EP2444544A2 - Procédé et dispositif de séparation et/ou de mesure de pièces de linge - Google Patents

Procédé et dispositif de séparation et/ou de mesure de pièces de linge Download PDF

Info

Publication number
EP2444544A2
EP2444544A2 EP11007480A EP11007480A EP2444544A2 EP 2444544 A2 EP2444544 A2 EP 2444544A2 EP 11007480 A EP11007480 A EP 11007480A EP 11007480 A EP11007480 A EP 11007480A EP 2444544 A2 EP2444544 A2 EP 2444544A2
Authority
EP
European Patent Office
Prior art keywords
laundry
conveyor
item
items
corner
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
EP11007480A
Other languages
German (de)
English (en)
Other versions
EP2444544B1 (fr
EP2444544A3 (fr
Inventor
Heinz Engelbert
Friedhelm Mehrhoff
Andreas Olivieri
Alexander Farchmin
Jan Hellmig
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.)
Herbert Kannegiesser GmbH and Co
Original Assignee
Herbert Kannegiesser GmbH and Co
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 Herbert Kannegiesser GmbH and Co filed Critical Herbert Kannegiesser GmbH and Co
Publication of EP2444544A2 publication Critical patent/EP2444544A2/fr
Publication of EP2444544A3 publication Critical patent/EP2444544A3/fr
Application granted granted Critical
Publication of EP2444544B1 publication Critical patent/EP2444544B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • D06F93/00—Counting, sorting, or marking arrangements specially adapted for laundry purposes
    • 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 separating laundry items according to the preamble of claim 1.
  • the invention further relates to a method for measuring laundry items according to the preamble of claim 4.
  • the invention relates to a device for separating laundry items according to the preamble of claim 10 ,
  • Laundry items are often sorted in laundries. For example, laundering in laundries is delivered to laundry bags that contain various items of laundry that require different laundry treatments and therefore need to be sorted before washing. It can be a mess of white laundry and colorful laundry, especially a mixture of clothing and flat linen made of different textiles. The different laundry items must first be individually removed the laundry pile before they can be sorted according to different sorting criteria.
  • the sorting requires a prior knowledge of at least one conclusion on the size of the respective garment permitting dimension.
  • the present invention seeks to provide a method and an apparatus, with which pieces of laundry can be isolated reliably automatically and accurately measured in a simple manner.
  • a method for achieving this object comprises the measures of claim 1. Accordingly, it is envisaged, in the case of several detected by the gripper and deposited on a conveyor laundry items to fix only the most recent last laundry tail on the conveyor. In this case, it is assumed that the last end of the laundry is a part, in particular a corner, of a single item of laundry. Consequently, only a single item of laundry is fixed on the conveyor. The remaining, unfixed laundry items can then slide down from the conveyor so that only one piece of laundry remains on the conveyor.
  • the respective at least one unfixed item of laundry slipping down from the conveyor is thrown back onto the laundry pile to be separated or into a container or a feed conveyor for the laundry pile.
  • Such items of laundry are thereby automatically fed back to the separation by later being pulled out of the laundry pile or a receptacle by the gripper again.
  • a preferred embodiment of the method provides that the at least one piece of laundry from the gripper directed diagonally, preferably diagonally suspended or diagonally extended, to be transferred to the conveyor.
  • diagonally opposite corners of the at least one item of laundry are located on the conveyor, one corner defining the foremost point of the respective item of laundry as viewed in the conveying direction of the conveyor, and the other corner defining the rearmost position.
  • a back corner of a single item of laundry is fixed on the conveyor such that the part of the laundry fixed to the corner at the corner fixed to the fixed corner hangs freely from the front end of the conveyor.
  • the lowest point of the hanging down from the conveyor laundry is the fixed rear corner diagonally opposite the front corner of the laundry article. This results in a diagonal Vorbreiten and / or aligning the laundry item, whereby the laundry gets a defined position and orientation.
  • the individual items of laundry can thus be subjected to a further treatment in a specific position with the diagonally opposite corners being pulled apart.
  • the laundry item arrives on a subsequent conveyor on which it is measured.
  • Another method for the solution of the above-mentioned object comprises the measures of claim 4. Accordingly, the separated laundry item in the designed, that is slightly stretched out, state during the further transport on a conveyor, the distance between two opposite in the conveying direction of the conveyor points of the laundry determined. As a result, a measurement of the laundry is taking place.
  • a longitudinal dimension of the item of laundry is determined, which is of importance for the subsequent treatment, in particular sorting, of the item of laundry.
  • a measure is determined which corresponds to the longitudinal extension of the laid out or stretched laundry item in the transport direction of the conveyor. This may be, for example, a latitude or longitude of the item of laundry.
  • the degree of the distance of the front and the rear of the laundry article in Transport direction of the conveyor ideally is a characteristic of the size of the laundry item measure.
  • a preferred embodiment of the method provides that the laundry item is deposited with diagonally opposite corners on the conveyor and / or is taken over with diagonally opposite corners of the conveyor.
  • characteristic points thereof preferably be determined contactless and so the desired measurement of the laundry are made. It is preferably provided to determine the distance between the diagonally opposite corners of the item of laundry lying on the conveyor with diagonally opposite corners on the conveyor.
  • the laundry article according to a preferred embodiment of the invention in the longitudinal direction of the conveyor spread or slightly stretched on the conveyor is applied, so the diagonal of the laundry results, from which conclusions about the size of the laundry are possible.
  • the laundry item can lie flat on a correspondingly wide conveyor for measuring. But it is also sufficient if only a narrow strip of laundry with the diagonally opposite corners of the same rests on the conveyor so that opposite edge portions of the laundry hanging down on opposite sides of the conveyor.
  • the conveyor can then be designed narrower than the laundry item.
  • the method according to the invention can be advantageously developed by taking over the item of laundry from the preceding conveyor by pivoting the conveyor on which the measurement of the item of laundry takes place.
  • the end of the conveyor facing the preceding conveyor is pivoted under one end of the preceding conveyor or a counter-pressure means in the area of the preceding conveyor.
  • Another preferred embodiment of the method provides that the conveyor takes over the laundry with the fixed on the preceding conveyor point or corner.
  • the garment depends on the takeover of the conveyor as well down as from the previous conveyor, whereby the laundry in stretched by its own weight state from the measurement of the laundry performing conveyor can be taken. This also leads to relatively accurate measurement results.
  • An apparatus for solving the above-mentioned problem has the features of claim 10.
  • the conveyor which takes over at least one piece of laundry which has been pulled out of the laundry pile by the gripper, can arrange another conveyor, this subsequent conveyor serving to determine a measure and / or measurement of the item of laundry.
  • the gripper downstream conveyor leads to a reliable separation, so that only a single piece of laundry is supplied to the subsequent conveyor for measuring the same. This ensures a reliable automatic measurement of the item of laundry.
  • the distance between the diagonally opposite corners on the conveyor is determined. From this, the diagonal dimension of the individual items of laundry can be derived. It detects those corners that are on the conveyor, in the first place and at the rear. The corners do not necessarily have to be on a line in the conveying direction of the conveyor; they can be anywhere within the width of the conveyor.
  • the subsequent conveyor detection means for determining at least one measure of the laundry are assigned.
  • the subsequent conveyor has at least one sensor for determining a front or rear location of the laundry item lying on the following conveyor and a travel sensor.
  • the sensor may be a type of light barrier, which determines whether the conveyor is occupied by the laundry or is free on a line running transversely to the transport direction of the conveyor.
  • a signal is generated regardless of where the front part of the item of laundry lies relative to the width of the conveyor.
  • the back of the garment passes the preferably same photocell-like sensor, another signal is generated, again independent of where the back of the garment lies on the conveyor with respect to the width of the conveyor.
  • This measure is then required for the measurement of the laundry item measure.
  • This measure is a diagonal dimension of the garment when the sensors detect the front and rear of the diagonally opposite corners of the garment.
  • a further advantageous embodiment of the invention provides for the conveyor following the gripper to be assigned a means for gripping a rearmost corner of one of a plurality of items of laundry deposited on the conveyor by the gripper.
  • This means holds the rearmost tip of a garment lying on the conveyor, while the rear corners of the other items of laundry, which are located in another place, are not gripped by the agent.
  • Only a single item of laundry is fixed on the conveyor, while the remaining laundry items not covered by the means slide off the conveyor and are fed again to the separating process. It is guaranteed as a reliable separation of the laundry before the measurement of the same. Due to this, a reliable measurement of each individual item of laundry can take place.
  • the in the Fig. 1 and 2 automatic sorting system shown is used for automatic separation, measurement, identification and distribution (sorting) of laundry items of all kinds.
  • Items of laundry 10 shown may be dirty laundry items 10, but may also be laundered laundry items 10.
  • the in the Fig. 1 and 2 The automatic sorting system shown has a feed conveyor 11, a subsequent device 12 for singulating and measuring the items of laundry 10, a subsequent identification unit 13 and a sorting device 14 with a sorting conveyor 15 and a row of several collection containers 16 for sorted items of laundry 10 arranged on one side next to the sorting conveyor 15 on.
  • the feed conveyor 11 and the sorting conveyor 15 are in the automatic sorting system shown here to belt conveyor.
  • the device 12 for separating and measuring laundry items 10 is in the Fig. 3 to 7 shown.
  • the device 12 has a frame provided with a housing 17. Below the housing 17, a receptacle for a laundry pile 18 is provided. In the exemplary embodiment shown, the receptacle has a storage belt 19 which can be moved back and forth, on which the entire laundry heap 18 rests.
  • the device 12 has a gripping device 20 arranged above the laundry pile 18.
  • the gripping device 20 is arranged stationarily on the upper side of the frame of the housing 17.
  • the gripping device 20 has a gripper 21, which is attached to the lower end of a piston rod of a movable up and down pressure cylinder 22.
  • the gripping device 20 arranged above the laundry rack 18 makes it possible for the downwardly moved gripper 21 to pull a single item of laundry 10 out of the laundry pile 18 and thereby to separate it. However, it also happens that the gripper 21 simultaneously pulls out several items of laundry 10 from the laundry pile 18 and thus does not completely separate a laundry article 10 from the gripping device 20.
  • a fixed conveyor which is formed in the embodiment shown as a circulating belt conveyor 23.
  • the belt conveyor 23 is fixedly mounted on the frame of the housing 17. From the belt conveyor 23, a single item of laundry 10 or more simultaneously grabbed by the gripping device 20 items of laundry 10 are transported in the conveying direction 24 slightly increasing.
  • a conveyor pulley 23 arranged in front of the belt conveyor 23 has a pivotable prefeed conveyor 26 arranged around a rear deflection drum 25.
  • the pivotable intermediate conveyor 26 is formed in the embodiment shown by a front part of the belt conveyor 23. Due to the pivoting of the pre-conveyor 26 about its seen in the conveying direction 24 rear guide pulley 25 is a free front end 27 of the intermediate conveyor 26 up and swung by at least one pressure cylinder 28th Thus, the intermediate conveyor 26 forming the front part of the belt conveyor relative to the remaining fixed rear part of the belt conveyor 23 kinked.
  • the front pivotable end 27 of the intermediate conveyor 26 is associated with a freely rotatable or possibly also driven pressure roller 29.
  • the pinch roller 29 is located on the side of the vertical movement path of the gripper 21 opposite the downwardly inclined intermediate conveyor 26 or belt conveyor 23.
  • the pinch roller 29 is fixedly arranged on the frame of the housing 17, which abuts its upper strand under the pinch roller 29 when the prefeed conveyor 26 is pivoted up.
  • the front end 27 thereof is so far away in horizontal direction from the pressure roller 29 that between the swung-down pre-conveyor 26 and the pressure roller 29, the or each grabbed by the gripper 21 piece of laundry 10 from the laundry pile 18 is combinziehbar.
  • the rear end 30 of the belt conveyor 23 is not shown in the figures sensor for detecting a trailing in the conveying direction 24, the rear end, in particular a rear corner, the single piece of laundry 10 on the upper run of the belt conveyor 23 or the rearmost of several laundry items 10th assigned to the belt conveyor 23.
  • This sensor is used to stop the drive of the belt conveyor 23 and also for pivoting the pinch roller 31 to the upper run of the belt conveyor 23, if he has an end, in particular a corner of the single piece of laundry 10 or a rearmost end or the furthest back lying corner of one of several with partial overlap on the belt conveyor 23 located laundry items 10 recognizes.
  • a further conveyor is arranged, which is formed in the embodiment shown as a circumferential belt conveyor 32.
  • the belt conveyor 32 is pivotally mounted on the frame 17 of the housing 17 about a rear end 33 directed away from the belt conveyor 23.
  • a front end 34 of the belt conveyor 32 facing the belt conveyor 23 can be pivoted up and down on a circular path around the rear end 33.
  • the belt conveyor 32 is pivoted by at least one pressure cylinder 35.
  • the front end 34 of the belt conveyor 32 is so far Japaneseschwenkbar that an upper run 36 of the belt conveyor 32 in the region of the front end 34 for contact with or under a freely rotatable, stationary pressure roller 37 under the rear end 30 of the belt conveyor 23 passes.
  • a tail pulley or a drive drum at the rear end 33 or front end 34 of the belt conveyor 32 is associated with a rotation sensor, in particular a sensor bearing.
  • the belt conveyor 32 at least one sensor, preferably a sensor bar or a light barrier, assigned.
  • the sensor bar or the light barrier is arranged transversely to the conveying direction 24 of the belt conveyor 32, in such a way that it determines whether a part, for example a corner or corner, of a piece of laundry 10 passes or leaves the reflection light barrier or sensor bar. Passing and leaving a corner or a corner of a piece of laundry 10 of the reflection light barrier or the sensor strip triggers each one measurement signal, which starts and stops the distance measurement of the sensor bearing.
  • the laundry item 10 is laid out flat or stretched for measuring on the belt conveyor 32.
  • the belt conveyor 32 must but have a width such that the diagonally opposite corner regions used for measuring the item of laundry 10 lie one behind the other on the upper run 36 of the belt conveyor 32, in the flat or flat state.
  • a load cell 38 of the identification unit 13 On the device 12 follows in the conveying direction 24, a load cell 38 of the identification unit 13.
  • the load cell 38 has two oppositely pivotable pivoting flaps 39, the swung up form a closed weighing surface.
  • the pivoting flaps 39 are mounted on force absorbers of a weighing table 40.
  • the force sensors determine the weight of the pivoting flaps 39 with a laundry item 10 lying thereon. As a result, the weight of the laundry item 10 can be determined.
  • the pivoting flaps 39 After weighing the laundry article 10, the pivoting flaps 39 are swung down in opposite directions and thereby open the weighing surface.
  • the garment 10 passes through a conveyor, preferably a belt conveyor 41.
  • the laundry item 10 is transported by the identification unit 13, past a three-dimensional image-generating volume camera 42, a color camera 43 and a structure camera 44th Die of the three cameras may deviate from the representation in the Fig. 2 vary.
  • a vacuum table 45 for sucking the item of laundry 10 on the upper run of the belt conveyor 41 is located below the belt conveyor 41.
  • the sorting device 14 After the item of laundry 10 has passed through the identification unit 13, in which the sorting criteria of the item of laundry 10 were determined, it arrives at the sorting device 14, where it is sorted into the corresponding collection container 16 according to the sorting criteria determined in the identification unit 13.
  • a single item of laundry 10 is taken from the laundry pile 18.
  • the laundry heap 18 is moved under the gripping device 20 so that it can always grab a laundry item 10 even when the laundry heap 18 is getting smaller.
  • the gripper 31 detects only a single item of laundry 10. However, it happens that the gripper 21 simultaneously detects several items of laundry 10. In this case performs the device 12 after the gripping device 20 by a reliable separation of several simultaneously seized laundry items 10 by. For the following description it is assumed that the gripper has seized two pieces of laundry 10 at the same time, which may be the same or different items of laundry, in particular laundry items of different sizes.
  • the laundry items 10 are transported in the conveying direction 24 via the belt conveyor 23.
  • the pre-conveyor 26 is pivoted back into the starting position, whereby the gripper 21 between the pre-conveyor 26 and the pinch roller 29 can shut down again for grasping preferably a separated next piece of laundry 10th
  • the front corner of the laundry article 10 is detected during further transport of the laundry article 10 on the belt conveyor 32 first. This detection leads to a start of the measuring process of the sensor bearing of the belt conveyor 32. The measurement of the sensor bearing is terminated as soon as the sensor bar or the reflection light barrier detects the passage of the following corner. In this way, a measurement of the item of laundry 10 is carried out by the path which the belt conveyor 32 has covered during the measurement by the sensor bearing, the diagonal of the laundry item 10 corresponds. From this measure, conclusions can be drawn on the size of the laundry item 10.
  • the weight of the laundry 10 is determined by the determined by the load cell 38 total weight of the pivoting flaps 39 and the laundry item 10, the weight of the pivoting flaps 39 is subtracted.
  • the pivoting flaps 39 open so that the laundry article 10 falls onto the belt conveyor 41, which transports the laundry article 10 through the identification unit 13 on the volume camera 42, the color camera 43 and the structural camera 44 ,
  • the laundry item 10 is fixed on the upper run of the belt conveyor 41 by the vacuum table 45 under the belt conveyor 41.
  • the garment 10 After the volume camera 42, the color camera 43 and the structure camera 44 have determined all other sorting criteria such as color and structure of the garment 10, the garment 10 according to the sorting criteria, which also include the previously determined size of the garment 10 and the weight of the same Sorting device 14 sorted, namely dropped into the relevant collection container 16, which is provided for items of laundry 10 with the determined sorting criteria, in particular size, weight, color, fabric structure and / or type.

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  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Sorting Of Articles (AREA)
  • Discharge Of Articles From Conveyors (AREA)
EP11007480.4A 2010-10-25 2011-09-15 Procédé de séparation et/ou de mesure de pièces de linge Active EP2444544B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010049255 2010-10-25
DE102010053080A DE102010053080A1 (de) 2010-10-25 2010-12-01 Verfahren und Vorrichtung zum Vereinzeln und/oder Vermessen von Wäschestücken

Publications (3)

Publication Number Publication Date
EP2444544A2 true EP2444544A2 (fr) 2012-04-25
EP2444544A3 EP2444544A3 (fr) 2013-08-14
EP2444544B1 EP2444544B1 (fr) 2016-01-27

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ID=44799476

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Application Number Title Priority Date Filing Date
EP11007480.4A Active EP2444544B1 (fr) 2010-10-25 2011-09-15 Procédé de séparation et/ou de mesure de pièces de linge

Country Status (3)

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US (1) US20120099947A1 (fr)
EP (1) EP2444544B1 (fr)
DE (1) DE102010053080A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2930264A1 (fr) * 2014-04-11 2015-10-14 Herbert Kannegiesser GmbH Procédé de préhension d'une pièce de linge
EP3029195A1 (fr) * 2014-11-26 2016-06-08 Herbert Kannegiesser GmbH Procede et dispositif de guidage de vetements dans un cylindre ou un autre dispositif de traitement du linge
EP3290578A1 (fr) * 2016-09-01 2018-03-07 Herbert Kannegiesser GmbH Procédé et dispositif de tri de linge, de préférence de linge à laver
US10167590B2 (en) * 2016-09-01 2019-01-01 Herbert Kannegiesser Gmbh Method and device for sorting of laundry items, preferably laundry items for cleaning
CN109154126A (zh) * 2016-05-31 2019-01-04 赫伯特坎尼吉塞尔有限公司 用于将洗涤衣物供应给衣物再处理装置的方法以及设备

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DE102011109014A1 (de) * 2011-05-23 2012-11-29 Herbert Kannegiesser Gmbh Verfahren zum Beladen einer Wäschereimaschine
EP2947198B1 (fr) * 2013-01-18 2017-11-29 Purex Co., Ltd. Dispositif de séparation des textiles
CN107700195B (zh) * 2017-11-06 2024-02-27 浙江纽易网络技术有限公司 一种衣架擒纵机构
WO2021078931A1 (fr) * 2019-10-25 2021-04-29 Inwatec Aps Appareil de distribution de linge et procédé de distribution de linge
ES2969902T3 (es) 2020-08-07 2024-05-23 Girbau Sa Sistema y procedimiento para la clasificación automática de artículos textiles
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

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Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2930264A1 (fr) * 2014-04-11 2015-10-14 Herbert Kannegiesser GmbH Procédé de préhension d'une pièce de linge
US9920470B2 (en) 2014-04-11 2018-03-20 Herbert Kannegiesser Gmbh Method for capturing an item of laundry
EP3029195A1 (fr) * 2014-11-26 2016-06-08 Herbert Kannegiesser GmbH Procede et dispositif de guidage de vetements dans un cylindre ou un autre dispositif de traitement du linge
EP4015701A3 (fr) * 2014-11-26 2022-09-14 Herbert Kannegiesser GmbH Procédé d'introduction de linge dans une calandre ou à un autre dispositif de traitement du linge
US9988220B2 (en) 2014-11-26 2018-06-05 Herbert Kannegiesser Gmbh Method and apparatus for feeding items of laundry to a mangle or to some other laundry-treatment arrangement
CN109154126A (zh) * 2016-05-31 2019-01-04 赫伯特坎尼吉塞尔有限公司 用于将洗涤衣物供应给衣物再处理装置的方法以及设备
US11339526B2 (en) 2016-05-31 2022-05-24 Herbert Kannegiesser Gmbh Method for feeding pieces of laundry to a laundry subsequent handling apparatus and device
CN109154126B (zh) * 2016-05-31 2022-06-10 赫伯特坎尼吉塞尔有限公司 用于将洗涤衣物供应给衣物再处理装置的方法以及设备
US10167590B2 (en) * 2016-09-01 2019-01-01 Herbert Kannegiesser Gmbh Method and device for sorting of laundry items, preferably laundry items for cleaning
US10738416B2 (en) 2016-09-01 2020-08-11 Herbert Kannegiesser Gmbh Device for sorting of laundry items, preferably laundry items for cleaning
EP3290578A1 (fr) * 2016-09-01 2018-03-07 Herbert Kannegiesser GmbH Procédé et dispositif de tri de linge, de préférence de linge à laver
EP3290578B1 (fr) 2016-09-01 2023-04-26 Herbert Kannegiesser GmbH Procédé et dispositif de tri de linge, de préférence de linge à laver
EP4198192A1 (fr) * 2016-09-01 2023-06-21 Herbert Kannegiesser GmbH Dispositif de tri de pièces de linge, de préférence de pièces de linge à nettoyer

Also Published As

Publication number Publication date
EP2444544B1 (fr) 2016-01-27
DE102010053080A1 (de) 2012-04-26
EP2444544A3 (fr) 2013-08-14
US20120099947A1 (en) 2012-04-26

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