Clothes care device inner cylinder and clothes care device

Abstract

The utility model discloses a clothes care device inner cylinder and a clothes care device, comprising: a lifting rib installed on the inner wall of the inner cylinder, the surface of the lifting rib being provided with an opening; the at least one clothes clamping device is mounted in the lifting rib; the clothes clamping device comprises a clamping jaw assembly; the movement mechanism is installed in the lifting rib and used for driving the clamping jaw assembly to move in the direction of the inner cylinder rotating shaft so as to change the position of the clamping jaw assembly in the lifting rib; the retracting and releasing mechanism is mounted between the movement mechanism and the clamping jaw assembly and is used for releasing or retracting the clamping jaw assembly so as to realize the ascending or descending action of the clamping jaw assembly; when the clamping jaw assembly moves downwards to the clamping position, clothes at the bottom of the inner barrel are grabbed. According to the utility model, hanging and airing in the cylinder can be realized, and the arrangement of the movement mechanism and the retraction mechanism is beneficial to accurately positioning the grabbing position, so that the grabbing accuracy of the clamping jaw assembly is improved, and the clothes grabbing and hanging efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the technical field of clothing care devices, specifically to an inner cylinder of a clothing care device, a clothing care device, and a method for hanging clothing. Background Technology

[0002] With the rapid development of washing machine technology, washing machines have become increasingly feature-rich. In addition to the conventional washing, rinsing, and spin-drying functions, they now offer drying, sterilization, and disinfection capabilities. The control programs of washing machines have also become more complex, and consumers are placing greater emphasis on the user experience of the washing machine.

[0003] Currently, during the washing process, clothes tend to tangle and become wrinkled. When subsequent processes such as drying and sterilization are performed, the clothes are prone to wrinkles, requiring ironing to fix them, which affects the user's experience.

[0004] Therefore, it is necessary to provide a new approach to solve the aforementioned technical problems. Utility Model Content

[0005] In view of the shortcomings of the prior art, the purpose of this utility model is to provide an inner tube for a garment care device. This utility model can realize hanging and drying inside the tube, and the setting of the motion mechanism and the retraction mechanism is conducive to accurately positioning the gripping position, improving the gripping accuracy of the gripper assembly, and improving the efficiency of garment gripping and hanging.

[0006] The present utility model discloses the following embodiments:

[0007] The primary objective of this invention is to provide an inner cylinder for a garment care device, comprising:

[0008] The lifting ribs are installed on the inner wall of the inner cylinder, and the surface of the lifting ribs has an opening;

[0009] At least one garment clamping device is installed within the lifting rib; the garment clamping device includes:

[0010] gripper assembly;

[0011] A motion mechanism, installed inside the lifting rib, is used to drive the gripper assembly to move along the rotation axis of the inner cylinder, thereby changing the position of the gripper assembly inside the lifting rib.

[0012] A retraction mechanism is installed between the motion mechanism and the gripper assembly to release or retract the gripper assembly, thereby enabling the gripper assembly to move upward or downward.

[0013] When the gripper assembly moves down to the gripping position, it performs the gripping of clothing at the bottom of the inner drum.

[0014] Preferably, the retraction mechanism controls the gripper assembly to move up or down in a path that includes multiple hovering positions.

[0015] Preferably, the gripper assembly includes at least three mechanical grippers and a power mechanism mounted on the mechanical grippers, wherein the mechanical grippers synchronously retract or open under the drive of the power mechanism.

[0016] Preferably, the gripper assembly further includes a gravity sensor to monitor the gripping state of the mechanical gripper.

[0017] Preferably, the release and take-up mechanism includes a suspension rope and a rope-retracting motor mounted on the suspension rope; the suspension rope is mounted on the gripper assembly, and the rope-retracting motor retracts or releases the suspension rope when rotating forward or backward, so as to realize the lowering and retraction of the gripper assembly.

[0018] Preferably, the lifting rib includes an opening and closing structure, which is installed at the opening to open or close the opening.

[0019] Preferably, the opening and closing structure is a door structure, which includes at least one baffle.

[0020] Preferably, the opening and closing structure further includes a driving member for driving the baffle to open and close.

[0021] Preferably, the baffle is configured to open when subjected to an impact force from the gripper assembly being lowered or retracted.

[0022] Preferably, the baffle is rotatably mounted at the opening, and a reset member is provided between the baffle and the opening.

[0023] Preferably, the baffle is an elastic material.

[0024] The second objective of this invention is to provide a garment care device, including the garment care device inner tube as described above.

[0025] Preferably, it further includes: an image acquisition device, which is mounted on the non-rotating part of the garment care device and faces the inside of the inner tube.

[0026] A third objective of this invention is to provide a garment hanging method using a garment care device, wherein the garment care device configured as described above performs the following steps:

[0027] Determine if a clothing grabbing command exists;

[0028] If present, control the inner drum to rotate and adjust the clothing clamping device to the upper part of the inner drum;

[0029] Obtain the distribution information of the clothing at the bottom of the inner drum;

[0030] Based on the distribution information, the gripper assembly moves to the corresponding gripping point and then performs downward gripping and upward hanging of clothing actions.

[0031] Preferably, the step of controlling the gripper assembly to move to the corresponding gripping point based on the distribution information includes:

[0032] Acquire image information of the internal environment of the inner cylinder;

[0033] The distribution area of ​​clothing at the bottom of the inner tube is identified based on the image information;

[0034] The gripping point of the gripper assembly is determined based on the distribution area;

[0035] Control the gripper assembly to move to the gripping point.

[0036] Preferably, the step of determining the gripping point of the gripper assembly based on the distribution area includes:

[0037] Obtain the gripping area of ​​the clothing gripping device;

[0038] Determine whether there is an overlap between the grabbable area and the distribution area;

[0039] If it exists, then any position in the overlapping area is selected as the grab point;

[0040] If not, the inner drum is rotated to adjust the position of the clothing clamping device.

[0041] Preferably, it also includes the following steps:

[0042] Determine whether the gripper assembly has completed the clothing gripping action;

[0043] If so, control the gripper assembly to move upward to hang the clothing;

[0044] If not, the clothing grabbing action will be repeated.

[0045] Preferably, before controlling the gripper assembly to move upward, the method further includes the following steps:

[0046] The weight of the clothing gripped by the gripper assembly is obtained;

[0047] The weight is matched with a preset weight threshold; wherein each preset weight threshold is matched with a different preset hovering position;

[0048] If the weight matches a preset weight threshold, then the preset hovering position corresponding to the preset weight threshold is obtained as the target hovering position of the gripper assembly.

[0049] Preferably, it also includes the following steps:

[0050] Obtain real-time image information of the internal environment of the inner cylinder;

[0051] Based on the real-time image information, it is determined whether the grabbed clothing has detached from the bottom inner wall of the inner drum;

[0052] If the grabbed garment detaches from the bottom inner wall of the inner drum, it is determined that the grabbed garment is in a hanging state;

[0053] If the grabbed clothing does not detach from the bottom inner wall of the inner drum, the gripping assembly continues to move upward.

[0054] Preferably, during the continued upward control of the gripping component, the process further includes the following steps:

[0055] When the real-time image information indicates that the grabbed clothing has not detached from the bottom inner wall of the inner drum, and the retractable stroke of the gripper assembly reaches its minimum value, the gripper assembly is controlled to re-execute the clothing grabbing action.

[0056] Preferably, before determining whether the grabbed clothing has detached from the inner wall of the bottom of the inner drum, the method further includes the following step:

[0057] When the gripper assembly reaches the preset stroke, the gripper assembly is controlled to swing to shake the clothes.

[0058] Compared with the prior art, the beneficial effects of the embodiments of this utility model are as follows:

[0059] 1. This utility model uses a clothing clamping device to grab clothes inside the drum for hanging and drying, which facilitates the clothing care device to perform drying and sterilization procedures. This effectively increases the drying or drying area, and the air or drying airflow can contact the surface of the clothes more evenly, avoiding wrinkles or undried areas caused by direct drying. This improves drying or drying efficiency, optimizes clothing care effects, and enhances the user experience.

[0060] 2. This utility model arranges the clothes clamping device inside the lifting rib, making reasonable use of the internal space of the lifting rib, avoiding the setting of the clothes clamping device from affecting the washing capacity of the drum, and the lifting rib can also form a protective structure to prevent clothes from getting tangled with the clothes clamping device during the washing process, thus preventing damage to the clothes or the clothes clamping device and extending the service life of the clothes clamping device.

[0061] 3. In this utility model, after the inner cylinder rotates to adjust the position of the clothing gripping device, the motion mechanism drives the gripper assembly to move along the axial direction of the inner cylinder to further adjust the gripping position, which is conducive to accurate positioning and improves the gripping accuracy of the gripper assembly. In addition, it works in conjunction with the lowering gripper assembly of the retraction mechanism to grip the clothing, effectively improving the gripping efficiency of the clothing. The whole process is simple to operate, time-saving, safe and stable.

[0062] The above description is merely an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model and to implement it according to the contents of the specification, the preferred embodiments of this utility model are described in detail below with reference to the accompanying drawings. The specific implementation methods of this utility model are given in detail in the following embodiments and their accompanying drawings. Attached Figure Description

[0063] The accompanying drawings, which are included to provide a further understanding of the present invention and form part of this application, illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the present invention and do not constitute an undue limitation thereof. In the drawings:

[0064] Figure 1 This is a schematic diagram of the inner cylinder of the garment care device in Embodiment 1 of this utility model;

[0065] Figure 2 This is a structural diagram of the clothing clamping device and inner tube assembly in Embodiment 1 of this utility model;

[0066] Figure 3 This is a structural diagram of the clothing clamping device and lifting rib assembly in Embodiment 1 of this utility model. Figure 1 ;

[0067] Figure 4 This is a structural diagram of the clothing clamping device and lifting rib assembly in Embodiment 1 of this utility model. Figure 2 ;

[0068] Figure 5 This is a schematic diagram of the gripper assembly, motion mechanism, and take-up and release mechanism in Embodiment 1 of this utility model;

[0069] Figure 6 This is a flowchart of the garment hanging method of the garment care device in Embodiment 3 of this utility model. Figure 1 ;

[0070] Figure 7 This is a schematic diagram of the gripper assembly gripping clothing downwards in Embodiment 3 of this utility model;

[0071] Figure 8 This is a schematic diagram of the gripper assembly in embodiment 3 of this utility model, showing the garment hanging in an upward motion.

[0072] Figure 9This is a flowchart of the garment hanging method of the garment care device in Embodiment 3 of this utility model. Figure 2 ;

[0073] Figure 10 This is a flowchart illustrating the determination of gripper assembly gripping points based on distribution areas in Embodiment 3 of this utility model;

[0074] Figure 11 This is a schematic diagram of the graspable area, clothing distribution area, and overlapping area in Embodiment 3 of this utility model;

[0075] Figure 12 This is a flowchart illustrating the process of determining the clothing gripping result of the gripper assembly in Embodiment 3 of this utility model.

[0076] Figure 13 This is a flowchart illustrating the process of controlling the gripping component to perform the hanging clothing action in Embodiment 3 of this utility model.

[0077] Figure 14 This is a flowchart illustrating the process of determining the hanging result of the garment by the gripper assembly in Embodiment 3 of this utility model.

[0078] In the picture: 1. Clothing care device;

[0079] 10. Inner cylinder; 11. Lifting rib; 111. Opening; 112. Door opening and closing structure; 1121. Baffle;

[0080] 20. Clothing clamping device; 21. Gripper assembly; 211. Mechanical gripper; 2111. Mounting arm; 2112. Clamping arm; 212. Power mechanism; 22. Motion mechanism; 221. Lead screw; 222. Mounting block; 23. Retraction mechanism; 231. Lifting rope; 232. Rope retraction motor. Detailed Implementation

[0081] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present invention.

[0082] In the accompanying drawings, shapes and dimensions may be enlarged for clarity, and the same reference numerals will be used in all figures to indicate the same or similar parts.

[0083] In the following description, terms such as center, thickness, height, length, front, back, rear, left, right, top, bottom, upper, and lower are defined relative to the structure shown in the accompanying drawings. In particular, "height" corresponds to the dimension from top to bottom, "width" corresponds to the dimension from left to right, and "depth" corresponds to the dimension from front to back. These are relative concepts and may vary depending on their location and usage. Therefore, these or other orientations should not be interpreted as restrictive terms.

[0084] Terms involving attachment, connection, etc. (e.g., “connection” and “attachment”) refer to the relationship in which these structures are directly or indirectly fixed or attached to each other through an intermediate structure, as well as movable or rigid attachments or relationships, unless otherwise explicitly stated.

[0085] Example 1

[0086] This utility model embodiment provides an inner cylinder 10 of a garment care device 1, combined with... Figures 1-5 As shown, it includes:

[0087] The lifting rib 11 is installed on the inner wall of the inner cylinder 10, and the surface of the lifting rib 11 has an opening 111.

[0088] At least one garment clamping device 20 is installed within the lifting rib 11; the garment clamping device 20 includes:

[0089] Gripper assembly 21;

[0090] A motion mechanism 22 is installed within the lifting rib 11 to drive the gripper assembly 21 to move along the rotation axis of the inner cylinder 10, thereby changing the position of the gripper assembly 21 within the lifting rib 11. The movement direction of the gripper assembly 21 can also form a certain angle with the extension direction of the rotation axis of the inner cylinder 10. For precise control, the preferred embodiment employs the method of controlling the movement of the gripper assembly 21 along the rotation axis of the inner cylinder via the motion mechanism 22. The motion mechanism 22 has a sealing structure to prevent moisture from seeping into the mechanism and causing corrosion to the parts. In some preferred embodiments, the motion mechanism 22 is manufactured using a material with excellent waterproof properties to give it good impermeability and corrosion resistance, enabling it to remain stable in a washing environment for a long time.

[0091] The retraction mechanism 23 is installed between the motion mechanism 22 and the gripper assembly 21 to release or retract the gripper assembly 21, thereby realizing the upward or downward movement of the gripper assembly 21.

[0092] When the gripper assembly 21 moves to the gripping position under the adjustment of the motion mechanism 22, the retraction mechanism 23 controls the gripper assembly 21 to move downward from the opening 111 to grip the clothes at the bottom of the inner tube 10.

[0093] In this embodiment, the clothes are gripped in the drum by the clothes clamping device 20 to achieve hanging and drying, which makes it easier for the clothes care device 1 to perform drying and sterilization procedures. This effectively increases the drying or drying area, and the air or drying airflow can contact the surface of the clothes more evenly, avoiding the situation that the clothes will be wrinkled or partially undried due to direct drying, thus improving the drying or drying efficiency, optimizing the clothes care effect, and enhancing the user experience.

[0094] The clothes clamping device 20 is arranged inside the lifting rib 11, making reasonable use of the internal space of the lifting rib 11. This avoids the clothes clamping device 20 affecting the washing capacity of the drum. In addition, the lifting rib 11 can also form a protective structure to prevent clothes from getting tangled with the clothes clamping device 20 during the washing process, which could damage the clothes or the clothes clamping device 20 and extend the service life of the clothes clamping device 20.

[0095] After the inner drum 10 is rotated to adjust the position of the clothing gripping device 20, the motion mechanism 22 drives the gripper assembly 21 to move along the axial direction of the inner drum 10 to further adjust the gripping position, which is conducive to accurate positioning and improves the gripping accuracy of the gripper assembly 21. In addition, the gripper assembly 21 is lowered by the retraction mechanism 23 to grip the clothing, which effectively improves the gripping efficiency of the clothing. The whole process is simple to operate, time-saving, safe and stable.

[0096] In some embodiments, the retraction mechanism 23 controls the gripper assembly 21 to include multiple hovering positions in its upward or downward movement path.

[0097] Specifically, the stroke of the release mechanism 23 in lowering and retracting the gripper assembly 21 is adjustable. For example, during the gripping process, after the release mechanism 23 lowers the gripper assembly 21 by a certain stroke, it can cooperate with the motion mechanism 22 to further adjust the position of the gripper assembly 21 to improve gripping accuracy. During the hanging process, when the release mechanism 23 retracts the gripper assembly 21, it can adjust the suspension position of the gripper assembly 21 according to the weight and / or length of the garment being gripped, thereby adjusting the hanging height of the garment so that it is in a hanging state.

[0098] In some embodiments, such as Figure 5As shown, the gripper assembly 21 includes at least three mechanical grippers 211 and a power mechanism 212 mounted on the mechanical grippers 211. The mechanical grippers 211 synchronously retract or open under the drive of the power mechanism 212. In this embodiment, the gripper assembly 21 includes four mechanical grippers 211. When the release mechanism 23 lowers the gripper assembly 21 and contacts the clothing, the power mechanism 212 drives the four mechanical grippers 211 to synchronously retract to clamp the clothing. When the drying or tumbling of the clothing is completed, the power mechanism 212 drives the four mechanical grippers 211 to synchronously open to release the clothing.

[0099] Furthermore, each of the mechanical claws 211 includes a mounting arm 2111 and a clamping arm 2112. One end of the mounting arm 2111 is connected to the power mechanism 212, and the other end is connected to the clamping arm 2112. When the power mechanism 212 controls the movement of the mounting arm 2111, the mounting arm 2111 drives the clamping arm 2112 to move to achieve retraction or opening.

[0100] To further improve gripping efficiency, in some embodiments, the gripper assembly 21 is provided with an infrared detection structure to determine whether the mechanical gripper 211 has successfully gripped the clothing; in other embodiments, the gripper assembly 21 also includes a gravity sensor to monitor the gripping state of the mechanical gripper 211; that is, the clothing gripping result is indicated by the change in the value of the gravity sensor.

[0101] In some preferred embodiments, the motion mechanism 22 is a lead screw structure; specifically, the lead screw structure includes a lead screw 221 and a mounting block 222 movably mounted on the lead screw 221. The two ends of the lead screw 221 are fixedly mounted to the two ends of the lifting rib 11 along the axial direction of the cylinder, and the mounting block 222 is connected to the take-up and release mechanism 23. When the mounting block 222 moves along the lead screw 221, the mounting block 222 drives the gripper assembly 21 to adjust its position along the axial direction of the cylinder.

[0102] In some preferred embodiments, the retraction mechanism 23 is an automatic winding device; further, the automatic winding device includes a suspension rope 231 and a winding motor 232 mounted on the suspension rope 231; the suspension rope 231 is mounted on the gripper assembly 21, and the winding motor 232 winds up or releases the suspension rope 231 when rotating forward and backward, thereby realizing the lowering and retraction of the gripper assembly 21; the configuration in this embodiment has the advantages of strong power, high efficiency and fast response speed, which can effectively improve the efficiency of clothing gripping.

[0103] In some embodiments, the lifting rib 11 includes an opening and closing structure, which is installed at the opening 111 to open or close the opening 111. Further, in conjunction with... Figure 3 and Figure 4As shown, the opening and closing structure is a door opening and closing structure 112, which includes at least two baffles 1121.

[0104] In this embodiment, the door opening and closing structure 112 includes two baffles 1121. The two baffles 1121 have an open state in which the opening 111 is opened to allow the gripper assembly 21 to pass through, and a locked state in which the opening 111 is closed to isolate the internal environment of the lifting rib 11 from the internal environment of the inner cylinder 10.

[0105] In some embodiments, the opening and closing structure further includes a driving member disposed between the baffle 1121 and the opening 111 to drive the baffle 1121 to open and close. Specifically, during the process of the release mechanism 23 lowering or retrieving the gripper assembly 21, the driving member controls the two baffles 1121 to be in an open state to allow the gripper assembly 21 to pass through. When the gripper assembly 21 is retracted into the lifting rib 11, the driving member can control the two baffles 1121 to be in a locked state.

[0106] In some other embodiments, such as Figure 4 As shown, the baffle 1121 is configured to open when subjected to the impact force of the gripper assembly 21 being lowered or retracted.

[0107] In some alternative embodiments, the baffle 1121 is also equipped with a pressure sensor to indicate whether the baffle 1211 is subjected to an impact force; when the baffle 1211 is subjected to an impact force from the gripper assembly 21, the drive member drives the baffle 1211 to open to expose the opening 111.

[0108] In some alternative embodiments, the baffle 1121 is rotatably mounted at the opening 111. Further, a reset member is provided between the baffle 1121 and the opening 111; wherein, when no other external force is applied, the baffle 1121 can maintain a locked state of closing the opening 111 under the force of the reset member; specifically, when the retracting mechanism 23 lowers the gripper assembly 21, the baffle 1121 can open under the gravity of the gripper assembly 21; when the retracting mechanism 23 retracts the gripper assembly 21, the baffle 1121 can open under the impact force of the retraction of the gripper assembly 21.

[0109] Preferably, the reset component is a reset spring, which can store and release energy through its elastic deformation so that the baffle 1121 can be automatically reset, and has the advantages of fast response, stability and reliability, simple structure and low cost.

[0110] In some alternative embodiments, the baffle 1121 is an elastic sheet material. Preferably, the baffle 1121 is made of rubber, which can quickly return to its original state when the baffle 1121 is impacted or deformed by external force, and the rubber material has good wear resistance and corrosion resistance, and can be used stably in the inner cylinder 10 for a long time.

[0111] Example 2

[0112] This utility model embodiment also provides a garment care device 1, including the inner drum of the garment care device as described in Embodiment 1. In some embodiments, the garment care device 1 can be applied as a washing machine, in other embodiments as a washer-dryer combo, or as a dryer.

[0113] In this embodiment, the clothes clamping device 20 grabs the clothes in the drum to achieve hanging and drying, which makes it easier for the clothes care device 1 to perform drying and sterilization procedures. This effectively increases the drying or drying area, and the air or drying airflow can contact the surface of the clothes more evenly, avoiding the situation where the clothes are wrinkled or not completely dry due to direct drying. This improves the drying or drying efficiency, optimizes the clothes care effect, and enhances the user experience.

[0114] Secondly, the clothes clamping device 20 is arranged inside the lifting rib 11, making reasonable use of the internal space of the lifting rib 11, avoiding the setting of the clothes clamping device 20 from affecting the washing capacity of the drum. In addition, the lifting rib 11 can also form a protective structure to prevent clothes from getting tangled with the clothes clamping device 20 during the washing process, thus preventing damage to the clothes or the clothes clamping device 20 and extending the service life of the clothes clamping device 20.

[0115] Furthermore, after the inner cylinder 10 rotates to adjust the position of the clothing gripping device 20, the motion mechanism 22 drives the gripper assembly 21 to move along the axial direction of the inner cylinder 10 to further adjust the gripping position, which is conducive to accurate positioning and improves the gripping accuracy of the gripper assembly. In addition, the lowering gripper assembly 21 of the take-up and release mechanism 23 is used to grip the clothing, which effectively improves the gripping efficiency of the clothing. The whole process is simple to operate, time-saving, safe and stable.

[0116] In some embodiments, the garment care device further includes an image acquisition device for acquiring image information of the environment inside the inner drum. The image acquisition device is fixedly installed inside the garment care device and faces the inside of the inner drum. In some embodiments, the image acquisition device is positioned on the non-rotating part of the garment care device and faces the inside of the inner drum. To reduce the interference of washing water flow on the detection accuracy of the image acquisition device, in some preferred embodiments, the image acquisition device is installed inside the door of the garment care device and faces the inside of the inner drum; for example, the image acquisition device can be installed inside the door glass of the door. There can be one or more image acquisition devices, and the specific number can be adjusted according to the specific design scheme and detection accuracy requirements.

[0117] Furthermore, the image acquisition device is a TOF module and / or a camera module.

[0118] Example 3

[0119] This utility model embodiment provides a garment hanging method for a garment care device, combined with Figures 6-8 As shown, the garment care device configured as described in Example 2 performs the following steps:

[0120] S1. Determine whether a clothing grabbing command exists; wherein, in some embodiments, the clothing grabbing command can be automatically triggered after the clothing care device completes the washing program; in other embodiments, the clothing grabbing command can also be input by the user, for example, when the user inputs a drying program or a tumble dryer program, the clothing grabbing command is triggered.

[0121] S2. If it does not exist, then control to continue executing the current washing program;

[0122] S3. If present, control the inner drum to rotate and adjust the clothing gripping device to the upper part of the inner drum. Specifically, since the gripper assembly in this embodiment performs the clothing gripping action after being lowered and contacting the clothing at the bottom of the inner drum by the release mechanism, when a clothing gripping command is received, the clothing gripping device can be directly adjusted to the upper or top part of the inner drum. At this time, the clothing will accumulate at the bottom or lower part of the inner drum under the action of gravity, and the clothing gripping device will face the bottom of the inner drum, so as to facilitate the control of the motion mechanism to further accurately position the gripper assembly so that it is aligned with the clothing at the bottom of the inner drum, effectively improving the clothing gripping efficiency. The whole process is simple to operate, time-saving, safe and stable. Here, "upper part" can be interpreted as the upper half of the inner drum, and "top" refers to the top / highest point of the inner drum; "lower part" can be interpreted as the lower half of the inner drum, and "bottom" refers to the bottom / lowest point of the inner drum.

[0123] S4. Obtain the distribution information of the clothing at the bottom of the inner drum; wherein the distribution information includes at least the distribution area of ​​the clothing;

[0124] S5. Based on the distribution information, control the gripper assembly to move to the corresponding gripping point, and then perform the downward gripping and upward hanging of clothing actions.

[0125] In this embodiment, the clothes are gripped in the drum by the clothes clamping device to achieve hanging and drying, which makes it easier for the clothes care device to perform drying and sterilization procedures. This effectively increases the drying or drying area, and the air or drying airflow can contact the surface of the clothes more evenly, avoiding the situation that the clothes will wrinkle or be partially undried due to direct drying. This improves the drying or drying efficiency, optimizes the clothes care effect, and enhances the user experience.

[0126] In some implementations, the specific steps for controlling the gripper assembly to move to the corresponding gripping point based on the distribution information are as follows: Figure 9 The following are included:

[0127] S51. Acquire image information of the environment inside the inner cylinder; specifically, acquire image information of the environment inside the inner cylinder through the image acquisition device, such as a TOF module and / or a camera module.

[0128] S52. Identify the distribution area of ​​clothing at the bottom of the inner tube based on the image information;

[0129] S53. Determine the gripping point of the gripper assembly based on the distribution area;

[0130] S54. Control the gripper assembly to move to the gripping point.

[0131] In this embodiment, image information can be used to quickly locate and identify the stacking posture of clothing, providing a precise target position for the gripper assembly to move downwards and grasp, effectively improving grasping efficiency and accuracy.

[0132] In some alternative implementations, such as Figure 10 As shown, the specific steps for determining the gripping point of the gripper assembly based on the distribution area include:

[0133] S531. Obtain the gripping area of ​​the clothing gripping device; wherein, the gripping area can be understood as the gripping range at the bottom of the inner drum that the gripper assembly can cover during its movement along the axial direction of the inner drum, for example, when the clothing gripping device 20 is located as follows: Figure 11 At the position shown, Figure 11 The dashed box at point A indicates the gripping area of ​​the gripper assembly 21;

[0134] S532. Determine whether there is an overlapping area between the grabbable area and the distribution area;

[0135] S533. If present, select any position within the overlapping area as the gripping point, and then control the gripper assembly to move to the gripping point to perform downward gripping and upward hanging of clothing actions; for example... Figure 11 As shown, when the gripping area A and the distribution area B of the clothing at the bottom of the inner tube 10 overlap with each other in area C, any point in the overlapping area C can be used as the gripping point of the gripper assembly. That is, as long as the gripper assembly moves into the overlapping area C, it can perform a downward gripping action.

[0136] S534. If not, control the inner drum to rotate to adjust the position of the clothing clamping device. It should be noted that each time the inner drum is rotated to adjust the position of the clothing clamping device, the distribution area of ​​clothing at the bottom of the inner drum also changes with the rotation. Therefore, it is necessary to re-acquire the clothing distribution information at the bottom of the inner drum after each adjustment of the clothing clamping device's position. In some optional embodiments, during the rotation of the inner drum, an image acquisition device is configured to acquire image information of the environment inside the inner drum in real time, thereby obtaining the positional changes of the clothing clamping device and the distribution changes of clothing at the bottom of the inner drum in real time, so as to facilitate rapid judgment and timely response.

[0137] To further improve crawling efficiency and reliability, in some implementation methods, such as Figure 12 As shown, it also includes the following steps:

[0138] S6. Determine whether the gripper assembly has completed the clothing gripping action; in some embodiments, the determination of whether the clothing has been successfully gripped can be made by setting an infrared detection structure or a gravity sensor on the gripper assembly; in other embodiments, the determination of whether the clothing has been successfully gripped can be made by acquiring image information of the gripper assembly.

[0139] S7. If so, control the gripper assembly to move upward to hang the clothing;

[0140] S8. If not, then re-execute the clothing grabbing action.

[0141] Furthermore, before controlling the gripper assembly to move upward, such as... Figure 13 As shown, it also includes the following steps:

[0142] S711. Obtain the weight of the clothing gripped by the gripper assembly;

[0143] S712. Match the weight with a preset weight threshold; wherein each preset weight threshold is matched with a different preset hovering position;

[0144] S713. If the weight matches a preset weight threshold, then obtain the preset hovering position corresponding to the preset weight threshold as the target hovering position of the gripper assembly.

[0145] When the clothing gripping device performs a gripping action, the randomness of its application position on the clothing results in varying lengths of hanging garments depending on the application position. Therefore, in some preferred embodiments, such as... Figure 14 As shown, it also includes the following steps:

[0146] S721. Obtain real-time image information of the environment inside the inner cylinder;

[0147] S722. Based on the real-time image information, determine whether the grabbed clothing has detached from the bottom inner wall of the inner drum;

[0148] S723. If the grabbed clothing detaches from the inner wall at the bottom of the inner drum, it is determined that the grabbed clothing is in a hanging state.

[0149] S724. If the grabbed clothing has not detached from the inner wall at the bottom of the inner drum, the clamping assembly is controlled to move upward.

[0150] The image information captured in real time in this embodiment can accurately determine the position and posture of the clothing, providing precise guidance for the control of the gripper assembly, ensuring the accuracy and reliability of the gripping and hanging actions, and enabling rapid response, thereby improving gripping efficiency and hanging effect.

[0151] It should be noted that the clothing being grabbed can be further identified through image information after the gripper assembly reaches the target hovering position, thereby ensuring that the clothing can be suspended; or the posture of the clothing being grabbed can be monitored in real time during the upward movement of the gripper assembly controlled by the release mechanism, so as to quickly adjust the suspension height of the clothing being grabbed.

[0152] In some preferred embodiments, the process of continuing to control the upward movement of the gripping assembly further includes the step of:

[0153] When the real-time image information indicates that the grabbed clothing has not detached from the bottom inner wall of the inner drum, and the retractable stroke of the gripper assembly reaches its minimum value, the gripper assembly is controlled to re-execute the clothing grabbing action.

[0154] Specifically, since the position of the gripper assembly on the garment is relatively random, the length of the garment hanging varies when it is applied to different positions. Thus, when the gripper assembly grabs the same garment, applying it to some positions will cause the bottom of the garment to remain stuck on the bottom of the inner drum, while applying it to other positions will allow the garment to hang. Therefore, the method in this embodiment can improve the stability of the garment hanging result.

[0155] In some preferred embodiments, before determining whether the grabbed clothing has detached from the inner wall of the bottom of the inner drum, the method further includes the following step:

[0156] When the gripper assembly reaches the preset stroke, the gripper assembly is controlled to swing to shake the clothes.

[0157] For example, a swing mechanism can be set on the gripper assembly. When the gripper assembly moves upward a certain distance, it can swing to shake the clothes apart. On the one hand, the shaking action can enable more precise control during the judgment and recognition process to ensure that the clothes are in a hanging state. On the other hand, it can effectively increase the drying or drying area, so that the air or drying airflow can contact the surface of the clothes more evenly.

[0158] Although the embodiments of this utility model have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for this utility model. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, this utility model is not limited to the specific details and the illustrations shown and described herein.

Claims

1. An inner cylinder of a garment care device, characterized in that, include: The lifting ribs are installed on the inner wall of the inner cylinder, and the surface of the lifting ribs has an opening; At least one garment clamping device is installed inside the lifting rib; The clothing clamping device includes: gripper assembly; A motion mechanism, installed inside the lifting rib, is used to drive the gripper assembly to move along the rotation axis of the inner cylinder, thereby changing the position of the gripper assembly inside the lifting rib. A retraction mechanism is installed between the motion mechanism and the gripper assembly to release or retract the gripper assembly, thereby enabling the gripper assembly to move upward or downward. When the gripper assembly moves down to the gripping position, it performs the gripping of clothing at the bottom of the inner drum.

2. The inner cylinder of the garment care device as described in claim 1, characterized in that: The retraction mechanism controls the gripper assembly to move up or down, including multiple hovering positions.

3. The inner cylinder of the garment care device as described in claim 1, characterized in that: The gripper assembly includes at least three mechanical grippers and a power mechanism mounted on the mechanical grippers, the mechanical grippers synchronously closing or opening under the drive of the power mechanism.

4. The inner cylinder of the garment care device as described in claim 3, characterized in that: The gripper assembly also includes a gravity sensor to monitor the gripping state of the mechanical gripper.

5. The inner cylinder of the garment care device as described in claim 1, characterized in that: The release and take-up mechanism includes a suspension rope and a rope-retracting motor mounted on the suspension rope; the suspension rope is mounted on the gripper assembly, and the rope-retracting motor retracts or releases the suspension rope when it rotates forward or backward, so as to realize the lowering and retraction of the gripper assembly.

6. The inner cylinder of the garment care device as described in claim 1, characterized in that: The lifting rib includes an opening and closing structure, which is installed at the opening to open or close the opening.

7. The inner cylinder of the garment care device as described in claim 6, characterized in that: The opening and closing structure is a door opening and closing structure, which includes at least one baffle.

8. The inner cylinder of the garment care device as described in claim 7, characterized in that: The opening and closing structure also includes a driving component for driving the baffle to open and close.

9. The inner cylinder of the garment care device as described in claim 7, characterized in that: The baffle is configured to open when subjected to an impact force during the lowering or retraction of the gripper assembly.

10. The inner cylinder of the garment care device as described in claim 9, characterized in that: The baffle is rotatably mounted at the opening, and a reset element is provided between the baffle and the opening.

11. The inner cylinder of the garment care device as described in claim 9, characterized in that: The baffle is made of elastic material.

12. A garment care device, characterized in that, Includes the inner cylinder of the garment care device as described in any one of claims 1-11.

13. The garment care device as claimed in claim 12, characterized in that, Also includes: An image acquisition device is mounted on the non-rotating part of the garment care device and faces the inside of the inner tube.

Images