EP1690975A1 - Procédé d'alignement d'une pièce de linge et dispositif pour la mise en oeuvre du procédé - Google Patents

Procédé d'alignement d'une pièce de linge et dispositif pour la mise en oeuvre du procédé Download PDF

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Publication number
EP1690975A1
EP1690975A1 EP05405191A EP05405191A EP1690975A1 EP 1690975 A1 EP1690975 A1 EP 1690975A1 EP 05405191 A EP05405191 A EP 05405191A EP 05405191 A EP05405191 A EP 05405191A EP 1690975 A1 EP1690975 A1 EP 1690975A1
Authority
EP
European Patent Office
Prior art keywords
edge
gripper
corner
laundry
conveyor
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.)
Withdrawn
Application number
EP05405191A
Other languages
German (de)
English (en)
Inventor
Jesper Munch Jensen
Thomas Knöfel
Martin Rauch
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jensen AG Burgdorf
Original Assignee
Jensen AG Burgdorf
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Jensen AG Burgdorf filed Critical Jensen AG Burgdorf
Priority to EP05405191A priority Critical patent/EP1690975A1/fr
Priority to US11/354,055 priority patent/US7412789B2/en
Publication of EP1690975A1 publication Critical patent/EP1690975A1/fr
Withdrawn legal-status Critical Current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
    • D06F67/00—Details of ironing machines provided for in groups D06F61/00, D06F63/00, or D06F65/00
    • D06F67/04—Arrangements for feeding or spreading the linen
    • 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 invention relates to a method for aligning a laundry item, as e.g. in laundries for preparing the laundry for input to a processing device, e.g. a folding device or a defect is used. It is particularly directed to the automatic execution of a step in alignment, namely finding and grasping a corner of the item of laundry.
  • a device suitable for carrying out the method e.g.
  • Laundry items such as sheets, towels and the like.
  • Laundry items such as sheets, towels and the like.
  • after washing and drying are usually in disorderly heaps, but must be supplied devices that perform subsequent processing steps, such as folding devices or mangles, with a stretched leading edge, so that proper processing is guaranteed.
  • There are therefore long feeding devices with two clamps are known to be introduced manually into the two edge bounding corners of each garment and then automatically grasp the corners and move apart to stretch the edge and then the stretched edge and an adjoining part of the garment place on a belt conveyor, which then supplies the laundry item to the processing device, see, for example, EP 0 794 279 A1.
  • Finding and gripping the corners and inserting the same in the brackets is a monotonous work and relatively strenuous, especially since it usually has to be done in a warm and humid environment.
  • WO 96/03 540 A2 discloses a device for aligning items of laundry, in which manually taken approximately the middle of an edge of the respective item of laundry and placed on a narrow belt conveyor and, clamped by an overlying other belt conveyor, a feeder is supplied. On both sides of the belt conveyor each of the rearmost tip of the laundry is determined and clamped. These corners correspond to the corners of the rear edge in the transport direction and are held by staples, which then move apart and now put the stretched edge as a leading edge on a subsequent wide belt conveyor. Again, a manual intervention is required, which is also not without difficulty, because the center of an edge must be found and placed with a certain accuracy.
  • a device for grasping items of laundry is described, with a vertical pivot bar with a longitudinally displaceable first edge gripper, in which only one corner of the respective item of laundry manually entered into a bracket and this is placed next to the edge gripper, the one to the rounded corner and the opposite corner should take, and with a second edge gripper, which takes over the first corner, whereupon pivots the pivot bar in a horizontal position and the corners are passed to staples of a feeder, which then stretch the edge.
  • This setup requires manual entry of a corner.
  • it is questionable how far the grip of the lower corner by the first edge gripper is sufficiently reliable, since the edge is not likely to be exposed.
  • No. 5,169,282 A shows a device with a first gripper, into which a corner of the respective item of laundry is manually inserted and which is then raised by about 50 cm, wherein an edge adjoining the corner is pulled by another gripper, which then closes becomes.
  • the two grippers between which a piece of an edge adjacent to the corner is thus stretched, are then, with the other adjoining the corner edge, moved to a first rail piece, which runs down obliquely to the upper end of a vertical second rail piece on which a longitudinally displaceable first edge gripper, a similar edge and corner sensor and arranged at the upper end also longitudinally displaceable second edge gripper are arranged.
  • the first rail piece is pivotable about an axis located at the upper end of the second rail piece and is pivoted downwards until the front edge adjoining the corner is vertical and is detected by the edge and corner sensor. Then, the first edge gripper is moved down together with the said edge and corner sensor, the corner at the lower end of the edge detected and caught by the first edge gripper, while the second edge gripper takes over the top corner. The edge grippers are then placed on a horizontal rail section adjoining the vertical rail section move so that the stretched between them now edge up. The laundry is thus ready for the transfer. Again, the manual entry of a corner is required, also the capture of a second point on the subsequent edge is fraught with uncertainties.
  • US Pat. No. 5,168,645 A finally describes a generic method and a corresponding device for aligning a laundry item with a corner gripper device and a pre-gripper with a suction head, which can aspirate a laundry item in an open container at any desired location from a gripping position , Can be raised in a transfer position, in which the laundry is taken near the sucked point of a Auflegegreifer and taken over and pulled through a gutter, wherein the rearmost tip of the laundry item is detected by a sensor and taken by a corner gripper.
  • the two grippers are then moved parallel with distance and the laundry over a surface with a running in the direction of the central ridge and pulled on both sides flanks, whereby one of the detected corner adjacent another corner is isolated so that it can be detected by another corner gripper.
  • the process is obviously subject to some uncertainties.
  • the invention is based on the object to improve the known generic method so that the setting and grasping a corner of the laundry as part of an alignment thereof is done with a high degree of accuracy and safety. This object is solved by the features in the characterizing part of claim 1.
  • the invention has for its object to provide a device suitable for carrying out the method. This object is solved by the features in claim 7.
  • the inventive method and the device for its implementation have been proven.
  • the gripping of a corner takes place in the inventive method, in particular when it is performed by a corner gripping device of the inventive device, with great reliability and has no other requirements than that the garment has previously been taken at any point, which can be done very easily by manual input or, preferably, automatically, such as by a suitable device such as a pre-gripper.
  • the grasping of a corner provides a favorable condition for grasping an edge of the item of laundry which permits complete alignment thereof and transfer to a subsequent processing apparatus.
  • the same comprises an edge gripping device which performs this step.
  • Fig. 1, 2 the device according to the invention is shown in an overview, in Figs. 3 to 12, individual devices and parts of the device are shown in more detail in the order in which they are used in the processing of a piece of laundry.
  • the device comprises (FIGS. 1, 2) an approximately cuboidal housing 1 with a base 2, partially perforated side walls 3, 4 and a front wall 5 and a rear wall 6, which are likewise openworked.
  • an upwardly open, downwardly constricting container 7 is arranged and, above its lowest point, a pre-gripper 8 (see also Fig. 3).
  • the latter is anchored to the upper end of a pole 11 fixed to the outside of the container 7, so that the clip 9 is between a lower gripping position, in which it is immersed in the container 7 for holding a piece of laundry, and a transfer position near the upper end of the post 11 is reciprocable.
  • a corner gripping device 12 comprises (see also FIGS. 4, 5) a lay-on conveyor 13 with a lay-on gripper 14 and a rail 15, along which it rests in a lay-up direction from a position just below the transfer position through an opening in the front wall 5 into the interior of the housing 1 and further the side wall 3 along and back is movable.
  • a transverse conveyor 16 a belt conveyor, which runs behind the front wall 5 along a transverse to the direction of the transverse direction of the side wall 3 against the center of the housing 1.
  • a thin edge plate 17 which is part of a surrounding the transverse conveyor 16 frame.
  • the upper sides of the transverse conveyor 16 and of the frame form a supporting surface, of which the side wall 3 initially below the rail 15 lying area a Auflegestsammlung 18, the front wall 5 on the first edge of a light barrier 19 (Fig. 4) is arranged upstream.
  • the corner gripping device 12 (FIG. 5) comprises a holder 20, which is supported and retractable in the loading direction by a base 21, which in turn can be raised and lowered on a carriage 22.
  • the carriage 22 is moved along a arranged on the outside of the front wall 5 rail 23 in the transverse direction to close to the side wall 4 back and forth.
  • the former is just below the edge plate 17, while the latter is at a distance above it and can be lowered onto it.
  • the corner gripper 24 By retracting the holder 20, the corner gripper 24 can be withdrawn so far that the lower jaw 25 and the upper jaw 26 are free from the edge plate 17.
  • the corner gripper 24 can be tilted down by means of a pneumatic piston 28 into a transfer position shown in FIG. 6.
  • the holder 20 further carries a above the corner gripper 24 arranged in the loading direction horizontally projecting beyond him tab 29, which carries an optical scanner 30 and at the end an obliquely downward against the edge plate 17 and the gripping edge 27 directed nozzle 31.
  • the scanner 30 is located immediately above the edge plate 17, the surface of which forms a transverse scanning strip. It comprises four at a distance of 10mm to 20mm, preferably about 15mm in the direction of successive optical sensors 32, each of which are adapted to distinguish the top of a piece of laundry from the surface of the edge plate 17 and determine a transition from one to the other and vice versa ,
  • An edge gripping device 33 (see also Fig. 8, 9) comprises a clamping conveyor 34 with a clamping gripper 35 and a rail 36 which in a clamping direction approximately diagonally from the corner formed by the front wall 5 and the side wall 4 to the rear end of the side wall through the housing 1 runs and along which the clamping gripper 35 in the clamping direction and is displaced back.
  • the clamping gripper 35 comprises a pneumatic clamp 37, which, by means of a pneumatic piston 38 can be raised and lowered, is mounted on a lever 39.
  • a transfer gripper 40 arranged in the corner between the front wall 5 and the side wall 4 has a pneumatic clamp 41, which is fastened to the end of a horizontal band 42 which is rotated about a vertical axis by approx. 90 ° is rotatably mounted.
  • the flat jaws of the clamp 41 have at the top an approximately V-shaped recess which receives in a takeover position (FIG. 6) the downwardly tilted corner gripper 24 and in the transfer position (FIG. 7) the clamp 37 of the gripping gripper 35 engages.
  • the edge gripping device 33 further comprises an end gripping unit with a groove 43 suspended below the rail 36, with a bottom 44, e.g. made of sheet metal, which carries on both sides upwardly facing bracket 45 as lateral boundaries.
  • the bottom 44 is convex in the tensioning direction, i. first steep and then increasingly flat. It also becomes narrower, so that the groove 43 narrows in the tensioning direction. Transverse to the bottom 44 is flat.
  • the channel 43 is suspended on vertical rods 46, along which it is displaceable by means of a pneumatic cylinder 47.
  • the rods 46 and the pneumatic cylinder 47 are anchored to a carriage 48 which is movable along the rail 36.
  • a clamping unit is arranged with a flap 49, which is folded down against the rear edge of the bottom 44.
  • 44 holes 50 are distributed over their bottom, behind which z.T. optical sensors 51 are arranged in two in the clamping direction at a distance successive rows. They form an end sensor unit, which serves to control the clamping unit.
  • an edge gripping unit 52 (see also Fig. 10-12) arranged with a pivoting bar 53, one end of which is pivotally mounted in a pivot bearing 54, which is mounted in the region of a takeover point slightly below the end of the rail 36. He can therefore between a Ueber Spotifywolf (Fig. 10, 11), in which he approximately perpendicularly, but something against the clamping direction and also slightly inclined to the side down and a transfer position (Fig. 12), in which he horizontal and to Rear wall 6 is parallel, to be converted.
  • the edge gripping unit 52 also includes a baffle 55, facing the clamping direction facing the front side lying below the rail 36, obliquely to the clamping direction to the pivot bar 53 in the Ueber fortune ein reaching guide surface forms.
  • the pivot bar 53 carries a first edge gripper 56 with a bracket 57 and on the side facing away from the pivot bearing 54 thereof an optical sensor 58 and, closer to the pivot bearing 54, a second edge gripper 59 with a corresponding bracket 60 and an optical sensor 61.
  • the first edge gripper 56 and the second edge gripper 59 are slidable along the pivot bar 53.
  • the sensor 58 serves as a corner sensor and the sensor 61 and another sensor attached to the first edge gripper 56 serve as edge sensors. At the first edge gripper 56, the latter function can also be fulfilled by the sensor 58.
  • a discharge device 62 (see also Fig. 12) is arranged. It comprises a on the outside of the rear wall 6 suspended discharge conveyor 63, which is designed as a belt conveyor and to which a feed conveyor to a defect or a folding device or the like. can connect. It is tiltable by means of pneumatic piston 64 about a horizontal, 65 parallel to the rear wall axis 65, so that it can be switched between a takeover position and a Ueberqabeposition. In the former (Fig.
  • the removal device 62 further comprises a horizontal flat shock plate 66 with a parallel to the pivot bar 53 in the transfer position shock edge 67 which is by means of a pneumatic piston 68 obliquely between the pivot bar 53 and the front end of the discharge conveyor 63 and retractable.
  • a return conveyor 69 From the rear wall 6 runs (Fig. 1) just above the bottom 2 a return conveyor 69, a belt conveyor to the front wall 5, through an opening in the same therethrough and then rising over the edge of the container 7. He runs below the edge gripping device 52, Transfer gripper 40 and the Eckengreifvorraum 12 and serves as a return device for garments that were not properly taken and dropped in the sequence.
  • the device is controlled by a microprocessor, which processes the output signals of the sensors and generates control signals, in particular for the various conveyors, pneumatic pistons and clamps.
  • the lay-on gripper 14 now travels in the direction of being laid along the rail 15 into the interior of the housing 1 (FIG. 4), as a result of which the laundry item 70 is pulled through the light barrier 19 and onto the laying strip 18.
  • the light barrier 19 determines the passage of the rear end of the laundry article 70 and stops the lay-on conveyor 12.
  • the Auflegegreifer 14 is opened and the laundry piece 70 falls entirely on the Auflegestsammlung 18.
  • the rearmost in Auflegecardi tail is now on the edge plate 17, where he can easily survive over the edge and the rest on the cross conveyor 16. Now this is in motion set, the laundry item 70 moves against the middle and is stopped.
  • the carriage 22 (Fig. 5) is now moved along the rail 23 in the transverse direction, so that the flap 29 moves with the scanner 30 across the scanning and thus over the resting on the edge plate 17 tip of the laundry article 70, which scans from above becomes.
  • the holder 20 is advanced, so that the corner gripper 24 enters the gripping position and, after an air blast from the blowing nozzle 31, which presses the laundry item to the edge plate 17, lowered its upper jaw 26 against the edge plate 17 and thus the tip of the laundry item 70th clamped between these parts, while the lower jaw 25 of the corner gripper 24 protrudes under the edge plate 17. Then, the holder 20 is retracted until the corner gripper 24 is clamped free of the edge plate 17 and the tip of the garment 70 between the upper jaw 26 and the lower jaw 25 is clamped.
  • the gripped position usually corresponds with sufficient accuracy to a corner 71 of the laundry item 70.
  • the carriage 22 is then moved further and at the same time the pedestal 21 is raised and the corner gripper 24 is tilted downwards by means of the pneumatic piston 28 until it (see Fig. 6) is just above the open bracket 41 of the transfer gripper 40, so that the laundry item 70 hangs between their cheeks. Then, the clip 41 is closed, leaving the V-shaped recess at the top of the same place for the corner gripper 24, which is then opened.
  • the band 42 carrying the clamp 41 is now rotated by a little less than 90 ° about a vertical axis, whereupon (FIG.
  • the clamping gripper 35 is now moved in the clamping direction along the rail 36 to the transfer point at the end of the same.
  • the laundry item 70 pushes against the channel 43 and is pulled over the top and on the open flap 49 of the end gripping unit (FIG. 8), wherein it is slightly pushed together laterally.
  • the passage of the end of the laundry article 70 is thereby detected by the end sensor unit, ie it is detected in each case by the two rows of sensors 51 and from the Time points at which each of the last sensor of the series determines the passage of the rear edge, the pre-calculated later time at which the rearmost tip of the laundry item 70 will pass the end gripper unit.
  • the flap 49 is folded down and clamped the rearmost tip of the laundry item 70, that is seized and held the same in the region of the rearmost tip. It is pretty tense between the clamping gripper 35 and the end gripping unit and only slightly hangs through. Usually now an edge 72 of the laundry article 70, which adjoins the corner 71 held by the clamp 37 of the tensioning conveyor 35, hangs down freely, but it also happens that it is folded back.
  • the carriage 48 is set in motion and the groove 43 is moved with the gripper 35 until it reaches the transfer point, whereupon the tension conveyor 34 and the carriage 48 are stopped.
  • the edge 72 Towards the end of this movement, the edge 72 abuts against the guide surface formed by the front of the baffle 55 and slides along the same against the pivot bar 53 ( Figure 9).
  • the tension gripper 35 stops the edge 72, if struck back, is exposed by a short shaking of the clamp 37 by means of the pneumatic piston 38 and possibly an air blast from above from a blowing nozzle.
  • the free edge 72 then usually includes an acute angle with the pivot bar 53. Now the groove 43 is lowered, whereby the edge 72 is pivoted against the pivot bar 53 and finally (Fig.
  • the two corners 71, 73 delimiting the edge 72 are now held by the clamps 57, 60 of the edge grippers 56, 59 (FIG. 11).
  • the pivot bar 53 is pivoted to its transfer position in which it lies horizontally above the front end of the discharge conveyor 63 (FIG. 12).
  • the laundry item 70 is aligned with it and can be transferred to the discharge conveyor 63. This is done by advancing the baffle 66. Shortly after the butt 67 of the same below the edge 72 has hit the laundry 70, the brackets 57, 60 of the edge gripper 56, 59 are opened and the front, adjoining the edge 72 portion of the laundry item 70th falls onto the discharge conveyor 63, which is in the takeover position.
  • a piece of laundry for example, already taken by the pre-gripper 8 at an unfavorable position or it is particularly unfavorable is, for example, twisted, so it may happen that even in the corner gripping device 12, the corner was not or only poorly grasped and the laundry remains on the cross conveyor 16 or in the attempted takeover of the corner by the transfer gripper 40 or by the clamping gripper 35 drops. It is also possible that in the edge gripping device 52, the second corner can not be grasped and the laundry piece from the discharge conveyor 63 slides against the conveying direction or that the laundry item drops to any other point. In all these cases, the function of the device according to the invention is not permanently disturbed. The laundry item falls only on the return conveyor 69 and is, usually in a more favorable position, for example, when it was twisted, at least partially turned up, transported back into the container 7, where it can be taken again by the pre-gripper 8.
  • the relative movement between the laundry article 70 and the scanner 30 in the corner gripping device 12 can also be produced by transverse displacement of the former, for example by means of the transverse conveyor 16.
  • a mechanical or electrical scanner can also be used.
  • the device according to the invention need only comprise a corner gripping device as described. A further alignment of the item of laundry can also take place in other ways than described, for example manually or by other automatically operating means. The Return device needs in this case may only pass below the corner gripping device.

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  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Treatment Of Fiber Materials (AREA)
  • Discharge Of Articles From Conveyors (AREA)
  • Specific Conveyance Elements (AREA)
EP05405191A 2005-02-15 2005-02-15 Procédé d'alignement d'une pièce de linge et dispositif pour la mise en oeuvre du procédé Withdrawn EP1690975A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP05405191A EP1690975A1 (fr) 2005-02-15 2005-02-15 Procédé d'alignement d'une pièce de linge et dispositif pour la mise en oeuvre du procédé
US11/354,055 US7412789B2 (en) 2005-02-15 2006-02-15 Process for aligning a laundry article and device for carrying out the process

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP05405191A EP1690975A1 (fr) 2005-02-15 2005-02-15 Procédé d'alignement d'une pièce de linge et dispositif pour la mise en oeuvre du procédé

Publications (1)

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EP1690975A1 true EP1690975A1 (fr) 2006-08-16

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US (1) US7412789B2 (fr)
EP (1) EP1690975A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2455530A1 (fr) * 2010-11-19 2012-05-23 Herbert Kannegiesser GmbH Procédé et dispositif destinés au traitement, notamment au traitement humide du linge
WO2021165582A1 (fr) * 2020-02-21 2021-08-26 24 Pesula Oy Agencement de détection, machine à laver plane et procédé
US11486084B2 (en) 2020-07-01 2022-11-01 Monotony.ai, Inc. Autonomous laudry folding devices, systems, and methods of use
US11680365B2 (en) 2020-07-01 2023-06-20 Monotony.ai, Inc. Autonomous laundry folding devices, systems, and methods of use

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Publication number Priority date Publication date Assignee Title
JP6389686B2 (ja) * 2014-07-31 2018-09-12 株式会社プレックス 布類展開装置
DE102017005954A1 (de) * 2017-06-26 2018-12-27 Herbert Kannegiesser Gmbh Verfahren und Vorrichtung zum Zuführen von Wäschestücken zu einer Wäschebehandlungseinrichtung, insbesondere mindestens einem Beladeförderer
US11198577B2 (en) 2018-05-04 2021-12-14 Under Armour, Inc. System and method for picking single sheet of material for further processing
DE102019135659A1 (de) * 2019-11-28 2021-06-02 Herbert Kannegiesser Gmbh Verfahren und Vorrichtung zum Ergreifen rechteckiger textiler Gegenstände und/oder zum Zuführen rechtecktiger textiler Gegenstände zu einer Behandlungseinrichtung
US11643769B2 (en) 2020-10-18 2023-05-09 Monotony.ai, Inc. Robotic laundry sorting devices, systems, and methods of use
WO2022094034A1 (fr) 2020-10-28 2022-05-05 Monotony.ai, Inc. Systèmes et dispositifs de séparation et de repositionnement du linge et méthodes d'utilisation
WO2022180844A1 (fr) * 2021-02-26 2022-09-01 東都フォルダー工業株式会社 Dispositif d'alimentation en tissu et dispositif à étaler le tissu ayant un dispositif d'alimentation en tissu

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US5168645A (en) 1988-06-16 1992-12-08 Francois Robin Method and apparatus for automatically grasping, shaking, separating, and conveying two adjacent corners of a flat sheet
EP0751251A1 (fr) * 1995-01-10 1997-01-02 Tokai Co., Ltd. Procede et appareil permettant de terminer entierement automatiquement le blanchissage de linge carre

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CH696668A5 (de) 1996-03-08 2007-09-14 Jensen Ag Burgdorf Verfahren zum Zuführen von Wäschestücken zu einem Bearbeitungsgerät sowie Zuführvorrichtung.
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Publication number Priority date Publication date Assignee Title
US5168645A (en) 1988-06-16 1992-12-08 Francois Robin Method and apparatus for automatically grasping, shaking, separating, and conveying two adjacent corners of a flat sheet
EP0751251A1 (fr) * 1995-01-10 1997-01-02 Tokai Co., Ltd. Procede et appareil permettant de terminer entierement automatiquement le blanchissage de linge carre

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2455530A1 (fr) * 2010-11-19 2012-05-23 Herbert Kannegiesser GmbH Procédé et dispositif destinés au traitement, notamment au traitement humide du linge
WO2021165582A1 (fr) * 2020-02-21 2021-08-26 24 Pesula Oy Agencement de détection, machine à laver plane et procédé
US11486084B2 (en) 2020-07-01 2022-11-01 Monotony.ai, Inc. Autonomous laudry folding devices, systems, and methods of use
US11680365B2 (en) 2020-07-01 2023-06-20 Monotony.ai, Inc. Autonomous laundry folding devices, systems, and methods of use
US11932986B2 (en) 2020-07-01 2024-03-19 Monotony.ai, Inc. Autonomous laundry folding devices, systems, and methods of use

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Publication number Publication date
US7412789B2 (en) 2008-08-19
US20060191170A1 (en) 2006-08-31

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