EP1690976A1 - 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
EP1690976A1
EP1690976A1 EP05405192A EP05405192A EP1690976A1 EP 1690976 A1 EP1690976 A1 EP 1690976A1 EP 05405192 A EP05405192 A EP 05405192A EP 05405192 A EP05405192 A EP 05405192A EP 1690976 A1 EP1690976 A1 EP 1690976A1
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EP
European Patent Office
Prior art keywords
edge
gripper
corner
laundry
gripping
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Withdrawn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
EP05405192A
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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 EP05405192A priority Critical patent/EP1690976A1/fr
Priority to US11/354,181 priority patent/US7448152B2/en
Publication of EP1690976A1 publication Critical patent/EP1690976A1/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Withdrawn legal-status Critical Current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 the alignment and grasping of an edge 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 device 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. 5,168,645 A shows a method and a corresponding device for aligning a laundry article with a corner gripper device and a pre-gripper with a suction head which can be moved from a gripping position in which it can aspirate a laundry item in an open container at any desired location into a transfer position can be lifted, in which the laundry is taken in the vicinity of 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 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 moved onto a horizontal rail piece adjoining the vertical rail piece, so that the edge stretched between them is now at the top. The laundry is thus ready for the transfer.
  • the invention is based on the object to improve the known generic method so that grasping a second corner of the laundry corner defining corner after taking hold of a first such corner as part of an alignment of the laundry with a high degree of accuracy and security.
  • 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 6.
  • the inventive method and the device for its implementation have been proven.
  • the grasping of a second corner of an edge which is delimited by the previously defined first corner, takes place with great reliability in the method according to the invention, in particular when it is performed by an edge gripping device of the device according to the invention.
  • Grasping the edge of the garment allows it to be completely aligned and transferred to a subsequent processing device.
  • the inventive device is relatively space-saving and simple.
  • the previous finding and grasping the first corner can be done with manual input or, preferably, automatically.
  • the same comprises a corner 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).
  • 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 holder 20 carries a trained as a pneumatic clamp Corner gripper 24. In the advanced gripping position of the holder 20 shown in Fig. 5 protrude a lower jaw 25 of the corner gripper 24 and an upper jaw 26 from one of the front wall 5 opposite gripping edge 27 of the edge plate 17 forth under or over the same.
  • 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 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 back is displaced.
  • 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 also comprises an end gripping unit with a gutter 43 suspended below the rail 36, with a bottom 44, for example made of sheet metal, which supports upwards-pointing brackets 45 on both sides as lateral boundaries.
  • the bottom 44 is convex in the tensioning direction, ie first steep and then increasingly flatter. 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 some optical sensors 51 in two in the clamping direction at a distance successive rows are arranged. 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 pivot bar 53, whose one end 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, the 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 transfer position.
  • the former Figure 12
  • its front end is below the pivoting beam 53 when in the transfer position and its top slopes steeply in the direction of conveyance, in the latter its top slopes off more flatly and it projects quite far from the rear end Rear wall 6 of the housing 1 from.
  • 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 sensors 32 are those who cross the tip of the laundry article 70, and there are both transitions, edge panel laundry and Wäsche Western edge plate registers, ie the positions of both edge points of the Laundry article 70 detected under the path of each sensor and fed to the microprocessor.
  • edge panel laundry and Wäsche Western edge plate registers ie the positions of both edge points of the Laundry article 70 detected under the path of each sensor and fed to the microprocessor.
  • those of the rearmost in the direction of the sensor which is the gripping edge 27 of the edge plate 17 initially, used for further evaluation, while any further results are not taken into account. This means that, regardless of the exact location of the top of the laundry article 70 in the direction of lift, which can not be controlled very precisely with reasonable effort, only the results of those responsive sensor are used, which is closest to the rear end of the laundry article 70.
  • 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 of the edge plate 17 free and the tip of the laundry item 70 between the upper jaw 26 and the lower jaw 25 is clamped.
  • the captured location 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 piece 70 pushes against the gutter 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 item 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 times at which each of the last sensor of the series determines the passage of the rear edge, the later time precalculated where the rearmost tip of the garment 70 will pass the end gripping 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, which 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 laundry is e.g. is already taken by the pre-gripper 8 at an unfavorable position or it is particularly unfavorable, e.g. twisted, it may happen that even in the corner gripping device 12, the corner was not or only poorly grasped and the laundry remains lying on the cross conveyor 16 or falls in the attempted takeover of the corner by the transfer gripper 40 or by the clamping gripper 35. 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 garment falls only on the return conveyor 69 and will, at least in part, usually in a more favorable position, for example, when 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 garment and the end gripping unit can also be generated by movement of the latter.
  • the end gripping unit can also be moved instead of lowered against the transfer point or both movements can be combined.
  • the device according to the invention need only comprise an edge gripping device as described. Finding and grasping a first corner
  • the garment may also be made in other ways than described, by other automatically operating means, or by being manually fed to a staple. In this case, the return device may only need to pass underneath the edge gripping device.

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  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Discharge Of Articles From Conveyors (AREA)
  • Treatment Of Fiber Materials (AREA)
  • Specific Conveyance Elements (AREA)
  • Sewing Machines And Sewing (AREA)
  • Feeding Of Articles By Means Other Than Belts Or Rollers (AREA)
EP05405192A 2005-02-15 2005-02-15 Procédé d'alignement d'une pièce de linge et dispositif pour la mise en oeuvre du procédé Withdrawn EP1690976A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP05405192A EP1690976A1 (fr) 2005-02-15 2005-02-15 Procédé d'alignement d'une pièce de linge et dispositif pour la mise en oeuvre du procédé
US11/354,181 US7448152B2 (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
EP05405192A EP1690976A1 (fr) 2005-02-15 2005-02-15 Procédé d'alignement d'une pièce de linge et dispositif pour la mise en oeuvre du procédé

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EP1690976A1 true EP1690976A1 (fr) 2006-08-16

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EP (1) EP1690976A1 (fr)

Cited By (7)

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EP1905885A2 (fr) * 2006-09-29 2008-04-02 AMTEC Wäschereimaschinen GmbH & Co. KG Procédé et dispositif pour changer le maintien d'une pièce de linge rectangulaire lors du transfert vers un dispositif de repassage ou analogue
EP2455522A1 (fr) 2010-11-18 2012-05-23 Nordenia Technologies GmbH Elément composite pour une fermeture autogrippante
EP2584088A1 (fr) * 2011-10-17 2013-04-24 Girbau Robotics Machine pour étendre et charger de pièces de linge plats
CN103237937A (zh) * 2010-12-01 2013-08-07 七梦科技有限公司 变形性薄片物展开装置和变形性薄片物展开方法
EP3663458A1 (fr) * 2018-12-05 2020-06-10 Girbau Robotics Dispositif et procédé d'introduction d'un article textile plat dans un appareil de traitement du linge
EP3828332A3 (fr) * 2019-11-28 2021-09-08 Herbert Kannegiesser GmbH Procede et dispositif pour saisir des articles textiles rectangulaires et/ou pour amener des articles textiles rectangulaires a une installation de traitement
US11377308B2 (en) 2019-11-28 2022-07-05 Herbert Kannegiesser Gmbh Method and device for gripping rectangular textile items and/or for feeding rectangular textile items to a treatment installation

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US7827709B2 (en) * 2007-06-04 2010-11-09 Mccabe Stanley G Linen spreader apparatus and method
US7836617B2 (en) * 2007-06-04 2010-11-23 Mccabe Stanley G Linen spreader apparatus and method
DE102009058637A1 (de) * 2009-12-16 2011-06-22 Herbert Kannegiesser GmbH, 32602 Verfahren und Vorrichtung zum Zuführen eines Wäschestücks zu einer Mangel oder dergleichen
DE102010053080A1 (de) * 2010-10-25 2012-04-26 Herbert Kannegiesser Gmbh Verfahren und Vorrichtung zum Vereinzeln und/oder Vermessen von Wäschestücken
US8764367B2 (en) * 2011-06-01 2014-07-01 Stanley G. McCabe Separator for articles of laundry
DK3359725T3 (da) * 2015-10-09 2020-03-09 Jensen Denmark As Indretning og fremgangsmåde til reorientering/orientering og justering af klæde
DE102016011675A1 (de) * 2016-09-29 2018-03-29 Herbert Kannegiesser Gmbh Verfahren und Vorrichtung zum Zuführen von Wäschestücken zu einer Wäschebehandlungseinrichtung, insbesondere einer Mangel
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
JP2019198490A (ja) * 2018-05-16 2019-11-21 株式会社アスティナ 衣類処理システム、および衣類処理方法
CN109594286B (zh) * 2018-11-26 2021-10-29 歌尔股份有限公司 一种智能洗衣方法、装置、智能洗衣机
CN113463358B (zh) * 2020-03-31 2024-05-24 青岛海尔洗衣机有限公司 一种叠衣机及控制方法
WO2022082101A1 (fr) 2020-10-18 2022-04-21 Monotony.ai, Inc. Dispositifs et systèmes de tri de linge robotisés et procédés d'utilisation
EP3988253B1 (fr) * 2020-10-22 2024-05-01 sewts GmbH Dispositif de positionnement et procédé de positionnement d'une pièce plate flexible
US11999067B2 (en) 2020-10-28 2024-06-04 Monotony.ai, Inc. Robotic laundry separating and repositioning devices, systems, and methods of use

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US5169282A (en) * 1988-12-02 1992-12-08 Mitsubishi Jukogyo Kabushiki Kaisha Method for spreading sheets
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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EP1905885A2 (fr) * 2006-09-29 2008-04-02 AMTEC Wäschereimaschinen GmbH & Co. KG Procédé et dispositif pour changer le maintien d'une pièce de linge rectangulaire lors du transfert vers un dispositif de repassage ou analogue
EP2455522A1 (fr) 2010-11-18 2012-05-23 Nordenia Technologies GmbH Elément composite pour une fermeture autogrippante
US9969041B2 (en) 2010-12-01 2018-05-15 Seven Dreamers Laboratories, Inc. Deformable thin object spreading device and method
CN103237937A (zh) * 2010-12-01 2013-08-07 七梦科技有限公司 变形性薄片物展开装置和变形性薄片物展开方法
EP2647757A4 (fr) * 2010-12-01 2015-07-29 Seven Dreamers Lab Inc Dispositif permettant d'étaler des articles minces modelables et procédé d'étalement d'articles minces modelables
EP2584088A1 (fr) * 2011-10-17 2013-04-24 Girbau Robotics Machine pour étendre et charger de pièces de linge plats
EP3663458A1 (fr) * 2018-12-05 2020-06-10 Girbau Robotics Dispositif et procédé d'introduction d'un article textile plat dans un appareil de traitement du linge
CN111270500A (zh) * 2018-12-05 2020-06-12 高达机器公司 一种将平展的纺织品供给到衣物处理设备的装置和方法
CN111270500B (zh) * 2018-12-05 2023-12-29 高达机器公司 一种将平展的纺织品供给到衣物处理设备的装置和方法
EP3828332A3 (fr) * 2019-11-28 2021-09-08 Herbert Kannegiesser GmbH Procede et dispositif pour saisir des articles textiles rectangulaires et/ou pour amener des articles textiles rectangulaires a une installation de traitement
US11377308B2 (en) 2019-11-28 2022-07-05 Herbert Kannegiesser Gmbh Method and device for gripping rectangular textile items and/or for feeding rectangular textile items to a treatment installation
EP4219825A1 (fr) * 2019-11-28 2023-08-02 Herbert Kannegiesser GmbH Procédé et dispositif pour saisir des objets textiles rectangulaires

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