Clothes drying machine

Abstract

The application discloses a clothes airing machine, which comprises a clothes airing frame, a multi-degree-of-freedom mechanical arm and a detection unit, one end of the multi-degree-of-freedom mechanical arm is fixedly installed on the clothes airing frame, and the other end is provided with the detection unit; the detection unit is driven to move by the multi-degree-of-freedom mechanical arm, so that the detection unit can detect information of multiple areas of clothes hung under the clothes airing frame. The clothes airing machine can solve the detection limitation of the prior art and realize comprehensive acquisition of the information of multiple areas of the clothes hung under the clothes airing frame.

Description

Technical Field

[0001] This application relates to the technical field of clothes drying equipment, and more particularly to a clothes drying machine. Background Technology

[0002] In the field of smart clothes drying rack technology, as a common device that improves the convenience of home clothes drying, it has gradually acquired basic functions such as automatic lifting, air drying, and tumble drying. However, current smart clothes drying rack technologies still lack corresponding structural designs capable of multi-angle and multi-range detection of dried clothes. This results in the device's inability to effectively acquire specific status information of the clothes during the drying process. This information includes, but is not limited to, the clothes' own humidity changes, surface smoothness, presence of dirt, and key parameters such as the dust content in the air of the drying environment. The lack of acquisition of this information makes it difficult for smart clothes drying racks to make targeted adjustments based on the actual drying status of the clothes, which to some extent affects the drying effect and user experience. Utility Model Content

[0003] The purpose of this utility model embodiment is to provide a clothes drying rack that can solve the above-mentioned problems existing in the prior art.

[0004] To achieve the above objectives, this application adopts the following technical solution: On the one hand, a clothes drying rack is provided, including: a clothes rack, a multi-degree-of-freedom robotic arm, and a detection unit. One end of the multi-degree-of-freedom robotic arm is fixedly installed on the clothes rack, and the other end is equipped with the detection unit. The detection unit is driven to move by the multi-degree-of-freedom robotic arm, so that the detection unit can detect information of multiple areas of the clothes hanging under the clothes rack.

[0005] Furthermore, the detection unit includes one or more of the following: a humidity sensor, a pressure sensor, an infrared sensor, a dust sensor, and a camera.

[0006] Furthermore, the multi-degree-of-freedom robotic arm has a stowable form; The clothes rack is equipped with a storage slot, and in the stored state, the multi-degree-of-freedom robotic arm is stored in the storage slot. Alternatively, in the storage configuration, the multi-degree-of-freedom robotic arm is placed close to the surface of the clothes rack for storage.

[0007] Furthermore, the clothes rack includes a guide rail base cover, and in the stored form, the multi-degree-of-freedom robotic arm is stored in the guide rail base cover or stored close to the surface of the guide rail base cover.

[0008] Furthermore, two multi-degree-of-freedom robotic arms are provided, with one multi-degree-of-freedom robotic arm mounted on each guide rail base cover, and each multi-degree-of-freedom robotic arm connected to a detection unit; The multi-degree-of-freedom robotic arm includes multiple movable arms connected in sequence. When in the storage mode, each movable arm is folded into the storage slot or folded close to the surface of the clothes rack.

[0009] Furthermore, the multi-degree-of-freedom robotic arm includes a first movable arm, a second movable arm, and a third movable arm connected in sequence. The end of the first movable arm away from the second movable arm is connected to the clothes rack, and the detection unit is installed at the end of the third movable arm away from the second movable arm. Wherein, the first movable arm and the third movable arm are rotatably mounted on the same side of the second movable arm, and the length of the second movable arm is greater than or equal to the sum of the lengths of the first movable arm and the third movable arm; or, the first movable arm and the third movable arm are rotatably mounted on two opposite sides of the second movable arm.

[0010] Furthermore, the multi-degree-of-freedom robotic arm includes a connecting mechanism and a movable arm, the movable arm being movably connected to the clothes rack via the connecting mechanism.

[0011] Furthermore, the connecting mechanism includes a base and a rotating part. The base is fixed to the clothes rack, the rotating part is rotatably mounted on the base, and the multi-degree-of-freedom robotic arm is rotatably mounted on the rotating part. The rotating part rotates relative to the base around a first rotating axis, and the multi-degree-of-freedom robotic arm rotates relative to the rotating part around a second rotating axis, wherein the first rotating axis is perpendicular to the second rotating axis.

[0012] Furthermore, the multi-degree-of-freedom robotic arm is also equipped with an action unit, which is electrically connected to the detection unit, and the action unit can perform actions or maintain its original state according to the detection structure of the detection unit; The action unit includes one or more of the following: a heating and air supply module, a patting module, and an ironing module.

[0013] Furthermore, the clothes rack includes a clothes rack body and a quilt drying rod assembly. The clothes rack body includes a drying rod, and the quilt drying rod assembly includes a quilt drying rod and movable rods connected to both ends of the quilt drying rod. The movable rods are movably installed on the clothes rack body, allowing the quilt drying rod to translate relative to the drying rod. The multi-degree-of-freedom robotic arm can push the quilt drying rod to translate relative to the clothes rack body, causing the quilt drying rod to be close to the drying rod for storage, or causing the quilt drying rod to move away from the drying rod until it is offset from the drying rod. Alternatively, the drying rack includes a fixed rod and a telescopic rod that is retractable and mounted on the fixed rod, and the telescopic rod can be pushed to extend or retract relative to the fixed rod by the multi-free robotic arm.

[0014] The beneficial effects of this application are as follows: This solution effectively solves the problem of existing intelligent clothes drying racks having a single detection angle and limited range. The multi-degree-of-freedom robotic arm drives the detection unit to achieve multi-angle and multi-range detection, which can comprehensively acquire key information such as changes in clothing humidity, surface smoothness, dirt adhesion, and dust content in the air of the drying environment. This solves the problem of incomplete acquisition of clothing status information in the prior art. Moreover, based on complete clothing status information, the clothes drying rack can be adjusted in a targeted manner, significantly improving the drying effect. Attached Figure Description

[0015] The present application will now be described in further detail with reference to the accompanying drawings and embodiments.

[0016] Figure 1 This is a schematic diagram of the clothes drying rack described in the embodiments of this application. Figure 1 ; Figure 2 This is a schematic diagram of the state of the multi-degree-of-freedom robotic arm described in the embodiments of this application; Figure 3 This is a schematic diagram of the storage state of the multi-degree-of-freedom robotic arm described in the embodiments of this application; Figure 4 This is a schematic diagram of the clothes drying rack described in the embodiments of this application. Figure 2 ; Figure 5 This is a schematic diagram illustrating the state of the detection unit detecting the upper right corner of the clothing according to an embodiment of this application; Figure 6 This is a schematic diagram illustrating the state of the detection unit detecting the lower right corner of the clothing according to an embodiment of this application; Figure 7 This is a schematic diagram illustrating the state of the detection unit detecting the upper left corner of the clothing according to an embodiment of this application; Figure 8 This is a schematic diagram illustrating the state of the detection unit detecting the lower left corner of the clothing according to an embodiment of this application; Figure 9 This is a schematic diagram of the reset state of the quilt drying rod described in the embodiments of this application. Figure 1 ; Figure 10 This is a schematic diagram of the reset state of the quilt drying rod described in the embodiments of this application. Figure 2 .

[0017] In the diagram: 1. Clothes rack; 101. Drying rod; 2. Multi-degree-of-freedom robotic arm; 201. First movable arm; 202. Second movable arm; 203. Third movable arm; 204. Connecting mechanism; 2041. Base; 2042. Rotating part; 3. Detection unit; 4. Guide rail base cover; 5. Blanket drying rod. Detailed Implementation

[0018] To make the technical problems solved by this application, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of this application are further described in detail below. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0019] In the description of this application, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0020] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0021] In home settings, smart clothes drying racks, as core home appliances addressing the need for convenient clothes drying, are widely used in spaces such as balconies, bay windows, and open drying areas. Their technological evolution has gradually shifted from basic manual operation to automation and semi-automation. Current mainstream products generally integrate functions such as automatic lifting, air drying, and tumble drying, effectively alleviating the pain points of traditional clothes drying which relies on natural conditions and is cumbersome to operate.

[0022] However, from the perspective of the refined sensing and control technology of smart clothes drying racks, current technical solutions still have key shortcomings: a lack of multi-angle, multi-range detection structure design adapted to the three-dimensional drying scenario of clothes. Existing products, if equipped with detection functions, mostly use fixed-point installation for their detection devices. For example, integrating sensors into the lower middle of the drying rod or on a fixed panel of the machine body can only achieve single-angle, limited-range detection of the central area of ​​the front of the clothes, failing to cover the three-dimensional space and detailed areas during the drying process. Specifically, this structural defect leads to multiple limitations for the detection device: First, clothes hang in a three-dimensional, drooping state, creating blind spots for both front and back detection, such as the back of the clothes not being covered by the fixed detection device; second, special parts of the clothes, being far from the fixed detection point and easily partially obstructed by their drooping shape, become blank areas for detection coverage; third, the differences in drying patterns of different materials further exacerbate the problem of insufficient angle adaptability of the fixed detection device, making it impossible to adjust the detection angle according to the actual shape of the clothes, resulting in the detection range being limited to a planar, localized area on the surface of the clothes, making it difficult to achieve comprehensive perception of the clothes as a whole and in detail.

[0023] To address the above problems, this embodiment provides a clothes drying rack, such as... Figures 1-8 As shown, it includes: a clothes rack 1, a multi-degree-of-freedom robotic arm 2, and a detection unit 3. One end of the multi-degree-of-freedom robotic arm 2 is fixedly installed on the clothes rack 1, and the other end is equipped with the detection unit 3. The multi-degree-of-freedom robotic arm 2 drives the detection unit 3 to move, so that the detection unit 3 can detect information of multiple areas of the clothes hanging under the clothes rack 1.

[0024] Based on the above scheme, the multi-degree-of-freedom robotic arm 2 can drive the end-effector detection unit 3 to flexibly adjust its spatial position through multi-dimensional movements such as joint rotation and arm extension. When inspecting clothing, the robotic arm can drive the detection unit 3 to approach the collar, cuffs, and corners of the hanging clothing—areas that are difficult to cover by traditional fixed detection structures—or it can go around to the back of the clothing to complete the inspection. At the same time, by adjusting the tilt angle of the detection unit 3, it can adapt to clothing with different hanging states, ensuring effective inspection coverage of smooth folds, local stain attachment points, and other detailed areas on the surface of the clothing. During this process, the detection unit 3 can selectively collect data such as humidity values, surface texture characteristics, pollutant information, and environmental dust concentration in each area, achieving a comprehensive perception of the clothing's drying status.

[0025] This solution achieves a precise breakthrough in addressing the limitations of existing smart clothes drying racks. On one hand, it enables comprehensive collection of clothing status information. Through the flexible drive of the multi-degree-of-freedom robotic arm 2, the detection unit 3 can cover both sides of the clothing, corner details, and key areas under different drape patterns, solving the problem that traditional fixed detection structures can only obtain partial information about the clothing. For example, it can accurately detect the humidity in the armpit area of ​​a shirt, the wrinkle status of trouser cuffs, and localized stains on the back of clothing, while simultaneously collecting real-time dust concentration data of the drying environment, ensuring more complete and precise information.

[0026] On the other hand, based on comprehensive clothing status information, the clothes dryer can achieve targeted operational optimization. For example, for areas of high humidity detected on the clothing, the drying module can be controlled to increase the hot air output in that area; when obvious wrinkles are found on the surface of the clothing, a prompt function can be activated to guide the user to tidy them up in time; if the concentration of dust in the environment exceeds the standard, the clothes dryer can automatically activate the dust removal or sealing protection function to avoid secondary pollution of the clothing, significantly improving the controllability and accuracy of the drying effect.

[0027] Meanwhile, through feedback from multi-dimensional detection data, users can obtain real-time information on the drying progress, potential problems, and environmental impact of each area of ​​clothing. This solves the problem of information gaps in existing devices that can only provide an overall vague state, allowing users to have a clearer control over the clothing drying process and further meeting the refined and humanized needs of smart home appliances.

[0028] Specifically, the detection unit 3 includes one or more of the following: a humidity sensor, a pressure sensor, an infrared sensor, a dust sensor, and a camera. In this solution, the humidity sensor detects the humidity of clothing based on its sensitivity to moisture. Its core function is to sense changes in the physical properties of clothing caused by moisture through a sensing element, and then convert these changes into a recognizable signal. In a clothes drying rack application scenario, the humidity sensor, along with the multi-degree-of-freedom robotic arm 2, is close to the surface of the clothing, allowing it to target specific areas where moisture tends to remain, accurately capturing real-time humidity differences in different areas, thereby obtaining the moisture distribution across various parts of the clothing.

[0029] The pressure sensor detects the condition of clothing using the principle of pressure sensing and can be integrated into the contact probe end of the detection unit 3 in the clothes dryer. When the detection unit 3 is close to the clothing, the flatness of the clothing surface will cause differences in the pressure felt by the sensor. The pressure at the folds and bulges of the clothing is different from that at flat areas, and there is no effective pressure feedback in areas not covered by clothing. At the same time, the sensor can also help determine the stability of the clothing hanging. If the clothing is not hung stably, the pressure felt by the sensor will fluctuate abnormally, thus identifying abnormal clothing hanging conditions.

[0030] Infrared sensors utilize the characteristics of infrared light to achieve detection functions. On the one hand, they can infer the moisture content by observing how clothing absorbs infrared light, and can detect the internal humidity even if there is slight obstruction on the surface of the clothing. On the other hand, they can distinguish clothing from the surrounding environment based on differences in infrared reflection, thus clarifying the effective detection range of detection unit 3, avoiding invalid detection of areas without clothing, and improving detection efficiency.

[0031] Dust sensors monitor dust concentration in the drying environment based on specific optical detection principles. In the case of a clothes dryer, the internal transmitting component emits a detection signal, which is then reacted to by dust particles in the environment. The receiving component captures the reacted signal and converts it into analyzable information, thereby determining the cleanliness of the drying environment and providing an environmental reference for drying clothes.

[0032] The camera acquires images of the clothing surface through optical imaging, and then combines these images with image analysis algorithms to identify the clothing's condition. The camera, accompanied by a robotic arm, captures images of the front and back of the clothing, as well as its edges and corners, from multiple angles. After obtaining clear surface images, the algorithm extracts and analyzes image features, identifying dirty areas and wrinkles on the clothing surface. It can also assist in identifying the type of clothing, providing a basis for subsequent equipment adjustments.

[0033] The aforementioned detection unit 3, through the combination of multi-dimensional perception and image recognition, fundamentally solves the problem of incomplete perception and inaccurate judgment of the condition of clothes in existing smart clothes drying racks, as detailed below: A humidity sensor and an infrared sensor form a dual humidity detection mechanism, which can obtain the surface humidity of clothing through direct contact and also penetrate the surface to detect internal moisture, effectively avoiding misjudgments caused by dry surface and damp interior, and solving the problem of undetected localized dampness. A pressure sensor and a camera work together. The pressure sensor can initially identify the distribution of wrinkles by contact pressure differences, while the camera can confirm the degree of wrinkles and the state of dirt by using image details, filling in the detection blind spots in areas such as the back and corners of clothing. A dust sensor monitors the cleanliness of the drying environment in real time, providing data support for preventing secondary pollution of clothing, and ultimately building a full-dimensional perception system.

[0034] In addition, based on local humidity data collected by humidity sensors, the clothes dryer can perform zoned control for different humidity levels of clothing, enhancing the drying effect in high-humidity areas and reducing energy consumption in already dried areas to avoid energy waste and incomplete drying. Combined with camera recognition of clothing type and soiling status, the clothes dryer can adapt to different operating parameters. It adjusts drying intensity and temperature for different fabric materials and sends reminders to users when residual dirt is detected. Based on environmental data monitored by dust sensors, when the ambient dust concentration is high, the clothes dryer can automatically trigger protective measures, such as adjusting ventilation or linking with other devices, to reduce the risk of clothes getting dusty at the source.

[0035] The detection data from each component can be visualized for users through the device terminal or associated applications. For example, it can provide feedback on the drying progress of different areas of the clothing, whether there are dirt or wrinkles on the surface, and whether the current drying environment is suitable. This allows users to move from having a vague understanding of the drying status to having precise control over the details. In addition, the pressure sensor can issue an immediate reminder when it detects that the clothing is not hanging securely, preventing the clothing from falling and getting stained. The camera can push sorting suggestions after detecting wrinkles in the clothing, reducing the workload of subsequent processing after collecting the clothes. This truly realizes an intelligent experience where the drying process is perceptible, potential problems are alerted early, and the operation process is more convenient, fully meeting users' core needs for refined and convenient smart home appliances.

[0036] In some embodiments, the multi-degree-of-freedom robotic arm 2 has a retractable form; the clothes rack 1 is provided with a storage slot, and in the retractable form, the multi-degree-of-freedom robotic arm 2 is stored in the storage slot; or, in the retractable form, the multi-degree-of-freedom robotic arm 2 is stored close to the surface of the clothes rack 1. The core of the retractable form design of the multi-degree-of-freedom robotic arm 2 is to achieve compact storage in a non-detection state by adapting the joint movement of the robotic arm itself to the structure of the clothes rack 1, specifically through two implementation paths: Firstly, the storage method is based on the storage slot. The clothes rack 1 has a storage slot on its pole, frame, or pre-installed area that matches the storage form of the multi-degree-of-freedom robotic arm 2. The volume and shape of the storage slot match the overall size and outline of the robotic arm after folding / extending. When the clothes rack does not need to detect clothes, the multi-degree-of-freedom robotic arm 2 will adjust its form through joint folding and arm extension, so that the entire structure of the robotic arm is completely embedded in the storage slot. After storage, the outer surface of the robotic arm is flush with the opening of the storage slot of the clothes rack 1 or does not protrude from the surface of the clothes rack 1, forming an embedded storage state and avoiding the exposure of the robotic arm structure.

[0037] Secondly, the storage method involves close contact with the surface of the clothes rack 1. This method eliminates the need for additional storage slots. Instead, it optimizes the joint range of motion and posture control logic of the multi-degree-of-freedom robotic arm 2, allowing the arm to adjust to a posture that is in close contact with the surface of the clothes rack 1 even when not under detection. For example, if the clothes rack 1 is a rod-shaped structure, the robotic arm can rotate its horizontal joints and tilt its vertical joints to move the arm parallel to the drying rod 101, bringing the arm close to the side or bottom surface of the drying rod 101. If the clothes rack 1 is a frame structure, the robotic arm can be folded and fitted against the inner wall or top surface of the frame. Throughout the storage process, the robotic arm, through precise posture control, ensures no significant gap between itself and the surface of the clothes rack 1, achieving a close-fitting storage state without occupying additional drying space around the clothes rack 1.

[0038] Generally, the clothes rack 1 includes a guide rail base cover 4. In the retracted configuration, the multi-degree-of-freedom robotic arm 2 is retracted into or close to the surface of the guide rail base cover 4. The guide rail base cover 4 is an integral part of the clothes rack 1. Retracting the robotic arm into or close to its surface eliminates the need for additional independent storage slots or reserved installation space on the clothes rack 1, avoiding the problem of increased size and compressed drying area caused by adding a storage structure. At the same time, the integrated storage of the robotic arm and the guide rail base cover 4 makes the overall structure of the clothes rack more compact, especially suitable for small apartments with limited space, such as balconies, ensuring that the drying capacity is not affected by the detection structure. Moreover, the guide rail cover 4 usually has a certain dustproof and moisture-proof capability. When the robotic arm is stored inside the guide rail cover 4, the protective characteristics of the guide rail cover 4 can be used to isolate dust and moisture in the balcony environment, and prevent the joints of the robotic arm from rusting and the surface of the detection unit 3 from being contaminated with impurities, which would affect the accuracy. Even if the robotic arm is stored close to the surface, the guide rail cover 4 can still provide a certain physical shield for the robotic arm and reduce the damage to the robotic arm caused by external collisions.

[0039] Furthermore, when the robotic arm is retracted into or close to the surface of the guide rail cover 4, it visually blends completely into the original structure of the clothes rack 1, without any exposed detection components disrupting the overall aesthetics. For example, when retracted into the guide rail cover 4, only the regular appearance of the guide rail cover 4 is visible; when retracted close to the surface, the robotic arm is flush with the surface of the guide rail cover 4, without any obvious protrusions or abrupt structures, meeting the modern family's demand for a simplified and integrated appearance of home appliances, and adapting to different styles of home decoration. At the same time, the structural position of the guide rail cover 4 is fixed. If it is distributed in a straight line along the width of the clothes rack 1, the robotic arm returns to its fixed position inside or on the surface of the guide rail cover 4 after each retraction, forming a stable initial detection origin. When the detection function needs to be activated, the robotic arm can start from this origin and quickly locate the clothes hanging area based on the preset guide rail position data, avoiding omissions or repeated detections due to initial position offset, significantly improving detection response speed and accuracy.

[0040] Furthermore, two multi-degree-of-freedom robotic arms 2 are provided, with one multi-degree-of-freedom robotic arm 2 installed on each of the guide rail base covers 4, and each multi-degree-of-freedom robotic arm 2 connected to a detection unit 3. Each multi-degree-of-freedom robotic arm 2 includes multiple sequentially connected movable arms. When in the storage form, each movable arm is folded into the storage slot or folded close to the surface of the clothes rack 1. The two multi-degree-of-freedom robotic arms 2 are respectively installed on different guide rail base covers 4, enabling synchronous or zoned detection of different areas of the clothes rack 1, expanding the coverage of a single detection. For example, the robotic arms on the left and right guide rail base covers 4 are responsible for detecting clothing in the left and right halves of the clothes rack 1, respectively, reducing the movement stroke of the robotic arms and improving the detection response speed. Simultaneously, the multiple movable arms of each robotic arm can flexibly adjust their posture, reaching deep into the corners, backs, and other detailed areas of the clothing. Combined with the synergistic effect of the two robotic arms, blind spots in the detection process during clothing drying are completely eliminated, ensuring comprehensive and thorough collection of status information for all hung clothing.

[0041] The multi-degree-of-freedom robotic arm 2 employs a folding storage design for each movable arm, maximizing its volume when not in a detection state. Whether folded within the storage slot of the guide rail base cover 4 or folded close to the surface of the clothes rack 1, the robotic arm seamlessly integrates into the original structure of the clothes rack 1, without protruding from the main drying area. This design prevents the robotic arm from occupying the hanging space for clothes, avoids collisions and entanglement between clothes and the robotic arm, and does not interfere with the user's operation of picking up and putting down clothes. Moreover, the folding storage method allows the robotic arm to maintain a compact posture when not in operation, reducing the impact of the external environment on the robotic arm. When stored in the storage slot, the guide rail base cover 4 provides a sealed protection against dust and moisture, preventing humid air and dust from corroding the joints and circuitry; when folded close to the surface, the movable arms fit together, reducing damage to individual movable arms from external impacts and minimizing joint loosening or deformation caused by long-term inactivity, thus extending the overall service life of the robotic arm.

[0042] Furthermore, the multi-degree-of-freedom robotic arm 2 includes a first movable arm 201, a second movable arm 202, and a third movable arm 203 connected in sequence. The end of the first movable arm 201 away from the second movable arm 202 is connected to the clothes rack 1, and the detection unit 3 is installed at the end of the third movable arm 203 away from the second movable arm 202. Wherein, the first movable arm 201 and the third movable arm 203 are rotatably mounted on the same side of the second movable arm 202, and the length of the second movable arm 202 is greater than or equal to the sum of the lengths of the first movable arm 201 and the third movable arm 203; or, the first movable arm 201 and the third movable arm 203 are rotatably mounted on two opposite sides of the second movable arm 202.

[0043] In the above scheme, the first movable arm 201, the second movable arm 202, and the third movable arm 203 are connected in sequence to form a multi-level motion joint. Compared with structures with fewer movable arms, this allows for more complex spatial posture adjustments. For example, the first movable arm 201 can move the entire structure along the length of the clothes rack 1, the second movable arm 202 can adjust the vertical height of the detection unit 3, and the third movable arm 203 can fine-tune the tilt angle of the detection unit 3, ensuring that the detection unit 3 can adapt to clothing with different hanging shapes, covering all key areas such as the front, back, and corners, and completely eliminating blind spots in detection.

[0044] The first movable arm 201 and the third movable arm 203 are rotatably mounted on the same side of the second movable arm 202, and the length of the second movable arm 202 is greater than or equal to the sum of the lengths of the first movable arm 201 and the third movable arm 203. When the robotic arm enters the storage mode, the first movable arm 201 can rotate around the joint connecting it to the second movable arm 202 and move closer to the second movable arm 202 until it is in contact with the side of the second movable arm 202; at the same time, the third movable arm 203 rotates around the joint connecting it to the second movable arm 202 and moves closer to the second movable arm 202. Since the length of the second movable arm 202 is sufficient to accommodate both, the first movable arm 201 and the third movable arm 203 can be stacked and stored on the same side of the second movable arm 202. Finally, the three movable arms form a compact structure arranged along the length of the second movable arm 202, which can be embedded in the storage slot or close to the surface of the clothes rack 1. During the detection process, the three movable arms can coordinate their joint rotations to achieve multi-angle adjustments of the detection unit 3 in the horizontal and vertical directions. For example, the first movable arm 201 adjusts the overall horizontal position, the second movable arm 202 adjusts the detection height, and the third movable arm 203 fine-tunes the relative angle between the detection unit 3 and the clothing.

[0045] Alternatively, the first movable arm 201 and the third movable arm 203 are rotatably mounted on two opposite sides of the second movable arm 202. In this case, the first movable arm 201 and the third movable arm 203 are located on both sides of the second movable arm 202, and can rotate independently through their respective rotary joints. When stored, the first movable arm 201 rotates towards one side of the second movable arm 202 and fits against its surface, while the third movable arm 203 rotates towards the other side of the second movable arm 202 and fits against its surface. The misalignment of the two sides' spaces is used to achieve folding, so that the three movable arms form a flat and compact structure. During detection, the movable arms on both sides can independently adjust their movement trajectories. For example, the first movable arm 201 drives the whole structure to extend to the left, while the third movable arm 203 adjusts the detection angle to the right, reducing movement interference between the movable arms. Both installation methods achieve efficient storage through the folding design of the movable arms: When installed on the same side, the length advantage of the second movable arm 202 allows the first and third movable arms 203 to completely overlap its surface. After folding, the overall length is only slightly longer than the second movable arm 202, easily fitting into the storage slot of the guide rail base cover 4. When installed on opposite sides, the staggered folding of the two sides avoids the increased thickness caused by the mutual stacking of movable arms, allowing them to fit tightly against the surface of the clothes rack 1 without protruding from the drying area. Both methods ensure that the robotic arms do not occupy the clothing hanging space when not in a detection state, do not interfere with the user's loading and unloading of clothes, and are suitable for small space drying scenarios.

[0046] In some embodiments, the multi-degree-of-freedom robotic arm 2 includes a connecting mechanism 204, through which the movable arm is movably connected to the clothes rack 1. The connecting mechanism 204 typically integrates a rotary joint, bearing assembly, and drive components. One end of the connecting mechanism is detachably or fixedly connected to the guide rail base 4 of the clothes rack 1, and the other end is rigidly connected to the first movable arm of the multi-degree-of-freedom robotic arm 2. Functionally, the connecting mechanism 204 can drive the first movable arm to rotate horizontally about an axis perpendicular to the surface of the clothes rack 1, or to pitch vertically about an axis parallel to the surface of the clothes rack 1, through the rotation of its internal rotary joint. Some connecting mechanisms 204 may also integrate a sliding component, allowing the movable arm to slide linearly along the length of the guide rail base 4. When the robotic arm needs to adjust its detection position, the connecting mechanism 204 coordinates with the joints of each movable arm. For example, the connecting mechanism 204 drives the first movable arm to rotate to the horizontal direction of the target clothing area, and then adjusts the vertical height and proximity angle of the detection unit 3 by folding / extending the joints between the movable arms, so as to achieve the precise positioning of the detection unit 3. When entering the storage mode, the connecting mechanism 204 drives the first movable arm to rotate to the storage angle that matches the bottom cover 4 of the guide rail. With the folding action of each movable arm, the entire mechanical arm is embedded into the storage slot or close to the surface of the clothes rack 1.

[0047] Specifically, the connecting mechanism 204 includes a base 2041 and a rotating part 2042. The base 2041 is fixed to the clothes rack 1, the rotating part 2042 is rotatably mounted on the base 2041, and the multi-degree-of-freedom robotic arm 2 is rotatably mounted on the rotating part 2042. The rotating part 2042 rotates relative to the base 2041 around a first axis, and the multi-degree-of-freedom robotic arm 2 rotates relative to the rotating part 2042 around a second axis, the first axis being perpendicular to the second axis. The base 2041 serves as a connecting reference component and is rigidly connected to the clothes rack 1 using bolt locking, snap-fit ​​fixing, or other methods to ensure the overall stability of the connecting mechanism 204. The rotating part 2042 is rotatably mounted on the base 2041 via a bearing assembly and can rotate relative to the base 2041 around the first axis, which is typically perpendicular to the surface of the clothes rack 1, enabling the rotating part 2042 to drive the multi-degree-of-freedom robotic arm 2 to achieve 360° horizontal rotation or swinging within a preset angle range. Meanwhile, the movable arm at the head end of the multi-degree-of-freedom robotic arm 2 is rotatably mounted on the rotating part 2042 through another set of bearing assemblies. It can rotate relative to the rotating part 2042 around the second rotating axis, and the second rotating axis is perpendicular to the first rotating axis. The second rotating axis is usually parallel to the surface of the clothes rack 1, so that the multi-degree-of-freedom robotic arm 2 can achieve vertical pitch swing, such as lifting up or pressing down.

[0048] In the detection scenario, the coordinated movement of the two vertical axes creates a composite degree of freedom of horizontal rotation and vertical pitch. The horizontal rotation of the rotating part 2042 around the first axis allows the robotic arm to cover clothes in different horizontal areas of the clothes rack 1. The vertical pitch of the multi-degree-of-freedom robotic arm 2 around the second axis can adjust the vertical distance and tilt angle between the detection unit 3 and the clothes. Combined with the folding / extension of the robotic arm's own movable arm, the detection unit 3 is ultimately positioned accurately in three-dimensional space. In the storage scenario, the rotating part 2042 rotates around the first axis to an angle parallel to the length direction of the guide rail base 4, and the multi-degree-of-freedom robotic arm 2 pitches around the second axis to a position close to the surface of the clothes rack 1. Combined with the folding of the movable arm, the robotic arm is embedded into the storage slot or pressed tightly against the structure of the clothes rack 1.

[0049] It is worth mentioning that the multi-degree-of-freedom robotic arm 2 is also equipped with an action unit, which is electrically connected to the detection unit 3. The action unit can perform actions or maintain its original state according to the detection structure of the detection unit 3. The action unit includes one or more of a heating and air supply module, a patting module, and an ironing module. The action unit and the detection unit 3 are electrically connected via wires or a wireless communication module. The detection unit 3 transmits the collected data on clothing humidity, smoothness, dirt, etc., to the control module of the action unit in real time. After analyzing and judging the data, the control module issues action commands to the corresponding functional modules. If the detection data meets the preset conditions that no intervention is required, the action unit maintains its original state. The specific working mode of each action unit module is as follows: Heating and air supply module: When the detection unit 3 detects a localized high humidity area in the clothing, the control module starts the heating and air supply module. The built-in heating element generates heat, and the micro fan delivers hot air to the high humidity area in a directional manner to accelerate the evaporation of moisture in the area. After the detection unit 3 reports that the humidity has dropped to the preset threshold, the module automatically stops running or reduces its power.

[0050] Tapping Module: If the detection unit 3 detects wrinkles on the surface of the clothing, the control module drives the tapping module to run. The tapping module can be composed of a micro motor driving a flexible tapping component. The tapping component gently taps the wrinkled area, using the elastic recovery characteristics of the clothing fibers to smooth out the wrinkles. The tapping intensity and duration are dynamically adjusted according to the degree of wrinkles.

[0051] Ironing Module: When the detection unit 3 detects deep wrinkles in the clothing, the control module activates the ironing module. The heating plate inside the module heats up to a temperature suitable for the clothing material, which can be adjusted based on the type of clothing identified by the camera. The multi-degree-of-freedom robotic arm 2 moves the ironing module along the direction of the wrinkles, smoothing out deep wrinkles through the combined effect of temperature and pressure. During the ironing process, the detection unit 3 monitors the wrinkle status in real time until the wrinkles are eliminated, at which point the module stops working.

[0052] The collaborative design of the motion unit, detection unit 3, and multi-degree-of-freedom robotic arm 2 enables closed-loop intelligent control that senses the condition of clothing and provides targeted treatment, breaking through the limitations of existing technologies in terms of drying effect, functional integration, and user experience. Firstly, it achieves proactive optimization of clothing drying, improving drying quality. Compared to the limitations of existing intelligent clothes dryers that can only passively dry, the motion unit can proactively intervene in detected problems. The heating and air supply module solves the problem of incomplete drying caused by localized dampness, preventing mold growth or odors on clothing; the patting and ironing modules directly improve the smoothness of clothing, reducing the amount of ironing work after collection, especially suitable for shirts, suits, and other garments that require high smoothness, ensuring that dried clothing achieves both dryness and smoothness.

[0053] Secondly, it enriches the functional dimensions of the clothes drying rack, enhancing its product competitiveness. The motion unit integrates drying and wrinkle removal functions into the multi-degree-of-freedom robotic arm 2, eliminating the need for separate ironing machines, beaters, or other equipment, achieving multi-functional integration. This design not only saves household storage space but also expands the application scenarios of the smart clothes drying rack, such as handling clothing of different materials and degrees of wrinkles, making it more competitive in the market compared to single-function clothes drying racks.

[0054] Thirdly, the accuracy and energy efficiency of intelligent control are optimized. The action unit dynamically adjusts its operating status based on real-time data from detection unit 3, avoiding blind operation. For example, heating and air supply are only applied to localized high-humidity areas, rather than heating the entire garment, reducing energy waste; the ironing module adapts temperature and pressure according to the fabric and degree of wrinkles, avoiding high-temperature damage or ineffective ironing at low temperatures. This on-demand control mode improves operational accuracy and aligns with the trend of energy-saving and environmentally friendly product design.

[0055] Fourth, it further reduces user operating costs and enhances the intelligent experience. Users do not need to manually intervene in handling wrinkles or localized drying of clothes; the device can automatically complete the entire process of detection, processing, and feedback. For example, after washing and hanging clothes, the clothes dryer can autonomously detect localized damp areas and activate heating and airflow, while simultaneously identifying wrinkles and patting / ironing them, resulting in dry and smooth clothes when collected. This fully automated and optimized experience completely frees users' hands, aligning with the core needs of smart home appliances for convenience and user-friendliness, and significantly enhancing the product's usability.

[0056] As an optional specific implementation method, such as Figure 9 , Figure 10 As shown, the clothes rack 1 includes a clothes rack 1 body and a quilt drying rod 5 assembly. The clothes rack 1 body includes a drying rod 101, and the quilt drying rod 5 assembly includes a quilt drying rod 5 and movable rods connected to both ends of the quilt drying rod 5. The movable rods are movably installed on the clothes rack 1 body, allowing the quilt drying rod 5 to translate relative to the drying rod 101. The multi-degree-of-freedom robotic arm 2 can push the quilt drying rod 5 to translate relative to the clothes rack 1 body, causing the quilt drying rod 5 to be close to the drying rod 101 for storage, or causing the quilt drying rod 5 to move away from the drying rod 101 to avoid it.

[0057] In this design, the clothes rack 1's main body, the drying rod 101, provides support for drying regular clothes. The quilt drying rod 5 of the quilt drying rod assembly is used for drying large items such as quilts and sheets. The movable rods at both ends of the quilt drying rod 5 are connected to the main body of the clothes rack 1 via a sliding fit structure. For example, the ends of the movable rods are embedded in the guide grooves of the main body of the clothes rack 1, or connected to the main body's slide rail via sliders, allowing the quilt drying rod 5 to translate relative to the drying rod 101 in a direction parallel to the drying rod 101. The multi-degree-of-freedom robotic arm 2, through the extension and force application of its movable arm, forms contact with the movable rods of the quilt drying rod 5 assembly or the quilt drying rod 5 body itself. When it is necessary to store the quilt drying rod 5, the movable arm of the robotic arm extends towards the quilt drying rod 5, pushing the movable rod to move along the guide rail groove towards the side of the drying rod 101 until the quilt drying rod 5 is close to the drying rod 101, completing the compact storage; when it is necessary to use the quilt drying rod 5 to dry large items, or to avoid the area of ​​the drying rod 101 for clothing handling, inspection, or other operations, the movable arm of the robotic arm pushes the movable rod away from the drying rod 101, causing the quilt drying rod 5 to move along the guide rail groove to a position offset from the drying rod 101, with the two forming a preset distance in the horizontal direction to avoid spatial overlap and achieve the avoidance function.

[0058] Meanwhile, the multi-degree-of-freedom robotic arm 2 replaces manual pushing of the drying rack 5. Users do not need to directly touch or forcefully move the drying rack 5, which is especially suitable for heavier drying racks 5 or for elderly or child users. The robotic arm can be triggered to push the drying rack 5 automatically by issuing a device command, thus simplifying the user process. Moreover, when the multi-degree-of-freedom robotic arm 2 performs clothing detection tasks, it can first push the drying rack 5 to a position to avoid obstructing the clothing in the area of ​​the drying rack 101, ensuring that the detection unit 3 can smoothly cover all the clothing on the drying rack 101. After the detection is completed, the robotic arm then pushes the drying rack 5 back into its storage or use position, avoiding mutual interference between structures and improving the overall smoothness of the equipment operation.

[0059] As another optional embodiment, the drying rod 101 includes a fixed rod and a telescopic rod retractable to the fixed rod. The multi-degree-of-freedom robotic arm can push the telescopic rod to extend or retract relative to the fixed rod. The fixed rod, as the basic support component of the drying rod 101, is fixedly connected at one end to the main body of the clothes rack 1, and has a hollow cavity or sliding guide rail adapted to the telescopic rod inside. The telescopic rod is telescopically installed inside the fixed rod through a sliding fit structure and can extend or retract along the axial direction of the fixed rod. The multi-degree-of-freedom robotic arm 2, through the extension and precise force application of its movable arm, contacts the end of the telescopic rod away from the fixed rod or a preset force application point. When the drying space needs to be expanded, the movable arm of the robotic arm extends away from the fixed rod and pushes the telescopic rod, so that the telescopic rod extends out from the fixed rod along the sliding guide rail, extending the overall drying length of the drying rod 101; when it is necessary to retract or reduce the drying space, the movable arm of the robotic arm pushes the telescopic rod closer to the fixed rod, so that the telescopic rod retracts into the hollow cavity of the fixed rod along the sliding guide rail, shortening the overall length of the drying rod 101 and achieving a compact state.

[0060] The collaborative design of the extendable drying rod 101 and the multi-degree-of-freedom robotic arm 2 optimizes the performance of the clothes rack 1 in terms of drying space flexibility, ease of operation, and functional adaptability. Specifically, the extension rod can be flexibly adjusted in length according to actual drying needs by the robotic arm. When drying a small number of clothes or small items, the extension rod retracts, keeping the drying rod 101 at a short length to avoid wasting space; when drying a large number of clothes, long clothes, or multiple items of clothing that need to be dried side by side, the extension rod extends, increasing the drying length of the drying rod 101 and increasing the drying capacity per load. This design solves the problem of the traditional fixed-length drying rod 101 having fixed space and being unable to adapt to changing needs, enhancing the applicability of the clothes rack 1 in different scenarios. Moreover, the automated operation of the multi-degree-of-freedom robotic arm 2 enables intelligent control, improving the user experience of the clothes rack.

[0061] In the description herein, it should be understood that the terms "upper," "lower," "left," "right," and other orientations or positional relationships are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used merely for descriptive distinction and have no special meaning.

[0062] In the description of this specification, references to terms such as "an embodiment," "example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0063] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style of the specification is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0064] The technical principles of this application have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of this application and should not be construed as limiting the scope of protection of this application in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of this application without inventive effort, and these embodiments will all fall within the scope of protection of this application.

Claims

1. A clothes drying rack, characterized in that, include: The system includes a clothes rack, a multi-degree-of-freedom robotic arm, and a detection unit. One end of the multi-degree-of-freedom robotic arm is fixedly installed on the clothes rack, and the other end is equipped with the detection unit. The detection unit is driven to move by the multi-degree-of-freedom robotic arm, enabling the detection unit to detect information about multiple areas of the clothes hanging under the clothes rack.

2. The clothes drying rack according to claim 1, characterized in that, The detection unit includes one or more of the following: humidity sensor, pressure sensor, infrared sensor, dust sensor, and camera.

3. The clothes drying rack according to claim 1 or 2, characterized in that, The multi-degree-of-freedom robotic arm has a retractable form; The clothes rack is equipped with a storage slot, and in the stored state, the multi-degree-of-freedom robotic arm is stored in the storage slot. Alternatively, in the storage configuration, the multi-degree-of-freedom robotic arm is placed close to the surface of the clothes rack for storage.

4. The clothes drying rack according to claim 3, characterized in that, The clothes rack includes a guide rail base cover. In the stored state, the multi-degree-of-freedom robotic arm is stored in the guide rail base cover or close to the surface of the guide rail base cover.

5. The clothes drying rack according to claim 4, characterized in that, Two multi-degree-of-freedom robotic arms are provided, one of which is mounted on each guide rail base cover, and each of which is connected to a detection unit. The multi-degree-of-freedom robotic arm includes multiple movable arms connected in sequence. When in the storage mode, each movable arm is folded into the storage slot or folded close to the surface of the clothes rack.

6. The clothes drying rack according to claim 5, characterized in that, The multi-degree-of-freedom robotic arm includes a first movable arm, a second movable arm, and a third movable arm connected in sequence. The end of the first movable arm away from the second movable arm is connected to the clothes rack, and the detection unit is installed at the end of the third movable arm away from the second movable arm. Wherein, the first movable arm and the third movable arm are rotatably mounted on the same side of the second movable arm, and the length of the second movable arm is greater than or equal to the sum of the lengths of the first movable arm and the third movable arm; or, the first movable arm and the third movable arm are rotatably mounted on two opposite sides of the second movable arm.

7. The clothes drying rack according to claim 1 or 2, characterized in that, The multi-degree-of-freedom robotic arm includes a connecting mechanism and a movable arm, the movable arm being movably connected to the clothes rack via the connecting mechanism.

8. The clothes drying rack according to claim 7, characterized in that, The connecting mechanism includes a base and a rotating part. The base is fixed to the clothes rack, the rotating part is rotatably mounted on the base, and the multi-degree-of-freedom robotic arm is rotatably mounted on the rotating part. The rotating part rotates relative to the base around a first rotating axis, and the multi-degree-of-freedom robotic arm rotates relative to the rotating part around a second rotating axis, wherein the first rotating axis is perpendicular to the second rotating axis.

9. The clothes drying rack according to claim 1, characterized in that, The multi-degree-of-freedom robotic arm is also equipped with an action unit, which is electrically connected to the detection unit, and the action unit can perform actions or maintain its original state according to the detection structure of the detection unit. The action unit includes one or more of the following: a heating and air supply module, a patting module, and an ironing module.

10. The clothes drying rack according to claim 1 or 2, characterized in that, The clothes rack includes a clothes rack body and a quilt drying rod assembly. The clothes rack body includes a drying rod, and the quilt drying rod assembly includes a quilt drying rod and movable rods connected to both ends of the quilt drying rod. The movable rods are movably installed on the clothes rack body, allowing the quilt drying rod to translate relative to the drying rod. The multi-degree-of-freedom robotic arm can push the quilt drying rod to translate relative to the clothes rack body, either by bringing the quilt drying rod close to the drying rod for storage, or by moving the quilt drying rod away from the drying rod to avoid it. Alternatively, the drying rack includes a fixed rod and a telescopic rod that is retractable and mounted on the fixed rod, and the telescopic rod can be pushed to extend or retract relative to the fixed rod by the multi-degree-of-freedom robotic arm.

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