EP3828332A2 - Procede et dispositif pour saisir des articles textiles rectangulaires et/ou pour amener des articles textiles rectangulaires a une installation de traitement - Google Patents

Procede et dispositif pour saisir des articles textiles rectangulaires et/ou pour amener des articles textiles rectangulaires a une installation de traitement Download PDF

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Publication number
EP3828332A2
EP3828332A2 EP20210309.9A EP20210309A EP3828332A2 EP 3828332 A2 EP3828332 A2 EP 3828332A2 EP 20210309 A EP20210309 A EP 20210309A EP 3828332 A2 EP3828332 A2 EP 3828332A2
Authority
EP
European Patent Office
Prior art keywords
textile object
textile
clamp
edge
holding means
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
EP20210309.9A
Other languages
German (de)
English (en)
Other versions
EP3828332B1 (fr
EP3828332A3 (fr
Inventor
Engelbert Heinz
Wilhelm Bringewatt
Markus Nolte
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
Priority claimed from DE102019135659.8A external-priority patent/DE102019135659A1/de
Application filed by Herbert Kannegiesser GmbH and Co filed Critical Herbert Kannegiesser GmbH and Co
Priority to EP23167510.9A priority Critical patent/EP4219825A1/fr
Publication of EP3828332A2 publication Critical patent/EP3828332A2/fr
Publication of EP3828332A3 publication Critical patent/EP3828332A3/fr
Application granted granted Critical
Publication of EP3828332B1 publication Critical patent/EP3828332B1/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
    • 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
    • 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 gripping a rectangular textile object according to the preamble of claims 1 or 7 and a method for feeding rectangular textile objects to a treatment device according to the preamble of claim 10. Furthermore, the invention relates to a device for gripping rectangular textile objects according to the preamble of claim 14.
  • Textile objects in particular items of laundry to be washed and / or washed, with a rectangular shape must be gripped in such a way that they can be fed to a treatment device. This applies both to rectangular textile objects that have edges of equal length or of unequal length at right angles to one another.
  • the invention is based on the object of creating a method and a device for the rapid and reliable automatic gripping of textile objects which can then be automatically fed to treatment devices.
  • a method for solving the problem has the measures of claim 1.
  • the textile object is preferably pulled apart starting from the point pneumatically gripped, preferably sucked in. Only one layer of the textile object is held pneumatically, in particular by suction.
  • the pneumatic gripping or gripping of the textile object is preferably carried out by suction with negative pressure.
  • This preferred embodiment also applies to the following description, in particular also when only pneumatic detection or pneumatic holding is mentioned.
  • the textile object After the pneumatically held, sucked-in textile object has been pneumatically gripped and / or sucked in for the first time, it is gripped mechanically by, for example, a clamp or a gripper. By moving the clamp or the gripper, the textile object is reoriented a second time. In this case, at least part of an edge is formed in such a way that the textile object can be automatically gripped on it in such a way that it can also be automatically fed to a treatment device.
  • the method can preferably be developed in such a way that at the point or adjacent to the point at which the textile object is initially gripped pneumatically, preferably by a pneumatic suction device, in order to stretch it out in particular to remove wrinkles, the textile object is a single layer of the holding means, in particular at least a clamp of the same, is clamped.
  • the textile object is a single layer of the holding means, in particular at least a clamp of the same, is clamped.
  • only one layer of the item of laundry is held pneumatically in order to at least partially remove the fold by pulling it apart and then this one layer of the textile object can be grasped by staples.
  • This makes it possible to pull the textile object further apart with greater force and thereby reorient it, preferably so far that at least part of a preferably vertically hanging edge can form under the corner from which the textile object hangs.
  • the pneumatic gripping of the textile object takes place in particular with at least one suction device.
  • the respective textile object is preferably sucked in with only one layer by the suction device. If this suction takes place at a point where the textile object has two layers or in the area of a fold where at least two layers of the textile object lie on top of each other, only the sucked in one layer, preferably the layer adjacent to the suction device, of the textile object is sucked in and so on Sucker held.
  • the suction cup By moving the suction cup further, the position of the textile object held by it is taken along and reoriented as a result.
  • the pneumatic grasping of the textile object by the holding means takes place below and / or obliquely below the corner held from which the textile object hangs down.
  • the textile article hangs down in folds from its held upper corner.
  • the folds can be pulled apart by pneumatic suction of a layer of the textile object facing the holding means.
  • a defined position or layer of the textile object is formed at least at the point where the textile object is initially only pneumatically sucked in by the holding means.
  • the textile object pneumatically held at the relevant point is reoriented, preferably pulled apart, by moving the holding means sideways while maintaining the pneumatic holding of the point, so that it is formed in a single layer at least at the point held in this way.
  • This method is preferably carried out on an inclined path that rises in the direction of travel of the holding means.
  • the textile object is gripped around.
  • the textile object is preferably gripped by a clamp or a gripper while it is still held by the suction device and the suction device is then released from the textile object by interrupting its suction air supply.
  • the gripping takes place when the textile object is moved by a predetermined amount by moving the suction cup holding a layer Way is still reliably held pneumatically. This path can be determined empirically. It is also conceivable to additionally determine the route individually depending on the size of the respective textile object.
  • the holding means is moved further until at least part of the edge of the textile object hanging down from the corner (or the corner area) is hanging down has trained.
  • a section of this edge is gripped by a clamp.
  • This is preferably a double clamp with two spaced-apart clamps, between which the edge section or at least part of it is fixed in a stretched manner, or an elongated clamp whose length corresponds to the length of the section of the edge of the laundry item to be gripped.
  • the textile object of this clamp or double clamp is on or above the conveyor drawn to feed the textile object to a treatment device. This is preferably done in such a way that the textile object is pulled over the conveyor in an inverted U-shaped configuration.
  • the Conveyor narrower than the shorter edge of the textile object.
  • Opposite edge regions of the textile article then hang down from opposite sides of the conveyor, an intermediate inner section, preferably a central section, of the textile article then resting on the upper run of the narrow conveyor.
  • the respective textile object is placed hanging down in front of a wall.
  • the textile object is held down in a preferably upper corner in front of the wall.
  • the textile object is reoriented by a holding device that grips the textile object at one point. This is a point on the textile object that is adjacent to the holding device.
  • the textile object is then reoriented in such a way that at least part of an edge of the textile object hangs down freely from its held upper corner or corner area, preferably in a straight line or at least approximately in a straight line vertically.
  • a section of the freely hanging edge or part of the edge of the textile object is gripped in a targeted manner.
  • the textile object gripped in this way can then automatically be fed to a processing device, for example an input machine.
  • the textile object is reoriented in front of an upright, in particular vertical wall and / or a section of a freely hanging lateral edge or at least a part thereof is gripped in front of this wall.
  • the wall is stationary or at least stands still when the individual gripping processes and the reorientation of the textile object take place in front of the wall.
  • the wall has a color that differs from the textile object, in particular a high-contrast color. This makes it easier to recognize an image of a textile object in front of the wall that forms a contrast to this.
  • Another method for solving the object mentioned at the beginning which can also be a preferred development of the method described above, has the measures of claim 10.
  • this method it is provided that before or after a section of an edge of the textile object is gripped, it is determined whether the edge gripped is a short or long edge and, depending on the result of this determination, the textile object with the gripped one Section of its edge is deliberately fed across or along the processing device, is preferably drawn onto a conveyor transporting the textile object to a processing device.
  • the textile object is to be drawn onto the conveyor in such a way that a short edge runs transversely to the transport direction and / or the longitudinal direction of the conveyor, an object gripped with a section of its short edge is drawn onto the conveyor longitudinally in the transport direction, while a with a portion of a long edge of gripped textile article is pulled across the conveyor. If it is determined that the rectangular object is a square object with edges of the same length, this textile object can be drawn onto the conveyor either lengthwise or crosswise.
  • the method preferably works with at least one imaging device.
  • the respective textile object can be measured at least partially. For example, from a recording generated by the imaging device of at least one relevant part of the textile object, preferably of the entire textile object, it can be derived which edge is the shorter or the longer. In the same way, it can be determined whether, in the case of square textile objects, both edges are of the same length or at least almost the same length.
  • the image data generated by the at least one imaging device can, however, also be used for other or additional purposes, for example in particular to move the clamp or double clamp for detecting an edge section of the respective textile object in a targeted manner to the location of the edge whose section is to be detected.
  • a device for solving the aforementioned object has the features of claim 14. Accordingly, the bracket holding a corner or a corner area of the textile object, from which the textile object hangs freely, is assigned a movable holding device for reorienting the textile object.
  • the movable holding device also serves to reorient the textile object at least once so that at least part of a lateral edge of the item of laundry is freely hanging under the clamp, in particular vertically or almost vertically and / or in a straight line or at least almost in a straight line.
  • the textile object can be reliably and automatically gripped, preferably controlled by image data from an imaging device.
  • the device is preferably developed in such a way that the holding means can be moved along an inclined path and / or the clamp holding the upper corner area of the textile object, from which the textile object hangs down with its upper corner, can be moved on a vertical or almost vertical path.
  • the respective textile object can be reoriented at least once, preferably twice or more than twice, regardless of its shape and size, so that it can then easily be attached to a section of its freely hanging edge or part of it that has formed after the reorientation and can be reliably grasped.
  • an end of the inclined path of the holding means pointing to the vertical path of the clamp lies below the opposite end of the inclined path.
  • the vertical path of the clamp holding the upper corner of the item of laundry and the inclined path on which the holding means can be moved in front of or on or in an upright, in particular vertical and / or stationary wall, in front of the respective textile object hangs down from the clamp and / or is reorientable by the holding means, are arranged.
  • the respective textile object is supported by the wall when it is reoriented and stabilized in front of the wall. This not only favors grasping and / or grasping around at least one point and / or a section of an edge of the textile object, but also the exact detection of the textile object by an imaging device depicting the textile object in front of the wall.
  • the at least one imaging device is assigned to the wall. This assignment is preferably carried out in such a way that the at least one imaging device is aimed at at least part of the textile object hanging in front of the wall and / or at least such image data can be generated by the imaging device, from which it can be derived whether from the one upper corner area or from one A long edge or a short edge hangs down the clip holding the upper corner of the textile object, or both edges of the textile object are at least approximately the same length.
  • This configuration of the device enables rapid, reliable and exact automatic gripping, in particular of rectangular textile objects.
  • the prerequisite is created for textile objects gripped in this way to be fed fully automatically either directly to a treatment device for the textile objects or to a preferably narrow conveyor in front of a treatment device, preferably to be pulled up and / or deposited thereon.
  • the single imaging device or possibly also a separate imaging device can also serve to determine the length of the item of laundry hanging down from the held upper corner. This is preferably the distance between diagonally opposite corners of the item of laundry, namely the upper corner held and the free lower corner located at the lowest point of the item of laundry hanging down.
  • the size of the item of laundry can be roughly derived from the length of the item of laundry. Accordingly, it can be specified how far along the inclined path to which the holding means is assigned the sucker of the holding means can be moved without the risk of the textile object being held in place of being released from the sucker.
  • the imaging device can also be used to observe how the length of the edge of the textile object hanging down from the held upper corner changes when it is reoriented by the holding means, namely the suction cup and the gripper of the same. If necessary, the reorientation of the textile Object are terminated when the imaging device determines that the hanging edge starting from the held upper corner of the textile object has formed in sufficient length.
  • the device shown in the figures and the method that can be carried out with it serve to automatically grasp rectangular textile objects and preferably also to automatically feed such textile objects to a treatment device.
  • the laundry items 10 relate to so-called flat laundry items, such as. B. tablecloths, napkins, sheets, duvet covers and / or pillow cases.
  • the rectangular items of laundry 10 usually have edges of unequal length, in that two parallel edges are larger than two parallel edges running transversely thereto.
  • the laundry items 10 can, however, also be square with four edges of equal length. In the figures, the vertical edges are the longer edges. They are called the longitudinal edges 11, while the horizontal edges are the shorter edges called the transverse edges 12.
  • Fig. 1 shows schematically an automatically operating separator 13.
  • the separator 13 automatically grabs a single item of laundry 10 from a pile of laundry 14 in a targeted manner.
  • the targeted automatic gripping of ideally a single item of laundry 10 takes place - supported by at least one camera 15 or another imaging device - in the vicinity of the pile of laundry 14.
  • An image evaluation device uses the at least one recording of the camera 15 to control a gripper 16 of the automatic separator 13 that can be moved up and down along an ascending path.
  • the gripper 16 transfers the preferably individual laundry item 10 it has gripped to a downstream supply device 17 of the separator 13.
  • the supply device 17 optionally carries out a final separation of several items of laundry 10 simultaneously gripped by the gripper 16 and holds the separated (now the only) item of laundry 10 ready to take over a first corner 18.
  • This takeover takes place by a clamp 19 of the device of the invention following in the transport direction 20, namely the laundry flow direction and / or the feed direction.
  • the clip 19 can alternatively also grip a corner region of the corner 18. Even if only the corner 18 is mentioned in the description, this should also include a corner area around the corner 18.
  • the conveyor 21 which transports the laundry items 10.
  • the conveyor 21 is formed from a conveyor cascade 22.
  • the conveyor cascade 22 consists of several pairs of belt conveyors 23 arranged one above the other in the transport direction 20 in a sandwich-like manner .
  • the initial pair of superimposed Belt conveyor 23 of conveyor cascade 22 has different lengths.
  • the lower belt conveyor 23 is longer than the upper belt conveyor 23 above pulled onto the deposit area 25 or pulled across the deposit area 25, after which the respective item of laundry 10 rests in an inverted U-shaped configuration on the deposit area 25 at the beginning of the conveyor cascade 22.
  • This U-shaped configuration of the item of laundry 10 placed on the depositing area 25 is due to the fact that the belt conveyors 23 are designed to be relatively narrow, namely have a width which, depending on the size of the item of laundry 10, corresponds to one to five tenths of the width thereof.
  • opposite outer edge areas of the item of laundry 10 hang down in the area of the deposit area 25 from opposite sides of the belt conveyor 23 to ideally, but not necessarily, form legs of the U-shaped configured item of laundry 10 of equal length
  • The, preferably central, area of the item of laundry 10, which connects the opposite legs in a web-like manner, rests on the deposit area 25.
  • Upper and lower belt conveyors 23 of the conveyor cascade 22 that follow one another in the transport direction 20 are driven at a transport speed that differs from one another and increases in the same way in the transport direction 20, which means that the laundry item 10 passes through the conveyor cascade 22, i.e. the further transport of the laundry 10 along the conveyor 21 in the transport direction 20 , the laundry item 10 is slipped out in the transport direction 20, so that at the end of the conveyor 21, i.e. the last belt conveyor 23 of the conveyor cascade 22, the respective laundry item 10 is at least largely stretched out in the transport direction 20 in an inverted U-shape over the last lower belt conveyor 23 of the conveyor cascade 22 lies.
  • the conveyor 21 is also conceivable, in which it is not formed from any conveyor cascade 22 and / or no belt conveyors 23 are sandwiched one above the other.
  • the conveyor 21 then consists of a single continuous conveyor on which the respective item of laundry 10 is placed or pulled, specifically preferably also in an inverted U-shaped configuration. If necessary, several shorter lower belt conveyors can follow one another. These can also have different transport speeds, preferably those that increase as seen in the transport direction 20.
  • the input machine 24 follows the conveyor 21 in the transport direction 20.
  • the input machine 24 shown has a loading station which, in the exemplary embodiment shown, has a loading conveyor 27, which extends the conveyor cascade 22 of the conveyor 21 in the transport direction 20, and also has two belt conveyors 28 arranged one above the other in a sandwich-like manner disposes.
  • the belt conveyors 28 have a width which corresponds to that of the belt conveyors 23, so they are also relatively narrow.
  • a device according to the invention and / or a subsequent conveyor 21 are assigned at least for each loading station.
  • three devices and three conveyors 21 are then provided in front of the input machine 24, so that each device and each conveyor is used for loading, namely feeding, items of laundry 10 to a loading station of the input machine 24.
  • the device has a vertical wall 29 in the exemplary embodiment shown. If necessary, the wall 29 can also run upright with its front side 30 slightly inclined.
  • the rectangular wall 29 is preferably arranged in a stationary manner between the provision device 17 of the separator 13 and the conveyor 21. If necessary, the wall 29 can also be movable.
  • the upright wall 29 has a rectangular base area with upright, longer longitudinal edges 31 and shorter, horizontal transverse edges 32.
  • the base area of the front side 30 of the wall 29 is dimensioned so that the largest items of laundry 10 to be processed can hang in front of it.
  • the wall 29 is assigned a vertical, straight rail 33, which runs at a small distance parallel to the longitudinal edge 31 on the left in relation to the figures, and an inclined, straight rail 34.
  • the rails 33 and 34 are let into the wall 29, but are open or exposed to the front side 30 of the wall 29.
  • the sloping rail 34 has a lower end lying next to the vertical rail 33 and a higher one lying opposite end.
  • the lower end of the obliquely directed straight rail 34 is located approximately halfway up the vertical rail 33, preferably slightly below it.
  • the higher, opposite end of the obliquely directed rail 34 is located in an upper right corner area of the front side 30 of the wall 29. This is the side of the wall 29 which is opposite the vertical rail 33.
  • the already mentioned clamp 19 can be moved up and down on a clamp carriage 36.
  • the clamp 19 is attached to the clamp carriage 36, pointing transversely to the inclined rail 34, in such a way that the clamp mouth of the clamp 19 can be moved up and down at a small distance in front of the front side 30 of the wall 29.
  • a holding means 37 can be moved in opposite directions along the inclined rail 34.
  • the holding means 37 has two independently working holding means for the item of laundry 10, namely a pneumatic suction device 38 operating under vacuum and a mechanical gripper 39.
  • the suction device 38 and the gripper 39 are jointly attached to a carriage 40 which can be moved along the rail 34. This fastening is done in such a way that the suction direction of the suction cup 38 and the mouth of the gripper 39 run parallel to the wall 29, with a small distance in front of the front side 30 of the wall 29.
  • Both the suction device 38 and the gripper 39 are parallel to one another in this way oriented that the suction direction of the suction cup 38 and the mouth of the gripper 39 run parallel to the transverse edges 32 of the wall 29 or the front side 30 of the same. It is conceivable to fasten the suction cup 38 and / or the gripper 39 on a common support plate 41, which is freely and / or specifically driven rotatable about an axis of rotation running perpendicular to the plane of the front side 30 of the wall 29 in order to adapt to the orientation of the from Sucker 38 and gripper 39 area of the item of laundry 10 to be grasped, in particular locations 42 and 43 of the item of laundry that are close to one another.
  • At least one imaging device is assigned to the device. This assignment is made in such a way that the imaging device is directed at the front side 30 of the wall 29 in order to provide an image of at least one part of the item of laundry 10 hanging down in front of the wall 29 that provides the desired information.
  • the at least one imaging device preferably serves to detect the entire item 10 or at least a large part of it in front of the wall 29 and to generate at least one image thereof.
  • At the imaging facility it is preferably a camera 44.
  • the camera 44 can be designed as a black-and-white camera or as a color camera that generates two- or three-dimensional images.
  • At least one further imaging device which can also be designed as a camera, at at least one other point in front of or next to the wall 29.
  • Such an imaging device can additionally record at least one image from a different viewing direction of the item of laundry 10 hanging down in front of the wall 29 or desired details thereof.
  • the device also has a clip 45 or such a clip 45 is assigned to the device.
  • This clamp 45 is designed to grip a portion of the edge hanging freely below the clamp 19, which may be a longitudinal edge 11 or a transverse edge 12.
  • the clamp 45 grips a section 46 of the left longitudinal edge 11 of the item of laundry 10 hanging freely from the clamp 19. This section 46 lies between two end sections 47 and 48 extending from adjacent corners of the freely hanging longitudinal edge 11.
  • the clamp 45 can grip the inner or approximately central section 46 of the edge of the item of laundry 10 hanging freely from the clamp 19, it is designed as a double clamp with two spaced apart individual clamps 49 in the device shown.
  • the distance between the individual clamps 49 corresponds to the length of the section 46 of the vertically hanging edge of the item of laundry 10 to be grasped by the clamp 45.
  • the clamp 45 it is also conceivable to design the clamp 45 as an elongated clamp, the clamp mouth of which is so long that it can Over the entire section 46 of the vertically hanging edge to be gripped, here the longitudinal edge 11, of the item 10 of laundry.
  • the clamp 45 is arranged at the end of an arm of a handling device.
  • the handling device is designed in such a way that it, in particular its arm, can move the clamp 46 in at least three axes in three-dimensional space.
  • the clamp 45 is arranged at the end of the arm of the handling device so that it can be rotated and / or pivoted in a targeted manner.
  • the handling device transfers the respective item of laundry 10 from the point at which it is gripped by the clamp 45 in front of the wall 29 to the depositing area 25 of the conveyor 21 in front of the input machine 24
  • the handling device is designed as a robot 50.
  • the handling device can also be designed like a crane.
  • the movements of the handling device, in particular the robot 50, are controlled on the basis of the image data recorded by the at least one imaging device, in particular the camera 44.
  • the movements of the suction cup 38 and / or the gripper 39 can also be controlled on the basis of the image data supplied by the camera 44 or another imaging device. This also applies to the point in time when the item 10 of laundry is gripped by the gripper 39 and the suction device 38 is deactivated and / or the holding means 37 is moved along the inclined rail 34.
  • the separator 13, the conveyor 21 and the input machine 24 is described below. It is assumed here that the item of laundry 10 is such an item of laundry that has transverse edges 12 that are shorter than the longitudinal edges 11, and that the item of laundry 10 is pulled onto the placement area 25 of the conveyor 21 with the transverse edge 12 running transversely to the transport direction 20 and the item of laundry 10 hangs down from the clamp 19 with the (longer) longitudinal edge 11.
  • An item of laundry 10 separated by the separator 13 is held ready by the supply device 17 of the separator 13 for takeover by the clamp 19 of the device, or the laundry item 10 is transferred from the supply device 17 to the clamp 19.
  • the item of laundry 10 is taken over or transferred to the clamp 19 in such a way that the clamp 19 of the device holds the item of laundry in a corner area, in particular a first corner 18.
  • the clamp 19 can assume a position on the straight, vertical rail 33 which permits or facilitates the transfer or takeover of the corner 18 of the item 10 from the clamp 19.
  • the clip 19 is raised along the vertical straight rail 34 so far that the laundry item 10 hangs freely from the first corner 18 held in the clip 19.
  • it is useful to move the clamp on the rail 33 only so far that the lower free end of the inclined rail 34 is in the The center of the item of laundry 10 is located, preferably approximately at the level of half the length of the longitudinal edge 11 of the item of laundry 10 hanging down from the clamp 19.
  • the item of laundry 10 After the item of laundry 10 has been gripped by the clamp 19 and is freely hanging under the same, the item of laundry 10 still wrinkles. Then the longitudinal edge 11 is not yet formed under the clamp 19 or is not yet formed to a sufficient extent under the clamp 19. In order to achieve this, the item of laundry 10 held with the first corner 18 in the clamp 19 and hanging down from it is reoriented. This reorientation is carried out by the holding means 37 movable on the inclined rail 34, initially with the suction device 38 and then with the gripper 39.
  • the holding means 37 also has the suction device 38 in addition to the gripper 39.
  • the holding means 37 In preparation for the reorientation of the item of laundry 10, the holding means 37 is moved obliquely downwards along the inclined rail 34 until the suction device 38 has moved up to the item of laundry 10.
  • the suction device 38 then grips the item of laundry 10 at a point 42. This can be any point 42. In particular, the point 42 does not need to be located at any corner of the item 10 of laundry.
  • the suction device 38 only generates such a negative pressure or is designed accordingly that it only sucks in and fixes one layer 51 of the item of laundry 30, but not the adjacent second or possibly further layer in the area of a fold or the like of the item of laundry 10.
  • the single or preferably outer layer 51 of the item of laundry 10 held by the suction device 38 by negative pressure is moved along with it, and thereby a first Reorientation of the item of laundry 10 made, in particular at least one fold of the item of laundry 10 at least partially removed.
  • a layer 51 of the item of laundry 10 is then gripped by the gripper 39 and the suction device 38 is then deactivated, that is to say its suction air supply locked.
  • the item of laundry 10 is now only held in a clamping manner by the gripper 39 at the point 42 previously sucked in by the suction device 38, preferably at a point 43 adjacent thereto. Since the clamping force of the gripper 39 is greater than the suction force of the suction cup 38, the item of laundry 10 is now further reoriented and preferably pulled apart by further upwardly inclined movement of the holding means 37 with the gripper 39 along the inclined rail 34 until the The clamp 19 holding the first corner 18 of the item of laundry 10 forms the longitudinal edge 11 of the item of laundry 10 in such a way that it at least for the most part, preferably completely, hangs down from the clamp 19 vertically and parallel or in front of the vertical rail 33.
  • the points 42 and 43, at which first the suction device 38 and then the gripper 39 of the holding means 37 grasp the item of laundry 10, are located at a distance from the first corner 18. It is preferably provided that the holding means 37 and thus the suction device 38 and the gripper 39 grips the item of laundry 10 at points 42 or 43 in the vicinity of a second corner 52, which is an adjacent second corner 52 of the upper transverse edge 12 of the item of laundry 10, which is opposite the first corner 18.
  • the points 42 and 43, at which first the suction device 38 and then the gripper 39 fix the item of laundry 10 for reorientation are located exactly at the second corner 52; rather, it is sufficient if the suction device 38 and the gripper 39 grasp the item 10 of laundry in the vicinity of the second corner 52 in order to be able to reorient it in the manner described above.
  • the camera 44 which is directed at the item 10 of laundry in front of the wall 29, supplies images which can be used to control the movement path of the clamp 19 and the holding means 37.
  • the images or image data from the camera 44 can alternatively or additionally also serve to control the opening and closing of the clamp 19 and / or the suction cup 38 and the gripper 39 of the holding means 37. In particular, it can thereby be controlled when the gripper 39 grips the point 43 of the item of laundry 10 and when the suction device 38 lets go of the point 42 of the item of laundry 10 that it grips.
  • the images of the item of laundry 10 recorded at least by the camera 44 aimed at the item of laundry 10 and the wall 29, in particular image data of the images, are preferably also used to determine whether the edge of the item of laundry 10 hanging down from the clamp 19 is around a longitudinal edge 11 (as assumed in the preceding and following description) or a transverse edge 12.
  • a longitudinal edge 11 as assumed in the preceding and following description
  • a transverse edge 12 To determine the longitudinal edge 11 and the transverse edge 12, the length dimensions of the same do not have to be determined exactly. It is sufficient to carry out a qualitative measurement which makes it possible to differentiate between the longitudinal edge 11 and the transverse edge 12 or to determine whether both edges are of the same length in the case of square items of laundry 10.
  • the front side 30 of the wall 29 with a grid, in particular a checkerboard grid, whereby the length dimensions of the longitudinal edge 11 and the transverse edge 12 can be determined and, if necessary, the size of the respective item of laundry 10 can be calculated from this.
  • the robot 50 or a comparable handling device for moving the clamp 45 is also controlled at least for gripping the inner, preferably central, section 46 of the longitudinal edge 11 hanging down from the clamp 19 on the basis of the images recorded by the camera 44 and / or its image data.
  • the opening and closing of the clamp 45 can also be controlled.
  • the control of the robot 50 and the clamp 45 are supplied with the images or image data recorded by the camera 44.
  • the robot 50 then moves the clamp 45 up to the inner or central section 46 of the vertically hanging down longitudinal edge 11 of the item 10 of laundry.
  • the section 46 is then gripped by the clamp 45, in particular its spaced-apart individual clamps 49, the first corner 18 is released by opening the clamp 19 and the opposite second corner 52 is also preferably released from the gripper 39 of the holding means 37.
  • the item of laundry 10 then hangs down from the clamp 45 designed as a double clamp or wide clamp, the central section 46 of the longitudinal edge 11 being held stretched between the individual clamps 49 of the clamp 45 or a wide clamp.
  • the clamp 45 with the item of laundry 10 hanging on it is then transferred by the robot 50 or some other handling device to the conveyor 21 in front of the input machine 24.
  • the clamp 45 holds a central, in particular central section 46 of the longitudinal edge 11 of the item of laundry 10, here Assumed feeding of the laundry item 10 with the transverse edge 12 running transversely to the transport direction 20, the laundry item 10 is pulled by the robot 50 transversely to the transport direction 20 over the depositing area 25 of the conveyor 21, on the exposed upper run of the lower front belt conveyor 28 of the same.
  • the clamp 45 is made so wide that the section 46 held by it is somewhat larger than the width of the belt conveyor 28 in the depositing area 25.
  • the robot 50 would move the clamp 45 such that the item of laundry 10 is pulled onto the depositing area 25 of the conveyor 21 in the transport direction 20, the clamp 45 being aligned with that of their held section 46 of the transverse edge 12 of the item of laundry 10 is moved centrally in the transport direction 20 over the depositing area 25.
  • the procedure is reversed to the procedure described above when the item of laundry 10 is to be fed to the input machine 24 with the longitudinal edge 11 running transversely to the transport direction 20. Then, when the longitudinal edge 11 is gripped by the clamp 45, the item of laundry 10 is pulled in the transport direction 20 onto the depositing area 25, and when the transverse edge 12 is gripped by the clamp 45, the item of laundry 10 is pulled across the transporting direction 20 over the depositing area 25.
  • the item of laundry 10 By pulling the item of laundry 10 on or over the depositing area 25 of the conveyor 21 as described above, the item of laundry 10 hangs in an inverted U-shaped configuration in the depositing area 25 above the front, lower belt conveyor due to the relatively narrow belt conveyor 28 to form the conveyor 21 28.
  • at least the inner, preferably middle, section 46 of the item of laundry 10 originally held by the clamp 19 extends over the depositing area 25 of the loading conveyor 27, while edge sections of the item of laundry 10 adjoining section 46 on both sides on both sides of the depositing area 25 of the conveyor 21 hang down.
  • the item of laundry 10 is transported by the conveyor 21, in particular its belt conveyors 28, in the transport direction 20 to the input machine 24 and preferably stretched out in the transport direction 20, see above that the at least crease-free or at least almost crease-free item of laundry 10 viewed in the transport direction 20 from the conveyor 21 to the respective Loading conveyor 27 of the input machine 24 can be transferred, namely in the now extended, but still inverted U-shaped configuration.

Landscapes

  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Treatment Of Fiber Materials (AREA)
  • Chain Conveyers (AREA)
EP20210309.9A 2019-11-28 2020-11-27 Procede pour amener des articles textiles rectangulaires a une installation de traitement Active EP3828332B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP23167510.9A EP4219825A1 (fr) 2019-11-28 2020-11-27 Procédé et dispositif pour saisir des objets textiles rectangulaires

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019132377 2019-11-28
DE102019135659.8A DE102019135659A1 (de) 2019-11-28 2019-12-23 Verfahren und Vorrichtung zum Ergreifen rechteckiger textiler Gegenstände und/oder zum Zuführen rechtecktiger textiler Gegenstände zu einer Behandlungseinrichtung

Related Child Applications (2)

Application Number Title Priority Date Filing Date
EP23167510.9A Division-Into EP4219825A1 (fr) 2019-11-28 2020-11-27 Procédé et dispositif pour saisir des objets textiles rectangulaires
EP23167510.9A Division EP4219825A1 (fr) 2019-11-28 2020-11-27 Procédé et dispositif pour saisir des objets textiles rectangulaires

Publications (3)

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EP3828332A2 true EP3828332A2 (fr) 2021-06-02
EP3828332A3 EP3828332A3 (fr) 2021-09-08
EP3828332B1 EP3828332B1 (fr) 2023-11-08

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EP23167510.9A Pending EP4219825A1 (fr) 2019-11-28 2020-11-27 Procédé et dispositif pour saisir des objets textiles rectangulaires
EP20210309.9A Active EP3828332B1 (fr) 2019-11-28 2020-11-27 Procede pour amener des articles textiles rectangulaires a une installation de traitement

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Application Number Title Priority Date Filing Date
EP23167510.9A Pending EP4219825A1 (fr) 2019-11-28 2020-11-27 Procédé et dispositif pour saisir des objets textiles rectangulaires

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DK (1) DK3828332T3 (fr)

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE68925787T2 (de) * 1988-12-02 1996-07-11 Mitsubishi Heavy Ind Ltd Verfahren und Vorrichtung zum Ausbreiten von Gewebestücken
DE3912977C2 (de) * 1989-04-20 2001-04-19 Kannegiesser H Gmbh Co Verfahren und Vorrichtung zum Zuführen von Wäschestücken zu einer Mangel
DK0751251T3 (da) * 1995-01-10 2002-08-19 Tokai Co Ltd Fremgangsmåde og apparat til automatisk slutbehandling af firkantede klædestykker
EP1690976A1 (fr) * 2005-02-15 2006-08-16 Jensen AG Burgdorf Procédé d'alignement d'une pièce de linge et dispositif pour la mise en oeuvre du procédé
DE102014005355A1 (de) * 2014-04-11 2015-10-15 Herbert Kannegiesser Gmbh Verfahren zum Erfassen eines Wäschestücks
DE102014017477A1 (de) * 2014-11-26 2016-06-02 Herbert Kannegiesser Gmbh Verfahren und Vorrichtung zum Zuführen von Wäschestücken zu einer Mangel oder einer sonstigen Wäschebehandlungseinrichtung
JP2016106659A (ja) * 2014-12-02 2016-06-20 株式会社プレックス 洗濯済み方形状布類搬送装置
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

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DK3828332T3 (da) 2024-01-22
EP3828332B1 (fr) 2023-11-08
EP3828332A3 (fr) 2021-09-08
EP4219825A1 (fr) 2023-08-02

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