CN110565351A - An intelligent clothing folding cabinet - Google Patents
An intelligent clothing folding cabinet Download PDFInfo
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- CN110565351A CN110565351A CN201910953996.0A CN201910953996A CN110565351A CN 110565351 A CN110565351 A CN 110565351A CN 201910953996 A CN201910953996 A CN 201910953996A CN 110565351 A CN110565351 A CN 110565351A
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- 238000000034 method Methods 0.000 claims abstract description 8
- 210000000078 claw Anatomy 0.000 claims description 135
- 230000005540 biological transmission Effects 0.000 claims description 43
- 230000002457 bidirectional effect Effects 0.000 claims description 8
- 230000002093 peripheral effect Effects 0.000 claims description 8
- 239000000463 material Substances 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 27
- 230000000694 effects Effects 0.000 description 5
- 230000000007 visual effect Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 238000004659 sterilization and disinfection Methods 0.000 description 3
- 239000002304 perfume Substances 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003205 fragrance Substances 0.000 description 1
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- 238000005507 spraying Methods 0.000 description 1
- 230000001954 sterilising effect Effects 0.000 description 1
- 238000010415 tidying Methods 0.000 description 1
Classifications
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F89/00—Apparatus for folding textile articles with or without stapling
- D06F89/02—Apparatus for folding textile articles with or without stapling of textile articles to be worn, e.g. shirts
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Abstract
Description
技术领域technical field
本发明涉及一种智能衣物折叠柜，属于机器设备技术领域。The invention relates to an intelligent clothing folding cabinet, which belongs to the technical field of machinery and equipment.
背景技术Background technique
随着人工智能、5G智联和物联网等技术的不断突破，家居产品智能化已成为时代发展的趋势。越来越多的家庭出现叠衣困难，整理麻烦。With the continuous breakthrough of technologies such as artificial intelligence, 5G smart connection and the Internet of Things, the intelligentization of home products has become the trend of the times. More and more families have difficulty in folding clothes and tidying up.
此外，目前的衣柜不具备叠衣功能，并且一些拥有部分消毒杀菌除能的鞋柜体验效果极差。In addition, the current wardrobe does not have the function of folding clothes, and some shoe cabinets with partial disinfection and sterilization have extremely poor experience.
发明内容Contents of the invention
本发明要解决的技术问题是提供一种智能衣物折叠柜，解决了衣物的折叠，收纳困难的问题，极大地改善了目前快节奏生活下衣物的折叠，收纳的现状，可节约大量的人力物力，本发明全程智能化完成，符合智能家居时代的发展要求。The technical problem to be solved by the present invention is to provide an intelligent clothing folding cabinet, which solves the problem of difficult clothing folding and storage, greatly improves the current status of clothing folding and storage under the fast-paced life, and can save a lot of manpower and material resources , the whole process of the present invention is completed intelligently, which meets the development requirements of the smart home era.
本发明的技术方案是：一种智能衣物折叠柜，包括衣物储存抽屉、衣物传送斜板、衣物横向机械抓取装置、衣物折叠装置Ⅰ、可伸缩式纵向压衣装置、衣物纵向机械抓取装置、衣物折叠装置Ⅱ、可伸缩式横向压衣装置、可升降式叠衣平台、衣物折叠支撑板、叠衣箱体、叠衣箱体盖板、微处理控制系统。The technical solution of the present invention is: an intelligent clothing folding cabinet, including a clothing storage drawer, a clothing conveying slant plate, a clothing horizontal mechanical grasping device, a clothing folding device I, a retractable longitudinal clothing pressing device, and a clothing longitudinal mechanical grasping device , Clothes folding device Ⅱ, retractable horizontal clothing pressing device, liftable folding platform, clothing folding support plate, folding box, folding box cover, micro-processing control system.
所述衣物储存抽屉放置于叠衣箱体内，所述衣物传送斜板通过下端支柱固定于叠衣箱体底板上所开设的螺纹孔内，所述衣物横向机械抓取装置、衣物纵向机械抓取装置分别放置于叠衣箱体内的箱体中，所述衣物折叠装置Ⅰ、可伸缩式纵向压衣装置、衣物折叠装置Ⅱ、可伸缩式横向压衣装置、可升降式叠衣平台均通过螺钉固定在衣物折叠支撑板所开设的多个螺纹孔内，所述衣物折叠支撑板通过螺钉固定于叠衣箱体的底板上所开设的螺纹孔内，所述叠衣箱体盖板通过其上的卡槽安装于叠衣箱体上，所述的衣物横向机械抓取装置、衣物折叠装置Ⅰ、可伸缩式纵向压衣装置、衣物纵向机械抓取装置、衣物折叠装置Ⅱ、可伸缩式横向压衣装置、可升降式叠衣平台均与微处理器控制系统电连接。The clothes storage drawer is placed in the clothes folding box, the clothes conveying slant plate is fixed in the threaded hole on the bottom plate of the clothes folding box through the lower support, the clothes horizontal mechanical grabbing device, the clothes longitudinal mechanical grabbing The devices are respectively placed in the box body of the folding clothes box. The clothes folding device I, the telescopic longitudinal clothes pressing device, the clothes folding device II, the telescopic horizontal clothes pressing device and the liftable clothes folding platform are all connected by screws. It is fixed in a plurality of threaded holes provided by the clothing folding support plate, and the clothing folding support plate is fixed in the threaded holes provided on the bottom plate of the folding box by screws, and the cover plate of the folding box passes through it. The card slot is installed on the clothes folding box, and the clothes horizontal mechanical grabbing device, clothes folding device I, telescopic longitudinal clothes pressing device, clothes longitudinal mechanical grabbing device, clothes folding device II, telescopic horizontal The garment pressing device and the liftable garment folding platform are all electrically connected with the microprocessor control system.
所述衣物横向机械抓取装置、衣物纵向机械抓取装置为相同的机械结构，均包括机械爪、球齿轮机械臂。所述球齿轮机械臂与机械爪通过孔轴配合方式相连接固定。The clothes horizontal mechanical grabbing device and the clothes longitudinal mechanical grabbing device have the same mechanical structure, both including mechanical claws and ball gear mechanical arms. The ball gear mechanical arm is connected and fixed with the mechanical claw through a hole-shaft fit.
所述机械爪包括主动爪子片、爪子六角支柱、上端面板、端面连接体、从动爪子片Ⅰ、爪子片Ⅰ、爪子片Ⅱ、上下端面连接板、爪子片Ⅲ、从动爪子片Ⅱ、爪子片Ⅳ、从动爪子片Ⅲ、下端面板、机械爪电机、机械爪电机盘。所述端面连接体上下两侧通过螺钉分别与上端面板、下端面板相固定，所述机械爪电机通过爪子六角支柱固定于上端面板的下侧，其传动轴通过上端面板的孔与机械爪电机盘相连接，所述机械爪电机盘与主动爪子片相固定，所述爪子片Ⅰ通过爪子六角支柱与主动爪子片相固定，所述从动爪子片Ⅰ上的齿与主动爪子片上的齿相啮合且通过螺钉与上端面板相连接，所述爪子片Ⅱ通过爪子六角支柱与从动爪子片Ⅰ相固定，所述上下端面连接板通过螺钉与从动爪子片Ⅰ、从动爪子片Ⅲ固定，所述从动爪子片Ⅲ通过螺钉与下端面板相连接，所述爪子片Ⅳ通过爪子六角支柱与从动爪子片Ⅲ相固定，所述从动爪子片Ⅱ的齿与从动爪子片Ⅲ的齿相啮合，并通过螺钉与下端面板相连接，所述爪子片Ⅲ通过爪子六角支柱与从动爪子片Ⅱ相固定，所述从动爪子片Ⅱ通过上下端面连接板与主动爪子片固定。通过电机的带动，各爪子片相互配合从而实现对物体的抓取与放下。The mechanical claws include active claw pieces, claw hexagonal pillars, upper end panels, end face connectors, driven claw pieces I, claw pieces I, claw pieces II, upper and lower end face connecting plates, claw pieces III, driven claw pieces II, claws Sheet Ⅳ, driven claw sheet Ⅲ, lower panel, mechanical claw motor, mechanical claw motor disc. The upper and lower sides of the end face connecting body are respectively fixed to the upper panel and the lower panel by screws, and the mechanical claw motor is fixed to the lower side of the upper panel through the hexagonal pillar of the claw, and its drive shaft passes through the hole of the upper panel and the mechanical claw motor disc. The mechanical claw motor disc is fixed with the active claw piece, the claw piece I is fixed with the active claw piece through the hexagonal pillar of the claw, and the teeth on the driven claw piece I mesh with the teeth on the active claw piece And it is connected with the upper end panel through screws, the claw piece II is fixed with the driven claw piece I through the hexagonal pillar of the claw, and the upper and lower end face connecting plates are fixed with the driven claw piece I and the driven claw piece III through screws. The driven claw piece III is connected to the lower end panel through screws, the claw piece IV is fixed to the driven claw piece III through the hexagonal pillar of the claw, and the teeth of the driven claw piece II are connected to the teeth of the driven claw piece III. Engaged and connected with the lower end panel by screws, the claw piece III is fixed to the driven claw piece II through the hexagonal pillar of the claw, and the driven claw piece II is fixed to the active claw piece through the upper and lower end face connecting plates. Driven by the motor, the claws cooperate with each other to realize the grasping and putting down of objects.
所述球齿轮机械臂包括基轴Ⅰ、连接环Ⅰ、万向环套、基轴Ⅱ、固定盘、箱体座、万向环套联杆、连接杆Ⅰ、连接杆Ⅱ、球齿轮传动杆Ⅰ、球齿轮丝杆Ⅰ、传动杆架Ⅰ、球齿轮丝杆支座Ⅰ、双向对称式法兰盘Ⅰ、单向法兰盘Ⅰ、轴Ⅰ、轴Ⅱ、单向法兰盘Ⅱ、双向对称式法兰盘Ⅱ、球齿轮丝杆支座Ⅱ、传动杆架Ⅱ、球齿轮丝杆Ⅱ、球齿轮传动杆Ⅱ、连接环Ⅱ、万向球齿轮、球齿轮机械臂电机、箱体座外壳。所述基轴Ⅰ通过连接环Ⅰ与万向球齿轮相固定，所述万向球齿轮通过连接环Ⅱ与万向环套固定，所述万向环套与固定盘通过基轴Ⅱ相连接，所述固定盘固定于箱体座上，所述对称分布的两个万向环套联杆的一端与万向环套固定，另一端与连接杆Ⅰ相连接，所述对称分布的两个连接杆Ⅱ分别与对称分布的两个连接杆Ⅰ及对称分布的球齿轮传动杆Ⅰ、球齿轮传动杆Ⅱ连接，所述对称分布的球齿轮丝杆支座Ⅰ、球齿轮丝杆支座Ⅱ固定于箱体座上，所述对称分布的球齿轮丝杆Ⅰ、球齿轮丝杆Ⅱ分别穿过球齿轮丝杆支座Ⅰ、球齿轮丝杆支座Ⅱ并与对称分布的双向对称式法兰盘Ⅰ、双向对称式法兰盘Ⅱ相连接，所述对称分布的传动杆架Ⅰ、传动杆架Ⅱ分别穿过球齿轮丝杆Ⅰ、球齿轮丝杆Ⅱ与对称分布的球齿轮传动杆Ⅰ、球齿轮传动杆Ⅱ相连接，所述对称分布的单向法兰盘Ⅰ、单向法兰盘Ⅱ固定于箱体座上，所述对称分布的轴Ⅰ、轴Ⅱ分别穿过单向法兰盘Ⅰ、单向法兰盘Ⅱ与双向对称式法兰盘Ⅰ、双向对称式法兰盘Ⅱ相连接，所述箱体座外壳固定于箱体座上，所述两个对称分布的球齿轮机械臂电机通过传动轴分别与对称分布的轴Ⅰ、轴Ⅱ相连接，并放置于叠衣箱体内的箱体内。The ball gear mechanical arm includes base shaft I, connecting ring I, universal ring sleeve, base shaft II, fixed plate, box seat, universal ring sleeve link, connecting rod I, connecting rod II, ball gear transmission rod Ⅰ. Ball gear screw Ⅰ, transmission rod frame Ⅰ, ball gear screw support Ⅰ, bidirectional symmetrical flange Ⅰ, unidirectional flange Ⅰ, shaft Ⅰ, shaft Ⅱ, unidirectional flange Ⅱ, bidirectional Symmetrical flange II, ball gear screw support II, transmission rod frame II, ball gear screw II, ball gear transmission rod II, connecting ring II, universal ball gear, ball gear manipulator motor, box seat shell. The base shaft I is fixed to the universal ball gear through the connecting ring I, the universal ball gear is fixed to the universal ring sleeve through the connecting ring II, and the universal ring sleeve is connected to the fixed disk through the base shaft II, The fixed plate is fixed on the box seat, one end of the two symmetrically distributed universal ring sleeves is fixed to the universal ring sleeve, and the other end is connected to the connecting rod I. The two symmetrically distributed connecting rods The rod II is respectively connected with two symmetrically distributed connecting rods I and the symmetrically distributed ball gear transmission rod I and ball gear transmission rod II, and the symmetrically distributed ball gear screw support I and ball gear screw support II are fixed On the box seat, the symmetrically distributed ball gear screw I and ball gear screw II pass through the ball gear screw support I and the ball gear screw support II respectively and connect with the symmetrically distributed two-way symmetrical flange The disc I and the bidirectional symmetrical flange II are connected, and the symmetrically distributed transmission rod frame I and the transmission rod frame II respectively pass through the ball gear screw rod I, the ball gear screw rod II and the symmetrically distributed ball gear drive rod I , ball gear transmission rod II are connected, the symmetrically distributed one-way flange I and one-way flange II are fixed on the box seat, and the symmetrically distributed shafts I and II pass through the one-way method respectively. The flange plate I and the one-way flange plate II are connected with the two-way symmetrical flange plate I and the two-way symmetrical flange plate II. The box seat shell is fixed on the box seat, and the two symmetrically distributed balls The motor of the gear manipulator is respectively connected with the symmetrically distributed shafts I and II through the transmission shaft, and placed in the box in the folding box.
所述万向球齿轮包括外框架Ⅰ、上齿轮基轴Ⅱ、上齿轮基轴Ⅲ、上齿轮基轴Ⅰ、外框架Ⅱ、上齿轮基轴Ⅳ、基架、十字中间架、所述上齿轮基轴Ⅱ与上齿轮基轴Ⅰ通过十字中间架相连接，所述上齿轮基轴Ⅲ与上齿轮基轴Ⅳ通过十字中间架相连接，所述上齿轮基轴Ⅱ与上齿轮基轴Ⅲ通过其内部的球齿轮相啮合，所述外框架Ⅰ与上齿轮基轴Ⅱ相连接，所述外框架Ⅱ左右两端分别与上齿轮基轴Ⅰ、上齿轮基轴Ⅳ相连接，所述的基架与上齿轮基轴Ⅲ相连接。The universal ball gear includes an outer frame I, an upper gear base shaft II, an upper gear base shaft III, an upper gear base shaft I, an outer frame II, an upper gear base shaft IV, a base frame, a cross intermediate frame, the upper gear The base shaft II is connected with the upper gear base shaft I through the cross intermediate frame, the upper gear base shaft III is connected with the upper gear base shaft IV through the cross intermediate frame, and the upper gear base shaft II and the upper gear base shaft III are connected through the cross intermediate frame. The internal ball gears are meshed, the outer frame I is connected with the upper gear base shaft II, and the left and right ends of the outer frame II are respectively connected with the upper gear base shaft I and the upper gear base shaft IV. The frame is connected with the base shaft III of the upper gear.
所述衣物折叠装置Ⅰ包括衣物折叠升降底座Ⅰ、衣物折叠连动杆Ⅰ、衣物折叠联动杆、衣物折叠固定台Ⅰ、衣物折叠固定台Ⅰ电机、衣物折叠左右滑动杆Ⅰ、衣物折叠杆Ⅰ、滑块滑杆Ⅰ、滑块Ⅰ、衣物折叠弹簧Ⅰ、圆周滑块Ⅰ、圆周滑杆Ⅰ、衣物折叠转盘Ⅰ、衣物折叠伸缩电机Ⅰ、三通管Ⅰ、衣服折叠铰链杆Ⅰ、衣物折叠装置Ⅰ轴承、衣物折叠轴套Ⅰ、圆周滑杆Ⅰ轴承。所述衣物折叠升降底座Ⅰ通过螺钉固定于衣物折叠支撑板所开设的螺纹孔内，所述衣物折叠连动杆Ⅰ一端通过衣服折叠铰链杆Ⅰ与衣物折叠升降底座Ⅰ固定，另一端通过衣服折叠铰链杆Ⅰ与衣物折叠固定台Ⅰ固定，另一根相同的与之交叉的衣物折叠连动杆Ⅰ通过同样的方式分别与衣物折叠升降底座Ⅰ、衣物折叠固定台Ⅰ相固定，并放置于衣物折叠升降底座Ⅰ的同一侧，同样地，两根交叉杆件对称固定在衣物折叠升降底座Ⅰ的另一侧，衣服折叠铰链杆Ⅰ依次穿过四根相同杆件中部开设的小孔内，起到连接四根相同杆件的作用，所述衣物折叠伸缩电机Ⅰ固定在衣物折叠支撑板上，衣物折叠伸缩电机Ⅰ的伸缩杆与三通管Ⅰ相固定，三通管Ⅰ与衣物折叠联动杆相连接，所述衣物折叠固定台Ⅰ电机固定在叠衣箱体内，其传动轴通过衣物折叠轴套Ⅰ和安装于衣物折叠固定台Ⅰ轴承孔内的衣物折叠装置Ⅰ轴承与衣物折叠转盘Ⅰ相连接，且固定于衣物折叠固定台Ⅰ上，所述圆周滑块Ⅰ的连接杆与衣物折叠转盘Ⅰ相连接，方形中空的滑块在圆周滑杆Ⅰ上滑动，所述衣物折叠弹簧Ⅰ放置在圆周滑块Ⅰ、圆周滑杆Ⅰ之间，所述滑块Ⅰ的连接杆通过圆周滑杆Ⅰ轴承与圆周滑杆Ⅰ连接，滑块Ⅰ在滑块滑杆Ⅰ上滑动，所述滑块滑杆Ⅰ与衣物折叠左右滑动杆Ⅰ相连接，所述衣物折叠左右滑动杆Ⅰ插入衣物折叠固定台Ⅰ开设的小孔内并固定，所述衣物折叠杆Ⅰ插入衣物折叠左右滑动杆Ⅰ的孔并固定。The clothing folding device I includes a clothing folding lifting base I, a clothing folding linkage rod I, a clothing folding linkage rod, a clothing folding and fixing table I, a clothing folding and fixing table I motor, a clothing folding left and right sliding rod I, a clothing folding rod I, Slider slider Ⅰ, slider Ⅰ, clothing folding spring Ⅰ, circular slider Ⅰ, circular slider Ⅰ, clothing folding turntable Ⅰ, clothing folding telescopic motor Ⅰ, tee pipe Ⅰ, clothing folding hinge rod Ⅰ, clothing folding device Ⅰ Bearing, Clothes Folding Bush Ⅰ, Circular Slide Rod Ⅰ Bearing. The clothing folding and lifting base I is fixed in the threaded hole provided by the clothing folding support plate through screws, one end of the clothing folding linkage rod I is fixed by the clothing folding hinge rod I and the clothing folding and lifting base I, and the other end is fixed by the clothing folding and lifting base I. The hinge rod Ⅰ is fixed to the clothing folding and fixing table Ⅰ, and the other same clothing folding linkage rod Ⅰ which crosses it is respectively fixed to the clothing folding and lifting base Ⅰ and the clothing folding and fixing table Ⅰ in the same way, and placed on the clothing On the same side of the folding lifting base I, similarly, two cross rods are symmetrically fixed on the other side of the clothing folding lifting base I, and the clothing folding hinge rod I passes through the small holes opened in the middle of the four same rods in sequence, and To connect four identical rods, the clothing folding telescopic motor I is fixed on the clothing folding support plate, the telescopic rod of the clothing folding telescopic motor I is fixed with the three-way pipe I, and the three-way pipe I is connected with the clothes folding linkage rod The motor of the clothes folding and fixing table I is fixed in the clothes folding box, and its transmission shaft is in phase with the clothes folding turntable I through the clothes folding sleeve I and the clothes folding device I bearing installed in the bearing hole of the clothes folding and fixing table I. connected and fixed on the clothing folding and fixing table I, the connecting rod of the circular slider I is connected with the clothing folding turntable I, the square hollow slider slides on the peripheral sliding rod I, and the clothing folding spring I is placed on Between the circumferential slider I and the circumferential slider I, the connecting rod of the slider I is connected to the circumferential slider I through the bearing of the circumferential slider I, and the slider I slides on the slider I, and the slider slides The rod I is connected with the clothes folding left and right sliding rod I, and the clothes folding left and right sliding rod I is inserted into the small hole opened in the clothes folding fixing platform I and fixed, and the clothes folding rod I is inserted into the hole of the clothes folding left and right sliding rod I and fixed.
所述可伸缩式纵向压衣装置包括纵向压衣升降顶板、纵向压衣可伸缩杆箱、纵向压衣可伸缩杆、纵向压衣固定轴、纵向压衣连动杆、纵向压衣升降底板、纵向压衣伸缩电机、纵向压衣联动杆、纵向压衣三通管、纵向压衣铰链杆。所述纵向压衣升降底板通过螺钉固定于叠衣装置固定板上，所述纵向压衣连动杆一端通过纵向压衣固定轴与纵向压衣升降底板固定，另一端通过纵向压衣联动杆与纵向压衣升降顶板固定，另一根相同的与之交叉的纵向压衣连动杆通过同样的方式分别与纵向压衣升降顶板、纵向压衣连动杆相固定，并放置于纵向压衣升降底板的同一侧，同样地，两根交叉杆件对称固定在纵向压衣升降底板的另一侧，纵向压衣铰链杆依次穿过四根相同杆件中部开设的小孔内，起到连接四根相同杆件的作用，所述纵向压衣伸缩电机固定在纵向压衣升降底板上，纵向压衣伸缩电机的伸缩杆与纵向压衣三通管相固定，纵向压衣三通管与纵向压衣联动杆相连接，所述纵向压衣升降顶板上表面两侧对称安装纵向压衣可伸缩杆箱，所述纵向压衣可伸缩杆箱内装有纵向压衣可伸缩杆。The telescopic longitudinal pressing device includes a longitudinal pressing lifting top plate, a longitudinal pressing extendable rod box, a longitudinal pressing extendable rod, a longitudinal pressing fixed shaft, a longitudinal pressing linkage rod, a longitudinal pressing lifting bottom plate, Longitudinal pressing telescopic motor, longitudinal pressing linkage rod, longitudinal pressing tee pipe, longitudinal pressing hinge rod. The lifting base plate of the longitudinal garment pressing is fixed on the fixing plate of the garment folding device through screws, one end of the linkage rod of the longitudinal garment pressing is fixed to the lifting base plate of the longitudinal garment pressing through the fixing shaft of the longitudinal garment pressing, and the other end is connected to the lifting base plate of the longitudinal garment pressing through the linkage rod of the longitudinal garment pressing. The vertical pressing lifting top plate is fixed, and the other same vertical pressing linkage rod crossing it is respectively fixed with the vertical pressing lifting top plate and the longitudinal pressing lifting linkage rod in the same way, and placed on the vertical pressing lifting On the same side of the bottom plate, similarly, two cross rods are symmetrically fixed on the other side of the longitudinal clothing lifting bottom plate, and the vertical clothing pressing hinge rods pass through the small holes in the middle of the four same rods successively to connect the four. The effect of the same rod, the longitudinal pressing telescopic motor is fixed on the vertical pressing lifting bottom plate, the telescopic rod of the longitudinal pressing telescopic motor is fixed with the longitudinal pressing tee pipe, and the longitudinal pressing tee pipe is connected with the longitudinal pressing tee pipe. The clothing linkage rods are connected, and the vertical pressing telescopic rod boxes are symmetrically installed on both sides of the upper surface of the vertical pressing clothing lifting top plate.
所述衣物折叠装置Ⅱ包括衣物折叠升降底座Ⅱ、衣物折叠连动杆Ⅱ、衣物折叠联动杆、衣物折叠固定台Ⅱ、衣物折叠固定台Ⅱ电机、衣物折叠左右滑动杆Ⅱ、衣物折叠杆Ⅱ、滑块滑杆Ⅱ、滑块Ⅱ、衣物折叠弹簧Ⅱ、圆周滑块Ⅱ、圆周滑杆Ⅱ、衣物折叠转盘Ⅱ、衣物折叠伸缩电机Ⅱ、三通管Ⅱ、衣服折叠铰链杆Ⅱ、衣物折叠装置Ⅱ轴承、衣物折叠轴套Ⅱ圆周滑杆Ⅱ轴承。所述衣物折叠升降底座Ⅱ通过螺钉固定于衣物折叠支撑板所开设的螺纹孔内，所述衣物折叠连动杆Ⅱ一端通过衣服折叠铰链杆Ⅱ与衣物折叠升降底座Ⅱ固定，另一端通过衣服折叠铰链杆Ⅱ与衣物折叠固定台Ⅱ固定，另一根相同的与之交叉的衣物折叠连动杆Ⅱ通过同样的方式分别与衣物折叠升降底座Ⅱ、衣物折叠固定台Ⅱ相固定，并放置于衣物折叠升降底座Ⅱ的同一侧，同样地，两根交叉杆件对称固定在衣物折叠升降底座Ⅱ的另一侧，衣服折叠铰链杆Ⅱ依次穿过四根相同杆件中部开设的小孔内，起到连接四根相同杆件的作用，所述衣物折叠伸缩电机Ⅱ固定在衣物折叠支撑板上，衣物折叠伸缩电机Ⅱ的伸缩杆与三通管Ⅱ相固定，三通管Ⅱ与衣物折叠联动杆相连接，所述衣物折叠固定台Ⅱ电机固定在叠衣箱体内，其传动轴通过衣物折叠轴套Ⅱ和安装于衣物折叠固定台Ⅱ轴承内的衣物折叠装置Ⅱ轴承与衣物折叠转盘Ⅱ相连接，且固定于衣物折叠固定台Ⅱ上，所述圆周滑块Ⅱ的连接杆与衣物折叠转盘Ⅱ相连接，方形中空的滑块在圆周滑杆Ⅱ上滑动，所述衣物折叠弹簧Ⅱ放置在圆周滑块Ⅱ、圆周滑杆Ⅱ之间，所述滑块Ⅱ的连接杆通过圆周滑杆Ⅱ轴承与圆周滑杆Ⅱ连接，滑块Ⅱ在滑块滑杆Ⅱ上滑动，所述滑块滑杆Ⅱ与衣物折叠左右滑动杆Ⅱ相连接，所述衣物折叠左右滑动杆Ⅱ插入衣物折叠固定台Ⅱ开设的小孔内并固定，所述衣物折叠杆Ⅱ插入衣物折叠左右滑动杆Ⅱ的孔并固定。The clothing folding device II includes a clothing folding lifting base II, a clothing folding linkage rod II, a clothing folding linkage rod, a clothing folding and fixing table II, a clothing folding and fixing table II motor, a clothing folding left and right sliding rod II, a clothing folding rod II, Slider slider II, slider II, clothing folding spring II, circular slider II, circular slider II, clothing folding turntable II, clothing folding telescopic motor II, tee pipe II, clothing folding hinge rod II, clothing folding device Ⅱ Bearing, Clothes Folding Bushing Ⅱ Circumferential Slide Rod Ⅱ Bearing. The clothing folding lifting base II is fixed in the threaded hole opened by the clothing folding support plate through screws, one end of the clothing folding linkage rod II is fixed by the clothing folding hinge rod II and the clothing folding lifting base II, and the other end is fixed by the clothing folding hinge rod II. The hinge rod II is fixed to the clothing folding and fixing table II, and the other same clothing folding linkage rod II that crosses with it is respectively fixed to the clothing folding and lifting base II and the clothing folding and fixing table II in the same way, and placed on the clothes folding and fixing table II. On the same side of the folding lifting base II, similarly, two cross rods are symmetrically fixed on the other side of the clothing folding lifting base II, and the clothes folding hinge rod II passes through the small holes opened in the middle of the four same rods in sequence to To connect four identical rods, the clothing folding telescopic motor II is fixed on the clothing folding support plate, the telescopic rod of the clothing folding telescopic motor II is fixed to the three-way pipe II, and the three-way pipe II is connected to the clothes folding linkage rod The motor of the clothes folding and fixing table II is fixed in the clothes folding box, and its transmission shaft is connected with the clothes folding turntable II through the clothes folding sleeve II and the clothes folding device II bearing installed in the clothes folding and fixing table II bearing , and fixed on the clothing folding and fixing platform II, the connecting rod of the circular slider II is connected with the clothing folding turntable II, the square hollow slider slides on the peripheral sliding rod II, and the clothing folding spring II is placed on the Between the slider II and the peripheral slider II, the connecting rod of the slider II is connected to the peripheral slider II through the bearing of the slider II, the slider II slides on the slider II, and the slider II II is connected with the clothing folding left and right sliding rod II, the clothing folding left and right sliding rod II is inserted into the small hole opened by the clothing folding fixing platform II and fixed, and the clothing folding rod II is inserted into the hole of the clothing folding left and right sliding rod II and fixed .
所述可伸缩式横向压衣装置包括横向压衣升降顶板、横向压衣活动可伸缩杆箱、横向压衣可伸缩杆、横向压衣固定轴、横向压衣连动杆、横向压衣升降底板、横向压衣伸缩电机、横向压衣联动杆、横向压衣三通管、横向压衣铰链杆、横向压衣固定伸缩杆箱、横向压衣丝杆、横向压衣丝杆电机。所述横向压衣升降底板通过螺钉固定于叠衣装置固定板上，所述横向压衣连动杆一端通过横向压衣固定轴与横向压衣升降底板固定，另一端通过横向压衣联动杆与横向压衣升降顶板固定，另一根相同的与之交叉的横向压衣连动杆通过同样的方式分别与横向压衣升降顶板、横向压衣连动杆相固定，并放置于横向压衣升降底板的同一侧，同样地，两根交叉杆件对称固定在横向压衣升降底板的另一侧，横向压衣铰链杆依次穿过四根相同杆件中部开设的小孔内，起到连接四根相同杆件的作用，所述横向压衣伸缩电机固定在横向压衣升降底板上，横向压衣伸缩电机的伸缩杆与横向压衣三通管相固定，横向压衣三通管与横向压衣联动杆相连接，所述横向压衣可伸缩杆箱内装有横向压衣可伸缩杆，所述横向压衣升降顶板上装有横向压衣丝杆电机，所述横向压衣丝杆一端穿过横向压衣升降顶板上开设的槽，另一端与横向压衣丝杆电机的传动轴相连接，所述横向压衣固定伸缩杆箱固定在横向压衣升降顶板上未装有电机的一侧，所述横向压衣活动可伸缩杆箱内开设有螺纹孔，横向压衣丝杆穿过其上所设的螺纹孔，可使横向压衣活动可伸缩杆箱在横向压衣升降顶板上左右移动。The telescopic horizontal pressing device includes a horizontal pressing lifting top plate, a horizontal pressing movable telescopic rod box, a horizontal pressing extendable rod, a horizontal pressing fixed shaft, a horizontal pressing linkage rod, and a horizontal pressing lifting bottom plate , Horizontal pressing telescopic motor, horizontal pressing linkage rod, horizontal pressing tee pipe, horizontal pressing hinge rod, horizontal pressing fixed telescopic rod box, horizontal pressing screw rod, horizontal pressing screw motor. The lifting bottom plate of the horizontal pressing garment is fixed on the fixing plate of the clothing folding device through screws, one end of the horizontal pressing linkage rod is fixed to the horizontal pressing lifting base plate through the horizontal pressing fixing shaft, and the other end is connected to the horizontal pressing linkage rod through the horizontal pressing linkage rod. The horizontal pressing lifting top plate is fixed, and the other same horizontal pressing linkage rod crossing it is respectively fixed with the horizontal pressing lifting top plate and the horizontal pressing lifting linkage rod in the same way, and placed on the horizontal pressing lifting On the same side of the bottom plate, similarly, two cross rods are symmetrically fixed on the other side of the horizontal pressing and lifting bottom plate, and the horizontal pressing hinge rods pass through the small holes in the middle of the four same rods in order to connect the four. The effect of the same rod, the horizontal pressing telescopic motor is fixed on the horizontal pressing lifting base plate, the telescopic rod of the horizontal pressing telescopic motor is fixed with the horizontal pressing tee pipe, and the horizontal pressing tee pipe is connected with the horizontal pressing tee pipe. The clothing linkage rods are connected, the horizontal pressing telescopic rod box is equipped with a horizontal pressing telescopic rod, the horizontal pressing lifting top plate is equipped with a horizontal pressing screw motor, and one end of the horizontal pressing screw rod passes through The other end of the slot opened on the top plate of the horizontal press lift is connected to the drive shaft of the horizontal press screw motor, and the fixed telescopic rod box of the horizontal press is fixed on the side of the horizontal press lift top plate that is not equipped with a motor. A threaded hole is provided in the expandable rod box of the horizontal pressing activity, and the horizontal pressing screw rod passes through the threaded hole set on it, so that the movable expandable rod box of the horizontal pressing garment can move left and right on the lifting top plate of the horizontal pressing garment .
所述可升降式叠衣平台包括叠衣面板、面板弹簧、叠衣装置固定板、销、双向活动杆、升降面板固定支座、升降电机、转动式圆盘杆件、转动杆件轴承、平键。所述升降面板固定支座通过螺钉固定在衣物折叠支撑板上，所述两个转动式圆盘杆件分别对称固定于升降面板固定支座的方槽内，所述升降面板固定支座的方槽内开设有轴承孔，所述对称分布的两个转动杆件轴承安装于轴承孔内，所述对称分布的两个升降电机的传动轴通过转动杆件轴承与转动式圆盘杆件相连接，所述对称分布的两个转动式圆盘杆件内开设有键槽，所述对称分布的两个平键分别安装于对称分布的两个转动式圆盘杆件的键槽内，所述对称分布的两个双向活动杆的一端通过销分别与对称分布的两个转动式圆盘杆件的杆件相连接，另一端通过销分别与叠衣面板下端对称分布的两个杆件相连接，所述叠衣装置固定板固定于升降面板固定支座的支柱上，且所述的叠衣面板下端对称分布的两个杆件分别穿过叠衣装置固定板的孔内，其中叠衣面板与叠衣装置固定板之间安装有面板弹簧。The liftable clothing folding platform includes a clothing folding panel, a panel spring, a fixed plate of a clothing folding device, pins, a two-way movable rod, a lifting panel fixing support, a lifting motor, a rotating disc rod, a rotating rod bearing, a flat key. The lifting panel fixing support is fixed on the clothing folding support plate through screws, and the two rotating disc rods are symmetrically fixed in the square grooves of the lifting panel fixing support respectively. The square groove of the lifting panel fixing support Bearing holes are opened in the groove, and the two symmetrically distributed rotating rod bearings are installed in the bearing holes, and the transmission shafts of the two symmetrically distributed lifting motors are connected to the rotating disc rod through the rotating rod bearings , the two symmetrically distributed rotating disk rods are provided with key grooves, the symmetrically distributed two flat keys are respectively installed in the key grooves of the symmetrically distributed two rotating disk rods, the symmetrically distributed One end of the two two-way movable rods is respectively connected to the rods of the two symmetrically distributed rotating disc rods through pins, and the other end is connected to the two symmetrically distributed rods at the lower end of the folding panel through pins, so The fixing plate of the clothing folding device is fixed on the pillar of the fixed support of the lifting panel, and the two rods symmetrically distributed at the lower end of the folding clothing panel respectively pass through the holes of the fixing plate of the clothing folding device, wherein the clothing folding panel and the folding clothing panel A panel spring is installed between the fixing plates of the clothing device.
本发明的有益效果是：The beneficial effects of the present invention are:
(1)本发明具有衣物自动折叠、收纳的功能，解决了目前叠衣困难的问题。(1) The present invention has the function of automatically folding and storing clothes, which solves the current problem of difficulty in folding clothes.
(2)本发明能通过信号接收传输装置，应用在未来的智能家居，具有极大的应用前景。(2) The present invention can be applied to smart homes in the future through a signal receiving and transmitting device, and has great application prospects.
(3)本发明占地空间小，收纳便捷，不需要时易于拆卸，能够有效利用存储空间。(3) The present invention occupies a small space, is convenient to store, is easy to disassemble when not in use, and can effectively utilize the storage space.
(4)本发明可随时为使用者存储或整理舒适清香的衣物。(4) The present invention can store or organize comfortable and fragrant clothes for users at any time.
(5)本发明内部有视觉识别装置，可对不同衣物分拣，符合舒适度设计要求。(5) There is a visual recognition device inside the present invention, which can sort different clothes and meet the comfort design requirements.
(6)本发明采用半封闭式设计，内有喷香装置，具有杀菌消毒的功能。(6) The present invention adopts a semi-closed design with a fragrance spraying device inside, which has the function of sterilization and disinfection.
附图说明Description of drawings
图1是本发明的结构示意图；Fig. 1 is a structural representation of the present invention;
图2是本发明的整体结构示意图；Fig. 2 is the overall structural representation of the present invention;
图3是本发明的内部结构示意图；Fig. 3 is a schematic diagram of the internal structure of the present invention;
图4是本发明的内部安装结构示意图；Fig. 4 is a schematic diagram of the internal installation structure of the present invention;
图5是本发明叠衣箱体11的零件示意图Fig. 5 is a schematic diagram of parts of the folding box body 11 of the present invention
图6是本发明衣物横向机械抓取装置的整体结构示意图；Fig. 6 is a schematic diagram of the overall structure of the clothing horizontal mechanical grabbing device of the present invention;
图7是本发明机械爪的整体结构示意图；Fig. 7 is a schematic diagram of the overall structure of the mechanical claw of the present invention;
图8是本发明机械爪的局部结构示意图；Fig. 8 is a partial structural schematic diagram of the mechanical claw of the present invention;
图9是本发明球齿轮机械臂的结构示意图；Fig. 9 is a schematic structural view of the ball gear mechanical arm of the present invention;
图10是本发明球齿轮机械臂内部结构示意图；Fig. 10 is a schematic diagram of the internal structure of the ball gear mechanical arm of the present invention;
图11是本发明万向球齿轮结构示意图；Fig. 11 is a schematic diagram of the structure of the universal ball gear of the present invention;
图12是本发明衣物折叠装置Ⅰ整体结构示意图；Fig. 12 is a schematic diagram of the overall structure of the clothes folding device I of the present invention;
图13是本发明衣物折叠装置Ⅰ内部结构示意图；Fig. 13 is a schematic diagram of the internal structure of the clothes folding device I of the present invention;
图14是本发明衣物折叠固定台Ⅰ零件示意图；Fig. 14 is a schematic diagram of parts of the clothing folding and fixing platform I of the present invention;
图15是本发明圆周滑杆Ⅰ零件示意图；Fig. 15 is a schematic diagram of the components of the circumferential slider I of the present invention;
图16是本发明可伸缩式纵向压衣装置整体结构示意图；Fig. 16 is a schematic diagram of the overall structure of the telescopic longitudinal garment pressing device of the present invention;
图17是本发明衣物折叠装置Ⅱ整体结构示意图；Fig. 17 is a schematic diagram of the overall structure of the clothes folding device II of the present invention;
图18是本发明衣物折叠装置Ⅱ局部结构示意图；Fig. 18 is a schematic diagram of the partial structure of the clothes folding device II of the present invention;
图19是本发明衣物折叠固定台Ⅱ零件示意图；Fig. 19 is a schematic diagram of parts of the clothing folding and fixing platform II of the present invention;
图20是本发明圆周滑杆Ⅱ零件示意图；Fig. 20 is a schematic diagram of the components of the circumferential slider II of the present invention;
图21是本发明可伸缩式横向压衣装置整体结构示意图；Fig. 21 is a schematic diagram of the overall structure of the retractable horizontal garment pressing device of the present invention;
图22是本发明可伸缩式横向压衣装置部分结构示意图；Fig. 22 is a partial structural schematic diagram of the retractable horizontal garment pressing device of the present invention;
图23是本发明可升降式叠衣平台整体结构示意图；Fig. 23 is a schematic diagram of the overall structure of the liftable clothing folding platform of the present invention;
图24是本发明升降面板固定支座零件示意图；Fig. 24 is a schematic diagram of parts of the lifting panel fixing support of the present invention;
图25是本发明叠衣面板零件示意图；Fig. 25 is a schematic diagram of the folding panel parts of the present invention;
图26是本发明衣物储存抽屉、衣物传送斜板、可升降式叠衣面板安装结构示意图；Fig. 26 is a schematic diagram of the installation structure of the clothes storage drawer, the clothes conveying slant plate, and the liftable folding clothes panel of the present invention;
图27是本发明叠衣箱体盖板零件示意图；Fig. 27 is a schematic diagram of the parts of the cover plate of the folding box of the present invention;
图28是本发明可升降式叠衣平台局部安装结构示意图；Fig. 28 is a schematic diagram of the partial installation structure of the liftable clothing folding platform of the present invention;
图29是本发明折叠机构局部结构示意图Figure 29 is a schematic diagram of a partial structure of the folding mechanism of the present invention
图30是本发明螺钉零件示意图。Fig. 30 is a schematic diagram of screw parts of the present invention.
图中：1：衣物储存抽屉、2：衣物传送斜板、3：衣物横向机械抓取装置、3-1：主动爪子片、3-2：爪子六角支柱、3-3：上端面板、3-4：端面连接体、3-5：从动爪子片Ⅰ、3-6：爪子片Ⅰ、3-7：爪子片Ⅱ、3-8：上下端面连接板、3-9：爪子片Ⅲ、3-10：从动爪子片Ⅱ、3-11：爪子片Ⅳ、3-12：从动爪子片Ⅲ、3-13：下端面板、3-14：机械爪电机、3-15：机械爪电机盘、3-16：基轴Ⅰ、3-17：外框架Ⅰ、3-18：上齿轮基轴Ⅱ、3-19：上齿轮基轴Ⅲ、3-20：连接环Ⅰ、3-21：上齿轮基轴Ⅰ、3-22：外框架Ⅱ、3-23：上齿轮基轴Ⅳ、3-24：基架、3-25：万向环套、3-26：基轴Ⅱ、3-27：固定盘、3-28：箱体座、3-29：万向环套联杆、3-30：连接杆Ⅰ、3-31：连接杆Ⅱ、3-32：球齿轮传动杆Ⅰ、3-33：球齿轮丝杆Ⅰ、3-34：传动杆架Ⅰ、3-35：球齿轮丝杆支座Ⅰ、3-36：双向对称式法兰盘Ⅰ、3-37：单向法兰盘Ⅰ、3-38：轴Ⅰ、3-39：轴Ⅱ、3-40：单向法兰盘Ⅱ、3-41：双向对称式法兰盘Ⅱ、3-42：球齿轮丝杆支座Ⅱ、3-43：传动杆架Ⅱ、3-44：球齿轮丝杆Ⅱ、3-45：球齿轮传动杆Ⅱ、3-46：连接环Ⅱ、3-47：万向球齿轮、3-48：十字中间架、3-49：球齿轮机械臂电机、3-50：箱体座外壳、3-51：机械爪、3-52：球齿轮机械臂、4：衣物折叠装置Ⅰ、4-1：衣物折叠升降底座Ⅰ、4-2：衣物折叠连动杆Ⅰ、4-3：衣物折叠联动杆、4-4：衣物折叠固定台Ⅰ、4-5：衣物折叠固定台Ⅰ电机、4-6：衣物折叠左右滑动杆Ⅰ、4-7：衣物折叠杆Ⅰ、4-8：滑块滑杆Ⅰ、4-9：滑块Ⅰ、4-10：衣物折叠弹簧Ⅰ、4-11：圆周滑块Ⅰ、4-12：圆周滑杆Ⅰ、4-13：衣物折叠转盘Ⅰ、4-14：衣物折叠伸缩电机Ⅰ、4-15：三通管Ⅰ、4-16：衣服折叠铰链Ⅰ、4-17：衣物折叠装置Ⅰ轴承、4-18：衣物折叠轴套Ⅰ、4-19：圆周滑杆Ⅰ轴承、5：可伸缩式纵向压衣装置、5-1：纵向压衣升降顶板、5-2：纵向压衣可伸缩杆箱、5-3：纵向压衣可伸缩杆、5-4：纵向压衣固定轴、5-5：纵向压衣连动杆、5-6：纵向压衣升降底板、5-7：纵向压衣伸缩电机、5-8：纵向压衣联动杆、5-9：纵向压衣三通管、5-10：纵向压衣铰链杆、6：衣物纵向机械抓取装置、7：衣物折叠装置Ⅱ、7-1：衣物折叠升降底座Ⅱ、7-2：衣物折叠连动杆Ⅱ、7-3：衣物折叠联动杆、7-4：衣物折叠固定台Ⅱ、7-5：衣物折叠固定台Ⅱ电机、7-6：衣物折叠左右滑动杆Ⅱ、7-7：衣物折叠杆Ⅱ、7-8：滑块滑杆Ⅱ、7-9：滑块Ⅱ、7-10：衣物折叠弹簧Ⅱ、7-11：圆周滑块Ⅱ、7-12：圆周滑杆Ⅱ、7-13：衣物折叠转盘Ⅱ、7-14：衣物折叠伸缩电机Ⅱ、7-15：三通管Ⅱ、7-16：衣服折叠铰链Ⅱ、7-17：衣物折叠装置Ⅱ轴承、7-18：衣物折叠轴套Ⅱ、7-19：圆周滑杆Ⅱ轴承、8：可伸缩式横向压衣装置、8-1：横向压衣升降顶板、8-2：横向压衣活动可伸缩杆箱、8-3：横向压衣可伸缩杆、8-4：横向压衣固定轴、8-5：横向压衣连动杆、8-6：横向压衣升降底板、8-7：横向压衣伸缩电机、8-8：横向压衣联动杆、8-9：横向压衣三通管、8-10：横向压衣铰链杆、8-11：横向压衣固定伸缩杆箱、8-12：横向压衣丝杆、8-13：横向压衣丝杆电机、9：可升降式叠衣平台、9-1：叠衣面板、9-2：面板弹簧、9-3：叠衣装置固定板、9-4：销、9-5：双向活动杆、9-6：升降面板固定支座、9-7：升降电机、9-8：转动式圆盘杆件、9-9：转动杆件轴承、9-10：平键、10：衣物折叠支撑板、11：叠衣箱、12：叠衣箱体盖板、13：螺钉。In the figure: 1: Clothes storage drawer, 2: Clothes conveying inclined plate, 3: Clothes horizontal mechanical grabbing device, 3-1: Active claw piece, 3-2: Claw hexagonal pillar, 3-3: Upper end panel, 3- 4: End face connecting body, 3-5: Driven claw piece I, 3-6: Claw piece I, 3-7: Claw piece II, 3-8: Upper and lower end face connecting plates, 3-9: Claw piece III, 3 -10: Driven claw piece Ⅱ, 3-11: Claw piece Ⅳ, 3-12: Driven claw piece Ⅲ, 3-13: Lower end panel, 3-14: Mechanical claw motor, 3-15: Mechanical claw motor plate , 3-16: base shaft Ⅰ, 3-17: outer frame Ⅰ, 3-18: upper gear base shaft Ⅱ, 3-19: upper gear base shaft Ⅲ, 3-20: connecting ring Ⅰ, 3-21: upper Gear base shaft Ⅰ, 3-22: outer frame Ⅱ, 3-23: upper gear base shaft Ⅳ, 3-24: base frame, 3-25: universal ring sleeve, 3-26: base shaft Ⅱ, 3-27 : fixed plate, 3-28: box seat, 3-29: universal ring sleeve link, 3-30: connecting rod Ⅰ, 3-31: connecting rod Ⅱ, 3-32: ball gear transmission rod Ⅰ, 3 -33: Ball gear screw Ⅰ, 3-34: Transmission rod frame Ⅰ, 3-35: Ball gear screw support Ⅰ, 3-36: Bidirectional symmetrical flange Ⅰ, 3-37: One-way flange Disc Ⅰ, 3-38: Axis Ⅰ, 3-39: Axis Ⅱ, 3-40: One-way flange II, 3-41: Bidirectional symmetrical flange II, 3-42: Ball gear screw support Ⅱ, 3-43: transmission rod frame Ⅱ, 3-44: ball gear screw rod Ⅱ, 3-45: ball gear transmission rod Ⅱ, 3-46: connecting ring Ⅱ, 3-47: universal ball gear, 3- 48: Cross intermediate frame, 3-49: Ball gear mechanical arm motor, 3-50: Box seat shell, 3-51: Mechanical claw, 3-52: Ball gear mechanical arm, 4: Clothes folding device Ⅰ, 4- 1: Clothes folding and lifting base Ⅰ, 4-2: Clothes folding linkage rod Ⅰ, 4-3: Clothes folding linkage rod, 4-4: Clothes folding and fixing table Ⅰ, 4-5: Clothing folding and fixing table Ⅰ Motor, 4 -6: clothing folding left and right sliding rod Ⅰ, 4-7: clothing folding rod Ⅰ, 4-8: slider sliding rod Ⅰ, 4-9: slider Ⅰ, 4-10: clothing folding spring Ⅰ, 4-11: Circular slider Ⅰ, 4-12: Circular slider Ⅰ, 4-13: Clothes folding turntable Ⅰ, 4-14: Clothes folding telescopic motor Ⅰ, 4-15: Tee pipe Ⅰ, 4-16: Clothes folding hinge Ⅰ , 4-17: clothing folding device Ⅰ bearing, 4-18: clothing folding sleeve Ⅰ, 4-19: circular slider Ⅰ bearing, 5: telescopic longitudinal clothing pressing device, 5-1: vertical clothing lifting top plate , 5-2: Longitudinal pressing stretchable rod box, 5-3: Longitudinal pressing stretchable rod, 5-4: Longitudinal pressing fixed shaft, 5-5: Longitudinal pressing linkage rod, 5-6: Longitudinal Pressing lifting bottom plate, 5-7: longitudinal pressing telescopic motor, 5-8: longitudinal pressing linkage rod, 5-9: longitudinal pressing tee pipe, 5-10: longitudinal pressing hinge rod, 6: longitudinal clothing mechanical grip Picking device, 7: clothing folding device Ⅱ, 7-1: clothing folding lifting base Ⅱ, 7-2: clothing folding link Ⅱ, 7-3: clothing folding link Ⅱ, 7-4: clothing folding fixed table Ⅱ, 7-5: Clothes folding and fixing table II motor, 7-6: Clothes folding left and right sliding rod II, 7-7: Clothing folding rod II, 7-8: Slider slider II, 7-9: Slider II, 7 -10: clothing folding spring Ⅱ, 7-11: circular slider Ⅱ, 7-12: circular slider Ⅱ, 7-13: clothing folding turntable Ⅱ, 7-14: clothing folding telescopic motor Ⅱ, 7-15: three Through pipe Ⅱ, 7-16: clothing folding hinge Ⅱ, 7-17: clothing folding device Ⅱ bearing, 7-18: clothing folding sleeve Ⅱ, 7-19: circular slider Ⅱ bearing, 8: retractable lateral pressure Clothing device, 8-1: Horizontal pressing lifting top plate, 8-2: Horizontal pressing movable extendable rod box, 8-3: Horizontal pressing extendable rod, 8-4: Horizontal pressing fixed shaft, 8-5 : Horizontal pressing linkage rod, 8-6: Horizontal pressing lifting bottom plate, 8-7: Horizontal pressing telescopic motor, 8-8: Horizontal pressing linkage rod, 8-9: Horizontal pressing tee pipe, 8 -10: Horizontal pressing hinge rod, 8-11: Horizontal pressing fixed telescopic rod box, 8-12: Horizontal pressing screw, 8-13: Horizontal pressing screw motor, 9: Liftable folding platform , 9-1: Clothes folding panel, 9-2: Panel spring, 9-3: Fixed plate of clothing folding device, 9-4: Pin, 9-5: Two-way movable rod, 9-6: Lifting panel fixed support, 9-7: Lifting motor, 9-8: Rotating disc rod, 9-9: Rotating rod bearing, 9-10: Flat key, 10: Clothes folding support plate, 11: Folding box, 12: Folding Clothes box body cover plate, 13: screw.
具体实施方式Detailed ways
下面结合附图和具体实施方式，对本发明作进一步说明。The present invention will be further described below in combination with the accompanying drawings and specific embodiments.
本技术领域技术人员可以理解的是，本发明中提到的微处理器控制系统是用于执行本申请中所述工作流程中的一项或多项的硬件设备，所述硬件设备可以为所需的目的而专门设计和制造，或者也可以采用通用微处理器控制中的已知设备或已知的其他硬件设备，只要可以实现本申请中基本的信号传输与自动控制功能即可。Those skilled in the art can understand that the microprocessor control system mentioned in the present invention is a hardware device used to execute one or more of the workflows described in the present application, and the hardware device can be all It can be specially designed and manufactured for the required purpose, or it can also use known devices in general microprocessor control or other known hardware devices, as long as the basic signal transmission and automatic control functions in this application can be realized.
实施例1：如图1-30所示，一种智能衣物折叠柜，包括衣物储存抽屉1、衣物传送斜板2、衣物横向机械抓取装置3、衣物折叠装置Ⅰ4、可伸缩式纵向压衣装置5、衣物纵向机械抓取装置6、衣物折叠装置Ⅱ7、可伸缩式横向压衣装置8、可升降式叠衣平台9、衣物折叠支撑板10、叠衣箱体11、叠衣箱体盖板12、微处理器控制系统。Embodiment 1: As shown in Figure 1-30, an intelligent clothing folding cabinet includes a clothing storage drawer 1, a clothing conveying slant plate 2, a clothing horizontal mechanical grabbing device 3, a clothing folding device I4, and a retractable longitudinal clothing pressing Device 5, clothing longitudinal mechanical grabbing device 6, clothing folding device II 7, retractable horizontal clothing pressing device 8, liftable clothing folding platform 9, clothing folding support plate 10, clothing folding box 11, and clothing folding box cover Board 12, microprocessor control system.
所述衣物储存抽屉1放置于叠衣箱体11内，所述衣物传送斜板2通过下端支柱固定于叠衣箱体11底板上所开设的螺纹孔内，所述衣物横向机械抓取装置3、衣物纵向机械抓取装置6分别放置于叠衣箱体11内的箱体中，所述衣物折叠装置Ⅰ4、可伸缩式纵向压衣装置5、衣物折叠装置Ⅱ7、可伸缩式横向压衣装置8、可升降式叠衣平台9均通过螺钉13固定在衣物折叠支撑板10所开设的多个螺纹孔内，所述衣物折叠支撑板10通过螺钉13固定于叠衣箱体11的底板上所开设的螺纹孔内，所述的叠衣箱体盖板12通过其上的卡槽安装于叠衣箱体11上，所述的衣物横向机械抓取装置3、衣物折叠装置Ⅰ4、可伸缩式纵向压衣装置5、衣物纵向机械抓取装置6、衣物折叠装置Ⅱ7、可伸缩式横向压衣装置8、可升降式叠衣平台9均与微处理器控制系统电连接。所述衣物横向机械抓取装置3、衣物纵向机械抓取装置6为相同的机械结构，均包括机械爪3-51、球齿轮机械臂3-52；所述球齿轮机械臂3-52与机械爪3-51通过孔轴配合方式相连接固定。The clothes storage drawer 1 is placed in the clothes folding box 11, the clothes conveying slant plate 2 is fixed in the threaded hole on the bottom plate of the clothes folding box 11 through the lower end support, and the clothes horizontal mechanical grasping device 3 1. Clothes vertical mechanical grabbing device 6 is respectively placed in the box in the folding box 11, the clothes folding device I4, the telescopic longitudinal clothing pressing device 5, the clothing folding device II7, the telescopic horizontal clothing pressing device 8. The liftable clothing folding platform 9 is fixed in a plurality of threaded holes provided by the clothing folding support plate 10 by screws 13, and the clothing folding support plate 10 is fixed on the bottom plate of the clothing folding box 11 by screws 13. In the threaded hole opened, the folded clothes box cover 12 is installed on the folded clothes box 11 through the card slot on it, and the clothes horizontal mechanical grasping device 3, clothes folding device I4, retractable The vertical clothing pressing device 5, the clothing vertical mechanical grabbing device 6, the clothing folding device II 7, the retractable horizontal clothing pressing device 8, and the liftable clothing folding platform 9 are all electrically connected to the microprocessor control system. Described clothing horizontal mechanical grasping device 3, clothing longitudinal mechanical grasping device 6 are identical mechanical structures, all comprise mechanical pawl 3-51, ball gear mechanical arm 3-52; Described ball gear mechanical arm 3-52 and mechanical The claws 3-51 are connected and fixed through the hole-shaft fit mode.
所述机械爪3-51包括主动爪子片3-1、爪子六角支柱3-2、上端面板3-3、端面连接体3-4、从动爪子片Ⅰ3-5、爪子片Ⅰ3-6、爪子片Ⅱ3-7、上下端面连接板3-8、爪子片Ⅲ3-9、从动爪子片Ⅱ3-10、爪子片Ⅳ3-11、从动爪子片Ⅲ3-12、下端面板3-13、机械爪电机3-14、机械爪电机盘3-15；所述端面连接体3-4上下两侧通过螺钉13分别与上端面板3-3、下端面板3-13相固定，所述机械爪电机3-14通过爪子六角支柱3-2固定于上端面板3-3的下侧，其传动轴通过上端面板3-3的孔与机械爪电机盘3-15相连接，所述机械爪电机盘3-15与主动爪子片3-1相固定，所述爪子片Ⅰ3-6通过爪子六角支柱3-2与主动爪子片3-1相固定，所述从动爪子片Ⅰ3-5上的齿与主动爪子片3-1上的齿相啮合且通过螺钉13与上端面板3-3相连接，所述爪子片Ⅱ3-7通过爪子六角支柱3-2与从动爪子片Ⅰ3-5相固定，所述上下端面连接板3-8通过螺钉13与从动爪子片Ⅰ3-5、从动爪子片Ⅲ3-12固定，所述从动爪子片Ⅲ3-12通过螺钉13与下端面板3-13相连接，所述爪子片Ⅳ3-11通过爪子六角支柱3-2与从动爪子片Ⅲ3-12相固定，所述从动爪子片Ⅱ3-10的齿与从动爪子片Ⅲ3-12的齿相啮合，并通过螺钉13与下端面板3-13相连接，所述爪子片Ⅲ3-9通过爪子六角支柱3-2与从动爪子片Ⅱ3-10相固定，所述从动爪子片Ⅱ3-10通过上下端面连接板3-8与主动爪子片3-1固定。通过电机的带动，各爪子片相互配合从而实现对物体的抓取与放下。The mechanical claw 3-51 includes the active claw piece 3-1, the claw hexagonal pillar 3-2, the upper end panel 3-3, the end face connecting body 3-4, the driven claw piece I3-5, the claw piece I3-6, the claw Sheet Ⅱ3-7, upper and lower end connecting plate 3-8, claw sheet Ⅲ3-9, driven claw sheet Ⅱ3-10, claw sheet Ⅳ3-11, driven claw sheet Ⅲ3-12, lower end panel 3-13, mechanical claw motor 3-14, mechanical claw motor disc 3-15; the upper and lower sides of the end face connecting body 3-4 are respectively fixed with the upper end panel 3-3 and the lower end panel 3-13 by screws 13, and the mechanical claw motor 3-14 The claw hexagonal pillar 3-2 is fixed on the underside of the upper panel 3-3, and its transmission shaft is connected with the mechanical claw motor disc 3-15 through the hole of the upper end panel 3-3, and the mechanical claw motor disc 3-15 is connected with the mechanical claw motor disc 3-15. The active claw piece 3-1 is fixed, the claw piece I3-6 is fixed to the active claw piece 3-1 through the claw hexagonal pillar 3-2, and the teeth on the driven claw piece I3-5 are connected to the active claw piece 3 The teeth on -1 are engaged and connected with the upper end panel 3-3 through screws 13, the claw piece II 3-7 is fixed with the driven claw piece I3-5 through the claw hexagonal pillar 3-2, and the upper and lower end surfaces are connected The plate 3-8 is fixed to the driven claw piece I3-5 and the driven claw piece III3-12 through the screw 13, and the driven claw piece III3-12 is connected to the lower end panel 3-13 through the screw 13, and the claw piece Ⅳ3-11 is fixed to the driven claw piece III3-12 through the claw hexagonal pillar 3-2, and the teeth of the driven claw piece II3-10 mesh with the teeth of the driven claw piece III3-12, and are connected to the driven claw piece III3-12 through the screw 13. The lower end panel 3-13 is connected, the claw piece III 3-9 is fixed to the driven claw piece II 3-10 through the claw hexagonal pillar 3-2, and the driven claw piece II 3-10 is connected through the upper and lower end face connecting plates 3-8 Fix with active paw piece 3-1. Driven by the motor, the claws cooperate with each other to realize the grasping and putting down of objects.
所述球齿轮机械臂3-52包括基轴Ⅰ3-16、连接环Ⅰ3-20、万向环套3-25、基轴Ⅱ3-26、固定盘3-27、箱体座3-28、万向环套联杆3-29、连接杆Ⅰ3-30、连接杆Ⅱ3-31、球齿轮传动杆Ⅰ3-32、球齿轮丝杆Ⅰ3-33、传动杆架Ⅰ3-34、球齿轮丝杆支座Ⅰ3-35、双向对称式法兰盘Ⅰ3-36、单向法兰盘Ⅰ3-37、轴Ⅰ3-38、轴Ⅱ3-39、单向法兰盘Ⅱ3-40、双向对称式法兰盘Ⅱ3-41、球齿轮丝杆支座Ⅱ3-42、传动杆架Ⅱ3-43、球齿轮丝杆Ⅱ3-44、球齿轮传动杆Ⅱ3-45、连接环Ⅱ3-46、万向球齿轮3-47、球齿轮机械臂电机3-49、箱体座外壳3-50；所述基轴Ⅰ3-16通过连接环Ⅰ3-20与万向球齿轮3-47相固定，所述万向球齿轮3-47通过连接环Ⅱ3-46与万向环套3-25固定，所述万向环套3-25与固定盘3-27通过基轴Ⅱ3-26相连接，所述固定盘3-27固定于箱体座3-28上，所述对称分布的两个万向环套联杆3-29的一端与万向环套3-25固定，另一端与连接杆Ⅰ3-30相连接，所述对称分布的两个连接杆Ⅱ3-31分别与对称分布的两个连接杆Ⅰ3-30及对称分布的球齿轮传动杆Ⅰ3-32、球齿轮传动杆Ⅱ3-45连接，所述对称分布的球齿轮丝杆支座Ⅰ3-35、球齿轮丝杆支座Ⅱ3-42固定于箱体座3-28上，所述对称分布的球齿轮丝杆Ⅰ3-33、球齿轮丝杆Ⅱ3-44分别穿过球齿轮丝杆支座Ⅰ3-35、球齿轮丝杆支座Ⅱ3-42并与对称分布的双向对称式法兰盘Ⅰ3-36、双向对称式法兰盘Ⅱ3-41相连接，所述对称分布的传动杆架Ⅰ3-34、传动杆架Ⅱ3-43分别穿过球齿轮丝杆Ⅰ3-33、球齿轮丝杆Ⅱ3-44与对称分布的球齿轮传动杆Ⅰ3-32、球齿轮传动杆Ⅱ3-45相连接，所述对称分布的单向法兰盘Ⅰ3-37、单向法兰盘Ⅱ3-40固定于箱体座3-28上，所述对称分布的轴Ⅰ3-38、轴Ⅱ3-39分别穿过单向法兰盘Ⅰ3-37、单向法兰盘Ⅱ3-40与双向对称式法兰盘Ⅰ3-36、双向对称式法兰盘Ⅱ3-41相连接，所述箱体座外壳3-50固定于箱体座3-28上，所述两个对称分布的球齿轮机械臂电机3-49通过传动轴分别与对称分布的轴Ⅰ3-38、轴Ⅱ3-39相连接，并放置于叠衣箱体11内的箱体内。The ball gear mechanical arm 3-52 includes a base shaft I3-16, a connecting ring I3-20, a universal ring sleeve 3-25, a base shaft II3-26, a fixed plate 3-27, a box seat 3-28, and a universal ring sleeve 3-25. Connecting rod 3-29 to ring sleeve, connecting rod Ⅰ 3-30, connecting rod Ⅱ 3-31, ball gear transmission rod Ⅰ 3-32, ball gear screw Ⅰ 3-33, transmission rod frame Ⅰ 3-34, ball gear screw support Ⅰ3-35, bidirectional symmetric flange Ⅰ3-36, unidirectional flange Ⅰ3-37, shaft Ⅰ3-38, shaft Ⅱ3-39, unidirectional flange Ⅱ3-40, bidirectional symmetric flange Ⅱ3- 41. Ball gear screw support Ⅱ3-42, transmission rod frame Ⅱ3-43, ball gear screw Ⅱ3-44, ball gear transmission rod Ⅱ3-45, connecting ring Ⅱ3-46, universal ball gear 3-47, ball Gear manipulator motor 3-49, box seat shell 3-50; the base shaft I3-16 is fixed with the universal ball gear 3-47 through the connecting ring I3-20, and the universal ball gear 3-47 passes through The connecting ring II 3-46 is fixed to the universal ring sleeve 3-25, the universal ring sleeve 3-25 is connected to the fixed disk 3-27 through the base shaft II 3-26, and the fixed disk 3-27 is fixed to the box body On the seat 3-28, one end of the two symmetrically distributed universal ring sleeves 3-29 is fixed to the universal ring sleeve 3-25, and the other end is connected to the connecting rod I3-30, and the symmetrically distributed Two connecting rods II3-31 are respectively connected with two symmetrically distributed connecting rods I3-30 and symmetrically distributed ball gear transmission rods I3-32 and ball gear transmission rods II3-45, and the symmetrically distributed ball gear screw rods support Seat I3-35 and ball gear screw support II3-42 are fixed on box body seat 3-28, and the symmetrically distributed ball gear screw I3-33 and ball gear screw II3-44 respectively pass through the ball gear wire The rod support I3-35, the ball gear screw support II3-42 are connected with the symmetrically distributed two-way symmetrical flange I3-36 and the two-way symmetrical flange II3-41, and the symmetrically distributed transmission rod The frame Ⅰ3-34 and the transmission rod frame Ⅱ3-43 respectively pass through the ball gear screw rod Ⅰ3-33, the ball gear screw rod Ⅱ3-44 and are connected with the symmetrically distributed ball gear transmission rod Ⅰ3-32 and the ball gear transmission rod Ⅱ3-45 , the symmetrically distributed one-way flanges I3-37 and one-way flanges II3-40 are fixed on the box seat 3-28, and the symmetrically distributed axes I3-38 and II3-39 respectively pass through The one-way flange I3-37, the one-way flange II3-40 are connected with the two-way symmetrical flange I3-36, and the two-way symmetrical flange II3-41, and the box seat shell 3-50 is fixed On the box seat 3-28, the two symmetrically distributed ball gear mechanical arm motors 3-49 are respectively connected to the symmetrically distributed shaft I3-38 and shaft II3-39 through the transmission shaft, and placed in the folding box In the casing in the body 11.
所述万向球齿轮3-47包括外框架Ⅰ3-17、上齿轮基轴Ⅱ3-18、上齿轮基轴Ⅲ3-19、上齿轮基轴Ⅰ3-21、外框架Ⅱ3-22、上齿轮基轴Ⅳ3-23、基架3-24、十字中间架3-48、所述上齿轮基轴Ⅱ3-18与上齿轮基轴Ⅰ3-21通过十字中间架3-48相连接，所述上齿轮基轴Ⅲ3-19与上齿轮基轴Ⅳ3-23通过十字中间架3-48相连接，所述上齿轮基轴Ⅱ3-18与上齿轮基轴Ⅲ3-19通过其内部的球齿轮相啮合，所述外框架Ⅰ3-17与上齿轮基轴Ⅱ3-18相连接，所述外框架Ⅱ3-22左右两端分别与上齿轮基轴Ⅰ3-21、上齿轮基轴Ⅳ3-23相连接，所述的基架3-24与上齿轮基轴Ⅲ3-19相连接。The universal ball gear 3-47 includes outer frame I3-17, upper gear base shaft II3-18, upper gear base shaft III3-19, upper gear base shaft I3-21, outer frame II3-22, upper gear base shaft Ⅳ3-23, base frame 3-24, cross intermediate frame 3-48, the upper gear base shaft II 3-18 is connected with the upper gear base shaft I3-21 through the cross intermediate frame 3-48, and the upper gear base shaft III3-19 is connected with the upper gear base shaft IV3-23 through the cross intermediate frame 3-48, the upper gear base shaft II3-18 is meshed with the upper gear base shaft III3-19 through its internal ball gear, and the outer The frame I3-17 is connected with the upper gear base shaft II3-18, the left and right ends of the outer frame II3-22 are respectively connected with the upper gear base shaft I3-21 and the upper gear base shaft IV3-23, and the base frame 3-24 is connected with upper gear base shaft III 3-19.
所述衣物折叠装置Ⅰ4包括衣物折叠升降底座Ⅰ4-1、衣物折叠连动杆Ⅰ4-2、衣物折叠联动杆4-3、衣物折叠固定台Ⅰ4-4、衣物折叠固定台Ⅰ电机4-5、衣物折叠左右滑动杆Ⅰ4-6、衣物折叠杆Ⅰ4-7、滑块滑杆Ⅰ4-8、滑块Ⅰ4-9、衣物折叠弹簧Ⅰ4-10、圆周滑块Ⅰ4-11、圆周滑杆Ⅰ4-12、衣物折叠转盘Ⅰ4-13、衣物折叠伸缩电机Ⅰ4-14、三通管Ⅰ4-15、衣服折叠铰链杆Ⅰ4-16、衣物折叠装置Ⅰ轴承4-17、衣物折叠轴套Ⅰ4-18、圆周滑杆Ⅰ轴承4-19；所述衣物折叠升降底座Ⅰ4-1通过螺钉13固定于衣物折叠支撑板10所开设的螺纹孔内，所述衣物折叠连动杆Ⅰ4-2一端通过衣服折叠铰链杆Ⅰ4-16与衣物折叠升降底座Ⅰ4-1固定，另一端通过衣服折叠铰链杆Ⅰ4-16与衣物折叠固定台Ⅰ4-4固定，另一根相同的与之交叉的衣物折叠连动杆Ⅰ4-2通过同样的方式分别与衣物折叠升降底座Ⅰ4-1、衣物折叠固定台Ⅰ4-4相固定，并放置于衣物折叠升降底座Ⅰ4-1的同一侧，同样地，两根交叉杆件对称固定在衣物折叠升降底座Ⅰ4-1的另一侧，衣服折叠铰链杆Ⅰ4-16依次穿过四根相同杆件中部开设的小孔内，起到连接四根相同杆件的作用，所述衣物折叠伸缩电机Ⅰ4-14固定在衣物折叠支撑板10上，衣物折叠伸缩电机Ⅰ4-14的伸缩杆与三通管Ⅰ4-15相固定，三通管Ⅰ4-15与衣物折叠联动杆4-3相连接，所述衣物折叠固定台Ⅰ电机4-5固定在叠衣箱体11内，其传动轴通过衣物折叠轴套Ⅰ4-18和安装于衣物折叠固定台Ⅰ4-4轴承孔内的衣物折叠装置Ⅰ轴承4-17与衣物折叠转盘Ⅰ4-13相连接，且固定于衣物折叠固定台Ⅰ4-4上，所述圆周滑块Ⅰ4-11的连接杆与衣物折叠转盘Ⅰ4-13相连接，方形中空的滑块在圆周滑杆Ⅰ4-12上滑动，所述衣物折叠弹簧Ⅰ4-10放置在圆周滑块Ⅰ4-11、圆周滑杆Ⅰ4-12之间，所述滑块Ⅰ4-9的连接杆通过圆周滑杆Ⅰ轴承4-19与圆周滑杆Ⅰ4-12连接，滑块Ⅰ4-9在滑块滑杆Ⅰ4-8上滑动，所述滑块滑杆Ⅰ4-8与衣物折叠左右滑动杆Ⅰ4-6相连接，所述衣物折叠左右滑动杆Ⅰ4-6插入衣物折叠固定台Ⅰ4-4开设的小孔内并固定，所述衣物折叠杆Ⅰ4-7插入衣物折叠左右滑动杆Ⅰ4-6的孔并固定。The clothing folding device I4 includes a clothing folding and lifting base I4-1, a clothing folding linkage rod I4-2, a clothing folding linkage rod 4-3, a clothing folding and fixing table I4-4, a clothing folding and fixing table I motor 4-5, Clothes folding left and right sliding rod Ⅰ4-6, clothing folding rod Ⅰ4-7, slider slider Ⅰ4-8, slider Ⅰ4-9, clothing folding spring Ⅰ4-10, circular slider Ⅰ4-11, circular slider Ⅰ4-12 , clothing folding turntable Ⅰ4-13, clothing folding telescopic motor Ⅰ4-14, tee pipe Ⅰ4-15, clothing folding hinge rod Ⅰ4-16, clothing folding device Ⅰ bearing 4-17, clothing folding sleeve Ⅰ 4-18, circular slide Rod I bearing 4-19; the clothing folding lifting base I4-1 is fixed in the threaded hole provided by the clothing folding support plate 10 through screws 13, and one end of the clothing folding linkage rod I4-2 passes through the clothing folding hinge rod I4 -16 is fixed to the clothing folding lifting base Ⅰ4-1, the other end is fixed to the clothing folding and fixing table Ⅰ4-4 through the clothing folding hinge rod Ⅰ4-16, and the other same clothing folding linkage rod Ⅰ4-2 crossed with it passes through In the same way, it is respectively fixed with the clothing folding and lifting base I4-1 and the clothing folding and fixing table I4-4, and placed on the same side of the clothing folding and lifting base I4-1. Similarly, two cross bars are symmetrically fixed on the clothes folding On the other side of the lifting base I4-1, the clothing folding hinge rod I4-16 passes through the small holes opened in the middle of the four identical rods in turn to play the role of connecting the four identical rods. The clothing folding telescopic motor I4 -14 is fixed on the clothing folding support plate 10, the telescopic rod of the clothing folding telescopic motor I4-14 is fixed with the three-way pipe I4-15, and the three-way pipe I4-15 is connected with the clothing folding linkage rod 4-3, the The clothing folding and fixing table I motor 4-5 is fixed in the clothing folding box 11, and its drive shaft passes through the clothing folding sleeve I4-18 and the clothing folding device I bearing 4-1 installed in the bearing hole of the clothing folding and fixing table I4-4. 17 is connected with the clothing folding turntable I4-13, and is fixed on the clothes folding and fixing table I4-4, the connecting rod of the circular slider I4-11 is connected with the clothes folding turntable I4-13, and the square hollow slider is on Sliding on the circular slide bar I4-12, the clothes folding spring I4-10 is placed between the circular slide block I4-11 and the circular slide bar I4-12, and the connecting rod of the slide block I4-9 passes through the circular slide bar I The bearing 4-19 is connected with the circumferential slide bar I4-12, the slide block I4-9 slides on the slide block slide bar I4-8, and the slide block slide bar I4-8 is connected with the clothes folding left and right slide bar I4-6, The clothes folding left and right sliding rods I4-6 are inserted into the small holes opened by the clothes folding fixing table I4-4 and fixed, and the clothes folding rods I4-7 are inserted into the holes of the clothes folding left and right sliding rods I4-6 and fixed.
所述可伸缩式纵向压衣装置5包括纵向压衣升降顶板5-1、纵向压衣可伸缩杆箱5-2、纵向压衣可伸缩杆5-3、纵向压衣固定轴5-4、纵向压衣连动杆5-5、纵向压衣升降底板5-6、纵向压衣伸缩电机5-7、纵向压衣联动杆5-8、纵向压衣三通管5-9、纵向压衣铰链杆5-10；所述纵向压衣升降底板5-6通过螺钉13固定于叠衣装置固定板9-3上，所述纵向压衣连动杆5-5一端通过纵向压衣固定轴5-4与纵向压衣升降底板5-6固定，另一端通过纵向压衣联动杆5-8与纵向压衣升降顶板5-1固定，另一根相同的与之交叉的纵向压衣连动杆5-5通过同样的方式分别与纵向压衣升降顶板5-1、纵向压衣连动杆5-5相固定，并放置于纵向压衣升降底板5-6的同一侧，同样地，两根交叉杆件对称固定在纵向压衣升降底板5-6的另一侧，纵向压衣铰链杆5-10依次穿过四根相同杆件中部开设的小孔内，起到连接四根相同杆件的作用，所述纵向压衣伸缩电机5-7固定在纵向压衣升降底板5-6上，纵向压衣伸缩电机5-7的伸缩杆与纵向压衣三通管5-9相固定，纵向压衣三通管5-9与纵向压衣联动杆5-8相连接，所述纵向压衣升降顶板5-1上表面两侧对称安装纵向压衣可伸缩杆箱5-2，所述纵向压衣可伸缩杆箱5-2内装有纵向压衣可伸缩杆5-3。The telescopic longitudinal garment pressing device 5 includes a vertical garment pressing lifting top plate 5-1, a longitudinal garment compressing telescopic rod box 5-2, a longitudinal garment compressing telescopic rod 5-3, a longitudinal garment pressing fixed shaft 5-4, Longitudinal pressing linkage rod 5-5, longitudinal pressing lifting bottom plate 5-6, longitudinal pressing telescopic motor 5-7, longitudinal pressing linkage rod 5-8, longitudinal pressing tee pipe 5-9, longitudinal pressing Hinge rod 5-10; the longitudinal garment lifting bottom plate 5-6 is fixed on the fixing plate 9-3 of the garment folding device through screws 13, and one end of the longitudinal garment pressing linkage rod 5-5 passes through the longitudinal garment fixing shaft 5 -4 is fixed with the longitudinal garment lifting bottom plate 5-6, and the other end is fixed with the longitudinal garment pressing lifting top plate 5-1 through the longitudinal garment pressing linkage rod 5-8, and the other same longitudinal garment pressing linkage rod intersects with it 5-5 are respectively fixed with the longitudinal garment lifting top plate 5-1 and the longitudinal garment pressing linkage rod 5-5 in the same way, and placed on the same side of the longitudinal garment lifting bottom plate 5-6. Similarly, two The cross rods are symmetrically fixed on the other side of the vertical pressing lifting bottom plate 5-6, and the vertical pressing hinge rods 5-10 pass through the small holes provided in the middle of the four identical rods in order to connect the four identical rods. The effect of the longitudinal pressing telescopic motor 5-7 is fixed on the vertical pressing lifting bottom plate 5-6, and the telescopic rod of the longitudinal pressing telescopic motor 5-7 is fixed with the longitudinal pressing tee pipe 5-9, and the longitudinal The three-way pipe for pressing clothes 5-9 is connected with the linkage rod 5-8 for longitudinal clothes pressing, and the two sides of the upper surface of the upper surface of the longitudinal clothes pressing lifting and lowering plate 5-1 are symmetrically installed with telescopic rod boxes 5-2 for longitudinal clothes pressing, and the longitudinal clothes pressing The telescopic bar 5-3 for pressing clothes is housed in the telescopic bar case 5-2.
所述衣物折叠装置Ⅱ7包括衣物折叠升降底座Ⅱ7-1、衣物折叠连动杆Ⅱ7-2、衣物折叠联动杆7-3、衣物折叠固定台Ⅱ7-4、衣物折叠固定台Ⅱ电机7-5、衣物折叠左右滑动杆Ⅱ7-6、衣物折叠杆Ⅱ7-7、滑块滑杆Ⅱ7-8、滑块Ⅱ7-9、衣物折叠弹簧Ⅱ7-10、圆周滑块Ⅱ7-11、圆周滑杆Ⅱ7-12、衣物折叠转盘Ⅱ7-13、衣物折叠伸缩电机Ⅱ7-14、三通管Ⅱ7-15、衣服折叠铰链杆Ⅱ7-16、衣物折叠装置Ⅱ轴承7-17、衣物折叠轴套Ⅱ7-18、圆周滑杆Ⅱ轴承7-19；所述衣物折叠升降底座Ⅱ7-1通过螺钉13固定于衣物折叠支撑板10所开设的螺纹孔内，所述衣物折叠连动杆Ⅱ7-2一端通过衣服折叠铰链杆Ⅱ7-16与衣物折叠升降底座Ⅱ7-1固定，另一端通过衣服折叠铰链杆Ⅱ7-16与衣物折叠固定台Ⅱ7-4固定，另一根相同的与之交叉的衣物折叠连动杆Ⅱ7-2通过同样的方式分别与衣物折叠升降底座Ⅱ7-1、衣物折叠固定台Ⅱ7-4相固定，并放置于衣物折叠升降底座Ⅱ7-1的同一侧，同样地，两根交叉杆件对称固定在衣物折叠升降底座Ⅱ7-1的另一侧，衣服折叠铰链杆Ⅱ7-16依次穿过四根相同杆件中部开设的小孔内，起到连接四根相同杆件的作用，所述衣物折叠伸缩电机Ⅱ7-14固定在衣物折叠支撑板10上，衣物折叠伸缩电机Ⅱ7-14的伸缩杆与三通管Ⅱ7-15相固定，三通管Ⅱ7-15与衣物折叠联动杆7-3相连接，所述衣物折叠固定台Ⅱ电机7-5固定在叠衣箱体11内，其传动轴通过衣物折叠轴套Ⅱ7-18和安装于衣物折叠固定台Ⅱ7-4轴承内的衣物折叠装置Ⅱ轴承7-17与衣物折叠转盘Ⅱ7-13相连接，且固定于衣物折叠固定台Ⅱ7-4上，所述圆周滑块Ⅱ7-11的连接杆与衣物折叠转盘Ⅱ7-13相连接，方形中空的滑块在圆周滑杆Ⅱ7-12上滑动，所述衣物折叠弹簧Ⅱ7-10放置在圆周滑块Ⅱ7-11、圆周滑杆Ⅱ7-12之间，所述滑块Ⅱ7-9的连接杆通过圆周滑杆Ⅱ轴承7-19与圆周滑杆Ⅱ7-12连接，滑块Ⅱ7-9在滑块滑杆Ⅱ7-8上滑动，所述滑块滑杆Ⅱ7-8与衣物折叠左右滑动杆Ⅱ7-6相连接，所述衣物折叠左右滑动杆Ⅱ7-6插入衣物折叠固定台Ⅱ7-4开设的小孔内并固定，所述衣物折叠杆Ⅱ7-7插入衣物折叠左右滑动杆Ⅱ7-6的孔并固定。The clothing folding device II7 includes a clothing folding lifting base II7-1, a clothing folding linkage rod II7-2, a clothing folding linkage rod 7-3, a clothing folding and fixing platform II7-4, a clothing folding and fixing platform II motor 7-5, Clothes folding left and right sliding rod Ⅱ7-6, clothing folding rod Ⅱ7-7, slider slider Ⅱ7-8, slider Ⅱ7-9, clothing folding spring Ⅱ7-10, circular slider Ⅱ7-11, circular slider Ⅱ7-12 , clothing folding turntable Ⅱ7-13, clothing folding telescopic motor Ⅱ7-14, tee pipe Ⅱ7-15, clothing folding hinge rod Ⅱ7-16, clothing folding device Ⅱ bearing 7-17, clothing folding sleeve Ⅱ7-18, circular slide Rod II bearing 7-19; the clothing folding lifting base II7-1 is fixed in the threaded hole provided by the clothing folding support plate 10 through screws 13, and one end of the clothing folding linkage rod II7-2 passes through the clothes folding hinge rod II7 -16 is fixed to the clothing folding lifting base Ⅱ7-1, the other end is fixed to the clothing folding and fixing platform Ⅱ7-4 through the clothing folding hinge rod Ⅱ 7-16, and the other same clothing folding linkage rod Ⅱ 7-2 that crosses with it passes through In the same way, it is respectively fixed with the clothing folding lifting base Ⅱ 7-1 and the clothing folding fixing table Ⅱ 7-4, and placed on the same side of the clothing folding lifting base Ⅱ 7-1. Similarly, two cross bars are symmetrically fixed on the clothing folding On the other side of the lifting base Ⅱ7-1, the clothes folding hinge rod Ⅱ7-16 passes through the small holes opened in the middle of the four identical rods in turn to play the role of connecting the four identical rods. The clothes folding telescopic motor Ⅱ7 -14 is fixed on the clothing folding support plate 10, the telescopic rod of the clothing folding telescopic motor II7-14 is fixed with the three-way pipe II7-15, and the three-way pipe II7-15 is connected with the clothing folding linkage rod 7-3, the Clothes folding and fixing table II motor 7-5 is fixed in the clothes folding box 11, and its drive shaft passes through clothing folding sleeve II 7-18 and clothing folding device II bearing 7-17 installed in the clothing folding and fixing table II 7-4 bearing It is connected with the clothing folding turntable II7-13 and fixed on the clothes folding and fixing platform II7-4, the connecting rod of the circular slider II7-11 is connected with the clothes folding turntable II7-13, and the square hollow slider is on the circumference Sliding on the slide bar II7-12, the clothing folding spring II7-10 is placed between the circumferential slide block II7-11 and the circumferential slide bar II7-12, and the connecting rod of the slide block II7-9 passes through the circumferential slide bar II bearing 7-19 is connected with the circumferential slide bar II 7-12, and the slide block II 7-9 slides on the slider slide bar II 7-8, and the slide block slide bar II 7-8 is connected with the left and right slide bar II 7-6 for clothing folding. The clothing folding left and right sliding rod II 7-6 is inserted into the small hole provided by the clothing folding fixing table II 7-4 and fixed, and the clothing folding rod II 7-7 is inserted into the hole of the clothing folding left and right sliding rod II 7-6 and fixed.
所述可伸缩式横向压衣装置8包括横向压衣升降顶板8-1、横向压衣活动可伸缩杆箱8-2、横向压衣可伸缩杆8-3、横向压衣固定轴8-4、横向压衣连动杆8-5、横向压衣升降底板8-6、横向压衣伸缩电机8-7、横向压衣联动杆8-8、横向压衣三通管8-9、横向压衣铰链杆8-10、横向压衣固定伸缩杆箱8-11、横向压衣丝杆8-12、横向压衣丝杆电机8-13；所述横向压衣升降底板8-6通过螺钉13固定于叠衣装置固定板9-3上，所述横向压衣连动杆8-5一端通过横向压衣固定轴8-4与横向压衣升降底板8-6固定，另一端通过横向压衣联动杆8-8与横向压衣升降顶板8-1固定，另一根相同的与之交叉的横向压衣连动杆8-5通过同样的方式分别与横向压衣升降顶板8-1、横向压衣连动杆8-5相固定，并放置于横向压衣升降底板8-6的同一侧，同样地，两根交叉杆件对称固定在横向压衣升降底板8-6的另一侧，横向压衣铰链杆8-10依次穿过四根相同杆件中部开设的小孔内，起到连接四根相同杆件的作用，所述横向压衣伸缩电机8-7固定在横向压衣升降底板8-6上，横向压衣伸缩电机8-7的伸缩杆与横向压衣三通管8-9相固定，横向压衣三通管8-9与横向压衣联动杆8-8相连接，所述横向压衣可伸缩杆箱8-2内装有横向压衣可伸缩杆8-3，所述横向压衣升降顶板8-1上装有横向压衣丝杆电机8-13，所述横向压衣丝杆8-12一端穿过横向压衣升降顶板8-1上开设的槽，另一端与横向压衣丝杆电机8-13的传动轴相连接，所述横向压衣固定伸缩杆箱8-11固定在横向压衣升降顶板8-1上未装有电机的一侧，所述横向压衣活动可伸缩杆箱8-2内开设有螺纹孔，横向压衣丝杆8-12穿过其上所设的螺纹孔，可使横向压衣活动可伸缩杆箱8-2在横向压衣升降顶板8-1上左右移动。The telescopic horizontal pressing device 8 includes a horizontal pressing lifting top plate 8-1, a horizontal pressing movable telescopic rod box 8-2, a horizontal pressing extendable rod 8-3, and a horizontal pressing fixed shaft 8-4 , horizontal pressing linkage rod 8-5, horizontal pressing lifting bottom plate 8-6, horizontal pressing telescopic motor 8-7, horizontal pressing linkage rod 8-8, horizontal pressing tee pipe 8-9, horizontal pressing Clothing hinge rod 8-10, horizontal pressing fixed telescopic rod box 8-11, horizontal pressing screw rod 8-12, horizontal pressing screw rod motor 8-13; the horizontal pressing lifting bottom plate 8-6 passes through screw 13 Fixed on the fixed plate 9-3 of the clothing folding device, one end of the horizontal pressing linkage rod 8-5 is fixed by the horizontal pressing fixed shaft 8-4 and the horizontal pressing lifting bottom plate 8-6, and the other end is fixed by the horizontal pressing The linkage rod 8-8 is fixed with the horizontal pressing lifting top plate 8-1, and another identical horizontal pressing clothing linkage rod 8-5 crossed with it is respectively connected with the horizontal pressing lifting top plate 8-1 and the horizontal pressing lifting top plate 8-1 in the same way. The garment pressing linkage rod 8-5 is fixed and placed on the same side of the horizontal garment lifting base plate 8-6. Similarly, two cross bars are symmetrically fixed on the other side of the horizontal garment lifting base plate 8-6. The horizontal pressing hinge rods 8-10 pass through the small holes opened in the middle of four identical rods successively, and play the role of connecting four identical rods. The horizontal pressing telescopic motor 8-7 is fixed on the horizontal pressing lifting On the bottom plate 8-6, the telescopic rod of the horizontal pressing telescopic motor 8-7 is fixed to the horizontal pressing tee pipe 8-9, and the horizontal pressing tee pipe 8-9 is connected with the horizontal pressing linkage rod 8-8 , the horizontal pressing telescopic rod box 8-2 is equipped with a horizontal pressing telescopic rod 8-3, and the horizontal pressing screw motor 8-13 is housed on the horizontal pressing lifting top plate 8-1, and the horizontal pressing screw motor 8-13 is housed. One end of the pressing screw rod 8-12 passes through the groove provided on the horizontal pressing lifting top plate 8-1, and the other end is connected with the transmission shaft of the horizontal pressing screw rod motor 8-13, and the horizontal pressing screw rod box is fixed. 8-11 is fixed on the side that is not equipped with a motor on the horizontal pressing lifting top plate 8-1, and a threaded hole is provided in the movable telescopic rod box 8-2 of the horizontal pressing, and the horizontal pressing screw rod 8-12 is threaded. Cross the threaded hole that is established on it, can make the movable telescopic bar box 8-2 of horizontal pressing clothing move left and right on horizontal pressing clothing lifting top plate 8-1.
所述可升降式叠衣平台9包括叠衣面板9-1、面板弹簧9-2、叠衣装置固定板9-3、销9-4、双向活动杆9-5、升降面板固定支座9-6、升降电机9-7、转动式圆盘杆件9-8、转动杆件轴承9-9、平键9-10；所述升降面板固定支座9-6通过螺钉13固定在衣物折叠支撑板10上，所述两个转动式圆盘杆件9-8分别对称固定于升降面板固定支座9-6的方槽内，所述升降面板固定支座9-6的方槽内开设有轴承孔，所述对称分布的两个转动杆件轴承9-9安装于轴承孔内，所述对称分布的两个升降电机9-7的传动轴通过转动杆件轴承9-9与转动式圆盘杆件9-8相连接，所述对称分布的两个转动式圆盘杆件9-8内开设有键槽，所述对称分布的两个平键9-10分别安装于对称分布的两个转动式圆盘杆件9-8的键槽内，所述对称分布的两个双向活动杆9-5的一端通过销9-4分别与对称分布的两个转动式圆盘杆件9-8的杆件相连接，另一端通过销9-4分别与叠衣面板9-1下端对称分布的两个杆件相连接，所述叠衣装置固定板9-3固定于升降面板固定支座9-6的支柱上，且所述的叠衣面板9-1下端对称分布的两个杆件分别穿过叠衣装置固定板9-3的孔内，其中叠衣面板9-1与叠衣装置固定板9-3之间安装有面板弹簧9-2。The liftable clothing folding platform 9 includes a clothing folding panel 9-1, a panel spring 9-2, a clothing folding device fixing plate 9-3, a pin 9-4, a two-way movable rod 9-5, and a lifting panel fixing support 9 -6, lifting motor 9-7, rotating disc rod 9-8, rotating rod bearing 9-9, flat key 9-10; the lifting panel fixed support 9-6 is fixed on the clothing by screw 13 On the support plate 10, the two rotating disc rods 9-8 are respectively symmetrically fixed in the square groove of the lifting panel fixing support 9-6, and the square groove of the lifting panel fixing support 9-6 is set There are bearing holes, and the two symmetrically distributed rotating rod bearings 9-9 are installed in the bearing holes, and the transmission shafts of the two symmetrically distributed lifting motors 9-7 pass through the rotating rod bearings 9-9 and the rotating type The disc rods 9-8 are connected, the two symmetrically distributed rotating disc rods 9-8 are provided with key grooves, and the symmetrically distributed two flat keys 9-10 are respectively installed on the symmetrically distributed two In the keyway of the two rotating disc rods 9-8, one end of the two symmetrically distributed two-way movable rods 9-5 is respectively connected with the two symmetrically distributed rotating disc rods 9-8 through the pin 9-4. The rods are connected, and the other end is respectively connected with two rods symmetrically distributed on the lower end of the folding panel 9-1 through the pin 9-4, and the fixing plate 9-3 of the folding device is fixed on the lifting panel fixing support 9 -6 on the pillar, and the two rods distributed symmetrically at the lower end of the folding panel 9-1 respectively pass through the holes of the fixing plate 9-3 of the folding device, wherein the folding panel 9-1 and the folding device Panel spring 9-2 is installed between the fixed plate 9-3.
本发明的工作过程如下：Working process of the present invention is as follows:
衣物纵向机械抓取装置6的视觉传感器判断衣物的位置，微处理器控制系统对球齿轮机械臂电机3-49发出信号，球齿轮机械臂电机3-49带动衣物纵向机械抓取装置6对衣物进行抓取，并放置于叠衣面板9-1上，后微处理器控制系统控制启动整个折叠机构。The visual sensor of the clothing vertical mechanical grabbing device 6 judges the position of the clothing, the microprocessor control system sends a signal to the ball gear mechanical arm motor 3-49, and the ball gear mechanical arm motor 3-49 drives the clothing longitudinal mechanical grabbing device 6 to the clothing Grab and place on the folding panel 9-1, and then the microprocessor control system controls and starts the whole folding mechanism.
以一件衣物为例：第一步可伸缩式纵向压衣装置5工作，通过视觉传感器判断衣物的大小及厚度，微处理器控制系统控制纵向压衣伸缩电机5-7工作，通过交叉轴架子实现纵向压衣升降顶板5-1的升降，从而实现纵向压衣可伸缩杆箱5-2的升降，两侧的纵向压衣可伸缩杆箱5-2内的纵向压衣可伸缩杆5-3伸出压住衣物；第二步衣物折叠装置Ⅰ4工作，微处理器控制系统控制衣物折叠固定台Ⅰ电机4-5工作，带动衣物折叠转盘Ⅰ4-13和圆周滑块Ⅰ4-11转动，圆周滑杆Ⅰ4-12的一端通过衣物折叠弹簧Ⅰ4-10与圆周滑块Ⅰ4-11相连接并与之转动，另一端与滑块Ⅰ4-9相连接，实现滑块Ⅰ4-9在滑块滑杆Ⅰ4-8上滑动，从而带动衣物折叠杆Ⅰ4-7、滑块滑杆Ⅰ4-8在衣物折叠左右滑动杆Ⅰ4-6的运动，最终实现衣物折叠杆Ⅰ4-7将衣物折叠平整，衣物折叠杆Ⅰ4-7内装有香水，可对衣物除味，当衣物折叠杆Ⅰ4-7移动到一侧时，微处理器控制系统控制衣物折叠伸缩电机Ⅰ4-14工作，通过交叉轴架子实现衣物折叠固定台Ⅰ4-4的升降，纵向压衣可伸缩杆5-3收回纵向压衣可伸缩杆箱5-2内；第三步升降式叠衣平台9工作，微处理器控制系统控制两个升降电机9-7反向转动，两个升降电机9-7依次带动对应的转动式圆盘杆件9-8转动，进而依次带动两个双向活动杆9-5运动，两个双向活动杆9-5的一端分别通过销9-4与叠衣面板9-1的两端支柱相连接，并使其上下移动，叠衣面板9-1的两端支柱安装有面板弹簧9-2使叠衣面板9-1运动平稳，最终实现衣物的整体升降。重复以上步骤实现衣物纵向的折叠。第四步可伸缩式横向压衣装置8工作，微处理器控制系统控制纵向压衣伸缩电机8-7工作，通过交叉轴架子实现可伸缩式纵向压衣装置8的升降，同样通过视觉传感器判断衣服位置，微处理器控制系统对横向压衣丝杆电机8-13发出信号，横向压衣丝杆电机8-13带动横向压衣丝杆8-12转动，实现横向压衣活动可伸缩杆箱8-2左右移动并且寻找最佳位置，横向压衣可伸缩杆8-3伸出压住衣服。第五步两个衣物折叠装置Ⅱ7工作，微处理器控制系统控制衣物折叠固定台Ⅱ电机7-5工作，带动衣物折叠转盘Ⅱ7-13和圆周滑块Ⅱ7-11转动，圆周滑杆Ⅱ7-12的一端通过衣物折叠弹簧Ⅱ7-10与圆周滑块Ⅱ7-11相连接并与之转动，另一端与滑块Ⅱ7-9相连接，实现滑块Ⅱ7-9在滑块滑杆Ⅱ7-8上滑动，从而带动衣物折叠杆Ⅱ7-7、滑块滑杆Ⅱ7-8在衣物折叠左右滑动杆Ⅱ7-6的运动，最终实现衣物折叠杆Ⅱ7-7将衣物折叠平整，衣物折叠杆Ⅱ7-7内装有香水，可对衣物除味，当两个衣物折叠杆Ⅱ7-7分别移动到两侧时，微处理器控制系统控制衣物折叠伸缩电机Ⅱ7-14工作，通过交叉轴架子实现衣物折叠固定台Ⅱ7-4的升降，横向压衣可伸缩杆8-3收回横向压衣可伸缩杆箱8-2内，实现衣物的横向折叠，至此整个折叠过程完成。衣物纵向机械抓取装置3将折叠好的衣物拉至衣物传送斜板2上，衣物顺着斜板2滑入衣物储存抽屉1内。Take a piece of clothing as an example: in the first step, the retractable longitudinal clothing pressing device 5 works, and the size and thickness of the clothing are judged by the visual sensor. Realize the lifting of the longitudinal clothing lifting top plate 5-1, thereby realizing the lifting of the longitudinal clothing telescopic rod box 5-2, the longitudinal clothing telescopic rod box 5-2 in the longitudinal clothing telescopic rod box 5-2 on both sides 3 Stretch out and hold down the clothes; the second step is that the clothes folding device Ⅰ 4 works, and the microprocessor control system controls the clothes folding and fixing table Ⅰ motor 4-5 to work, driving the clothes folding turntable Ⅰ 4-13 and the circumferential slider Ⅰ 4-11 to rotate, and the circle One end of the slide bar I4-12 is connected and rotated with the circumferential slider I4-11 through the clothing folding spring I4-10, and the other end is connected with the slider I4-9 to realize that the slider I4-9 is on the slider bar. Sliding on Ⅰ4-8, thus driving the clothing folding rod Ⅰ4-7, slider sliding rod Ⅰ4-8 to move the left and right sliding rod Ⅰ4-6 in the clothing folding, and finally realize the clothing folding rod Ⅰ4-7 to fold the clothes flat, and the clothing folding rod Ⅰ4-7 is equipped with perfume, which can deodorize the clothes. When the clothes folding rod Ⅰ4-7 moves to one side, the microprocessor control system controls the clothes folding telescopic motor Ⅰ4-14 to work, and the clothes are folded and fixed through the cross-axis shelf Ⅰ4-4 Lifting, the telescopic rod 5-3 for longitudinal pressing is retracted into the telescopic rod box 5-2; the third step is to work on the lifting and folding platform 9, and the microprocessor control system controls two lifting motors 9 -7 rotates in the opposite direction, and the two lifting motors 9-7 drive the corresponding rotary disc rods 9-8 to rotate in turn, and then drive the two-way movable rods 9-5 to move in turn, and the two-way movable rods 9-5 One end is respectively connected with the two ends pillars of the folding panel 9-1 by pin 9-4, and makes it move up and down, and the two ends pillars of the folding panel 9-1 are equipped with panel spring 9-2 to make the folding panel 9- 1 The movement is stable, and finally the overall lifting of the clothes is realized. Repeat the above steps to realize the longitudinal folding of the clothes. The fourth step is that the retractable horizontal garment pressing device 8 works, the microprocessor control system controls the longitudinal garment pressing telescopic motor 8-7 to work, and the lifting of the retractable longitudinal garment pressing device 8 is realized through the cross-axis shelf, which is also judged by the visual sensor Clothes position, the microprocessor control system sends a signal to the horizontal pressing screw motor 8-13, and the horizontal pressing screw motor 8-13 drives the horizontal pressing screw 8-12 to rotate to realize the horizontal pressing activity. 8-2 moves left and right and searches for the best position, and the expandable bar 8-3 of horizontal pressing clothes stretches out and presses down clothes. The fifth step is that the two clothing folding devices Ⅱ7 work, the microprocessor control system controls the clothing folding and fixing table Ⅱ motor 7-5 to work, and drives the clothing folding turntable Ⅱ7-13 and the circumferential slider Ⅱ7-11 to rotate, and the circumferential slider Ⅱ7-12 One end of it is connected with the circumferential slider II7-11 through the clothing folding spring II7-10 and rotates with it, and the other end is connected with the slider II7-9, so that the slider II7-9 slides on the slider slider II7-8 , so as to drive the clothing folding rod II 7-7 and the slider sliding rod II 7-8 to move the left and right sliding rod II 7-6 in the clothing folding, and finally realize the clothing folding rod II 7-7 to fold the clothes flat, and the clothing folding rod II 7-7 is equipped with Perfume can deodorize the clothes. When the two clothes folding rods Ⅱ7-7 move to the two sides respectively, the microprocessor control system controls the clothes folding telescopic motor Ⅱ7-14 to work, and realizes the clothes folding and fixing table Ⅱ7- through the cross-axis shelf 4 lifts, the horizontal pressing telescopic bar 8-3 retracts in the horizontal pressing telescopic bar box 8-2, realizes the horizontal folding of clothing, so far the whole folding process is completed. Clothes longitudinal mechanical grabbing device 3 pulls the folded clothes onto the clothes conveying slant plate 2 , and the clothes slide into the clothes storage drawer 1 along the slant plate 2 .
整个折叠装置3内下部设有6个抽屉，以便衣物存放。The lower part of the whole folding device 3 is provided with 6 drawers for the storage of clothes.
以上结合附图对本发明的具体实施方式作了详细说明，但是本发明并不限于上述实施方式，在本领域普通技术人员所具备的知识范围内，还可以在不脱离本发明宗旨的前提下作出各种变化。The specific embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Variations.
Claims (7)
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