, and the power output shaft can be achieved by the same rotation direction, thereby avoiding power The reversing of the output shaft eliminates the need for complicated control processes.

As shown in FIG. 13 to FIG. 15, the transmission mechanism of the folding device includes a first link 433 and a second link 434 that are hinged, and a first hinge point 435 is formed at a joint between the first link 433 and the second link 434. The relative position of the two ends of the first link and the second link can be changed by changing the position of the first hinge point 435. When the first link and the second link are in a straight line, the first link and the first link The distance between the ends of the two links is the longest. After the first hinge point moves, a certain angle is formed between the first link and the second link, and the distance between the ends of the first link and the second link is reduced. Therefore, a driving device may be provided at the first hinge point to drive the point. One end of the first link 433 is rotatably connected to the fixed frame 41, and one end of the second link is rotatably connected to the lower surface of the turning plate. When the first link and the second link are in a straight line, the turning plate is turned at the maximum angle .

As shown in FIG. 14, the power output shaft is fixedly connected with a third link 436 and a fourth link 437, and the third link 436 and the fourth link 437 are hinged to form a second hinge point 438. One end of the three links 436 is fixedly connected to the power output shaft, and one end of the fourth link 437 is rotatably connected to the first hinge point. The movement of the fourth link can drive the movement of the first hinge point.

As shown in FIG. 13 to FIG. 15, the flip plate 44 in FIG. 13 is in an initial state and is located in a horizontal position. The first and second links form a certain angle with the first hinge point as a vertex, and the first hinge point It is located at a lower position. At this time, the third link and the fourth link have more overlapping parts along the direction of the hinge axis, and the second hinge point is located at a lower position. When the flip board needs to be flipped, the rotation of the power output shaft drives the third link to rotate along the power output shaft. One end of the fourth link is connected to the third link and moves under the drive of the third link. The position is moved up, so that the third link and the fourth link are gradually located in a straight line. The fourth link drives the first hinge point to move, so that the first link and the second link are gradually located in a straight line. Driven by the second link, it flips in the circumferential direction. The folding device can be set by the length of the connecting rod to set the maximum flip angle of the flip plate to 95-110 degrees, or the maximum flip angle of 180 degrees.

The clothes stacker provided with the above-mentioned folding device, the clothes folding plate is provided with a mounting hole, the flip plate is provided with a mounting hole, the flip plate and the clothes folding plate are fixedly connected through the mounting holes, or the clothes folding plate and the flip plate are Integrated connection, the clothes folding board is a flip board, which can be folded by the drive mechanism. The fixed frame can be fixedly connected with the folding platform or provided integrally, and the folding platform can be used as a fixed frame to install and fix the connecting rod or the driving device.

The laundry folding board includes at least a first folding board and a second folding board, and the first folding board and the second folding board are folded by the same or different folding devices. The clothes folding plate provided by the clothes stacker of the present invention includes a plurality of flaps such as a body flap, a garment side flap, and a tail flap. The plurality of flaps can be selected and used according to factors such as different positions and required space. The folding device shown in 9-12 is also the folding device shown in Figure 13-15. In the same stacker, two folding devices can be used at the same time. The two folding devices can be folded at different angles. Therefore, a folding device can be provided on different clothes folding plates according to the function of the clothes folding plate.

The control method of the garment folding machine with a folding device is that the garment folding machine controls the power output shaft of the driving device to rotate, and the clothes folding plate is folded by a transmission mechanism. When the folding machine has a folding device as shown in Figs. 9-12, the driving control device of the folding machine drives the active link to rotate to the first position, the folding angle of the clothes folding plate is the largest, and the folding machine controls the driving device. The rotation in the same direction drives the active link to rotate to the second position, and the clothes folding plate returns to the initial position. The power output shaft of the control device of the stacker drives the active link to rotate 180 degrees in a positive direction, and the clothes folding plate folds 180 degrees in the forward direction of the driven link. The folded clothes folding plate stops horizontally with other clothes folding plates. The clothes stacker then controlled the power output shaft of the driving device to continue to rotate 180 degrees in the same direction, and the folded clothes folding plate was reversely rotated to restore the initial position under the action of stop.

When the folding device provided with the driving link and the driven link is provided on the folding platform, the force of other clothing folding plates or fixed planes opposite to the folded clothing folding plate on the folding platform can be borrowed during the folding. When a force is generated between the clothes folding plate and the fixed plane, the folded clothes folding plate can be turned, thereby realizing the reciprocating folding of the clothes folding plate.

When the rotation direction of the power output shaft does not change, the above structure can realize a 180-degree reciprocating motion of the clothes folding plate, and a complicated turning operation can be realized by setting the transmission mechanism.

In order to ensure the smoothness of the clothes, the clothes stacker controls the clothes folding plate to be folded at least twice: the clothes stacker controls the clothes folding plate to fold for the first time, the folding angle is 180 degrees to fold the clothes, and then control the clothes folding plate to second Folds twice to compress the clothes.

When the folding machine has a folding device as shown in Fig. 13-15, the power output shaft of the driving device of the folding machine controls the rotation of the third link and the fourth link to move, causing the first hinge point to be displaced, The movement of the first link and the second link drives the clothes folding board to turn over; the power output shaft of the drive device controls the rotation of the power output shaft to restore the clothes folding board to its original position. After the clothes are folded through the clothes folding plate, the clothes stacker controls the first and second flaps to turn downwards to form a clothes drop opening, so that the clothes enter the storage chamber.

16 and 17 show the internal arrangement of the storage unit 2 of the stacker. The storage unit 2 is disposed at the lower part of the folding unit 1 for receiving the clothes dropped by the folding unit 1. The storage unit 2 is provided with a movable clothes-carrying platform 21.

The clothes-carrying platform 21 is provided with a retractable support structure, and the support structure adjusts the height of the clothes-carrying platform 21 by telescoping; the support structure is provided at the bottom of the clothes-carrying platform 21. The retractable support structure may be as shown in FIG. 16 and FIG. 17. The support structure includes two crossed support rods 221 to form an X-shaped structure. The middle portion of the support rod 221 is relatively rotatable through a fixed shaft connection. The support structure includes Two sets of symmetrically arranged X-shaped mechanisms form a stable and retractable support structure.

The supporting rod 221 has a fixed end and a movable end so as to realize relative rotation between the two supporting rods 221, so as to form a clothes-carrying platform 21 having different heights. The support structure further includes an upper slide rail 222 and a slide rail 223. One end of one of the support rods 221 of the X-shaped structure moves along the upper slide rail 222, and one end of the other support rod 221 moves along the slide rail 223. The clothing carrying platform 21 is arranged on the top supporting rod 221 of the supporting structure to form different heights during the sliding process.

The support structure is provided with a motor to control the movement of the support rod 221. A transmission member is fixedly connected to one end of the support rod 221. The motor drives the support rod 221 to move through the transmission member. Preferably, the transmission member is composed of a screw and a nut. The screw 225 is fixedly connected to the support rod 221. The screw 225 rotates with the motor, and the nut is sleeved on the screw and moves horizontally as the screw rotates.

When the supporting structure is not driven by a motor, an elastic mechanism may also be provided. An elastic mechanism is sleeved on the upper slide rail 222 or the slide rail 223. One end of the elastic mechanism is fixed, and the other end is moved with the support rod 221. Stop. When clothes are placed on the clothes-carrying platform 21, the supporting rod 221 moves along the slide rail under the force of downward pressure. One end of the supporting rod 221 compresses the elastic mechanism under the effect of the gravity of the clothes. After leaving, under the action of the restoring force of the elastic mechanism, a force is applied to the support rod 221, so that the clothing platform 21 returns to its original height.

The loading platform 21 can move up and down, and can move up and down according to the amount of laundry. This makes the clothes-carrying platform 21 closer to the opening where the laundry is dropped by the folding unit 1, and can gradually move down when more clothes accumulate, freeing up more space for clothes to be dropped.

The storage unit 2 may be provided with a sensor for judging the laundry amount of the clothes carrying platform 21; the clothes carrying platform 21 is provided with a weight sensor, and the weight sensor can feedback the weight on the clothes carrying platform 21 in real time. The weight controls the motor. The storage unit 2 is provided with a light sensor, which can measure the height of the clothes on the top of the clothes carrying platform 21, thereby obtaining the amount of clothes and controlling the driving of the motor.

The control method of the clothes stacker is that the clothes stacker adjusts the height of the clothes loading platform 21 according to the amount of laundry dropped from the folding unit 1 on the clothes loading platform 21. Specifically, the sensor acquires the amount of laundry on the clothes carrying platform 21, and the stacker controls the clothes carrying platform 21 to descend to the lowest position according to the gradual increase of the amount of laundry. When the amount of clothes on the clothes carrying platform 21 reaches a set value When the clothes platform 21 is lowered to the lowest position, the stacker reminds the user to remove the clothes on the clothes platform 21. When the sensor obtains the amount of clothes on the clothes platform 21 as the initial value, the control motor drives the clothes platform 21 to recover To the highest position. When the amount of laundry on the clothing platform 21 reaches the set value, the stacker controls the folding unit 1 to no longer drop laundry onto the clothing platform 21, and when the amount of laundry on the clothing platform 21 returns to the initial value, the stacker controls The folding unit 1 resumes dropping clothes.

As shown in FIG. 17, the clothing platform 21 on the storage unit 2 can also be moved horizontally. The clothes-carrying platform 21 is provided with a driving device to drive the clothes-carrying platform 21 to move horizontally. The storage unit 2 is provided inside a cavity. The cavity is provided with a clothes outlet. The clothes-carrying platform 21 can be horizontally moved to the clothes. The outlet is for users to take clothes, or the storage platform can move horizontally inside the cavity.

The clothes-carrying platform 21 has a certain capacity for accommodating folded clothes. When the clothes on the clothes-carrying platform 21 reach the upper limit of the capacity, the clothes-stacking machine should remind the user to take clothes. The clothes-carrying platform 21 of the unit 2 is also provided inside the cavity formed by the cabinet. Therefore, in order to facilitate the use of taking out clothes from the clothes-carrying platform 21, the clothes-carrying platform 21 is provided in a manner that can be ejected from the clothes outlet, which is convenient Used to remove folded clothes.

In addition, the size of the clothes-carrying platform 21 may be the same as the size of the opening on which the clothes on the folding platform are dropped for receiving clothes. The size of the clothes-carrying platform 21 may also be larger than the opening, and the clothes-carrying platform 21 is provided with a partition to move horizontally. The different regions are aligned with the opening positions, thereby realizing the functions of each partition.

The horizontal movement of the clothes-carrying platform 21 is realized by the driving of the driving device. The driving device includes a motor and a transmission component. The transmission component transmits the driving force of the motor to the clothes-carrying platform 21, as shown in FIG. The belt 232, the motor is fixedly connected to the rotating roller. The bottom of the clothes-carrying platform 21 is fixed on the belt 232. When the clothes-carrying platform 21 needs to move, the motor drives the rotating roller to rotate, and the belt 232 sleeved on the rotating roller moves with it. The bottom of the clothes carrying platform 21 is fixed at a specific position of the belt 232. When the upper surface of the belt 232 moves, the clothes carrying platform 21 moves with the belt 232.

The driving device moves according to the amount of laundry on the clothes-carrying platform 21. When the amount of laundry reaches the limit, the driving device drives the clothes-carrying platform 21 to pop out for the user to take clothes.

When the size of the clothes carrying platform 21 is consistent with the size of the clothes drop opening of the folding unit 1, when the clothes carrying platform 21 is moved horizontally full of clothes for the user to take clothes, since the clothes carrying platform 21 is far from the position of the clothes drop opening The folding unit 1 can no longer drop clothes, so although the folding unit 1 can continue to fold clothes, it cannot open the falling flap to allow the clothes to enter the storage unit 2.

Therefore, the clothes-carrying platform 21 may also be provided with a spare area. After the commonly-used area is ejected, the spare area temporarily receives the dropped clothes, so as to ensure the continuous work of the folding unit 1 without affecting the work efficiency. The clothes carrying platform 21 includes at least a first placement area and a second placement area. The second placement area is configured to receive the folding unit 1 when the first placement area is full of clothes or the first placement area is moved to the clothes outlet. Clothing.

Since the clothes stacker is suitable for home use, there are various types of folded clothes in family life, and users are more inclined to store these clothes according to the type of clothes. Therefore, when the storage unit 2 receives the dropped clothes, it can Keep your clothing separate.

The clothes-carrying platform 21 has a plurality of placement areas corresponding to the type of clothes. The clothes-carrying platform 21 can be moved horizontally so that the different placement areas are aligned with the positions of the clothes dropped by the folding unit 1. Correspondingly, the clothes-stacking platform 21 The machine is provided with a clothes recognition unit for identifying the type of clothes. The clothes recognition unit should complete the recognition before the clothes are dropped, so that the corresponding area of the clothes carrying platform 21 can be driven to the lower part of the clothes drop opening to receive the type of clothes.

The clothes-carrying platform 21 may include both a vertical telescopic movement and a horizontal movement mechanism. The two are provided at the same time but have different driving devices for driving, and also have different triggering conditions.

The control method of the clothes stacker may include when the amount of laundry placed on the clothes carrying platform 21 reaches a set value, the clothes machine controls the clothes carrying platform 21 to horizontally move to the clothes outlet for the user to take clothes. Specifically, the stacker controls the movement of the storage platform by acquiring the weight of the clothing on the clothing platform 21 and / or the height of the clothing; further, when any value of the weight of the clothing or the height of the clothing on the storage platform exceeds a set value, The stacker controls the driving device of the storage platform so that the storage platform drives the clothes to the clothes outlet. When the clothes-carrying platform 21 has a common area and a spare area, that is, when the first placement area and the second placement area are included, the sensor can detect the laundry amount of the first placement area and the second placement area, respectively. When the amount of laundry in the placement area reaches the set value, the stacker controls the first placement area to move to the clothes outlet, and at the same time controls the second placement area to move to the clothes drop position to continue to receive the clothes dropped by the folding unit 1. When the clothes carrying platform 21 has a plurality of areas divided according to the type of clothes, the clothes recognition unit of the clothes stacker recognizes the clothes to be dropped and determines the clothes type, and the clothes stacker drives the corresponding placement area to move horizontally according to the clothes type To the clothing drop position.

Claims (60)

A clothes stacking machine is characterized in that it comprises a folding unit and a hanger conveying unit. The hanger conveying unit conveys a clothes hanger with clothes to a folding unit. The folding unit includes a clothes conveying device and a folding device for folding clothes. A platform, the laundry conveying device is used to remove the laundry from the hanger and lay the laundry on the folding platform. The clothes stacker according to claim 1, wherein the laundry conveying device comprises a moving mechanism and a clamping mechanism, the clamping mechanism is fixed on the moving mechanism, and the moving mechanism can drive the clamping mechanism to move, The clamping mechanism can be opened and closed for clamping and releasing laundry. The clothes stacker according to claim 2, wherein the clamping mechanism comprises a connecting rod and two clamping portions, one end of the connecting rod is fixed to a moving part of the moving mechanism, and is horizontally arranged at the folding Above the platform Preferably, the clothes supporting arm of the clothes hanger has an avoiding portion, and the installation position of the clamping portion matches the avoiding portion and is capable of clamping the clothes located in the avoiding portion. The clothes stacker according to claim 2, wherein the moving mechanism comprises at least an X-direction moving mechanism, and the X-direction moving mechanism drives the clamping mechanism to move horizontally; Preferably, the X-direction moving mechanism includes a first moving part, an X-direction guide rail, and a first drive motor, and the first drive motor drives the first movement part to move on the X-direction guide rail. The clothes stacker according to claim 4, wherein the X-direction moving mechanism includes at least a first limit position and a second limit position, and the first moving part moves between the first limit position and the second limit position When the first moving part is located at the first restricting position, it is ensured that the clamping mechanism can grip the clothes on the hanger, and when the first moving part is located at the second restricting position, the clothes are released at the designated position of the folding platform. The clothes stacker according to claim 2, wherein the moving mechanism comprises a Z-direction moving mechanism, and the Z-direction moving mechanism drives the clamping mechanism to move in a vertical direction; Preferably, the Z-direction moving mechanism includes a second moving portion, a Z-direction guide, and a second drive motor, and the second drive motor drives the second movement portion to move on the Z-direction guide. The stacking machine according to claim 6, wherein the Z-direction moving mechanism includes at least a top limit position and a bottom limit position, the second moving part moves between the top limit position and the bottom limit position, and the second motion When the part is located at the top restricted position, it is ensured that the clamping mechanism can grip the clothes on the hanger, and when the second moving part is located at the bottom restricted position, it is ensured that the clothes are separated from the hanger. A method for controlling a clothes stacker according to any one of claims 1 to 7, characterized in that: the clothes stacker has a folding position of a hanger, and when the clothes stacker is in the folding position of the hanger, the control clamp The holding mechanism opens and closes the clothes on the hanger, and moves the holding mechanism to detach the clothes from the hanger after the hanger is folded. The control method of the stacker according to claim 8, characterized in that: the stacker drives the Z-direction moving mechanism to disengage the clothes and the hanger, and specifically, the stacker turns on the second motor to drive the second moving part to move downward The clamping mechanism drives the clothes to move downward, and stops the Z-direction movement when the top of the clothes completely detaches from the bottom of the support arm folded by the hanger. The method for controlling a clothes stacker according to claim 9, characterized in that when the clothes are detached from the hanger, the clothes stacker drives the X-direction moving mechanism to drag the clothes on the folding platform. The clothes are driven to move to the other side of the folding platform, and stop moving when the first moving part reaches the second limit position. The clothes stacker controls the gripping mechanism to release the clothes so that the clothes are laid on the folding platform. A clothes stacking machine is characterized in that it includes a folding unit provided with a folding platform and a clothing conveying device. The clothing conveying device moves clothes to lay the clothes on the folding platform, and the folding platform is provided with movable parts. To assist in the flattening process of clothing. The garment folding machine according to claim 11, wherein the movable member comprises a moving rod for folding the sleeve on the folding platform, and the moving rod is provided on the folding platform corresponding to the position of the sleeve On both sides of the moving rod, a driving device is provided to drive the moving rod to move horizontally toward the inside of the folding platform. The clothes stacker according to claim 12, wherein the driving device of the moving rod further comprises a lifting mechanism capable of driving the moving rod to move up and down to adjust a distance between the folding platform and the folding platform. The clothes stacker according to claim 12, wherein the moving rod is provided with a sensor for detecting whether the moving rod is covered with clothing, or the clothes stacker is provided with an image acquisition unit for determining whether the sleeve falls on Move above the lever. The clothes stacker according to claim 12, wherein the movable member further comprises a fixing rod for fixing the laundry on the folding platform, and the fixing rod is movable to the upper surface of the folding platform to press the laundry on The folding platform is fixed; preferably, two fixing rods are arranged symmetrically, and are arranged on one side of the folding platform where the collar is placed for compacting the boundary between the sleeve and the clothing body. The clothes stacker according to claim 11, wherein the folding unit is further provided with a fan, and the fan smoothes the clothes by blowing the clothes; Preferably, the fan is provided with a plurality of air outlets to blow different parts of the clothes, and / or a movable air outlet is provided for generating different wind directions. A method for controlling a clothes stacker according to any one of claims 11 to 16, wherein after the clothes stacker is placed on the folding platform, the movable part is driven to flatten the clothes, and then the clothes are carried out. fold. The method for controlling a clothes stacker according to claim 17, wherein the clothes stacker determines whether there is a sleeve on the moving rod through a sensor or an acquired image, and when the sleeve has a sleeve on the moving rod, the clothes stacker The clothing is fixed and the moving rod is driven to move inside the folding platform to fold the sleeve onto the folding platform. The method for controlling a clothes stacker according to claim 18, characterized in that: before the clothes stacker drives the moving lever to move, the control lever is controlled to rotate to the boundary between the sleeve and the clothes body, and the position is pressed to lock the clothes. Then, the moving rod is driven to fold the sleeve; preferably, when the sleeve is long, the stacker controls the crossbar to repeatedly move to the middle to realize multiple folding of the sleeve until the sleeve is all placed on the folding platform. The method for controlling a clothes stacker according to claim 19, wherein after the clothes stacker fixes the clothes on the fixing rod, it drives the fan to spray and flatten the main body of the clothes, and after the blowing is finished, the moving rod pair is driven. Sleeve folds. A folding device, comprising: A fixed frame; a flip plate rotatably connected to the fixed frame; a driving device fixed on the fixed frame and having a power output shaft; a transmission mechanism is provided between the flip plate and the power output shaft to drive the flip plate to rotate. The turning device according to claim 21, wherein the transmission mechanism comprises an articulated driving link and a driven link, one end of the driving link is fixedly connected to the power output shaft, and the other end is connected to the driven The rod is rotatably connected, and one end of the driven link is rotatably connected with the lower surface of the flip plate; Preferably, the driven link has a bent structure for avoiding the rotation axis of the turning plate. The folding device according to claim 22, wherein the folding device is provided with a stopper, and the turning plate changes the direction of rotation after touching the stopper; Preferably, the active link rotates forward from 0 degrees to 180 degrees, the flip plate rotates 180 degrees from 0 degrees forward, the active link rotates 360 degrees from 180 degrees forward, and the flip plate starts from 180 degrees reverse to 0 degrees. The turning device according to claim 21, wherein the transmission mechanism comprises a hinged first link and a second link, and the first link and the second link form a first hinge point at the hinge, so that Said first hinge point is movable; Preferably, one end of the first link is rotatably connected to the fixed frame, one end of the second link is rotatably connected to the lower surface of the flip plate, and the first hinge point is moved to the first link and the second link. When the lever is in a straight line, the flip plate flips the maximum angle. The turning device according to claim 24, wherein the power output shaft is connected to a third link and a fourth link that are hinged, and the third link and the fourth link are hinged to form a second link At the hinge point, one end of the third link is fixedly connected to the power output shaft, and one end of the fourth link is rotatably connected at the first hinge point. A clothes folding machine comprising a folding device according to any one of claims 21 to 25, comprising a folding platform and a clothes folding plate provided on the folding platform, wherein the clothes folding plate is fixed to the turning plate The fixed frame is fixedly connected or integrated with the folding platform. The clothes folding machine according to claim 26, wherein the laundry folding plate comprises at least a first folding plate and a second folding plate, and the first folding plate and the second folding plate are folded through the same or different The device folds. A method for controlling a clothes stacker according to claim 26 or 27, wherein the clothes stacker controls the power output shaft of the driving device to rotate, and the clothes folding plate is folded by a transmission mechanism. The control method for a stacker according to claim 28, wherein the rotation of the power output shaft of the control device of the stacker drives the third link and the fourth link to move, causing the first hinge point to be displaced, the first The movement of a connecting rod and the second connecting rod causes the folding of the laundry folding board; the power output shaft of the drive device of the clothes stacker rotates to restore the original position of the clothes folding board; The connecting rod is rotated 180 degrees in a positive direction, and the clothes folding plate is folded 180 degrees in a positive direction with the driven link. The folded clothes folding plate stops horizontally with other clothes folding plates, and the clothes stacker controls the power output shaft of the driving device. Continue to rotate 180 degrees in the same direction, and the folded clothes folding plate rotates in the reverse direction to restore the original position under the action of stop. The method for controlling a clothes folding machine according to claim 29, wherein the clothes folding machine controls the folding of the clothes folding board at least twice: the clothes folding machine controls the first folding of the clothes folding board, and then controls the first step of the clothes folding board. Double fold to compress the clothes. A clothes stacking machine is characterized in that it comprises a folding unit, which is provided with a folding platform, a clothes conveying device and a clothes gathering component. The clothes conveying device is capable of gripping and moving clothes, and the clothes gathering component It is arranged on one side of the folding platform to gather the clothes to prevent the edges of the clothes from falling outside the folding platform during the movement. The clothes stacker according to claim 31, wherein the folding platform has a horizontal upper surface, and the clothes conveying device drives the clothes to move from the side provided with the clothes gathering component to the side away from the clothes gathering component. The clothing gathering component is a horizontally arranged gathering side plate, and the gathering side plate has an inclined side or a recessed side to gather the side of the clothes during the movement of the clothes. The stacking machine according to claim 32, wherein the gathering side plates have two, the two gathering side plates are symmetrically arranged, and the inclined sides are oppositely arranged to form a centrally recessed gathering area, and the inclined sides and The two sides of the clothes are in contact with each other and the two sides of the clothes are gathered during the movement of the clothes; Preferably, the folding side plate is a right-angled triangle, and two oblique sides of the right-angled triangle are oppositely disposed. The clothes stacking machine according to claim 33, wherein the clothes stacking machine is further provided with a clothes guide plate, the clothes guide plate is disposed between two folding side plates for flattening the middle of the clothes; Preferably, an edge of the clothing guide plate that is in contact with the clothing is an outwardly convex arc shape; Further preferably, the upper surface of the main body guide plate is divided into an arc surface portion and a flat surface portion, a portion away from the folding platform is set as an arc surface portion, a portion close to the folding platform is set as a flat portion, and the arc surface portion and the flat portion are smooth and excessive. The garment folding machine according to claim 32, wherein the folding platform is composed of a folding flap and a falling flap, and a sleeve flap is provided on both sides of the folding platform, and the clothes are placed on the clothing after being folded on both sides. Sleeve flap Preferably, the distal ends of the two inclined side edges of the two folding side plates are slightly wider than the folding platform. The clothes stacker according to claim 31, wherein the clothes stacker is provided with an image recognition device for identifying the folds of the clothes on the folding platform. The clothes stacker according to claim 31, characterized in that: the folding unit is provided with a manipulator, and the manipulator adjusts the clothes according to the folds of the clothes; preferably, the manipulator is provided on the clothes conveying device and used When the laundry is conveyed, the laundry is clamped and the laundry is arranged after the laundry is placed. A method for controlling a clothes stacker according to any one of claims 31 to 37, characterized in that the clothes stacker controls the clothes conveying device to drive the clothes to contact the clothes gathering component during the moving process, and lay the clothes flat on On the folding platform. The method for controlling a clothes stacker according to claim 38, wherein the clothes stacker controls the clothes conveying device to grip the clothes so that the main body part of the clothes hangs on the edge of the clothes guide plate, and the two sides of the clothes hang on the inclined side of the gathering side plate After that, the clothes conveying device is controlled to drive the clothes to move horizontally so that the clothes main part is flattened by the clothes guide plate and the two sides of the clothes are gathered by the side plates. The method for controlling a clothes stacker according to claim 38, wherein the clothes stacker obtains the state of the clothes laid on the folding platform through an image recognition device, and controls the manipulator to sort out the uneven positions of the clothes; preferably Ground, two manipulators perform cooperative operations, and the two manipulators sort out the unevenness and position margin by relative motion. A clothes stacker, characterized in that the clothes stacker includes a folding unit and a storage unit, the storage unit is provided at the lower part of the folding unit and is used to receive the clothes dropped by the folding unit, and the storage unit is provided with a movable part. Loading platform. The clothes stacker according to claim 41, wherein the clothes-carrying platform is provided with a retractable support structure, and the support structure adjusts the height of the clothes-carrying platform by telescoping; preferably, the support structure is provided at The bottom of the loading platform. The clothes stacker according to claim 42, wherein the support structure includes two crossed support rods forming an X-shaped structure, and the middle portion of the support rods are relatively rotatable through a fixed shaft connection; preferably, the support structure includes Two sets of X-shaped mechanisms are arranged symmetrically. The clothes stacker according to claim 43, wherein the support structure further comprises an upper slide rail and a slide rail, one end of one of the support bars of the X-shaped structure moves along the upper slide rail, and the other support bar One end moves along the slide rail, and the clothes carrying platform is arranged at the top of the support structure to form different heights during the sliding process. The garment stacking machine according to claim 44, wherein the support structure is provided with a motor to control the movement of the support rod, a transmission member is fixedly connected to one end of the support rod, and the motor drives the support rod to move through the transmission member, preferably Ground, the transmission member is a lead screw composed of a screw and a nut, the nut is fixedly connected to the support rod, the lead screw rotates with the motor, and the nut is sleeved on the screw to move horizontally as the screw rotates. The garment stacking machine according to claim 44, wherein an elastic mechanism is sleeved on the upper slide rail or the slide rail, and one end of the elastic mechanism is fixed, and the other end stops against the moving end of the support rod. The clothes stacker according to claim 41, wherein: the storage unit is provided with a sensor for determining the amount of laundry on the clothes carrying platform; preferably, the clothes carrying platform is provided with a weight sensor; preferably, the storage unit is provided with a weight sensor; The storage unit is provided with a light sensor. A method for controlling a clothes stacker according to any one of claims 41 to 47, wherein the clothes stacker adjusts the height of the clothes loading platform according to the amount of laundry dropped from the folding unit on the clothes loading platform. The method for controlling a clothes stacker according to claim 48, wherein the sensor obtains the amount of laundry on the clothes carrying platform, and the clothes stacker controls the motor to drive the clothes carrying platform to descend to the lowest position according to the gradual increase of the amount of laundry, When the amount of laundry on the laundry platform reaches the set value or when the laundry platform drops to the lowest position, the stacker reminds the user to remove the laundry on the laundry platform. When the sensor obtains the initial amount of laundry on the laundry platform , Control the motor to drive the clothing platform to the highest position. The method for controlling a clothes stacker according to claim 48, characterized in that: when the amount of laundry on the clothes carrying platform reaches a set value, the clothes folding machine controls the folding unit to no longer drop clothes onto the clothes carrying platform, When the amount of laundry on the platform returns to the initial value, the stacker controls the folding unit to resume dropping the laundry. A clothes stacker, characterized in that the clothes stacker includes a folding unit and a storage unit, the storage unit is disposed at the lower part of the folding unit and is used to receive the clothes dropped by the folding unit, and the storage unit is provided with a horizontal Mobile loading platform. The clothes stacker according to claim 51, wherein the clothes carrying platform is provided with a driving device to drive the clothes carrying platform to move horizontally, the storage unit is provided inside a cavity, and the cavity is provided with a clothes outlet The clothes-carrying platform can be moved horizontally to the clothes outlet for the user to pick up clothes, or the storage platform can be moved horizontally inside the cavity. The clothes stacker according to claim 52, wherein the driving device comprises a motor and a transmission component, and the transmission component transmits the force of the motor to cause the clothing platform to move; preferably, the transmission component is a rotating roller And the belt, the motor is fixedly connected with the rotating roller, and the bottom of the clothes carrying platform is fixed on the belt. The clothes stacker according to claim 51, wherein the clothes carrying platform comprises at least a first placement area and a second placement area, and the second placement area is used to fill the first placement area with clothing or the first placement area. A drop zone is used to receive laundry dropped by the folding unit when it is moved to the laundry exit. The clothes stacker according to claim 51, wherein the clothes-carrying platform has a plurality of placement areas corresponding to the clothes type, and the clothes-carrying platform can be moved horizontally so that the different placement areas are aligned with the folding unit and dropped. Preferably, the clothes stacker is provided with a clothes identification unit for identifying the type of clothes. The clothes stacker according to claim 51, wherein the folding unit is provided with a sensor for detecting the amount of laundry on the clothes carrying platform; preferably, the sensor is a weight sensor or a light sensor. A method for controlling a clothes stacker according to any one of claims 51-56, wherein when the amount of laundry placed on the clothes carrying platform reaches a set value, the clothes stacker controls the clothes carrying platform to move horizontally to the clothes The outlet is for users to take clothes. The method for controlling a clothes stacker according to claim 57, characterized in that: the clothes stacker controls the movement of the storage platform by acquiring the weight of the clothes on the clothing platform and / or the height of the clothes; further, when the clothes on the storage platform are When any value of the weight or the height of the clothes exceeds the set value, the stacker controls the driving device of the storage platform so that the storage platform drives the clothes to the clothes outlet. The method for controlling a clothes stacker according to claim 57, wherein the sensor can detect the amount of laundry in the first and second placement areas, respectively, and when the amount of laundry in the first placement area reaches a setting At the same time, the stacker controls the first placement area to move to the clothes outlet, and at the same time controls the second placement area to move to the clothes drop position to continue to receive the clothes dropped by the folding unit. The method for controlling a clothes stacker according to claim 57, wherein the clothes recognition unit of the clothes stacker identifies the clothes to be dropped and determines the type of clothes, and the clothes stacker drives the corresponding placement area to move horizontally according to the clothes type To the clothing drop position.

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