CN109957957B - Device and method for automatic folding machine based on embedded system - Google Patents

Abstract

The invention discloses an automatic clothes stacking machine device and method based on an embedded system. The device comprises a bottom plate, a storage platform, three translation rotating devices and five limiting devices, wherein the storage platform mainly comprises six storage plates which are arranged in an array form; the translation rotating device and the limiting device are both fixed on the upper surface of the bottom plate, and the limiting device drives the limiting piece connected with the rudder disc to rotate by means of rotation of the rudder disc, so that the clothes are compacted and folded; the steering engine contained in the translation rotating device is fixed on a steering engine base by two L-shaped fixing pieces, the base is sleeved on a screw rod and a guide rail, and the steering engine is driven by a stepping motor along with the screw rod to translate in the horizontal direction. The automatic clothes folding machine is ingenious in design and orderly in operation, can realize automation of clothes folding process, improves production efficiency, liberates labor force, and has immeasurable benefits for household daily use and factory production.

Description

Device and method for automatic folding machine based on embedded system

technical field

The invention relates to an automatic clothes folding machine, in particular to an automatic clothes folding machine device and method based on an embedded system.

Background technique

In the rapidly developing contemporary society, the chores of folding clothes have added troubles to people who are already oppressed by the fast-paced life. According to survey data, ordinary people spend 750 days in their lives on washing clothes. Folding laundry takes 375 days. Not only in life, but in social production, due to the low intelligence of factory machines, many extremely fine movements are difficult to complete. Most garment manufacturing companies still use manual operations in the folding process, and the efficiency of factory assembly line operations is still not very high. To sum up, it can be seen that whether it is in the improvement of people's quality of life and happiness or the improvement of social productivity, the automatic folding machine has its huge development space and immeasurable significance.

Present automatic clothes folding mainly includes sliding type clothes folding machine, folding plate clothes folding machine, double-bar type clothes folding machine, roll clothes type clothes folding machine. However, the sliding type clothes folding machine has the disadvantages of large volume and untidy folded clothes; It is complicated and difficult to spread in the market; the roll-type clothes folding machine has the disadvantages that it can only fold light and thin clothes and is relatively large in size. To sum up, it can be seen that the current automatic folding machine is lacking in the quality of folding clothes and the volume and cost of the folding machine itself. Although there have been many patents at home and abroad to design and improve the folding machine, the design with strong practicability, good scalability, high efficiency, low production cost, and simple operability has not yet appeared. The design of the control system is not mature enough, and the innovative structure Or the folding machine that integrates multiple structures still has a lot of room for development.

Contents of the invention

In order to solve the problems in the background technology, the present invention provides an automatic folding machine device and method based on an embedded system. The device is small in size and easy to store and carry. Simple and easy to operate.

The technical scheme adopted in the present invention is:

1. An automatic folding machine device based on an embedded system

The present invention includes a bottom plate, a storage platform, three translation and rotation devices, and five limiting devices. The storage platform is mainly composed of six storage boards arranged in a 3*2 array, and there are two adjacent storage boards. With the same gap, each storage board is fixed on the upper surface of the bottom plate through copper pillars, and the three translation and rotation devices include translation and rotation device I, translation and rotation device II and translation and rotation device III, and translation and rotation device I and translation and rotation device II are respectively fixed on the bottom plate The upper and lower edges are respectively close to the upper and lower sides of the storage platform, and the translation and rotation device III is fixed on the upper surface of the bottom plate and is close to one of the left and right sides of the storage platform.

The six storage boards are respectively the storage board Ⅰ, the storage board Ⅱ, the storage board Ⅲ, the storage board Ⅳ, the storage board Ⅴ and the storage board Ⅵ. 1. The storage board VI is arranged up and down relative to each other, the storage board II is located between the storage board I and the storage board III, the storage board V is located between the storage board IV and the storage board VI, and the storage board III and the storage board VI are located close to the translation and rotation device III side.

The translation and rotation device is mainly composed of a translation mechanism and a rotation mechanism; the translation mechanism includes a stepping motor, a motor support, a screw, two screw supports, a guide rail, two guide rail supports, two general supports and a steering gear Base I, the screw rod is arranged parallel to the side of the bottom plate, and the two ends of the screw rod are respectively installed on two screw rod supports, and the two screw rod supports are respectively installed on the upper end surfaces of two general brackets fixed on the upper surface of the bottom plate, The lower end surfaces of the two total brackets are fixed with guide rail supports, and guide rails are fixed between the two guide rail supports. Both the screw rod and the guide rails are fitted with the steering gear base Ⅰ, and the steering gear base Ⅰ and the screw rod are connected through threads. One end is connected with the output shaft of the stepping motor, and the stepping motor is fixed on the upper surface of the bottom plate through the motor support; the rotating mechanism includes the steering gear I, the steering gear bracket I, the L-shaped fastener, the T-shaped fastener and the aluminum tube, and the steering gear I passes through The L-shaped firmware fixed on both sides of the steering gear I is installed on the upper surface of the steering gear base I, the two sides of the bottom of the steering gear bracket I are installed on the bearings on the other two sides of the steering gear I, and the upper end of the steering gear bracket I is installed with a T-shaped Fixtures, T-shaped fixtures are mainly composed of a horizontal surface and a vertical surface fixed in the middle of the horizontal surface. The side of the vertical surface facing the storage platform is fixed with an aluminum tube through a bushing. The elongation direction of the aluminum tube is perpendicular to the screw rod.

The limiting device includes a steering gear II, a steering gear bracket II, a steering gear base II, a steering plate, a plastic sheet and a limiting plate. The steering gear base II is fixed on the upper surface of the bottom plate, and the steering gear II is installed on two The steering gear bracket II on the side is fixed on the steering gear base II, the upper surface of the steering gear II is installed with a rudder disc, and the steering disc is connected to the limit piece through a plastic sheet; the two sides of the storage plate II and the storage plate V are close to the translation and rotation device. The upper surface of the bottom plate corresponding to the top angle is fixed with a limit device, and the upper surface of the bottom plate corresponding to the top angle of the bottom plate located on the lower side of the storage plate I and close to the storage plate II is fixed with a limit device, and the top angle of the storage plate corresponding to the limit device There are arc-shaped grooves at the positions, the rudder disc of the limit device is located in the arc-shaped groove, and the limit piece of the limit device rotates around the rudder disc on the upper surface of the storage plate.

The steering gear I, steering gear II, and stepping motors are all connected to a control circuit, and the control circuit includes a power board, a voltage stabilizing module, a main control board, three driving boards and eight steering gear control modules, and three driving The boards are all connected to the power board, the power board is connected to the main control board through the voltage stabilization module, each drive board and each servo control module are connected to the main control board, each drive board is connected to a stepping motor, the rudder Both the steering gear I and the steering gear II are connected to the steering gear control module.

In the control circuit, the L pin and the N pin of the power board are connected to the mains, the +V pin and the COM pin of the power board are respectively connected to the IN+ pin and the IN- pin of the voltage stabilizing module, and the three drive The vcc pin of the board is connected to the +V pin of the power supply board and the IN+ pin of the voltage regulator module, the vout pin of the voltage regulator module is connected to the vin pin of the main control board, and the in pin of each servo control module The pins are all connected to the out pins of the main control board, the vcc pins of each servo control module are connected to the vcc pins of the main control board, and the three input pins of DIR+, PLS+, ENA+ of each driver board are connected to the The vcc output pins of the main control board are connected, and the PLS-pin, DIR-pin, and ENA-pin of each driver board are respectively connected to the pls pin, dir pin, and ena pin of the main control board. The A+ pin, A- pin, B+ pin, and B- pin of the driver board are respectively connected to the H pin, I pin, J pin, and K pin of the corresponding stepping motor.

In the translation and rotation device, the screw rod rotates under the drive of the stepping motor, thereby driving the steering gear base I on the screw rod to move back and forth along the screw rod; the steering gear bracket I rotates around the bearing driven by the steering gear I so that Drive the aluminum tube to rotate.

In the limiting device, the steering wheel rotates under the drive of the steering gear II, thereby driving the limiting piece connected with the steering wheel to rotate.

U-shaped screws are installed near the arc groove of the storage board, and the U-shaped screws form a U-shaped protrusion on the surface of the storage board; the limit piece of the limit device rotates from one side of the storage board to the other side At the same time, it is lifted up under the action of the U-shaped screw. The plastic sheet connected with the limiting sheet is bendable and deformable.

The aluminum tube of the translation and rotation device I extends to the storage board II, the aluminum tube of the translation and rotation device II extends to the storage board V, and the aluminum tube of the translation and rotation device III extends from the storage board III to the storage board I.

The aluminum tube can pass through the gap between two adjacent storage boards.

There is a 2cm wide gap between the two adjacent storage boards, which is convenient for the aluminum tube to move up and down.

2. The operation method based on the above-mentioned clothes folding machine device

Include the following steps:

Step S1: In the initial state, the aluminum tube of the translation and rotation device I moves and rotates to the gap between the storage plate IV and the storage plate V, the aluminum tube of the translation and rotation device II moves and rotates to the gap between the storage plate II and the storage plate III, and translates The aluminum tube of the rotation device III moves and rotates to the bottom of the gap between the storage plate I and the storage plate IV, and all the limit pieces on the upper surfaces of the storage plate II and the storage plate V are rotated to the horizontal position, located on the side close to the side of the translation rotation device position, the limit piece on the upper surface of the storage board I is rotated to the side position close to the side of the storage board II;

Step S2: Lay the clothes flat on the middle of the upper surface of the storage platform, and all the limit pieces on the upper surfaces of the storage board II and the storage board V are rotated from the horizontal position to the vertical position and pressed against the upper surface of the clothing;

Step S3: The aluminum tube of the storage board V passes through the gap between the storage board IV and the storage board V and rotates upwards to above the gap, and translates the aluminum tube from one side of the storage board V to the other side, thereby driving the The clothes on IV are folded to the middle position, and then the aluminum tube is moved to the side of the storage plate V and then rotated to the highest position in the vertical direction; the aluminum tube of the storage plate II passes through the gap and rotates upwards to the top of the gap, and the aluminum tube is moved from the storage plate One side of the plate II is translated to the other side, thereby driving the clothes on the storage plate III and the storage plate VI to be folded to the middle position, and then driving the aluminum tube to translate to the side of the storage plate II and then rotate to the highest position in the vertical direction;

Step S4: Rotate all the limit pieces on the upper surfaces of the storage board II and the storage board V from the vertical position to the horizontal position;

Step S5: Rotate the limit piece of the storage board I to the side position of the storage board II close to the storage board V, and press it on the middle of the clothes;

Step S6: Rotate the aluminum tube of the translation and rotation device III upwards through the gap between the storage board I and the storage board IV, and after touching the clothes, translate the aluminum tube from the lower side of the storage board II to the upper side of the storage board II side, thereby driving the clothes on the shelf V to be folded to the shelf II;

Step S7: Rotate the limit piece of the storage board I to the lower side of the storage board I, thereby driving the clothes on the storage board II to move to the storage board IV;

Step S8: Full homing link: Translate and rotate the aluminum tubes of the translation and rotation device I, translation and rotation device II, and translation and rotation device III to the initial state of step S1; rotate the limit piece of the storage plate I to step S1 where the initial state is located.

In the step S2, the clothes are laid flat between the limiting pieces of the storage board II and the storage board V.

In the step S4, all the limiting pieces of the storage board II and the storage board V are separated from the clothes, and lose the function of limiting the clothes.

Beneficial effects of the present invention:

1) Reduce the volume of the folding machine by improving the appearance of the folding machine

The present invention combines the appearance advantages of many types of clothes folding machines, and adopts the method of hiding the slide bar, finally achieving the appearance effect of small volume. And it is made of light and strong material, which is convenient to carry and store, and more durable.

2) Using the folding process, the clothes are almost wrinkle-free

Since the present invention adopts the folding strategy of the sliding bar and the limiting piece, it can effectively prevent the sliding of the clothes placed on the storage platform. There are very few or no creases during the folding process.

3) The mechanism of the clothes folding machine is simple, easy to operate and high in efficiency

All the structures of the present invention are exposed to the public's sight, and the target clothing folding function is completed with a simple and exquisite design, which is easy to operate; the present invention has a simple structure, simplifies the steps of folding clothes, and can work continuously and efficiently.

4) Capable of continuous operation and good repeatability

After one piece of clothing is folded, the present invention can complete the accurate full return of each slide bar and the limit piece before putting on the second piece of clothing, which fully prepares for the second clothing folding. According to this design, the clothes folding machine has the performance of continuous work and can fold clothes repeatedly.

Description of drawings

Figure 1 is a schematic diagram of the overall assembly of the present invention.

Fig. 2 is a top view of the storage platform of the present invention.

Fig. 3 is a detailed view of the translation and rotation device of the present invention.

Fig. 4 is a detailed view of the limiting device of the present invention.

Fig. 5 is a schematic diagram of the translation and rotation device of the present invention.

Fig. 6 is a top view of the overall device of the present invention.

Fig. 7 is a schematic diagram of the limiting device of the present invention.

Fig. 8 is a schematic diagram of the composition of the control circuit of the present invention.

Fig. 9 is a working state diagram of step S2 in a specific embodiment of the present invention.

Fig. 10 is a working state diagram of step S3 in a specific embodiment of the present invention.

Fig. 11 is a working state diagram of step S4 in a specific embodiment of the present invention.

Fig. 12 is a working state diagram of step S5 in a specific embodiment of the present invention.

Fig. 13 is a working state diagram of step S6 in a specific embodiment of the present invention.

Fig. 14 is a working state diagram of step S7 in a specific embodiment of the present invention.

In the figure: 1, storage board Ⅰ, 2, storage board Ⅱ, 3, storage board Ⅲ, 4, storage board Ⅳ, 5, storage board Ⅴ, 6, storage board Ⅵ, 7, aluminum tube, 10, limit piece, 15. Steering gear Ⅰ, 16. Steering gear Ⅱ, 17. Steering gear bracket Ⅰ, 18. Steering gear bracket Ⅱ, 21. Bottom plate, 23. Steering plate, 24. L-shaped firmware, 25. General bracket, 26. Stepping Motor, 27, motor support, 28, screw mandrel, 29, screw mandrel support, 30, guide rail, 31, guide rail support, 32, T-shaped firmware, 33, U-shaped screw, 34, fastening screw, 35, Plastic sheet, 36, drive board, 37, power supply board, 38, voltage stabilizing module, 40, storage platform, 41, translation and rotation device, 42, limit device, 44, control circuit.

Detailed ways

The present invention will be further described below in conjunction with drawings and embodiments.

As shown in Figure 1, the present invention includes a bottom plate 21, a storage platform 40, three translational rotation devices 41, and five limiting devices 42. The storage platform 40 is mainly composed of six storage boards arranged in a 3*2 array. Composition, there is the same gap between two adjacent storage boards, each storage board is fixed on the upper surface of the bottom plate 21 through copper pillars, and the three translation and rotation devices 41 include translation and rotation device I, translation and rotation device II and translation and rotation device III, The translation and rotation device I and the translation and rotation device II are respectively fixed on the upper and lower edges of the bottom plate 21 and are respectively close to the upper and lower sides of the storage platform 40 , and the translation and rotation device III is fixed on the upper surface of the bottom plate 21 and is close to one of the left and right sides of the storage platform 40 .

As shown in Figure 2, the six storage boards are respectively the storage board I1, the storage board II2, the storage board III3, the storage board IV4, the storage board V5 and the storage board VI6, the storage board I1, the storage board II2 and the storage board III3 are respectively connected with the storage board Board IV4, storage board V5, and storage board VI6 are arranged up and down relative to each other, storage board II2 is located between storage board I1 and storage board III3, storage board V5 is located between storage board IV4 and storage board VI6, storage board III3 and storage board VI6 are both Located on the side close to the translation and rotation device III.

As shown in Fig. 3 and Fig. 5, translational rotation device 41 is mainly made up of translation mechanism and rotation mechanism; Two guide rail supports 31, two general brackets 25 and steering gear base I45, the screw rod 28 are arranged parallel to the side of the bottom plate 21, and the two ends of the screw rod 28 are respectively installed on the two screw rod supports 29. The rod supports 29 are respectively installed on the upper end surfaces of the two total brackets 25 fixed on the upper surface of the bottom plate 21, the lower end surfaces of the two total brackets 25 are fixed with guide rail supports 31, and guide rails 30 are fixed between the two guide rail supports 31, Both the screw rod 28 and the guide rail 30 are equipped with a steering gear base I45, the steering gear base I45 is threadedly connected to the screw rod 28, one end of the screw rod 28 is connected to the output shaft of the stepping motor 26, and the stepping motor 26 passes through the motor support 27 It is fixed on the upper surface of the bottom plate 21; the rotating mechanism includes a steering gear I15, a steering gear bracket I17, an L-shaped fastener 24, a T-shaped fastener 32 and an aluminum tube 7, and the steering gear I15 passes through the L-shaped fasteners 24 fixed on both sides of the steering gear I15 Installed on the upper surface of the steering gear base I45, the two sides of the bottom of the steering gear bracket I17 are installed on the bearings on the other two sides of the steering gear I15, and the upper surface of the steering gear bracket I17 is installed with a T-shaped fastener 32, which is mainly fixed by the horizontal plane and It is composed of a vertical plane in the middle of the horizontal plane. The side of the vertical plane towards the storage platform 40 is fixed with an aluminum tube 7 through a shaft sleeve. The elongation direction of the aluminum tube 7 is perpendicular to the screw mandrel 28.

As shown in Figure 4, the limiting device 42 includes a steering gear II16, a steering gear bracket II18, a steering gear base II46, a steering plate 23, a plastic sheet 35 and a limiting piece 10, the steering gear base II46 is fixed on the upper surface of the bottom plate 21, and the steering gear The steering gear II16 is fixed on the steering gear base II46 through the steering gear bracket II18 installed on both sides of the steering gear II16. The upper surface of the steering gear II16 is equipped with a rudder plate 23. It is connected with the plastic sheet 35 by fastening screws 34; the upper surface of the bottom plate 21 corresponding to the two corners of the storage board II2 and the storage board V5 near the side of the translation and rotation device 41 is fixed with a limit device 42, which is located on the storage board I1 The upper surface of the bottom plate 21 corresponding to the lower side and close to the top corner of the storage board II2 is fixed with a limit device 42, and the position of the top corner of the storage board corresponding to the limit device 42 is provided with an arc-shaped groove. The steering wheel 23 is located in the arc groove, and the limiting piece 10 of the limiting device 42 rotates around the steering wheel 23 on the upper surface of the storage plate.

As shown in Figure 7, U-shaped screws 33 are installed near the position of the arc groove of the storage board, and the U-shaped screws 33 form a U-shaped protrusion on the surface of the storage board; When one side rotates to the other side, it is lifted up under the action of the U-shaped screw 33 . The plastic sheet 35 connected with the limiting sheet 10 is bendable and deformable.

As shown in Figure 6, the aluminum tube 7 of the translation and rotation device I extends to the storage board II2, the aluminum tube 7 of the translation and rotation device II extends to the storage board V5, and the aluminum tube 7 of the translation and rotation device III extends from the storage board III3 to the storage board I1.

As shown in Figure 8, the steering gear I15, the steering gear II16, and the stepping motor 26 are all connected to the control circuit 44, and the control circuit 44 includes a power board 37, a voltage stabilizing module 38, a main control board, three driving boards 36 and Eight steering gear control modules, the steering gear I15 of the three translation and rotation devices are respectively controlled by the three steering gear control modules (steering gear 1, steering gear 2 and steering gear 3), and the steering gear II16 of the five limit devices 42 are respectively Controlled by five steering gear control modules (steering gear 4, steering gear 5, steering gear 6, steering gear 7 and steering gear 8), the three drive boards 36 are all connected to the power board 37, and the power board 37 is passed through the voltage stabilization module 38 Connected with the main control board, each drive board 36 is connected with a stepping motor 26 .

In the control circuit 44, the L pin and the N pin of the power board 37 are connected to the mains, and the +V pin and the COM pin of the power board 37 are respectively connected to the IN+ pin and the IN- pin of the voltage stabilizing module 38, three The vcc pins of the driver board 36 are connected to the +V pins of the power supply board 37 and the IN+ pins of the voltage stabilizing module 38, and the vout pins of the voltage stabilizing module 38 are connected to the vin pins of the main control board. The in pin of the control module is connected to the corresponding out pin of the main control board, the vcc pin of each servo control module is connected to the vcc pin of the main control board, and the DIR+, PLS+, ENA+ of each driver board 36 The three input pins are all connected to the vcc output pin of the main control board, and the PLS-pin and DIR- pin of each driver board 36 are respectively connected to the pls pin and the dir pin of the main control board. The ENA- pins of the board 36 are respectively connected to the ena1 pins, the ena2 pins, and the ena3 pins of the main control board, and the A+ pins, A- pins, B+ pins, and B- pins of each driver board 36 are respectively It is connected with the H pin, I pin, J pin and K pin of the corresponding stepping motor 26.

In the specific implementation, the main control board is an Arduino Mega board, the model of the servo I15 and the servo II16 is JX PDI-6221MG, which is controlled by the digital output pin of Arduino; the model of the power board 37 is S-100-36, and the stepper motor The model of 26 is J-5718HB5401, and the model of three drive boards 36 is DQ542, all of which are controlled by differential method. The whole device is powered by the control circuit 44, the power board 37 in the control circuit 44 is connected to the household 220V AC power, the power board 37 adopts a 200W synchronous step-down module, and the live wire and neutral wire of the 220V mains are respectively connected to the L lead of the power board. Pin and N pin, the power board converts 220V mains power into +36V DC current, after output, it can be directly connected to the vcc of the Power part of the three driver boards, and the GND pin of the Power part of the driver board is grounded to realize power supply for the stepper motor The output of the power supply board 39 is connected with the input terminal of the voltage stabilizing module at the same time, and the voltage stabilizing module 38 steps down the 36V direct current to 5V and then outputs the power supply to the Arduino Mega board. Each steering gear control module shares 5V input and ground, and each signal terminal occupies a digital output pin of Arduino. The voltage regulator module, Arduino Mega board, driver board, stepper motor and steering gear control module share the same ground.

Specific examples:

The operating method of the clothes folding machine device of the present invention comprises the following steps:

Step S1: In the initial state, the aluminum tube 7 of the translation and rotation device I moves and rotates to be below the gap between the storage plate IV4 and the storage plate V5, and the aluminum tube 7 of the translation and rotation device II moves and rotates to the bottom of the gap between the storage plate II2 and the storage plate III3 , the aluminum tube 7 of the translation and rotation device III moves and rotates to the bottom of the gap between the storage plate I1 and the storage plate IV4, and all the limit pieces 10 on the upper surfaces of the storage plate II2 and the storage plate V5 are rotated to the horizontal position, which is located near the translation and rotation device one. At the side position of the side, the limit piece 10 on the upper surface of the storage board I1 is rotated to the side position close to the side of the storage board II2;

Step S2: As shown in Figure 9, lay the clothes flat on the middle of the upper surface of the storage platform 40, rotate the limiting piece 10 on the left side of the storage plate V5 90° counterclockwise, and rotate the limiting piece 10 on the right side of the storage plate V5 clockwise Rotate 90° and press on the lower half of the clothes; the limiting piece 10 on the right side of the storage board II2 rotates 90° counterclockwise, and the limiting piece 10 on the left side of the storage board V5 rotates 90° clockwise and presses on the upper half of the clothing;

Step S3: As shown in Figure 10, the aluminum tube 7 of the storage board V5 is rotated 30° clockwise to pass through the gap, touches the clothes, and is just located on the upper surface of the storage board V5, and then moves horizontally to the right to the storage board V5 close to the storage board the rightmost end, and then translate the same distance in the opposite direction, and rotate 30° clockwise to the highest point in the vertical direction, and rest on the top of the storage plate Ⅴ5; Clothes, just located on the upper surface of the storage board Ⅱ2, and then close to the storage board, move horizontally to the left to the leftmost end of the storage board Ⅱ2, then reverse the same distance, and rotate 30° counterclockwise to the highest point in the vertical direction, and then stop at Above the shelf Ⅱ2;

Step S4: As shown in Figure 11, rotate all the limit pieces 10 on the upper surfaces of the storage board II2 and the storage board V5 to the initial position of step S1;

Step S5: As shown in Figure 12, rotate the limiting piece 10 of the storage board I1 clockwise by 90° and press it on the middle of the clothes;

Step S6: As shown in Figure 13, the aluminum tube 7 of the translation and rotation device III is rotated 30° counterclockwise in the vertical plane (looking toward the slide bar) to pass through the gap and touch the clothes, just on the plane of the shelf, and then Stick to the storage board (look in the direction of the slider) and move horizontally to the left to the leftmost end of the storage board Ⅱ2, then return to the same distance by the same way, and rotate 30° counterclockwise to the highest point in the vertical direction;

Step S7: As shown in Figure 14, rotate the limiting piece 10 of the storage board I1 180° clockwise to leave the clothes on the storage board IV4, and then rotate counterclockwise 270° to return to the original position;

Step S8: Full homing link: translate and rotate the aluminum tube 7 of the translation and rotation device I, translation and rotation device II, and translation and rotation device III to the position where the initial state of step S1 is; rotate the limit piece 10 of the storage plate I1 to The position of the initial state of step S1;

Step S9: After everything returns to its original position, wait for the next task signal.

Claims (9)

1. Automatic folding clothing machine device based on embedded system, its characterized in that: the automatic lifting device comprises a bottom plate (21), a storage platform (40), three translation rotating devices (41) and five limiting devices (42), wherein the storage platform (40) mainly comprises six storage plates which are arranged in a 3*2 array mode, the same gap is reserved between every two adjacent storage plates, each storage plate is fixed on the upper surface of the bottom plate (21) through a copper column, the three translation rotating devices (41) comprise a translation rotating device I, a translation rotating device II and a translation rotating device III, the translation rotating device I and the translation rotating device II are respectively fixed on the upper edge and the lower edge of the bottom plate (21) and are respectively close to the upper side and the lower side of the storage platform (40), and the translation rotating device III is fixed on the upper surface of the bottom plate (21) and is close to one left side and right side of the storage platform (40);

the six object placing plates are respectively an object placing plate I (1), an object placing plate II (2), an object placing plate III (3), an object placing plate IV (4), an object placing plate V (5) and an object placing plate VI (6), the object placing plate I (1), the object placing plate II (2) and the object placing plate III (3) are respectively arranged opposite to the object placing plate IV (4), the object placing plate V (5) and the object placing plate VI (6), the object placing plate II (2) is positioned between the object placing plate I (1) and the object placing plate III (3), the object placing plate V (5) is positioned between the object placing plate IV (4) and the object placing plate VI (6), and the object placing plate III (3) and the object placing plate VI (6) are positioned on one side close to the translation rotating device III;

the translation and rotation device (41) mainly comprises a translation mechanism and a rotation mechanism; the translation mechanism comprises a stepping motor (26), a motor support (27), a screw rod (28), two screw rod supports (29), a guide rail (30), two guide rail supports (31), two total supports (25) and a steering engine base I (45), wherein the screw rod (28) is arranged parallel to the side edge of a bottom plate (21), two ends of the screw rod (28) are respectively arranged on the two screw rod supports (29), the two screw rod supports (29) are respectively arranged on the upper end surfaces of the two total supports (25) fixed on the upper surface of the bottom plate (21), the guide rail supports (31) are respectively fixed on the lower end surfaces of the two total supports (25), the guide rail (30) are fixed between the two guide rail supports (31), the steering engine base I (45) is sleeved on the screw rod (28) and the guide rail (30), one end of the screw rod (28) is connected with an output shaft of the stepping motor (26) through threads, and the stepping motor (26) is fixed on the upper surface of the bottom plate (21) through the motor support (27); the rotating mechanism comprises a steering engine I (15), a steering engine bracket I (17), L-shaped firmware (24), T-shaped firmware (32) and an aluminum pipe (7), wherein the steering engine I (15) is installed on the upper surface of a steering engine base I (45) through the L-shaped firmware (24) fixed on two sides of the steering engine I (15), two sides of the bottom of the steering engine bracket I (17) are installed on bearings on the other two sides of the steering engine I (15), the T-shaped firmware (32) is installed on the upper end surface of the steering engine bracket I (17), the T-shaped firmware (32) mainly comprises a horizontal plane and a vertical plane fixed in the middle of the horizontal plane, the aluminum pipe (7) is fixed on one side of the vertical plane, facing to a storage platform (40), through a shaft sleeve, and the extending direction of the aluminum pipe (7) is perpendicular to a screw rod (28);

the limiting device (42) comprises a steering engine II (16), a steering engine support II (18), a steering engine base II (46), a steering wheel (23), a plastic sheet (35) and a limiting sheet (10), wherein the steering engine base II (46) is fixed on the upper surface of the bottom plate (21), the steering engine II (16) is fixed on the steering engine base II (46) through the steering engine support II (18) arranged on two sides of the steering engine II (16), the steering wheel (23) is arranged on the upper surface of the steering engine II (16), and the steering wheel (23) is connected with the limiting sheet (10) through the plastic sheet (35); the upper surfaces of the bottom plates (21) corresponding to two vertex angles, which are close to one side of the translation rotating device (41), of the object placing plate II (2) and the object placing plate V (5) are respectively fixed with a limiting device (42), the upper surfaces of the bottom plates (21) corresponding to the vertex angles, which are close to the object placing plate II (2), of the lower side edge of the object placing plate I (1) are respectively fixed with a limiting device (42), arc grooves are formed in the positions, corresponding to the vertex angles of the object placing plates, of the limiting devices (42), rudder discs (23) of the limiting devices (42) are positioned in the arc grooves, and limiting pieces (10) of the limiting devices (42) rotate around the rudder discs (23) on the upper surfaces of the object placing plates;

the operation method of the automatic clothes stacking machine device comprises the following steps:

step S1: in an initial state, the aluminum pipe (7) of the translation rotating device I moves and rotates to the position below a gap between the object placing plate IV (4) and the object placing plate V (5), the aluminum pipe (7) of the translation rotating device II moves and rotates to the position below a gap between the object placing plate II (2) and the object placing plate III (3), the aluminum pipe (7) of the translation rotating device III moves and rotates to the position below a gap between the object placing plate I (1) and the object placing plate IV (4), all limiting pieces (10) on the upper surfaces of the object placing plate II (2) and the object placing plate V (5) rotate to horizontal positions, the limiting pieces (10) on the upper surface of the object placing plate I (1) are positioned at side edge positions close to one side of the object placing plate II (2);

step S2: the clothes are flatly paved on the middle position of the upper surface of the object placing platform (40), and all the limiting pieces (10) on the upper surfaces of the object placing plate II (2) and the object placing plate V (5) are rotated from the horizontal position to the vertical position and are pressed on the upper surface of the clothes;

step S3: the aluminum pipe (7) of the object placing plate V (5) passes through a gap between the object placing plate IV (4) and the object placing plate V (5) to rotate upwards to the upper part of the gap, and the aluminum pipe (7) is translated to the other side from one side of the object placing plate V (5), so that clothes on the object placing plate I (1) and the object placing plate IV (4) are driven to be turned to the middle position, and then the aluminum pipe (7) is driven to be translated to one side of the object placing plate V (5) and then rotated to the highest position in the vertical direction; the aluminum pipe (7) of the object placing plate II (2) passes through the gap and rotates upwards to the upper part of the gap, the aluminum pipe (7) is translated from one side of the object placing plate II (2) to the other side, so that clothes on the object placing plate III (3) and the object placing plate VI (6) are driven to be turned over to the middle position, and then the aluminum pipe (7) is driven to translate to one side of the object placing plate II (2) and then rotate to the highest position in the vertical direction;

step S4: all limiting sheets (10) on the upper surfaces of the object placing plate II (2) and the object placing plate V (5) are rotated from a vertical position to a horizontal position;

step S5: rotating the limiting piece (10) of the object placing plate I (1) to the side edge position of the object placing plate II (2) close to the object placing plate V (5) and pressing the limiting piece on the middle part of the clothes;

step S6: the aluminum pipe (7) of the translation rotation device III is rotated upwards to pass through a gap between the object placing plate I (1) and the object placing plate IV (4), after the aluminum pipe (7) contacts clothes, the aluminum pipe is translated from the lower side edge of the object placing plate II (2) to the upper side edge of the object placing plate II (2), so that the clothes on the object placing plate V (5) are driven to be folded to the object placing plate II (2);

step S7: the limiting piece (10) of the object placing plate I (1) is rotated to the lower side edge of the object placing plate I (1), so that clothes on the object placing plate II (2) are driven to move to the object placing plate IV (4);

step S8: full homing link: the translation rotating device I, the translation rotating device II and the aluminum pipe (7) of the translation rotating device III are translated and rotated to the position where the initial state of the step S1 is located; and (3) rotating the limiting piece (10) of the object placing plate I (1) to the position where the initial state of the step S1 is located.

2. The automatic clothes stacking machine device based on the embedded system according to claim 1, wherein the steering engine I (15), the steering engine II (16) and the stepping motor (26) are all connected with the control circuit (44), the control circuit (44) comprises a power panel (37), a voltage stabilizing module (38), a main control panel, three driving panels (36) and eight steering engine control modules, the three driving panels (36) are all connected with the power panel (37), the power panel (37) is connected with the main control panel through the voltage stabilizing module (38), each driving panel (36) and each steering engine control module are all connected with the main control panel, each driving panel (36) is connected with one stepping motor (26), and the steering engine I (15) and the steering engine II (16) are all connected with the steering engine control modules.

3. The automatic clothes folding machine device based on the embedded system according to claim 2, wherein IN the control circuit (44), an L pin and an N pin of the power panel (37) are connected to a commercial power, a +V pin and a COM pin of the power panel (37) are respectively connected to an IN+ pin and an IN-pin of the voltage stabilizing module (38), vcc pins of three driving boards (36) are respectively connected to a +V pin of the power panel (37) and an IN+ pin of the voltage stabilizing module (38), a vout pin of the voltage stabilizing module (38) is connected to a vin pin of the main control board, an IN pin of each steering engine control module is connected to an out pin of the main control board, a vcc pin of each steering engine control module is connected to a vcc pin of the main control board, DIR+, PLS+, ENA+ of each driving board (36) are respectively connected to a V output pin of the main control board, a PLS-pin, a DIR-pin, an ENA-pin of each driving board (36) are respectively connected to a PLS pin of the main control board, a corresponding pin of the driving boards, an IN pin of the driving boards, and a corresponding driving boards, and a positive H pin of the driving boards (26, J and J, respectively.

4. The automatic clothes stacking machine device based on the embedded system according to claim 1, wherein in the translation rotating device (41), the screw rod (28) is driven by the stepping motor (26) to rotate, so that the steering engine base I (45) on the screw rod (28) is driven to move back and forth along the screw rod (28); the steering engine bracket I (17) is driven by the steering engine I (15) to rotate around the bearing so as to drive the aluminum pipe (7) to do rotary motion.

5. The automatic clothes stacking machine device based on the embedded system according to claim 1, wherein in the limiting device (42), the steering wheel (23) is driven by the steering engine II (16) to perform rotary motion, so that the limiting piece (10) connected with the steering wheel (23) is driven to perform rotary motion.

6. The automatic clothes stacking machine device based on the embedded system according to claim 1, wherein the U-shaped screws (33) are arranged at positions close to the arc-shaped grooves of the object placing plate, and the U-shaped screws (33) form U-shaped bulges on the surface of the object placing plate; the limiting piece (10) of the limiting device (42) is lifted upwards under the action of the U-shaped screw (33) when rotating from one side edge to the other side edge of the object placing plate.

7. The automatic clothes stacking machine device based on the embedded system according to claim 1, wherein the aluminum pipe (7) of the translation rotating device I extends to the object placing plate II (2), the aluminum pipe (7) of the translation rotating device II extends to the object placing plate V (5), and the aluminum pipe (7) of the translation rotating device III extends from the object placing plate III (3) to the object placing plate I (1).

8. A method of operating a machine for the production of garments, according to any one of claims 1 to 7, characterized in that,

the method comprises the following steps:

step S1: in an initial state, the aluminum pipe (7) of the translation rotating device I moves and rotates to the position below a gap between the object placing plate IV (4) and the object placing plate V (5), the aluminum pipe (7) of the translation rotating device II moves and rotates to the position below a gap between the object placing plate II (2) and the object placing plate III (3), the aluminum pipe (7) of the translation rotating device III moves and rotates to the position below a gap between the object placing plate I (1) and the object placing plate IV (4), all limiting pieces (10) on the upper surfaces of the object placing plate II (2) and the object placing plate V (5) rotate to horizontal positions, the limiting pieces (10) on the upper surface of the object placing plate I (1) are positioned at side edge positions close to one side of the object placing plate II (2);

step S2: the clothes are flatly paved on the middle position of the upper surface of the object placing platform (40), and all the limiting pieces (10) on the upper surfaces of the object placing plate II (2) and the object placing plate V (5) are rotated from the horizontal position to the vertical position and are pressed on the upper surface of the clothes;

step S3: the aluminum pipe (7) of the object placing plate V (5) passes through a gap between the object placing plate IV (4) and the object placing plate V (5) to rotate upwards to the upper part of the gap, and the aluminum pipe (7) is translated to the other side from one side of the object placing plate V (5), so that clothes on the object placing plate I (1) and the object placing plate IV (4) are driven to be turned to the middle position, and then the aluminum pipe (7) is driven to be translated to one side of the object placing plate V (5) and then rotated to the highest position in the vertical direction; the aluminum pipe (7) of the object placing plate II (2) passes through the gap and rotates upwards to the upper part of the gap, the aluminum pipe (7) is translated from one side of the object placing plate II (2) to the other side, so that clothes on the object placing plate III (3) and the object placing plate VI (6) are driven to be turned over to the middle position, and then the aluminum pipe (7) is driven to translate to one side of the object placing plate II (2) and then rotate to the highest position in the vertical direction;

step S4: all limiting sheets (10) on the upper surfaces of the object placing plate II (2) and the object placing plate V (5) are rotated from a vertical position to a horizontal position;

step S5: rotating the limiting piece (10) of the object placing plate I (1) to the side edge position of the object placing plate II (2) close to the object placing plate V (5) and pressing the limiting piece on the middle part of the clothes;

step S6: the aluminum pipe (7) of the translation rotation device III is rotated upwards to pass through a gap between the object placing plate I (1) and the object placing plate IV (4), after the aluminum pipe (7) contacts clothes, the aluminum pipe is translated from the lower side edge of the object placing plate II (2) to the upper side edge of the object placing plate II (2), so that the clothes on the object placing plate V (5) are driven to be folded to the object placing plate II (2);

step S7: the limiting piece (10) of the object placing plate I (1) is rotated to the lower side edge of the object placing plate I (1), so that clothes on the object placing plate II (2) are driven to move to the object placing plate IV (4);

step S8: full homing link: the translation rotating device I, the translation rotating device II and the aluminum pipe (7) of the translation rotating device III are translated and rotated to the position where the initial state of the step S1 is located; and (3) rotating the limiting piece (10) of the object placing plate I (1) to the position where the initial state of the step S1 is located.

9. The method according to claim 8, wherein in the step S2, the clothes are laid flat between the limiting pieces (10) of the placement plate ii (2) and the placement plate v (5).

Images