Method and device for controlling folding and airing linkage equipment and folding and airing linkage equipment

Abstract

The invention relates to the technical field of clothes processing, and discloses a method for controlling folding and airing linkage equipment, and the method comprises the steps: controlling a gripper device to move to a clothes grabbing position along a moving track; the second support is controlled to move to the clamping position towards the first end of the gripper lead screw; the second support is controlled to move to the middle position towards the second end of the gripper lead screw; the clamping position corresponds to the second support and drives the second clamping piece to be clamped with the first clamping piece, and the first support is clamped by the clamping part. Therefore, the gripper device is simple in structure and low in cost, and the automation degree of clothes processing is improved. The invention further discloses a device for controlling the folding and airing linkage equipment and the folding and airing linkage equipment.

Description

Technical Field

[0001] The present application relates to the technical field of clothing processing, for example, to a method and device for controlling a folding and drying linkage device, and the folding and drying linkage device. Background Art

[0002] In daily home life, washed clothes are usually hung on clotheslines, and after drying, the clothes are taken down and folded manually. As the pace of life in social development accelerates, the time spent on housework decreases, and people hope to achieve fully automated processing of clothes, thereby freeing people from complicated housework.

[0003] The related technology discloses a clothes folding machine, including a robot for grabbing clothes, which requires two power devices to realize the opening and closing action and the moving action of the robot through a set of transmission structures respectively.

[0004] In the process of implementing the embodiments of the present disclosure, it is found that there are at least the following problems in the related art:

[0005] The complex structure of the robot leads to high costs, the large number of power devices required makes control difficult, and the degree of automation in clothing processing is difficult to meet user needs.

[0006] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present application, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0007] In order to provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. The summary is not an extensive review, nor is it intended to identify key / critical components or delineate the scope of protection of these embodiments, but rather serves as a prelude to the detailed description that follows.

[0008] The embodiments of the present disclosure provide a method and device for controlling a folding and drying linkage device, and the folding and drying linkage device, which solve the problems of difficulty in controlling a robot arm and low degree of automation in a clothing processing process.

[0009] In some embodiments, the method for controlling the folding and drying linkage device includes:

[0010] The folding and drying linkage device comprises a clothes folding device, which comprises a gripping device and a moving track, the gripping device can move along the moving track, and the gripping device comprises a gripping bracket, a gripping part, a gripping driving part and a clamping part; wherein the gripping part comprises a first clamping piece and a second clamping piece; wherein the first clamping piece is arranged on a first support, the first support is movably connected to the gripping bracket, the second clamping piece is hinged to the first support, and can be rotated to conflict with the first clamping piece to form a clamping engagement; the gripping driving part comprises a gripping motor and a gripping screw, the gripping motor is used to drive the gripping screw to rotate; a second support is screwed on the gripping screw, the second support is connected to the second clamping piece through a connecting rod, and when the second support moves toward the first end of the gripping screw, the second clamping piece can be driven to clamp through the connecting rod; the first end of the clamping part is connected to the second support, and the second end of the clamping part is used to clamp the first support when the two clamps are clamped;

[0011] The method comprises:

[0012] Control the gripper device to move along the moving track to the clothing grabbing position;

[0013] Controlling the second support to move toward the first end of the gripper screw to a clamping position;

[0014] Control the second support to move toward the second end of the gripper screw to a middle position;

[0015] The clamping position corresponds to the second support, driving the second clamping piece to clamp the first clamping piece and making the clamping part clamp the first support.

[0016] In some embodiments, the apparatus for controlling the folding and drying linkage equipment comprises a processor and a memory storing program instructions, and the processor is configured to execute the aforementioned method for controlling the folding and drying linkage equipment when running the program instructions.

[0017] In some embodiments, the folding and drying linkage equipment includes the aforementioned device for controlling the folding and drying linkage equipment.

[0018] The method, device and folding and drying linkage equipment provided by the embodiments of the present disclosure can achieve the following technical effects:

[0019] Under the action of the clamping part, when the two clips are clamped together, the second support is clamped on the first support. At this time, when the second support moves toward the second end of the gripper screw, the first support moves synchronously, and the gripper part moves synchronously in the clamped state. The gripper device has a simple structure, low cost and low control difficulty, and can not only clamp the clothes, but also clamp the clothes and move them toward the second end of the gripper screw, so that the clothes and the clothes stand are separated, thereby improving the degree of automation of clothes processing.

[0020] The above general description and the following description are exemplary and explanatory only and are not intended to limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] One or more embodiments are exemplarily described by corresponding drawings, which do not limit the embodiments. Elements with the same reference numerals in the drawings are shown as similar elements, and the drawings do not constitute a scale limitation, and wherein:

[0022] Figure 1 is a structural schematic diagram of a folding and drying linkage device provided in an embodiment of the present disclosure;

[0023] Figure 2 is a schematic structural diagram of a clothes drying device provided by an embodiment of the present disclosure;

[0024] Figure 3 is a schematic diagram of the structure of a spiral rod provided in an embodiment of the present disclosure;

[0025] Figure 4 is a structural schematic diagram of a downhill section provided by an embodiment of the present disclosure;

[0026] Figure 5 is a schematic diagram of the structure of a hook provided by an embodiment of the present disclosure;

[0027] Figure 6 is a schematic diagram of the rotation direction of the cam portion corresponding to the clothes hanger provided by the embodiment of the present disclosure when the clothes hanger is hung on the left and the right respectively;

[0028] Figure 7 is a structural schematic diagram of a gripper device provided in an embodiment of the present disclosure;

[0029] Figure 8 is a schematic structural diagram of a hook body provided by an embodiment of the present disclosure;

[0030] Fig. 9 Schematic diagrams of the second support provided by the embodiment of the present disclosure in a clamping position, an intermediate position and a release position respectively;

[0031] Fig.10 is a schematic diagram of a mobile framework provided by an embodiment of the present disclosure;

[0032] Fig.11 is a schematic diagram of the structure of the guide segment and the redundant segment provided by the embodiment of the present disclosure;

[0033] Fig.12 is a schematic diagram of a left-hanging sensor and a right-hanging sensor provided in an embodiment of the present disclosure;

[0034] Fig.13 It is a schematic diagram of a clothes hanger hung on the left and a clothes hanger hung on the right provided in an embodiment of the present disclosure;

[0035] Fig.14A method for controlling a folding and drying linkage device provided by an embodiment of the present disclosure;

[0036] Fig.15 Another method for controlling a folding and drying linkage device provided by an embodiment of the present disclosure;

[0037] Fig.16 Another method for controlling a folding and drying linkage device provided by an embodiment of the present disclosure;

[0038] Fig.17 Another method for controlling a folding and drying linkage device provided by an embodiment of the present disclosure;

[0039] Fig.18 Another method for controlling a folding and drying linkage device provided by an embodiment of the present disclosure;

[0040] Fig.19 Another method for controlling folding and drying linkage equipment provided by an embodiment of the present disclosure.

[0041] Reference numerals:

[0042] 100: clothes drying rod; 101: clothes rod housing; 102: guide groove; 103: avoidance groove; 110: spiral rod; 111: spiral groove; 120: uphill section; 121: downhill section; 122: disc; 130: cam portion; 131: convex rib; 140: screw motor; 141: coupling;

[0043] 200: clothes support; 201: clothes support body; 202: clothes grabbing opening; 203: marking area; 204: identification device; 210: hook; 211: narrow surface section; 212: transition section; 213: wide surface section; 214: top groove; 220: moving part; 230: rotating rod; 240: left hanging sensor; 241: right hanging sensor;

[0044] 300: gripper bracket; 301: stop plate; 302: mounting plate; 303: trigger port; 310: first support; 311: first clamping piece; 312: support slider; 313: support track; 314: gripper torsion spring; 320: second support; 321: second clamping piece; 322: nut part; 323: connecting part; 324: hook hole; 330: connecting rod; 340: gripper motor; 341: gripper lead screw; 350: hook body; 351: hook; 352: trigger plate; 353: pressing inclined plane; 360: gripper beam; 361: beam track; 362: clamping plate; 363: synchronous rod; 364: synchronous motor;

[0045] 400: frame body; 410: moving frame; 411: frame track; 412: supporting seat; 420: clothes guide plate; 430: folding device;

[0046] 500: endless belt; 501: first pulley; 502: second pulley; 503: third pulley; 504: fourth pulley; 505: fifth pulley; 510: guide section; 511: redundant section. DETAILED DESCRIPTION

[0047] In order to be able to understand the features and technical contents of the embodiments of the present disclosure in more detail, the implementation of the embodiments of the present disclosure is described in detail below in conjunction with the accompanying drawings. The attached drawings are for reference only and are not used to limit the embodiments of the present disclosure. In the following technical description, for the convenience of explanation, a full understanding of the disclosed embodiments is provided through multiple details. However, one or more embodiments can still be implemented without these details. In other cases, to simplify the drawings, well-known structures and devices can be simplified for display.

[0048] The terms "first", "second", etc. in the specification and claims of the disclosed embodiments and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate to describe the disclosed embodiments here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0049] In the embodiments of the present disclosure, the terms "upper", "lower", "inside", "middle", "outside", "front", "back" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. These terms are mainly intended to better describe the embodiments of the present disclosure and their embodiments, and are not intended to limit the indicated devices, elements or components to have a specific direction, or to be constructed and operated in a specific direction. Moreover, in addition to being used to indicate directions or positional relationships, some of the above terms may also be used to indicate other meanings. For example, the term "upper" may also be used to indicate a certain dependency or connection relationship in certain circumstances. For those of ordinary skill in the art, the specific meanings of these terms in the embodiments of the present disclosure can be understood according to specific circumstances.

[0050] In addition, the terms "disposed", "connected", and "fixed" should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present disclosure can be understood according to specific circumstances.

[0051] Unless otherwise stated, the term "plurality" means two or more.

[0052] In the embodiment of the present disclosure, the character " / " indicates that the preceding and following objects are in an "or" relationship. For example, A / B indicates: A or B.

[0053] The term "and / or" is a description of the association relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or, A and B.

[0054] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present disclosure may be combined with each other.

[0055] Combination Figure 1-19 As shown, the embodiment of the present disclosure provides a folding and drying linkage device, including a clothes drying device and a clothes folding device. The clothes drying device includes a clothes drying rod 100 and a clothes support 200, and the clothes support 200 can automatically move along the clothes drying rod 100; the clothes folding device is arranged on one side of the clothes drying device, and includes a gripping device and a folding device 430; the first end of the clothes drying rod 100 is close to the folding device 430, and the gripping device is used to grab the clothes on the clothes support 200 moved to the first end of the clothes drying rod 100, and place the clothes on the folding device 430, and the folding device 430 is used to fold the clothes.

[0056] In this embodiment, the folding and drying linkage device is used to dry clothes and fold clothes, realizing the linkage between the clothes drying device for drying clothes and the clothes folding device for folding clothes, integrating drying and folding into one, and improving the automation of clothes processing. Figure 1 As shown, when drying clothes, the user supports the clothes with the clothes hanger 200 and hangs the clothes hanger 200 on the clothes drying rod 100. When the clothes need to be stored, the clothes hanger 200 automatically moves to the first end of the clothes drying rod 100, and then the gripper device grabs the clothes on the clothes hanger 200 and places the clothes on the folding device 430 for folding.

[0057] In order to realize that the clothes hanger 200 automatically moves along the clothes drying rod 100, and the clothes hanger 200 automatically separates from the clothes drying rod 100, an embodiment of the present disclosure provides a clothes drying device. The clothes drying device includes the clothes drying rod 100, the clothes hanger 200 and a screw driving unit. Figure 2 As shown, the clothes drying rod 100 includes a clothes rod housing 101; a spiral rod 110 is arranged in the clothes rod housing 101, and a guide groove 102 is opened in the clothes rod housing 101 along the axial direction of the spiral rod 110; the clothes hanger 200 includes a hook 210, and a moving part 220 is arranged on the inner side of the hook 210; the moving part 220 extends into the spiral groove 111 of the spiral rod 110 through the guide groove 102, and when the spiral rod 110 rotates, its spiral groove 111 drives the moving part 220 to move along its axial direction, so that the clothes hanger 200 moves along the guide groove 102; the screw driving part is used to drive the spiral rod 110 to rotate; Figure 3As shown, a cam portion 130 is provided at the first end of the spiral rod 110, and an avoidance groove 103 for avoiding the cam portion 130 is provided at the clothes rod housing 101; when the spiral rod 110 rotates, the cam portion 130 is driven to rotate, and when the cam portion 130 rotates to the avoidance groove 103, it extends out of the clothes rod housing 101, and the extended portion can conflict with the end of the hook 210; thus, when the end of the hook 210 moves to the avoidance groove 103, the cam portion 130 can be used to push the clothes support 200 out of the clothes rod 100 by controlling the rotation direction of the spiral rod 110.

[0058] In this embodiment, when the screw driving part drives the screw rod 110 to rotate, the spiral groove 111 drives the moving part 220 to move along the axial direction of the screw rod 110, and the moving part 220 drives the clothes support 200 to move along the guide groove 102. In this way, the clothes support 200 can move along the guide groove 102 to the first end of the clothes drying rod 100, so that the gripping device can grab the clothes. In addition, when the end of the hook 210 moves to the avoidance groove 103, the rotation direction of the cam part 130 is controlled so that the cam part 130 rotates to the avoidance groove 103 and conflicts with the end of the hook 210, and as the cam part 130 continues to rotate, the hook 210 can be pushed out to be separated from the clothes drying rod 100. At this time, the position of the clothes support 200 on the clothes drying rod 100 is recorded as the separation position. When the clothes support 200 is separated from the clothes drying rod 100 from the clothes, there is no obstruction of the clothes support 200, and the gripping device can drag the clothes it grabs to the folding device 430.

[0059] In this article, the rotation direction of the spiral rod 110 when driving the movable part 220 to move toward its first end is recorded as the first turn, the rotation direction of the spiral rod 110 when driving the movable part 220 to move toward its second end is recorded as the second turn, and the rotation direction of the spiral rod 110 when pushing the clothes hanger 200 out of the clothes drying rod 100 through the cam part 130 is recorded as the disengagement turn; wherein, the disengagement turn is the same as or opposite to the first turn.

[0060] Alternatively, if Figure 2 As shown, the cross section of the clothes rod housing 101 is constructed as a rounded rectangle, and the two rounded surfaces are arranged opposite to each other up and down. The inner side of the hook 210 is close to the cross section of the clothes rod housing 101, so that the clothes support 200 is relatively stable when moving on the clothes rod 100. The guide groove 102 is opened on the upper rounded surface of the clothes rod housing 101, and the avoidance groove 103 is opened along the cross section of the clothes rod housing 101, and the avoidance groove 103 is connected to the guide groove 102. In addition, the lower part of the avoidance groove 103 has a part or all of the lower rounded surface, so that the clothes rod housings 101 on both sides of the avoidance groove 103 remain connected. Among them, the spiral rod 110 is arranged close to the upper rounded surface, so that the cam portion 130 can extend out of the clothes rod housing 101 through the avoidance groove 103.

[0061] Optionally, the moving portion 220 includes a moving protrusion formed by the top of the inner side of the hook 210 protruding downward. The moving protrusion is located at the middle position of the inner side of the hook 210, and a guide slope is respectively provided on both sides of the end of the moving protrusion in the width direction, so that the end of the moving protrusion forms a pointed shape, so that the moving protrusion extends into the guide groove 102, and the guide slope extends into the spiral groove 111 of the spiral rod 110.

[0062] Optionally, the screw drive unit includes a screw motor 140. The first end of the screw rod 110 extends out of the clothes rod housing 101, and the screw motor 140 is arranged outside the clothes rod housing 101 and its drive shaft is connected to the first end of the screw rod 110, so that the movement direction of the clothes hanger 200 can be controlled by controlling the direction of the screw motor 140. The first end of the screw rod 110 referred to herein is the same end as the first end of the clothes drying rod 100.

[0063] Exemplarily, the spiral groove 111 of the spiral rod 110 is right-handed. When the screw motor 140 drives the spiral rod 110 to rotate clockwise (first turn), the clothes support 200 moves toward the first end of the clothes drying rod 100. When the screw motor 140 drives the spiral rod 110 to rotate counterclockwise (second turn), the clothes support 200 moves toward the second end of the clothes drying rod 100.

[0064] Optionally, when the cam portion 130 conflicts with the end of the hook 210 , the spiral rod 110 is controlled to drive the cam portion 130 to rotate toward the end of the hook 210 , so that the clothes hanger 200 can be pushed out of the clothes drying rod 100 .

[0065] In this embodiment, when the cam portion 130 is not rotated to the avoidance groove 103, its end is located in the clothes rod housing 101. Figure 6 When the cam portion 130 rotates to the avoidance groove 103, its end extends out of the clothes rod housing 101 and conflicts with the end of the hook 210, as shown in FIG. Figure 6 b. At this time, if the cam portion 130 rotates in a direction away from the end of the hook 210, the cam portion 130 and the hook 210 no longer conflict with each other; if the cam portion 130 rotates toward the end of the hook 210, the cam portion 130 continues to rotate against the hook 210, and the clothes hanger 200 can be pushed out of the clothes drying rod 100, as shown in FIG. Figure 6 As shown in c.

[0066] Alternatively, if Figure 3 and Figure 5b, the cam portion 130 is provided with a convex rib 131, and the end of the hook 210 is provided with a top groove 214, and the top groove 214 corresponds to the convex rib 131; when the cam portion 130 and the end of the hook 210 collide, the convex rib 131 sinks into the top groove 214, so as to prevent the cam portion 130 from being separated from the hook 210 when rotating toward the end of the hook 210. Preferably, a top groove 214 is respectively provided on both sides of the end of the hook 210, so that the end of the hook 210 can cooperate with the convex rib 131 regardless of whether it is located on the left or right side of the clothes drying rod 100.

[0067] Optionally, the clothes support 200 includes a clothes support body 201, a rotating rod 230, a clothes support shaft and a clothes support torsion spring. The clothes support body 201 is provided with a hook 210 and a mounting block, the first end of the rotating rod 230 is provided with a fork, the mounting block is arranged in the fork, and the clothes support shaft is passed through the fork and the mounting block. A torsion spring space is provided in the middle of the mounting block, and the clothes support torsion spring is sleeved on the clothes support shaft and is located in the torsion spring space. In this way, the second end of the rotating rod 230 is automatically rotated toward the inside of the hook 210 by utilizing the rebound force of the clothes support torsion spring, and a closed mouth is formed when the second end thereof conflicts with the outer side of the end of the hook 210.

[0068] In this embodiment, the hook 210 of the clothes hanger 200 is kept closed in a natural state. When using the clothes hanger 200, the second end of the rotating rod 230 is first rotated toward the outside of the hook 210 by hand, and the hook 210 is opened and hung on the clothes drying rod 100 through the opening. Figure 6 As shown in Fig. c, when the cam portion 130 rotates against the hook 210, the clothes drying rod 100 does not move but the hook 210 rotates. At this time, the clothes drying rod 100 presses the second end of the rotating rod 230 to rotate toward the outside of the hook 210 and form an opening. As the hook 210 continues to rotate, the hook 210 gradually tilts and separates from the clothes drying rod 100 from the opening. After separation, the clothes support 200 falls from the inside of the clothes, and the hook 210 is closed again under the rebound effect of the clothes support torsion spring, so that the end of the hook 210 is prevented from hooking and pulling the clothes during the falling process.

[0069] Optionally, the folding and drying linkage device further comprises a receiving basket. The receiving basket is located below the avoidance groove 103, and when the cam portion 130 pushes the clothes support 200 out to be separated from the clothes drying rod 100, the clothes support 200 falls into the receiving basket.

[0070] Alternatively, if Figure 5As shown in FIG. 2 , a labeling area 203 is provided on the top of the hook 210, and the labeling area 203 is used to set an RFID tag. The RFID tag can store information about the clothes hung on the clothes hanger 200, such as the user group of the clothes, the size of the clothes, the type of clothes, etc. The folding and drying linkage device is provided with an identification device 204, and the identification device 204 is used to identify the information of the RFID tag. In this way, the folding and drying linkage device is convenient for performing differentiated processing on the clothes according to the information stored in the RFID tag.

[0071] Due to the different hanging directions of the clothes hanger 200, the end of the hook 210 may be located on the left side (left hanging) or the right side (right hanging) of the clothes hanger 100, and the disengagement direction of the clothes hanger 200 when the clothes hanger 200 is hung on the left is opposite to that of the clothes hanger 200 when the clothes hanger 200 is hung on the right. For example, when the spiral rod 110 rotates in the first direction to drive the hook 210 to move to the avoidance groove 103, when the disengagement direction is opposite to the first direction, the spiral rod 110 needs to be controlled to rotate in the disengagement direction, that is, the second direction, so that the cam portion 130 can collide with the end of the hook 210, and then continue to rotate to push the clothes hanger 200 out of the clothes hanger 100. However, when the spiral rod 110 rotates in the second direction, it will simultaneously drive the clothes hanger 200 to move backward, that is, the clothes hanger 200 moves toward the second end of the spiral rod 110 and away from the disengagement position. When the backward distance is too large, the cam portion 130 and the end of the hook 210 are disengaged. In order to solve the problem of the clothes support 200 moving backwards, the embodiment of the present disclosure makes the following further improvements to the clothes drying device.

[0072] In some embodiments, Figure 4 As shown, the first end of the spiral rod 110 includes an uphill section 120 and a downhill section 121, and the uphill section 120 has a spiral groove 111, while the downhill section 121 does not have a spiral groove 111; the cam portion 130 is arranged at the bottom of the slope of the downhill section 121; thus, after the moving portion 220 moves from the uphill section 120 to the downhill section 121, it will not return to the uphill section 120 driven by the spiral rod 110.

[0073] In this embodiment, when the spiral rod 110 rotates in the first direction, the moving part 220 gradually moves toward the first end of the spiral rod 110. When the moving part 220 moves from the uphill section 120 to the downhill section 121, the moving part 220 slides toward the bottom of the downhill section 121. At this time, if the disengagement direction is opposite to the first direction, the spiral rod 110 needs to be controlled to rotate in the second direction, and the cam part 130 rotates synchronously while pushing the moving part 220 to move from the bottom of the slope of the downhill section 121 to the top of the slope, and the clothes support 200 slightly moves backward. However, since the downhill section 121 does not have a spiral groove 111, and the moving part 220 is in a climbing state when the clothes support 200 moves backward, the moving part 220 cannot return to the uphill section 120 under the gravity of the clothes support 200. Therefore, no matter how many times the spiral rod 110 rotates in the second direction, the clothes support 200 will only be slightly pushed backward and slide to the bottom of the slope.

[0074] Optionally, after the moving part 220 moves from the uphill section 120 to the downhill section 121, when the disengagement direction is opposite to the first direction and the screw rod 110 rotates in the disengagement direction, the cam part 130 pushes the hook 210 to enable the moving part 220 to move a first distance from the bottom of the slope of the downhill section 121 to the top of the slope, wherein the length of the downhill section 121 is greater than or equal to the first distance. In this way, it is further ensured that the moving part 220 cannot return to the uphill section 120.

[0075] Optionally, the inclination angles of the uphill section 120 and the downhill section 121 are the same or different. Preferably, the inclination angles of the uphill section 120 and the downhill section 121 are the same and the lengths are the same.

[0076] Optionally, after the moving portion 220 moves from the uphill section 120 to the downhill section 121 , the head end of the hook 210 is located at a side of the cam portion 130 facing the downhill section 121 .

[0077] Optionally, a stopper is further provided at the bottom of the slope of the downslope section 121, and the stopper is located on the side of the cam portion 130 close to the downslope section 121. A horizontal section is provided between the stopper and the bottom of the slope of the downslope section 121. Figure 3 and Figure 4 As shown, the stopper includes a disc 122, which is sleeved on the spiral rod 110. The disc 122 is completely located in the avoidance groove 103 and does not extend out of the clothes rod housing 101. When the moving part 220 slides to the bottom of the slope of the downslope section 121, the disc 122 blocks the moving part 220 from continuing to move toward the cam part 130. Here, when the moving part 220 is located between the downslope section 121 and the disc 122, the clothes hanger 200 reaches the disengagement position.

[0078] When multiple clothes hangers 200 are hung on the clothes drying rod 100, the distance between the clothes hanger 200 (referred to as the first clothes hanger) and its adjacent clothes hanger 200 (referred to as the second clothes hanger) can be adjusted by controlling the rotation direction and number of rotations of the spiral rod 110, thereby improving the subsequent folding efficiency. Exemplarily, the first clothes hanger and the second clothes hanger have the same hanging direction, and the disengagement direction of the two is opposite to the first direction. After the spiral rod 110 drives the hook 210 of the first clothes hanger to move to the disengagement position by rotating in the first direction, it is found that the spacing between the second clothes hanger and the first clothes hanger is greater than the preset spacing, so the spiral rod 110 is continued to be controlled to rotate in the first direction. At this time, the first clothes hanger is always located between the downhill section 121 and the disc 122, and the second clothes hanger gradually approaches the first clothes hanger, and the spacing between the two is reduced. When the spacing between the two reaches the preset spacing, the spiral rod 110 is controlled to rotate in the second direction, and then the first clothes hanger is pushed out to be separated from the clothes drying rod 100. However, during the above-mentioned spacing adjustment process, the spiral rod 110 drives the cam portion 130 to contact the first clothes support multiple times in the first direction, which is easy to get stuck. In order to solve the problem of the cam portion 130 and the clothes support 200 getting stuck, the embodiment of the present disclosure makes the following further improvements to the clothes drying device.

[0079] In some embodiments, the head end of the hook 210 is located on the side of the cam portion 130 away from the first end of the spiral rod 110, and the width of the hook 210 gradually widens from its head end to its tail end; thus, the cam portion 130 will not get stuck during the process of rotating from its head end to its tail end along the hook 210.

[0080] In this embodiment, after the hook 210 moves to the avoidance groove 103, when the disengagement direction of the clothes support 200 is opposite to the first direction, and when the spiral rod 110 continues to rotate in the first direction, the cam portion 130 rotates from the head end to the tail end along the hook 210. In addition, since the head end of the hook 210 does not collide with the cam portion 130, and the width of the hook 210 gradually widens from the head end to the tail end, the cam portion 130 will not be stuck with the head end of the hook 210 when rotating. In addition, when the spiral rod 110 rotates in the disengagement direction, the cam portion 130 can still collide with the tail end of the hook 210.

[0081] Optionally, the widths of the two sides of the hook 210 vary symmetrically. In this way, no matter whether the clothes hanger 200 is hung on the left or on the right, the head end of the hook 210 will not be stuck with the cam portion 130.

[0082] Alternatively, if Figure 5As shown in a, the hook 210 includes a narrow surface section 211, a transition section 212 and a wide surface section 213. The first end of the narrow surface section 211 is connected to the clothes support body 201 of the clothes support 200 and serves as the head end of the hook 210; the first end of the transition section 212 is connected to the second end of the narrow surface section 211, and the first end of the transition section 212 gradually widens toward the second end of the transition section 212; the first end of the wide surface section 213 is connected to the second end of the transition section 212, and the second end of the wide surface section 213 serves as the end of the hook 210. Preferably, the two sides of the narrow surface section 211 in the length direction are constructed as symmetrical inclined surfaces, and the two sides of the transition section 212 in the length direction are constructed as symmetrical inclined surfaces. The width of the wide surface section 213 is the same as that of the second end of the transition section 212, and the two sides of the wide surface section 213 in the length direction are constructed as planes.

[0083] When the clothes hanger 200 moves to the first end of the clothes drying rod 100 and is in the disengaged position, the gripper device grabs the clothes on the clothes hanger 200. The embodiment of the present disclosure provides a gripper device, including a gripper bracket 300, a gripper part, a gripper driving part and a clamping part. Figure 7 As shown in a, the gripper portion includes a first clamp 311 and a second clamp 321; wherein the first clamp 311 is arranged on the first support 310, the first support 310 is movably connected to the gripper bracket 300, and the moving direction of the first support 310 is the same as the axial direction of the gripper screw 341; the second clamp 321 is hinged to the first support 310, and can be rotated to conflict with the first clamp 311 to form a clamp; the gripper drive portion includes a gripper motor 340 and a gripper screw 341, the gripper motor 340 is used to drive the gripper screw 341 to rotate; the gripper screw 3 A second support 320 is screwed on 41, and the second support 320 is connected to the second clamping piece 321 through a connecting rod 330. When the second support 320 moves toward the first end of the gripping screw 341, the second clamping piece 321 can be clamped by the connecting rod 330; the first end of the clamping part is connected to the second support 320, and the second end of the clamping part is used to clamp the first support 310 when the two clamps are clamped; when the second support 320 moves toward the second end of the gripping screw 341, the first support 310 can be driven to move synchronously by the clamping part, so that the gripping part moves synchronously in the clamped state.

[0084] In this embodiment, when the gripper driving unit drives the gripper screw 341 to rotate, the second support 320 moves along the axial direction of the gripper screw 341. When the second support 320 moves toward the first end of the gripper screw 341, the second support 320 drives the second clamp 321 to rotate toward the first clamp 311 through the connecting rod 330, and when the second clamp 321 conflicts with the first clamp 311, the gripper unit forms a clamping state. At this time, the position of the second support 320 on the gripper screw 341 is recorded as the clamping position, as shown in FIG. Fig. 9a. And under the action of the clamping part, when the two clips are clamped together, the second support 320 is clamped on the first support 310. At this time, when the second support 320 moves toward the second end of the gripper screw 341, the first support 310 moves synchronously, and the gripper part moves synchronously in the clamped state. In this way, the gripper device has a simple structure, and can not only clamp the clothes, but also clamp the clothes and move toward the second end of the gripper screw 341, so that the clothes and the clothes support 200 are separated, and the clothes support 200 is prevented from falling with the clothes when the aforementioned cam part 130 pushes the clothes support 200 out of the clothes drying rod 100.

[0085] Optionally, the gripper bracket 300 is provided with a support rail 313 , and the extension direction of the support rail 313 is the same as the axial direction of the gripper screw 341 ; the first support 310 is provided with a support slider 312 , and moves along the support rail 313 through the support slider 312 .

[0086] Optionally, the gripping screw 341 is vertically arranged, and its first end is located below the second end. In this way, when the second support 320 moves downward along the gripping screw 341, the two clamps are driven by the connecting rod 330 to clamp the clothes; after clamping, when the second support 320 moves upward along the gripping screw 341, the two clamps hold the clothes and rise.

[0087] Alternatively, if Figure 8 As shown, the clamping part includes a hook body 350, the first end of the hook body 350 is hinged to the second support 320, and the second end of the hook body 350 is provided with a suspended hook 351; the first support 310 is provided with a hook hole 324, the hook hole 324 is adapted to the hook 351, and the hook hole 324 is located on the moving track of the hook 351. In this way, when the second support 320 moves toward the first end of the gripper screw 341 and the second clamping piece 321 is clamped with the first clamping piece 311, the hook 351 is clamped into the hook hole 324. At this time, the second support 320 moves toward the second end of the gripper screw 341, which can drive the first support 310 to move synchronously, and the two clamps remain in the clamped state.

[0088] Alternatively, if Figure 8 As shown, the first end of the hook body 350 is provided with a trigger plate 352, and the gripper device further includes a release portion. The release portion includes a trigger port 303, which is provided on the gripper bracket 300 and located at the second end of the gripper lead screw 341, and the trigger plate 352 corresponds to the inner edge of the trigger port 303; Figure 8 As shown, as the trigger plate 352 gradually extends into the trigger opening 303 following the clamped gripping portion, the inner edge of the trigger opening 303 presses the trigger plate 352 to drive the hook body 350 to rotate and thereby disengage the hook 351 and the hook hole 324 .

[0089] In this embodiment, a mounting plate 302 is provided on the top of the gripper bracket 300, and a trigger opening 303 is provided on the mounting plate 302. When the second support 320 moves toward the second end of the gripper screw 341, the hook body 350 moves synchronously and the trigger plate 352 gradually enters the trigger opening 303. In addition, the inner edge of the trigger opening 303 presses the trigger plate 352 to rotate the hook body 350, thereby disengaging the hook 351 from the hook hole 324. At this time, the position of the second support 320 on the gripper screw 341 is recorded as the release position, as shown in FIG. Fig. 9 c; and, the position between the clamping position and the release position is recorded as the intermediate position, such as Fig. 9 After separation, the first support 310 moves toward the first end of the lead screw under the action of gravity, and the second support 320 remains stationary. At this time, the second clamping piece 321 is away from the first clamping piece 311, and the two clamping pieces are in a released state.

[0090] Optionally, the trigger plate 352 is provided with a pressing inclined surface 353, and the pressing inclined surface 353 corresponds to the inner edge of the trigger opening 303. The pressing inclined surface 353 is convenient for extending into the trigger opening 303, and the inner edge of the trigger opening 303 causes the hook body 350 to rotate by resisting the pressing inclined surface 353.

[0091] Optionally, the release portion further includes a tension spring, a first end of which is connected to the gripper bracket 300 , and the other end of which is connected to the first support 310 ; and when the gripper portion moves toward the second end of the gripper lead screw 341 , the tension spring is in a tensioned state.

[0092] In this embodiment, when the inner edge of the trigger opening 303 presses the trigger plate 352 to rotate the hook body 350 and disengage the hook 351 from the hook hole 324, the first support 310 is quickly pulled toward the first end of the lead screw under the elastic force of the tension spring.

[0093] Since the thickness of clothes is different, and the rotation angle of the second clamping piece 321 is difficult to effectively control according to the thickness of the clothes, the clamping effect of thin clothes is poor, and the thick clothes are clamped too tightly and damaged. In order to solve the problem of the gripper device gripping clothes of different thicknesses, the embodiment of the present disclosure makes the following further improvements to the gripper device.

[0094] In some embodiments, the first clip 311 is hinged to the first support 310, and the gripper device further includes a torsion spring portion. Figure 7 As shown in FIG. 2 b, the first end of the torsion spring portion is connected to the first support 310, and the second end thereof is connected to the first clamping piece 311, so as to utilize the rebound force to rotate the first clamping piece 311 toward the second clamping piece 321.

[0095] In this embodiment, when the second support 320 moves toward the first end of the gripper screw 341, the second support 320 drives the second clamp 321 to rotate toward the first clamp 311 through the connecting rod 330, and when the second clamp 321 conflicts with the first clamp 311, the two clamps form a clamping state. Since the first clamp 311 can also rotate, when the two clamps clamp the clothes, the clothes push the first clamp 311 to rotate in the direction away from the second clamp 321, and the thicker the clothes, the greater the rotation angle of the first clamp 311. At this time, under the action of the torsion spring part, the rebound force is used to rotate the first clamp 311 toward the second clamp 321, so that no matter whether the thickness of the clothes is thin or thick, the two clamps can maintain a good clamping state and will not damage the clothes.

[0096] Optionally, the first support 310 is provided with a fixed shaft; the torsion spring portion includes a gripper torsion spring 314, which is sleeved on the fixed shaft, and whose first end is connected to the first support 310, and whose second end is connected to the first clamp 311. The first support 310 is provided with abutment protrusions, and the first clamp 311 is provided with abutment protrusions, and the two ends of the gripper torsion spring 314 are respectively abutted against the corresponding abutment protrusions.

[0097] Optionally, the second clip 321 is constructed in a V shape, one side of which is connected to the connecting rod 330, and the other side of which is used to contact the first clip 311; and the intersection of the two sides is hinged to the first support 310. In this way, it is convenient for the connecting rod 330 to drive the second clip 321 to rotate. The first clip 311 is provided with a first sawtooth at the clamping part; the second clip 321 is provided with a second sawtooth at the clamping part, and the second sawtooth is meshed with the first sawtooth. In this way, the clamping effect of the two clips can be improved.

[0098] Optionally, the gripper bracket 300 is provided with a stopper plate 301, which is close to the first end of the gripper screw 341 and is located on the moving track of the second support 320. The stopper plate 301 is provided with a through hole, and the end of the gripper screw 341 is located in the through hole or passes through the through hole. In this way, when the second support 320 moves to the first end of the gripper screw 341, the stopper plate 301 conflicts with the second support 320, and the stopper plate 301 plays a stopping role for the second support 320. Preferably, the second support 320 conflicts with the stopper plate 301 when it moves to the clamping position.

[0099] Alternatively, if Figure 8 As shown, the second support 320 includes a nut portion 322 and a connecting portion 323. The nut portion 322 is provided with a thread that matches the gripper screw 341; the connecting portion 323 is connected to the nut portion 322 and is provided with a connecting port; the first end of the connecting rod 330 is hinged in the connecting port, and the second end is hinged to the second clip 321. Preferably, the nut portion 322 and the connecting portion 323 are integrally formed.

[0100] Optionally, a mounting plate 302 is provided on the top of the gripper bracket 300 , and the mounting plate 302 is used to mount the gripper motor 340 , and the gripper lead screw 341 extends downward through the mounting plate 302 .

[0101] In order to miniaturize the folding device, the gripper device is disposed in the rack body 400 and extends out of the hanger body when clothes need to be grabbed. In order to extend or retract the gripper device into the rack body 400, the embodiment of the present disclosure provides a folding device, including the rack body 400, the gripper device and the annular belt 500. Fig.10 As shown, a movable frame 410 is provided in the frame body 400, and the movable frame 410 can move to the outside of the frame body 400; a gripping device is provided in the frame body 400 for grabbing clothes; an endless belt 500 is provided in the frame body 400, and its inner side is supported by a first pulley 501, a second pulley 502, a third pulley 503, and a fourth pulley 504 in sequence; wherein the portion of the endless belt 500 located between the first pulley 501 and the fourth pulley 504 forms a guide section 510, The portion between the third pulley 503 and the fourth pulley 504 forms a redundant section 511; the guide section 510 serves as a moving track for the gripper device; and a fifth pulley 505 is further provided on the outer side of the endless belt 500, and the fifth pulley 505 is located between the third pulley 503 and the fourth pulley 504; wherein the first pulley 501, the second pulley 502 and the third pulley 503 are arranged on the frame body 400, and the fourth pulley 504 and the fifth pulley 505 are arranged on the moving frame 410; Fig.11 As shown in FIG. 2 , when the moving frame 410 moves into the frame body 400, the fifth pulley 505 presses the redundant section 511 toward the inner side of the annular belt 500; Fig.11 As shown in a, when the movable frame 410 moves toward the outside of the frame body 400, the fourth pulley 504 and the fifth pulley 505 move synchronously, so that the partial redundant section 511 moves to between the first pulley 501 and the fourth pulley 504 to become the guide section 510, and then the guide section 510 is extended to the outside of the frame body 400.

[0102] In this embodiment, the moving frame 410, the gripping device and the endless belt 500 are all arranged in the frame body 400, the endless belt 500 includes a guide section 510 and a redundant section 511, and the gripping device can move along the guide section 510. When the moving frame 410 moves to the outside of the frame body 400, the fourth pulley 504 and the fifth pulley 505 move synchronously, so that the part of the redundant section 511 moves to between the first pulley 501 and the fourth pulley 504 to become the guide section 510. After the moving frame 410 moves to the outside of the frame body 400, the guide section 510 extends to the outside of the frame body 400, so that the gripping device can move to the outside of the frame body 400 along the guide section 510, and then grab the clothes on the clothes hanger 200 and drag the grabbed clothes along the guide section 510.

[0103] In this embodiment, the gripper device extends out of the rack body 400 to grab the clothes on the hanger 200 in the disengaged position. At this time, the position of the gripper device on the guide section 510 is recorded as the clothes grabbing position. The gripper device drags the clamped clothes into the rack body 400, and releases the clothes when it moves to the clothes delivery port of the folding device 430. The clothes fall on the folding device 430 to be folded. At this time, the position of the gripper device on the guide section 510 is recorded as the clothes loosening position. In addition, the gripper device can continue to move into the hanger body from the clothes loosening position, so that the gripper device can be completely stored in the rack body 400.

[0104] Optionally, the folding device further comprises a clothes guide plate 420, which is retractably arranged in the frame body 400. When the clothes guide plate 420 extends out of the frame body 400 and is located at the clothes delivery port of the folding device 430, the gripper device moves to the clothes loosening position to loosen the clothes, and the clothes partially fall on the folding device 430 and partially fall on the clothes guide plate 420. The clothes guide plate 420 is used to guide the clothes into the folding device 430.

[0105] Alternatively, if Fig.11 As shown in FIG. 2 , the first pulley 501 and the fourth pulley 504 are located on the same horizontal plane, the second pulley 502 and the third pulley 503 are both located below the first pulley 501, and the third pulley 503 and the fourth pulley 504 are located on the same vertical plane. Further optionally, the level of the third pulley 503 is higher than the level of the second pulley 502, the second pulley 502 is located on the side of the first pulley 501 facing the outside of the frame body 400, and the distance between the horizontal plane where the first pulley 501 is located and the horizontal plane where the second pulley 502 is located is greater than the distance between the horizontal plane where the fourth pulley 504 is located and the horizontal plane where the third pulley 503 is located.

[0106] Alternatively, if Fig.10As shown, the frame body 400 is provided with a frame rail 411, and the frame rail 411 extends to the outside of the frame body 400; the mobile frame 410 moves along the frame rail 411. Preferably, a frame rail 411 is respectively provided on both sides of the top of the frame body 400, and the two frame rails 411 are parallel to each other and extend to the outside of the frame body 400; a frame slider is respectively provided on both sides of the mobile frame 410, and each frame slider is connected to a frame rail 411 correspondingly.

[0107] Alternatively, if Fig.12 As shown, the mobile frame 410 is provided with a supporting seat 412, and the supporting seat 412 is used to support the first end of the clothes drying rod 100. In addition, the screw motor 140 is arranged on the mobile frame 410, and the driving shaft of the screw motor 140 is provided with a coupling 141, and the coupling 141 is used to connect the first end of the spiral rod 110.

[0108] In this embodiment, when the folding and drying linkage device is used, the mobile frame 410 is moved to the outside of the rack body 400, and then the first end of the clothes drying rod 100 is installed on the support seat 412, and the first end of the spiral rod 110 is connected to the coupling 141. In addition, after the mobile frame 410 moves to the outside of the rack body 400, the guide track also extends to the outside of the rack body 400, so that the gripping device can move to the clothes grabbing position.

[0109] Optionally, two annular belts 500 are relatively arranged in the frame body 400; the gripping device includes a gripping beam 360, a gripping bracket 300 and a gripping part. The gripping part is arranged on the gripping bracket 300, and one or more gripping brackets 300 are arranged in the middle of the gripping beam 360. The gripping part includes a first clamping piece 311 and a second clamping piece 321, and the clothes are gripped by the clamping of the two clamping pieces. The two ends of the gripping beam 360 are respectively connected to an annular belt 500 through a clamping plate 362 device, so that when the two annular belts 500 rotate synchronously, the gripping beam 360 is driven to move along the guide section 510.

[0110] In this embodiment, both ends of the synchronization rod 363 are connected to the first pulleys 501 on both sides, and when the synchronization rod 363 rotates, the two annular belts 500 are driven to rotate synchronously through the two first pulleys 501. A synchronization motor 364 is provided in the middle of the synchronization rod 363, and the synchronization motor 364 is connected to the synchronization rod 363 through a gear transmission structure and is used to drive the synchronization rod 363 to rotate.

[0111] Optionally, two gripper brackets 300 are provided on the gripper crossbeam 360, and the gripper parts of the two gripper brackets 300 are respectively used to grab one side of the clothing. A gripper opening 202 is respectively provided on both sides of the clothing support body 201, and the two gripper brackets 300 can move relative to or towards each other to grab clothing through the two gripper openings 202.

[0112] Optionally, the frame body 400 is provided with a beam track 361, and the extension direction of the beam track 361 is the same as the extension direction of the guide section 510; the gripper beam 360 moves along the beam track 361. Preferably, a beam track 361 is respectively provided on both sides of the top of the frame body 400; a beam slider is respectively provided at both ends of the gripper beam 360, and each beam slider is correspondingly connected to a beam track 361. In this way, when the endless belt 500 drives the gripper beam 360 to move along the guide section 510, the beam slider moves along the beam track 361, and the beam track 361 plays a role in guiding the gripper beam 360 to move.

[0113] like Fig.14 As shown, the embodiment of the present disclosure provides a method for controlling a folding and drying linkage device, comprising:

[0114] S10: Control the gripper device to move along the moving track to the clothing grabbing position;

[0115] S11: Control the second support to move toward the first end of the gripper screw to a clamping position;

[0116] S12: Control the second support to move to the middle position toward the second end of the gripper screw.

[0117] Here, the specific structure of the folding and drying linkage equipment is as described in the above embodiment and will not be repeated here.

[0118] In this embodiment, step S10 is performed after the clothing support 200 moves to the disengaged position. The gripper screw 341 is arranged vertically, and the middle position is located above the clamping position. The guide section 510 serves as a moving track of the gripper device, and the moving track extends in the horizontal direction.

[0119] In step S10, the synchronous motor 364 is controlled to drive the annular belt 500 to rotate, so that the gripper beam 360 is driven by the annular belt 500 to move along the guide section 510 to the outside of the frame body 400, and the gripper beam 360 drives the gripper bracket 300 to move synchronously to the clothing grabbing position. Here, the clothing grabbing position is located above the disengagement position.

[0120] In step S11, the gripper motor 340 is controlled to drive the second support 320 to move toward the first end of the gripper screw 341 (the second support 320 is lowered to the clamping position), and the second support 320 drives the second clamping piece 321 to rotate toward the first clamping piece 311 through the connecting rod 330 to clamp the clothes. At this time, the hook 351 of the hook body 350 hinged to the second support 320 is clamped into the hook hole 324 of the first support 310.

[0121] In step S12, the gripper motor 340 is controlled to drive the second support 320 to move toward the second end of the gripper screw 341 (the second support 320 rises to the middle position), and the second support 320 drives the first support 310 to rise synchronously under the action of the hook 351, and then the two clips hold the clothes and rise. After the clothes rise, a space is provided for the clothes hanger 200 to escape.

[0122] like Fig.15 As shown, the embodiment of the present disclosure provides another method for controlling a folding and drying linkage device, comprising:

[0123] S10: Control the gripper device to move along the moving track to the clothing grabbing position;

[0124] S11: Control the second support to move toward the first end of the gripper screw to a clamping position;

[0125] S12: Control the second support to move toward the second end of the gripper screw to a middle position;

[0126] S13: Control the gripper device to move along the moving track to the clothes loosening position;

[0127] S14: Control the second support to move toward the second end of the gripper screw to a release position.

[0128] In this embodiment, the clamping device, the intermediate position and the release position are sequentially arranged from the first end to the second end of the gripper screw 341. The loosening position is located above the clothing delivery port of the folding device 430. After the gripper device releases the clothing at the clothing delivery position, the clothing falls at the clothing delivery port of the folding device 430, so that the clothing is automatically folded after entering the folding device.

[0129] In step S13, the synchronous motor 364 is controlled to drive the annular belt 500 to rotate, so that the gripper beam 360 moves along the guide section 510 into the frame body 400 under the drive of the annular belt 500, and the gripper beam 360 drives the gripper bracket 300 to move synchronously to the clothes loosening position.

[0130] In step S14, the gripper motor 340 is controlled to drive the second support 320 to move toward the second end of the gripper lead screw 341 (the second support 320 rises to the release position), and the first support 310 is separated from the second support 320 under the action of the trigger plate 352 and the trigger port 303. When separated, the first clamp 311 and the second clamp 321 form a release state to release the clothes. The clothes fall on the folding device 430 below the loosening position to be folded.

[0131] like Fig.16 As shown, the embodiment of the present disclosure also provides a method for controlling a folding and drying linkage device, comprising:

[0132] S20: Obtaining the hanging direction of the clothes rack;

[0133] S21: Control the rotation direction of the screw rod according to the hanging direction.

[0134] Here, the specific structure of the folding and drying linkage equipment is as described in the above embodiment and will not be repeated here.

[0135] In this embodiment, the screw motor 140 is controlled to drive the screw rod 110 to rotate, and the clothes hanger 200 is driven by the screw rod 110 to move along the guide groove 102. In addition, the direction of the screw rod 110 is controlled according to the hanging direction of the clothes hanger 200, and then the cam portion 130 is used to push the clothes hanger 200 out of the clothes drying rod 100.

[0136] like Fig.17 As shown, the embodiment of the present disclosure also provides a method for controlling a folding and drying linkage device, comprising:

[0137] S22: Controlling the spiral rod to rotate in a first direction;

[0138] S20: Obtaining the hanging direction of the clothes rack;

[0139] S21: Control the rotation direction of the screw rod according to the hanging direction.

[0140] In this embodiment, in step S22, the spiral rod 110 drives the hook 210 to move to the disengaged position through the moving part 220. In step S20, the hanging directions of the clothes hanger 200 include left hanging and right hanging. The left hanging corresponds to the end of the hook 210 being located on the left side of the clothes drying rod 100, and the right hanging corresponds to the end of the hook 210 being located on the right side of the clothes drying rod 100.

[0141] Optionally, step S21 includes: determining the disengagement direction of the spiral rod according to the hanging direction, and controlling the spiral rod to rotate in the disengagement direction. Specifically, when the clothing hanger 200 is hung on the left, the disengagement direction corresponds to clockwise rotation; when the clothing hanger 200 is hung on the right, the disengagement direction corresponds to counterclockwise rotation.

[0142] Optionally, step S21 includes: determining the disengagement direction of the screw rod 110 according to the hanging direction, and controlling the screw rod 110 to rotate in the disengagement direction after the moving part 220 moves to the downhill section 121. Here, the moving part 220 enters the disengagement position after moving to the downhill section 121.

[0143] Optionally, when the disengagement turn is the same as the first turn, after the movable part 220 moves to the downhill section 121, the adjacent spacing between the movable part 220 and the adjacent movable part 220 located in the downhill section 121 is obtained; when the adjacent spacing is less than the preset spacing, the screw rod 110 is controlled to rotate with the second turn to increase the adjacent spacing; when the adjacent spacing is equal to the preset spacing, the screw rod 110 is controlled to rotate with the disengagement turn; wherein the second turn is opposite to the first turn.

[0144] In this embodiment, when multiple clothes hangers 200 are hung on the clothes drying rod 100 in sequence, it is difficult to accurately ensure the spacing between adjacent clothes hangers 200 due to manual hanging. Under the structural design of the uphill section 120 and the downhill section 121, by controlling the rotation direction of the spiral rod 110, the adjacent spacing between the clothes hanger 200 (recorded as the first clothes hanger) and the adjacent clothes hanger 200 (recorded as the second clothes hanger) can be adjusted. In the case where the disengagement direction is the same as the first direction, if the adjacent spacing is less than the preset spacing, when the first clothes hanger is in the disengagement position, the spiral rod 110 is controlled to rotate in the second direction. At this time, the first clothes hanger is always located between the downhill section 121 and the disc 122, and has not been separated from the clothes drying rod 100; the second clothes hanger moves toward the second end of the spiral rod 110, and the adjacent spacing increases. When the adjacent spacing increases to the preset spacing, the spiral rod 110 is controlled to rotate in the disengagement direction, and the clothes hanger 200 is separated from the clothes drying rod 100. After separation, the spiral rod 110 is controlled to continue to rotate in the first direction, so that the second clothes hanger moves to the disengagement position. Furthermore, during the process of adjusting the adjacent spacings, the cam portion 130 will not get stuck with the hook 210 due to the design that the hook 210 gradually widens from the head end to the tail end.

[0145] Optionally, in the case where the disengagement turn is opposite to the first turn, after the movable part 220 moves to the downhill section 121, the adjacent spacing between the movable part 220 and the adjacent movable part 220 located in the downhill section 121 is obtained; when the adjacent spacing is greater than the preset spacing, the screw rod 110 is controlled to rotate with the first turn to reduce the adjacent spacing; when the adjacent spacing is equal to the preset spacing, the screw rod 110 is controlled to rotate with the disengagement turn; wherein the second turn is opposite to the first turn.

[0146] In this embodiment, when the disengagement direction is opposite to the first direction, if the adjacent spacing is greater than the preset spacing, the spiral rod 110 is controlled to rotate in the first direction when the first clothes hanger is in the disengagement position. At this time, the first clothes hanger is always located between the downhill section 121 and the disc 122, and has not disengaged from the clothes drying rod 100; the second clothes hanger moves toward the first end of the spiral rod 110, and the adjacent spacing decreases. When the adjacent spacing decreases to the preset spacing, the spiral rod 110 is controlled to rotate in the disengagement direction, and the clothes hanger 200 is disengaged from the clothes drying rod 100. After disengagement, the spiral rod 110 is controlled to continue to rotate in the first direction, so that the second clothes hanger moves to the disengagement position.

[0147] like Fig.18 As shown, the embodiment of the present disclosure also provides a method for controlling a folding and drying linkage device, comprising:

[0148] S30: Acquire the triggering timing of the left hanging sensor and the right hanging sensor;

[0149] S31: Determine the hanging direction of the clothes support according to the trigger timing.

[0150] Here, the folding and drying linkage device also includes a sensing device, which is located at the first end of the clothes drying rod 100 and includes a left hanging sensor 240 and a right hanging sensor 241 with the same trigger distance; Fig.12 As shown, the left hanging sensor 240 is located on the left side of the clothes drying rod 100 , the right hanging sensor 241 is located on the right side of the clothes drying rod 100 , and both the left hanging sensor 240 and the right hanging sensor 241 are installed on the supporting seat 412 .

[0151] In this embodiment, since the width of the hook 210 gradually widens from its head end to the tail end, and the trigger distances of the left hanging sensor 240 and the right hanging sensor 241 are the same, when the hook 210 gradually moves toward the first end of the clothes drying rod 100, the tail end of the hook 210 will first trigger the sensing device, and as the hook 210 continues to move toward the first end of the clothes drying rod 100, the head end of the hook 210 will subsequently trigger the sensing device. Therefore, the hanging direction of the clothes hanger 200 can be accurately determined according to the trigger timing, and it is convenient to perform differentiated processing on the clothes hanger 200 according to the hanging direction.

[0152] Optionally, step S31 includes: when the left hanging sensor 240 is triggered first and the right hanging sensor 241 is triggered later, determining that the clothing support 200 is left hanging, that is, the end of the hook 210 is located on the same side of the left hanging sensor 240, such as Fig.13 In the case where the right hanging sensor 241 is triggered first and the left hanging sensor 240 is triggered later, it is determined that the clothes hanger 200 is right hanging, that is, the end of the hook 210 is located on the same side of the right hanging sensor 241, such as Fig.13 As shown in b.

[0153] like Fig.19 As shown, the embodiment of the present disclosure also provides a method for controlling a folding and drying linkage device, comprising:

[0154] S30: Acquire the triggering timing of the left hanging sensor and the right hanging sensor;

[0155] S31: determining the hanging direction of the clothes support according to the trigger timing;

[0156] S32: Performing differentiated processing on the clothes hangers according to the hanging directions of the clothes hangers.

[0157] In this embodiment, step S32 includes selecting a method for making the clothes hanger 200 detach from the clothes drying rod 100. When the clothes hanger 200 is hung on the left, the spiral rod 110 needs to be controlled to rotate clockwise, such as Figure 6 a-6c, the cam portion 130 can be used to push the clothes hanger 200 out of the clothes drying rod 100. When the clothes hanger 200 is hung on the right, the spiral rod 110 needs to be controlled to rotate counterclockwise, such as Figure 6 d-6f, the cam portion 130 can be used to push the clothes support 200 out of the clothes drying rod 100.

[0158] An embodiment of the present disclosure also provides an apparatus for controlling a folding and drying linkage device, comprising a processor and a memory storing program instructions, wherein the processor is configured to execute any of the aforementioned methods for controlling a folding and drying linkage device when running the program instructions.

[0159] The embodiment of the present disclosure further provides a computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are configured to execute any of the aforementioned methods for controlling a folding and drying linkage device.

[0160] The above description and the accompanying drawings sufficiently illustrate the embodiments of the present disclosure to enable those skilled in the art to practice them. Other embodiments may include structural and other changes. The embodiments represent only possible variations. Unless explicitly required, individual components and functions are optional, and the order of operations may vary. Portions and features of some embodiments may be included in or replace portions and features of other embodiments. The embodiments of the present disclosure are not limited to the structures described above and shown in the accompanying drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A method for controlling a folding and drying linkage device, characterized in that: The folding and drying linkage device comprises a clothes folding device, which comprises a gripping device and a moving track, the gripping device can move along the moving track, and the gripping device comprises a gripping bracket, a gripping part, a gripping driving part and a clamping part; wherein the gripping part comprises a first clamping piece and a second clamping piece; wherein the first clamping piece is arranged on a first support, the first support is movably connected to the gripping bracket, the second clamping piece is hinged to the first support, and can be rotated to conflict with the first clamping piece to form a clamping engagement; the gripping driving part comprises a gripping motor and a gripping screw, the gripping motor is used to drive the gripping screw to rotate; a second support is screwed on the gripping screw, the second support is connected to the second clamping piece through a connecting rod, and when the second support moves toward the first end of the gripping screw, the second clamping piece can be driven to clamp through the connecting rod; the first end of the clamping part is connected to the second support, and the second end of the clamping part is used to clamp the first support when the two clamps are clamped; The method comprises: Control the gripper device to move along the moving track to the clothing grabbing position; Controlling the second support to move toward the first end of the gripper screw to a clamping position; Control the second support to move toward the second end of the gripper screw to a middle position; The clamping position corresponds to the second support, driving the second clamping piece to clamp the first clamping piece and making the clamping part clamp the first support.

2. The method according to claim 1, characterized in that The gripper screw is set vertically.

3. The method according to claim 1 or 2, characterized in that: The moving track extends in a horizontal direction.

4. The method according to claim 1 or 2, characterized in that: After the second support is controlled to move to the middle position toward the second end of the gripper screw, the method includes: Control the gripper device to move along the moving track to the clothes loosening position.

5. The method according to claim 4, characterized in that The clothes folding device also includes a folding device, and the clothes loosening position is located above the clothes feeding port of the folding device.

6. The method according to claim 4, characterized in that The clamping part is hinged to the first support, and a trigger plate is provided at the first end of the clamping part; the gripping bracket is provided with a trigger port, the trigger port is located above the trigger plate, and the inner edge of the trigger port corresponds to the trigger port, when the edge of the trigger port presses the trigger plate, the clamping part is driven to rotate, thereby separating the clamping part from the first support; After the gripper device is controlled to move along the moving track to the clothes loosening position, the method comprises: Controlling the second support to move toward the second end of the gripper lead screw to a release position; The release position corresponds to the second support driving the trigger plate to come into contact with the trigger port and causing the clamping portion to separate from the first support.

7. The method according to claim 6, characterized in that The clamping device, the intermediate position and the release position are arranged in sequence from the first end to the second end of the gripper screw.

8. A device for controlling a folding and drying linkage device, comprising a processor and a memory storing program instructions, characterized in that: The processor is configured to execute the method for controlling a folding and drying linkage device according to any one of claims 1 to 7 when running the program instructions.

9. A folding and drying linkage device, characterized in that: It comprises the device for controlling the folding and drying linkage equipment as described in claim 8.

10. A storage medium storing program instructions, characterized in that: When the program instructions are executed, the method for controlling the folding and drying linkage equipment according to any one of claims 1 to 7 is executed.

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