EP0347323A1 - Verfahren und Vorrichtung zum automatischen Greifen von zwei angrenzenden Ecken eines flachen Leinenzeuges - Google Patents

Verfahren und Vorrichtung zum automatischen Greifen von zwei angrenzenden Ecken eines flachen Leinenzeuges Download PDF

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Publication number
EP0347323A1
EP0347323A1 EP89401680A EP89401680A EP0347323A1 EP 0347323 A1 EP0347323 A1 EP 0347323A1 EP 89401680 A EP89401680 A EP 89401680A EP 89401680 A EP89401680 A EP 89401680A EP 0347323 A1 EP0347323 A1 EP 0347323A1
Authority
EP
European Patent Office
Prior art keywords
gripping
flat linen
corner
flat
linen
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP89401680A
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English (en)
French (fr)
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EP0347323B1 (de
Inventor
François Robin
François Rabany
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Individual
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Individual
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Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to AT89401680T priority Critical patent/ATE79914T1/de
Publication of EP0347323A1 publication Critical patent/EP0347323A1/de
Application granted granted Critical
Publication of EP0347323B1 publication Critical patent/EP0347323B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F95/00—Laundry systems or arrangements of apparatus or machines; Mobile laundries 

Definitions

  • the present invention relates to a method and an automated machine for gripping two adjacent corners of a flat cloth.
  • a machine is particularly suitable for the work of a laundry after the washing phase and before the finishing phase of the flat linen, phase for which it is necessary to present the flat linen gripped by its corners.
  • the finishing phase consists in engaging the washed and wrung flat linen stretched between two of its adjacent corners in a calendering machine which then drives it to dry it, iron it, and fold it automatically.
  • the present invention overcomes the aforementioned drawbacks. Indeed, the presented method allows to capture two adjacent corners of a flat linen by seizing it successively only in three places, including any area. It also avoids taking the corner of the flat linen diagonally opposite the first corner and stretching the flat linen between these two corners, thereby reducing the size of the machine. Finally, the method presented makes it possible to bring the corners to be grasped always in the same places, which facilitates their gripping.
  • any zone of said flat linen is grasped in a known manner by a gripping means, said zone having a reduced surface around a point, the flat linen seized by said gripping means by letting it hang under the effect of gravity, the lowest point of said flat linen is identified and said lowest point, which constitutes the first corner of the flat linen, is located using a grip.
  • the first corner of said flat linen is grasped, in known manner, by gripping means, the flat linen seized is suspended from said gripping means, leaving it to hang under the effect of gravity, and we grasp an area of said flat linen at a fixed distance from said first corner greater than the half-diagonal of the flat linen.
  • the flat linen in the second step, is disentangled using a means, which shakes it from the gripping means and seizure by which he is suspended; after the second step, to separate an apparent low point of the flat linen from the rest of the said flat linen, the said flat linen is positioned above a separation means, the any gripping zone and the first corner of the said flat linen being located on either side of said separation means, and a relative rise of the separation means relative to the flat linen is ensured between the two apparent low points of said flat linen; the any input zone of said flat linen and the first corner of the flat linen are brought closer, until bringing the apparent low point which, on a small side of the flat linen, is adjacent to the first corner, on a chosen vertical; for gripping a corner consisting of an apparent low point of the flat linen gripped by one or more gripping means, the flat linen is brought to the right of a centering means; moving the gripping means or means away from said centering means, the flat linen being
  • the invention also relates to a machine for implementing the above-mentioned method.
  • said machine comprises a gripping means for gripping a laundry in any zone. flat, means for raising said flat linen after gripping it, a detector for signaling the passage from the lowest point of said flat linen to a predetermined level and gripping means for grasping the corner of the flat linen formed by said lowest point , means for moving the gripping and gripping means relative to each other and means for gripping a second corner of said flat linen adjacent to said first corner.
  • said machine comprises a gripping means for grasping in a known manner a flat linen at one of its corners, a means for hanging said flat linen gripped by said gripping means, a gripping means for gripping an area of said linen flat at a fixed distance from said first corner, means for moving relative to each other the gripping and gripping means and means for gripping a second corner of said flat linen adjacent to said first corner.
  • the machine comprises a means for shaking the flat linen, said means acting on the means for gripping and gripping the arbitrary area and the corner by which said flat linen is suspended, a guide for separating the two apparent low points of the suspended flat linen, a displacement means for positioning the flat linen suspended above said guide, said guide being substantially parallel to the movement of the gripping and gripping means; for at least one of the stations where a corner is grasped, it comprises a centering means and a displacement means forcing the flat linen to move in line with said centering means and at least one detector for signaling the presence of the flat linen to the right of said detector, a suction ramp and an air blowing nozzle, the relative position of the ramp and the nozzle being modifiable to bring the ramp opposite the nozzle when the corner is grasping has been detected, a detector for detecting the presence of the wedge on the suction ramp and means for bringing said suction ramp in line with said detector; it also includes conveyor rails, conveyor clamps comprising a gripping means, each
  • the machine comprises a suction cup (4) in which a depression is created for gripping by suction a flat cloth in a carriage (1) which contains several flat cloths. Then, an arm (3) integral with the suction cup (4) and moving in a vertical translation relative to a stationary frame (2) raises the flat linen thus seized up to a fixed height greater than the length of the diagonal of the flat linen.
  • a rail (6) horizontal and straight over a distance greater than the length of the diagonal of a flat linen from the frame (2).
  • Two identical longitudinal plates (7) and (8) having a common edge parallel to their axes, their outer edges forming a notch at one of their ends relative to the common inner edge, and whose section in a vertical plane perpendicular to their axis form a "V" are arranged parallel to the rail (6), at a height slightly lower than this rail (6), the notches being turned towards the suction cup, so that the suction cup is in the same vertical plane as their common edge, at a distance from the vertical ascent of the suction cup such that the suction cup can rise in the notch of the two plates without hanging them.
  • the two plates can pivot simultaneously around the outer edge of the plate (8) which is closest to the rail (6).
  • a detector (9) is placed vertically above the notch, slightly below it to detect the presence of the flat linen.
  • a horizontal suction ramp (10) is placed in the vertical plane formed by the vertical passing through the notch and the common edge of the two plates, between the detector and the notch; a blowing nozzle (11) is placed in the horizontal plane of the ramp (10), this nozzle being articulated on a pivot integral with the ramp (10), so that in the open position, the nozzle (11) makes a 90 ° angel with the ramp and in the closed position, the nozzle and the ramp form a clamp closing on the vertical of the notch.
  • a clamp (5) circulating on the rail (6) grips the flat laundry below the suction cup and the vacuum inside the suction cup (4) is removed.
  • the clamp (5) moves away from the suction cup on the rail (6), the flat linen lying on the plates (7) and (8); the passage from the bottom point of the flat linen, which constitutes a corner, is detected using the detector.
  • the nozzle moves to the open position, the two plates (7) and (8) pivot down, thereby releasing the flat linen carried by the clamps (5) and (12) on their respective rail (6) and (13) .
  • the rail (13) is subjected to a torsion of 180 ° relative to its axis.
  • the rail (13) becomes parallel to the rail (6) on a portion (28) of the order of one meter.
  • the two rail portions (29) and (26) come together at a distance of a few tens of centimeters and the rails (6) and (13) become parallel again on their portions (30) and (27).
  • a separation guide (14) symmetrical with respect to a vertical plane perpendicular to the direction of movement of the flat linen; the distance from this plane to the rail (6) being of the order of fifty centimeters.
  • This guide is formed of two symmetrical left plates and joined in their upper edges located in the vertical plane of symmetry; at the start of the guide, the upper edge of the two plates and located at a vertical distance from the rail (6) greater than a small side of flat laundry to approach the rail (6) vertically while remaining below, the lower edge merging at the start of the guide with the upper edge then moving away from the vertical plane of symmetry while remaining horizontal, following a concave curve, and the first part of the guide describing a concave surface between the two edges.
  • the second part of the guide is located between the portions (29) and (26) of the rails (6) and (13), the upper edge of the plates remaining horizontal in the vertical plane of symmetry, the lower edge remaining in one plane.
  • the plates ((17), (18)) are placed parallel to the rails (6) and (13) on either side of the rail (6) so that the outer edge of the plate (17), located between the of them rails (6) and (13), or in the extension of the upper edge of the guide (14), the notch of the two plates ((17), (18)) being on the side of the guide. These two plates ((17), (18)) can pivot around the outer edge of the plate (17).
  • a detector (19) is placed on a support (20) vertical to the notch of the plates ((15), (16)), slightly below the latter to detect the presence of the flat linen.
  • a suction ramp (21) is placed, integral with the support (20), horizontal in the vertical plane formed by the vertical passing through the notch of the plates ((15), (16)) and the common edge of the two plates (( 15), (16)), between the detector (19) and the notch; a blowing nozzle (22) is placed in the horizontal plane of the ramp (21), this nozzle being articulated on a pivot integral with the ramp (21), so that in the open position, the nozzle (22) makes a 90 ° angle with the ramp (21) and that in the closed position, the nozzle and the ramp form a clamp closing on the vertical of the notch.
  • the support (20) can move on a rail (23) fixed to the ground perpendicular to the axes of the plates ((15), (16)), so that the detector (19) is located, after a chosen translation, vertical to the notch of the plates ((17), (18)).
  • a horizontal rail (25) is placed slightly below the ramp (21), perpendicular to the axes of the plates ((15), (16)) and ((17), (18)).
  • the two clamps (5) and (12) are advanced on their respective rails, the clamp (12) undergoes a 180 ° reversal which positions it under the rail (13) then the two clamps being separated by about a half diagonal of flat linen, this forms two apparent low points that the guide (14) separates.
  • the clamps (5) and (12) then advance, leaving the flat laundry to drag on the plates ((15), (16)) and ((17), (18)); depending on whether you want to grasp the long side or the short side of the flat linen, by moving the support (20), you will place the detector (19), the ramp (21) and the nozzle (22) respectively below the plates ((15), (16)) or below the plates ((17), (18)).
  • the detector (19) then detects the passage from the low point that we want to capture and we stop both simultaneously pliers; the nozzle (22) is brought opposite the ramp (21), thus grasping the corner of the hanging sheet.
  • the clamp (5) then releases the flat linen and the two clamps (12) and (24) entrain the flat linen on their respective rails, the two corners are then ready to be engaged.
  • FIG. 2 represents several flat cloths at different stages of the general treatment.
  • the flat linen (31) is located at the station where it is grasped at any point by means of a suction cup.
  • the flat linen (33) illustrates the appearance of two low points when the clamps (5) and (12) are in the separated position on their respective rails.
  • the flat linen (34) passes over the guide (14), which separates the two visible low points of the flat linen.
  • the flat linen (35) represents the gripping of the corner of the flat linen adjacent to the first corner gripped by the clamp (12) on the short side of the flat linen, the ramp (21) and the nozzle (22) being in the closed position.
  • the flat linen (36) is taken to the feeder, gripped by two of its adjacent corners.

Landscapes

  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Treatment Of Fiber Materials (AREA)
  • Sheets, Magazines, And Separation Thereof (AREA)
  • Preliminary Treatment Of Fibers (AREA)
  • Looms (AREA)
  • Making Paper Articles (AREA)
  • Sewing Machines And Sewing (AREA)
  • De-Stacking Of Articles (AREA)
  • Auxiliary Devices For And Details Of Packaging Control (AREA)
EP89401680A 1988-06-16 1989-06-15 Verfahren und Vorrichtung zum automatischen Greifen von zwei angrenzenden Ecken eines flachen Leinenzeuges Expired - Lifetime EP0347323B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT89401680T ATE79914T1 (de) 1988-06-16 1989-06-15 Verfahren und vorrichtung zum automatischen greifen von zwei angrenzenden ecken eines flachen leinenzeuges.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8808079A FR2632987B1 (fr) 1988-06-16 1988-06-16 Procede de prehension automatisee de deux coins adjacents d'un linge plat et machine correspondante
FR8808079 1988-06-16

Publications (2)

Publication Number Publication Date
EP0347323A1 true EP0347323A1 (de) 1989-12-20
EP0347323B1 EP0347323B1 (de) 1992-08-26

Family

ID=9367371

Family Applications (1)

Application Number Title Priority Date Filing Date
EP89401680A Expired - Lifetime EP0347323B1 (de) 1988-06-16 1989-06-15 Verfahren und Vorrichtung zum automatischen Greifen von zwei angrenzenden Ecken eines flachen Leinenzeuges

Country Status (7)

Country Link
US (1) US5168645A (de)
EP (1) EP0347323B1 (de)
JP (1) JP2724316B2 (de)
AT (1) ATE79914T1 (de)
DE (1) DE68902592T2 (de)
DK (1) DK170078B1 (de)
FR (1) FR2632987B1 (de)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1993021373A1 (en) * 1992-04-15 1993-10-28 Bjoerkloef Tage Apparatus for automatical bringing soft, flimsy, flat articles from an undefined position to a known position
EP0595739A1 (de) * 1992-10-30 1994-05-04 Societe Jean Michel Verfahren und Übergabevorrichtung für Textilstücke grosser Abmessung zwischen einem Förderband für Teile, die eine Wasch-Entwässermaschine verlassen und einem Greifelement für Bügelmaschine
EP0751251A4 (de) * 1995-01-10 1996-11-19 Tokai Co Ltd Verfahren und vorrichtung zur automatischen endbearbeitung von viereckigen kleidungsstücken
EP1905884A1 (de) * 2006-09-28 2008-04-02 AMTEC Wäschereimaschinen GmbH & Co. KG Verfahren und Vorrichtung zum Zuführen von Wäschestücken einer Wäschebehandlungseinrichtung wie einer Bügel- oder Faltvorrichtung

Families Citing this family (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0573810B1 (de) * 1992-06-04 1997-04-09 Mitsubishi Jukogyo Kabushiki Kaisha Vorrichtung zum Wäschetransport
NL9300238A (nl) * 1993-02-05 1994-09-01 Amko Int Inrichting voor het invoeren en doorvoeren van wasgoed.
US5340398A (en) * 1993-04-08 1994-08-23 Wayne Sr Jack L Foliage coating method and apparatus
DE4330911C2 (de) * 1993-09-11 1998-11-12 Kannegiesser H Gmbh Co Vorrichtung zum Zuführen von Wäschestücken zu einer Behandlungseinrichtung
US5440810A (en) * 1994-03-16 1995-08-15 Chicago Dryer Company Apparatus for feeding and spreading laundry articles
US5515627A (en) * 1994-07-27 1996-05-14 Mccabe; Stanley G. Apparatus and method for feeding flatwork articles
IT1285938B1 (it) * 1996-06-11 1998-06-26 Resta Srl Apparecchiatura per l'immagazzinaggio temporaneo di manufatti, in particolare all'uscita di una trapuntatrice
JPH1024200A (ja) * 1996-07-10 1998-01-27 Tokyo Sensen Kikai Seisakusho:Kk 洗濯済みシーツ拡張機におけるシーツ自動投入方法及び洗濯済みシーツ拡張機におけるシーツ自動投入装置
BE1010694A6 (nl) * 1996-10-16 1998-12-01 Lapauw Yves Inrichting voor het aanbrengen van een te strijken laken in de insteektang van een insteekmachine.
EP0971062B1 (de) * 1998-07-08 2004-11-10 Henry John Weir Vorrichtung zum Vereinzeln von Wäschestücken
US6085914A (en) * 1999-03-24 2000-07-11 H. Salb International Soft article sorting system
JP4268747B2 (ja) * 2000-10-10 2009-05-27 株式会社プレックス 矩形布片の展開方法及び展開装置
JP2004533871A (ja) * 2001-03-22 2004-11-11 イェンセン・デンマーク・アクティーゼルスカブ 衣類の山から衣類を取出すための方法および装置
US6578298B2 (en) * 2001-11-20 2003-06-17 Mesh Management Company, Llc Small piece feed basket assembly
US6826856B1 (en) 2003-08-06 2004-12-07 Finishtech Ltd. Laundry article spreader apparatus and method
US6883258B2 (en) * 2003-08-06 2005-04-26 Finish Tech., Ltd. Spreader apparatus and method for articles of laundry
EP1690976A1 (de) * 2005-02-15 2006-08-16 Jensen AG Burgdorf Verfahren zum Ausrichten eines Wäschestücks und Einrichtung zur Durchführung des Verfahrens
EP1690975A1 (de) 2005-02-15 2006-08-16 Jensen AG Burgdorf Verfahren zum Ausrichten eines Wäschestücks und Einrichtung zur Durchführung des Verfahrens
US7555857B2 (en) * 2006-09-13 2009-07-07 Mccabe Stanley G Article of laundry spreader and stacker
US7836617B2 (en) * 2007-06-04 2010-11-23 Mccabe Stanley G Linen spreader apparatus and method
US7827709B2 (en) * 2007-06-04 2010-11-09 Mccabe Stanley G Linen spreader apparatus and method
WO2012163356A1 (en) 2011-05-27 2012-12-06 Jensen Denmark A/S A method and a feeder for feeding pieces of cloth
DE102013005251A1 (de) * 2013-03-27 2014-10-02 Herbert Kannegiesser Gmbh Verfahren und Vorrichtung zum Transport und/oder Vermessen von Wäschestücken
JP6389686B2 (ja) * 2014-07-31 2018-09-12 株式会社プレックス 布類展開装置
EP3305977B1 (de) * 2015-05-29 2021-03-17 Totofolder Manufacturing Co., Ltd. Automatische tuchzuführvorrichtung
JP6986711B2 (ja) * 2015-08-28 2021-12-22 パナソニックＩｐマネジメント株式会社 衣類処理装置
DE102016012274A1 (de) * 2016-05-31 2017-11-30 Herbert Kannegiesser Gmbh Verfahren zum Zuführen von Wäschestücken zu einer Wäscheweiterbehandlungseinrichtung sowie Vorrichtung
JP6940420B2 (ja) * 2017-01-31 2021-09-29 株式会社プレックス 布類展張装置
JP7125853B2 (ja) * 2018-04-12 2022-08-25 株式会社プレックス 縁把持装置およびそれを備えた布類自動展開機
CN109956118A (zh) * 2019-04-28 2019-07-02 季华实验室 一种服装识别装置
US11046532B1 (en) * 2020-02-10 2021-06-29 The Boeing Company Flexible dual-sided vacuum plate carrier

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2336510A1 (fr) * 1975-12-23 1977-07-22 Kleindienst Et Co Maschinenfab Procede et dispositif pour la preparation de pieces de linge lavees et separees les unes des autres en vue d'un traitement subsequent
JPS63139864A (ja) * 1986-12-01 1988-06-11 Mitsubishi Heavy Ind Ltd 布片の端把持方法及び装置
JPS63139863A (ja) * 1986-12-01 1988-06-11 Mitsubishi Heavy Ind Ltd 布片の端把持方法及び装置

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3911604A (en) * 1975-01-20 1975-10-14 Sjostrom Kathleen Alice Fabric spreading and feeding machine
NL167743C (nl) * 1978-03-09 1982-01-18 Amko Bv Machine voor het toevoeren en neerleggen van gewassen lakens.
US4891317A (en) * 1985-04-03 1990-01-02 Board Of Regents, The University Of Texas System Magnetic alternation of cellulose during its biosynthesis
EP0272368B1 (de) * 1986-12-01 1991-08-21 Mitsubishi Jukogyo Kabushiki Kaisha Verfahren und Vorrichtung zum Greifen der Ecken eines Wäschestücks
JPH0637247B2 (ja) * 1986-12-15 1994-05-18 三菱重工業株式会社 リネン把持状態の認識方法及び装置
IT8820795A0 (it) * 1988-05-30 1988-05-30 Rockwell Rimoldi Spa Postazione di lavoro per la cucitura di manufatti.

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2336510A1 (fr) * 1975-12-23 1977-07-22 Kleindienst Et Co Maschinenfab Procede et dispositif pour la preparation de pieces de linge lavees et separees les unes des autres en vue d'un traitement subsequent
JPS63139864A (ja) * 1986-12-01 1988-06-11 Mitsubishi Heavy Ind Ltd 布片の端把持方法及び装置
JPS63139863A (ja) * 1986-12-01 1988-06-11 Mitsubishi Heavy Ind Ltd 布片の端把持方法及び装置

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1993021373A1 (en) * 1992-04-15 1993-10-28 Bjoerkloef Tage Apparatus for automatical bringing soft, flimsy, flat articles from an undefined position to a known position
EP0595739A1 (de) * 1992-10-30 1994-05-04 Societe Jean Michel Verfahren und Übergabevorrichtung für Textilstücke grosser Abmessung zwischen einem Förderband für Teile, die eine Wasch-Entwässermaschine verlassen und einem Greifelement für Bügelmaschine
FR2697544A1 (fr) * 1992-10-30 1994-05-06 Michel Jean Procédé et installation de transfert de pièces textiles de grandes dimensions entre un convoyeur de lots de pièces sortant d'une machine de lavage essorage et une engageuse pour machine à repasser.
EP0751251A4 (de) * 1995-01-10 1996-11-19 Tokai Co Ltd Verfahren und vorrichtung zur automatischen endbearbeitung von viereckigen kleidungsstücken
EP1905884A1 (de) * 2006-09-28 2008-04-02 AMTEC Wäschereimaschinen GmbH & Co. KG Verfahren und Vorrichtung zum Zuführen von Wäschestücken einer Wäschebehandlungseinrichtung wie einer Bügel- oder Faltvorrichtung

Also Published As

Publication number Publication date
ATE79914T1 (de) 1992-09-15
JPH0277300A (ja) 1990-03-16
JP2724316B2 (ja) 1998-03-09
DK294689A (da) 1989-12-17
FR2632987B1 (fr) 1990-10-26
DK170078B1 (da) 1995-05-15
EP0347323B1 (de) 1992-08-26
DE68902592T2 (de) 1993-04-15
DK294689D0 (da) 1989-06-15
DE68902592D1 (de) 1992-10-01
US5168645A (en) 1992-12-08
FR2632987A1 (fr) 1989-12-22

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